WO2023179637A1

WO2023179637A1 - Communication method and communication apparatus

Info

Publication number: WO2023179637A1
Application number: PCT/CN2023/082950
Authority: WO
Inventors: 李成; 王艺
Original assignee: 华为技术有限公司
Priority date: 2022-03-22
Filing date: 2023-03-22
Publication date: 2023-09-28
Also published as: CN116828386A

Abstract

Disclosed in the embodiments of the present application are a communication method and a communication apparatus, which are used for compensating or eliminating influence caused by a clock drift deviation, so as to improve the positioning precision. The method in the embodiments of the present application comprises: a first communication apparatus receiving a first positioning reference signal and a second positioning reference signal from a second communication apparatus; the first communication apparatus measuring the first positioning reference signal and the second positioning reference signal, so as to obtain a first receiving time difference, wherein the first receiving time difference is a time difference between a receiving time of the first communication apparatus receiving the first positioning reference signal and a receiving time of the first communication apparatus receiving the second positioning reference signal; and the first communication apparatus sending first information to a third communication apparatus, wherein the first information is determined according to the first receiving time difference.

Description

Communication method and communication device

This application claims priority to the Chinese patent application filed with the China Patent Office on March 22, 2022, with the application number 202210282997.9 and the invention title "Communication Method and Communication Device", the entire content of which is incorporated into this application by reference.

Technical field

The present application relates to the field of communication technology, and in particular, to a communication method and communication device.

Background technique

The positioning method based on the round trip time (RTT) is one of the main positioning technologies in the communication system. Compared with other positioning methods (for example, the positioning method based on the time difference of arrival (TDOA)), the positioning method based on the time difference of arrival (TDOA) is one of the main positioning technologies in the communication system. The time difference positioning method can effectively overcome the time synchronization error between communication devices (positioning reference signal transmitting end and positioning reference signal receiving end), so it has been widely used.

However, in the positioning method based on the sending and receiving time difference, it is impossible to eliminate the time deviation between the communication devices caused by the clock drift error between the communication devices (the sending end device and the receiving end device), and the distance error caused by the time deviation, thus affecting Positioning accuracy, resulting in lower positioning accuracy.

Contents of the invention

This application provides a communication method and communication device for compensating or eliminating the impact of clock drift deviation and improving positioning accuracy.

The first aspect of this application provides a communication method, including:

The first communication device receives a first positioning reference signal and a second positioning reference signal from the second communication device. The first communication device measures the first positioning reference signal and the second positioning reference signal to obtain a first reception time difference. The first reception time difference is a time difference between the reception time when the first communication device receives the first positioning reference signal and the reception time when the first communication device receives the second positioning reference signal. Then, the first communication device sends first information to the third communication device, and the first information is determined based on the first reception time difference.

In the above technical solution, the first communication device can measure the first positioning reference signal and the second positioning reference signal to obtain the first reception time difference; the first reception time difference is the reception time of the first communication device receiving the first positioning reference signal and the first communication time. The time difference between the reception times of the second positioning reference signal received by the device. The first communication device sends the first information to the third communication device. The first information is determined based on the first reception time difference, thereby facilitating the third communication device to locate the first communication device based on the first reception time difference. It is advantageous for the third communication device to eliminate or compensate for the clock drift deviation existing between the first communication device and the second communication device in combination with the first information. This eliminates the impact of clock drift deviation and improves the positioning accuracy of the third communication device on the first communication device.

The second aspect of this application provides a communication method, including:

The third communication device receives the first information from the first communication device. The first information is determined based on the first reception time difference. The first reception time difference is when the first communication device receives the first positioning reference signal from the second communication device. a time difference between the time and the time at which the first communication device receives the second positioning reference signal from the second communication device; The third communication device locates the first communication device according to the first information.

In the above technical solution, the third communication device receives the first information from the first communication device, and the first information is determined based on the first reception time difference. The first reception time difference is the time difference between the reception time when the first communication device receives the first positioning reference signal from the second communication device and the reception time when the first communication device receives the second positioning reference signal from the second communication device. Thus, the third communication device can position the first communication device based on the first reception time difference. It is advantageous for the third communication device to eliminate or compensate for the clock drift deviation existing between the first communication device and the second communication device in combination with the first information. This eliminates the impact of clock drift deviation and improves the positioning accuracy of the third communication device on the first communication device.

Based on the first aspect or the second aspect, this application provides a first implementation manner, and the method further includes:

The third communication device obtains the second information. The second information is determined based on the second reception time difference. The second reception time difference is the difference between the reception time when the second communication device receives the third positioning reference signal from the first communication device and the second communication device. receiving the time difference between the reception times of the fourth positioning reference signal from the first communication device; the third communication device positioning the first communication device according to the first information, including: the third communication device according to the first information and the second information Locate the first communication device.

In this implementation manner, the third communication device can also obtain the second information, and position the first communication device based on the first information and the second information. This further improves positioning accuracy.

Based on the first aspect, the second aspect, or the first implementation manner of the present application, in the second implementation manner of the present application, the first information includes a first reception time difference.

In this implementation manner, the first communication device reports the first reception time difference to the third communication device. It is convenient for the third communication device to calculate the clock drift deviation between the first communication device and the second communication device in the first time period based on the first reception time difference, and to compensate or eliminate the clock drift deviation. Regarding the first time period, please refer to the relevant introduction later. This can eliminate the impact of clock drift deviation and improve positioning accuracy.

Based on the first aspect, the second aspect, or the first implementation manner of the present application, in the third implementation manner of the present application, the first information includes: the communication between the first communication device and the second communication device within the first time period. Clock drift deviation, or the first distance variation;

The clock drift deviation and the first distance variation between the first communication device and the second communication device within the first time period are determined based on the first receiving time difference and the first sending time difference; the first sending time difference is the second communication time difference. The time difference between the sending time when the device sends the first positioning reference signal to the first communication device and the sending time when the second communication device sends the second positioning reference signal to the first communication device, the first distance change is when the first communication device The amount of change between the distance to the second communication device at the first time and the second time, and the time interval between the first time and the second time is the first time period.

In this implementation, the first communication device reports the clock drift deviation between the first communication device and the second communication device within the first time period to the third communication device. It is convenient for the third communication device to compensate or eliminate the clock drift deviation, thereby eliminating the impact of the clock drift deviation and improving positioning accuracy.

Based on the third implementation manner of the present application, in the fourth implementation manner of the present application, the first time period includes unit time, a first receiving time difference or a second sending and receiving time difference; the second sending and receiving time difference is the receiving time of the first positioning reference signal and The time difference between the sending time of the third positioning reference signal and the second sending and receiving time difference are not compensated by the clock drift deviation. of. The sending time of the third positioning reference signal is the sending time of the first communication device sending the third positioning reference signal to the second communication device.

Based on the fourth implementation manner of the present application, in the fifth implementation manner of the present application, the clock drift deviation between the first communication device and the second communication device within the second transmission and reception time difference is also determined based on the second transmission and reception time difference.

In this embodiment, the clock drift deviation between the first communication device and the second communication device within the second transmission and reception time difference should also be determined in conjunction with the second transmission and reception time difference, so as to facilitate the third communication device to compensate for the first communication during the positioning process. The clock drift deviation between the device and the second communication device within the second sending and receiving time difference improves positioning accuracy.

Based on the first aspect, the second aspect, or the first implementation manner of the present application, in the sixth implementation manner of the present application, the first information includes: a first sending and receiving time difference;

Wherein, the first transmission and reception time difference is the time difference between the reception time of the first positioning reference signal and the transmission time of the third positioning reference signal. The first transmission and reception time difference is the time difference between the first communication device and the second communication device after the first transmission and reception. The sending time of the third positioning reference signal is the sending time of the first communication device sending the third positioning reference signal to the second communication device.

In this implementation, the first communication device reports the first sending and receiving time difference to the third communication device. The first transmission and reception time difference is compensated for the clock drift deviation between the first communication device and the second communication device within the first transmission and reception time difference. This enables the third communication device to position the first communication device through the first sending and receiving time difference, thereby eliminating the impact of clock drift deviation and improving positioning accuracy.

Based on the sixth implementation manner of the present application, in the seventh implementation manner of the present application, the first indication information is used to indicate that the first transmission and reception time difference is within the first transmission and reception time difference between the first communication device and the second communication device. Clock drift offset compensation is obtained.

In this implementation manner, the first communication device may also send the first indication information to the third communication device, so that the third communication device determines that the first sending and receiving time difference is compensated by the clock drift deviation.

Based on the first aspect, the second aspect, any one of the first to seventh embodiments of the present application, in the eighth embodiment of the present application, the first information also includes one or more antennas. Index, the index of one or more antennas includes at least one of the index of the antenna through which the second communication device sends the first reference signal and the index of the antenna through which the second communication device sends the second reference signal; or, the index of one or more antennas The method includes at least one of an index of an antenna through which the first communication device receives the first reference signal and an index of an antenna through which the first communication device receives the second reference signal.

In this implementation manner, the first communication device reports at least one index of one or more antennas to the third communication device. It is convenient for the third communication device to determine the antenna corresponding to the positioning reference signal.

Based on any one of the first aspect, the second aspect, the first to the seventh embodiment of the present application, in the ninth embodiment of the present application, the first positioning reference signal and the second positioning reference signal It is sent by the second communication device to the first communication device through the same antenna, and the first information also includes the index of the antenna.

In this embodiment, in a multi-antenna scenario, the first communication device can report the antenna index to the third communication device to facilitate the third communication device to determine which positioning reference signals correspond to the same antenna and facilitate the third communication. The device determines a clock drift deviation between the first communication device and the second communication device within unit time.

Based on the first aspect, the second aspect, any one of the first to seventh embodiments of the present application, in the tenth embodiment of the present application, the first positioning reference signal is obtained by the second communication device. The first antenna points to the first The second positioning reference signal is sent by the communication device to the first communication device through the second antenna; the first information also includes the index of the first antenna and the index of the second antenna.

In this embodiment, in a multi-antenna scenario, the first communication device can report the antenna index to the third communication device to facilitate the third communication device to determine the antenna corresponding to the positioning reference signal, thereby facilitating the third communication device to determine the different antennas. Channel time difference between antennas.

Based on the tenth implementation manner of the present application, in the eleventh implementation manner of the present application, the one or more antennas include a first antenna and a second antenna; the first information also includes a channel between the first antenna and the second antenna Time difference.

In this embodiment, in a multi-antenna scenario, the first communication device can also determine the channel time difference between different antennas and report it to the third communication device. This facilitates the third communication device to compensate the phase of the positioning reference signal and improve the accuracy of the phase measured by the first communication device based on different antennas, so as to accurately determine the azimuth angle of the first communication device.

Based on the tenth implementation manner of the present application or the eleventh implementation manner of the present application, in the twelfth implementation manner of the present application, the first information also includes phase information, and the phase information includes a first phase and a second phase. The first phase is the phase of the first positioning reference signal measured by the first communication device, and the second phase is the phase of the second positioning reference signal measured by the first communication device.

In this implementation manner, the first communication device may also report the measured first phase and the second phase to the third communication device. The third communication device may compensate the first phase and the second phase based on a channel time difference between the first antenna and the second antenna and a clock drift deviation between the first communication device and the second communication device within the first reception time difference, thereby It is advantageous for the third communication device to determine the azimuth angle of the first communication device based on the compensated phase.

Based on the tenth implementation manner of the present application or the eleventh implementation manner of the present application, in the thirteenth implementation manner of the present application, the first information also includes phase information, and the phase information includes a first phase and a second phase. The first phase And/or the second phase is obtained by compensating for the channel time difference between the first antenna and the second antenna and the clock drift deviation between the first communication device and the second communication device within the first reception time difference.

In this implementation manner, the first communication device may also report the measured first phase and the second phase to the third communication device. The first phase and the second phase are obtained by compensating for the channel time difference and clock drift deviation between the first antenna and the second antenna. It is advantageous for the third communication device to determine the azimuth angle of the first communication device based on the compensated phase.

Based on the thirteenth implementation manner of the present application, in the fourteenth implementation manner of the present application, the first information also includes second indication information, and the second indication information is used to indicate whether the first phase and the second phase pass through the first antenna. The channel time difference with the second antenna and the clock drift deviation between the first communication device and the second communication device within the first reception time difference are compensated.

In this implementation manner, the first communication device may also send second indication information to the third communication device for indicating that the first phase and the second phase are compensated. This prevents the third communication device from compensating the first phase and the second phase again. The third communication device may determine the azimuth angle at which the first communication device is located based on the compensated phase.

Based on any one of the eleventh embodiment of the present application to the fourteenth embodiment of the present application, in the fifteenth embodiment of the present application, the channel time difference between the first antenna and the second antenna It is based on the first sending time difference, the first receiving time difference and the clock drift deviation between the first communication device and the second communication device within the first receiving time difference. It is determined that the first sending time difference is the time difference between the sending time when the second communication device sends the first positioning reference signal to the first communication device and the sending time when the second communication device sends the second positioning reference signal to the first communication device.

In this embodiment, a specific method for determining the channel time difference between the first antenna and the second antenna is provided. It is advantageous for the first communication device to determine the channel time difference between the first antenna and the second antenna and feed it back to the third communication device. Alternatively, it is advantageous for the third communication device to obtain the channel time difference between the first antenna and the second antenna through the above implementation method. Then, the third communication device compensates the phase of the positioning reference signal measured by the first communication device. Improve angle measurement accuracy.

Based on the first aspect, the second aspect, any one of the first to the fifteenth embodiments of the present application, in the sixteenth implementation manner of the present application, the first information also includes a time tag, the time The tag is used to indicate the measurement time of the first received time difference. In this implementation, the first communication device reports the time tag to the third communication device, thereby facilitating the third communication device to determine the measurement time of the first reception time difference and the third communication device to determine the first reception time difference.

Based on the first aspect, the second aspect, any one of the first to sixteenth embodiments of the present application, in the seventeenth embodiment of the present application, the second communication device and the third communication device are the same communication device; or, the second communication device and the second communication device are different communication devices.

Based on the first aspect, the second aspect, any one of the first to seventeenth implementations of the present application, in the eighteenth implementation of the present application, the second information includes at least one of the following: The second reception time difference, the clock drift deviation between the first communication device and the second communication device within the second time period, the fifth transmission and reception time difference, and the third indication information;

The fifth sending and receiving time difference is the time difference between the receiving time of the third positioning reference signal and the sending time of the first positioning reference signal. The receiving time of the third positioning reference signal is when the second communication device receives the third positioning from the first communication device. Reference signal reception time. The fifth transmission and reception time difference is obtained by compensating the clock drift deviation between the first communication device and the second communication device within the fifth transmission and reception time difference; the third indication information is used to indicate: the fifth transmission and reception time difference is obtained by the first communication device and the second communication device. The clock drift deviation between the second communication device within the fifth sending and receiving time difference is compensated.

In this embodiment, some possible contents specifically included in the second information are provided, which is beneficial to the implementation of the solution. The second information is determined based on the second reception time difference, which is helpful for the third communication device to accurately position the first communication device based on the second information and improves positioning accuracy. For example, the third communication device can determine the clock drift deviation between the first communication device and the second communication device in the second time period based on the second information, so as to compensate for the clock drift deviation during the positioning process of the first communication device, thereby improving positioning accuracy. Alternatively, the third communication device locates the first communication device based on the reception time difference. The motion characteristics of the first communication device are effectively used to achieve positioning of the first communication device, and the impact of the motion of the first communication device on the positioning accuracy is avoided. At the same time, the influence caused by the clock drift deviation between the first communication device and the second communication device can be overcome, and the positioning accuracy can be further improved.

Based on the eighteenth implementation manner of the present application, in the nineteenth implementation manner of the present application, the second time period includes the unit time, the second receiving time difference, or the fourth sending and receiving time difference;

The fourth sending and receiving time difference is the time difference between the receiving time of the third positioning reference signal and the sending time of the first positioning reference signal. The fourth sending and receiving time difference is not compensated by the clock drift deviation; the sending time of the third positioning reference signal is the first The communication device sends the sending time of the third positioning reference signal to the second communication device.

Based on the first aspect, the second aspect, any one of the first to nineteenth embodiments of the present application, in the twentieth embodiment of the present application, the first information includes at least one of the following: The first receiving time difference, the clock drift deviation between the first communication device and the second communication device within the first time period, the first sending and receiving time difference, the first indication information, and the first distance variation;

The clock drift deviation and the first distance variation between the first communication device and the second communication device within the first time period are determined based on the first receiving time difference and the first sending time difference; the first sending time difference is the second communication device The time difference between the sending time of sending the first positioning reference signal to the first communication device and the sending time of the second positioning reference signal sent by the second communication device to the first communication device, the first distance change is The distance moved within a period of time. The first transmission and reception time difference is the time difference between the reception time of the first positioning reference signal and the transmission time of the third positioning reference signal. The first transmission and reception time difference is the time difference between the first communication device and the second communication device. The clock drift deviation between the first communication device and the second communication device within the first sending and receiving time difference has been compensated; the first indication information is used to indicate that the first sending and receiving time difference is based on the clock drift deviation between the first communication device and the second communication device within the first sending and receiving time difference. compensated.

In this embodiment, some possible contents specifically included in the first information are provided, which is beneficial to the implementation of the solution. The first information is determined based on the first reception time difference, which is helpful for the third communication device to accurately position the first communication device based on the first information and improves positioning accuracy. For example, the third communication device can determine the clock drift deviation between the first communication device and the second communication device within a unit time based on the first information, so as to compensate for the clock drift deviation during the positioning process of the first communication device and improve the positioning accuracy. . Alternatively, the third communication device locates the first communication device based on the reception time difference. The motion characteristics of the first communication device are effectively used to achieve positioning of the first communication device, and the impact of the motion of the first communication device on the positioning accuracy is avoided. At the same time, the influence caused by the clock drift deviation between the first communication device and the second communication device can be overcome, and the positioning accuracy can be further improved.

Based on the first aspect, the second aspect, any one of the first to twentieth embodiments of the present application, in the twenty-first embodiment of the present application, the first information includes a third reception time difference , the third receiving time difference is obtained by taking the first receiving time difference modulo the unit time; or, the third receiving time difference is determined based on the first receiving time difference and the first sending time difference, the first sending time difference is the value sent by the second communication device The time difference between the sending time of the first positioning reference signal and the sending time of the second positioning reference signal sent by the second communication device.

In this embodiment, another presentation method of the first reception time difference is provided. The third reception time difference may be the modulo of the first reception time difference to the unit time, or may be determined based on the first reception time difference and the first transmission time difference. . It is beneficial to reduce reporting overhead and simplify protocol design, and supports reporting of parameters with a larger dynamic range.

A third aspect of this application provides a first communication device, including:

A transceiver module configured to receive the first positioning reference signal and the second positioning reference signal from the second communication device;

A processing module configured to measure the first positioning reference signal and the second positioning reference signal to obtain a first reception time difference; the first reception time difference is the time between the time when the first communication device receives the first positioning reference signal and the time when the first communication device receives the second The time difference between the reception times of positioning reference signals;

The transceiver module is also configured to send first information to the third communication device, where the first information is determined based on the first reception time difference.

A fourth aspect of this application provides a third communication device, including:

Transceiver module, used to receive first information from the first communication device, the first information is based on the first reception time difference It is determined that the first reception time difference is the reception time between the first communication device receiving the first positioning reference signal from the second communication device and the reception time when the first communication device receives the second positioning reference signal from the second communication device. Time difference;

A processing module configured to locate the first communication device according to the first information.

Based on the third aspect or the fourth aspect, this application provides a first implementation manner, and the processing module is also used to:

Obtain second information. The second information is determined based on a second reception time difference. The second reception time difference is the reception time when the second communication device receives the third positioning reference signal from the first communication device and the time when the second communication device receives the third positioning reference signal from the first communication device. The time difference between the reception times of the fourth positioning reference signal of the communication device;

The processing module is specifically used for:

Positioning the first communication device according to the first information includes: the third communication device positioning the first communication device according to the first information and the second information.

Based on the third aspect, the fourth aspect, or the first implementation manner of the present application, in the second implementation manner of the present application, the first information includes the first reception time difference.

Based on any one of the third aspect, the fourth aspect, the first implementation manner and the second implementation manner of the present application, in the third implementation manner of the present application, the first information includes: the first communication device and the third The clock drift deviation between the two communication devices within the first time period, or the first distance change;

Based on the third implementation manner of the present application, in the fourth implementation manner of the present application, the first time period includes unit time, the first receiving time difference or the second sending and receiving time difference; the second sending and receiving time difference is the receiving time of the first positioning reference signal The time difference between the second sending and receiving time difference and the sending time of the third positioning reference signal has not been compensated by the clock drift deviation. The sending time of the third positioning reference signal is the sending time of the first communication device sending the third positioning reference signal to the second communication device.

Based on the third aspect, the fourth aspect, or the first implementation manner of the present application, in the sixth implementation manner of the present application, the first information includes a first sending and receiving time difference;

Based on the sixth implementation manner of the present application, in the seventh implementation manner of the present application, the first information also includes first indication information, and the first indication information is used to indicate: the first sending and receiving time difference is determined by passing the first communication device and the second between communication devices It is obtained by compensating the clock drift deviation within the first sending and receiving time difference.

Based on any one of the third aspect, the fourth aspect, the first to the seventh embodiment of the present application, in the eighth embodiment of the present application, the first information also includes one or more antennas. Index, the index of one or more antennas includes at least one of the index of the antenna through which the second communication device sends the first reference signal and the index of the antenna through which the second communication device sends the second reference signal; or, the index of one or more antennas The method includes at least one of an index of an antenna through which the first communication device receives the first reference signal and an index of an antenna through which the first communication device receives the second reference signal.

Based on any one of the third aspect, the fourth aspect, the first to the seventh embodiment of the present application, in the ninth embodiment of the present application, the first positioning reference signal and the second positioning reference signal It is sent by the second communication device to the first communication device through the same antenna, and the first information also includes the index of the antenna.

Based on any one of the third aspect, the fourth aspect, the first embodiment to the seventh embodiment of the present application, in the tenth embodiment of the present application, the first positioning reference signal is obtained by the second communication device through The first antenna sends the second positioning reference signal to the first communication device, and the second positioning reference signal is sent by the second communication device to the first communication device through the second antenna; the first information also includes the index of the first antenna and the index of the second antenna.

Based on the tenth implementation manner of the present application, in the eleventh implementation manner of the present application, the one or more antennas include a first antenna and a second antenna; the first information also includes a signal between the first antenna and the second antenna. Channel time difference.

Based on the tenth implementation manner of the present application or the eleventh implementation manner of the present application, in the thirteenth implementation manner of the present application, the first information also includes phase information, and the phase information includes a first phase and a second phase. The phase is the phase of the first positioning reference signal measured by the first communication device, and the second phase is the phase of the second positioning reference signal measured by the first communication device.

Based on the thirteenth implementation manner of the present application, in the fourteenth implementation manner of the present application, the first information also includes second indication information, and the second indication information is used to indicate that the first phase and the second phase pass through the first antenna and The channel time difference between the second antenna and the clock drift deviation between the first communication device and the second communication device within the first reception time difference are compensated.

Based on any one of the eleventh embodiment of the present application to the fourteenth embodiment of the present application, in the fifteenth embodiment of the present application, the channel time difference between the first antenna and the second antenna It is determined based on the first sending time difference, the first receiving time difference and the clock drift deviation between the first communication device and the second communication device within the first receiving time difference. The first sending time difference is when the second communication device sends the first communication device to the first communication device. The time difference between the sending time of a positioning reference signal and the sending time of the second communication device sending the second positioning reference signal to the first communication device.

Based on any one of the third aspect, the fourth aspect, the first to the fifteenth implementation manner of the present application, in the sixteenth implementation manner of the present application, the first information also includes a time tag, the time The tag is used to indicate the measurement time of the first received time difference. In this implementation, the first communication device reports the time tag to the third communication device, thereby facilitating the third communication device to determine the measurement time of the first reception time difference and the third communication device to determine the first reception time difference.

Based on any one of the third aspect, the fourth aspect, the first embodiment to the sixteenth embodiment of the present application, in the seventeenth embodiment of the present application, the second communication device and the third communication device are the same communication device; or, the second communication device and the second communication device are different communication devices.

Based on any one of the third aspect, the fourth aspect, the first embodiment to the seventeenth embodiment of the present application, in the eighteenth embodiment of the present application, the second information includes at least one of the following: The second reception time difference, the clock drift deviation between the first communication device and the second communication device within the second time period, the fifth transmission and reception time difference, and the third indication information;

The fifth sending and receiving time difference is the time difference between the receiving time of the third positioning reference signal and the sending time of the first positioning reference signal. The receiving time of the third positioning reference signal is when the second communication device receives the third positioning from the first communication device. Reference signal reception time. The fifth transmission and reception time difference is obtained by compensating the clock drift deviation between the first communication device and the second communication device within the fifth transmission and reception time difference; the third indication information is used to indicate that the fifth transmission and reception time difference is obtained by compensating the clock drift deviation between the first communication device and the second communication device. It is obtained by compensating the clock drift deviation between the two communication devices within the fifth sending and receiving time difference.

The fourth sending and receiving time difference is the time difference between the receiving time of the third positioning reference signal and the sending time of the first positioning reference signal. The fourth sending and receiving time difference has not been compensated by the clock drift deviation. The sending time of the third positioning reference signal is the sending time of the first communication device sending the third positioning reference signal to the second communication device.

Based on any one of the third aspect, the fourth aspect, the first embodiment to the nineteenth embodiment of the present application, in the twentieth embodiment of the present application, the first information includes at least one of the following: The first receiving time difference, the clock drift deviation between the first communication device and the second communication device within the first time period, the first sending and receiving time difference, the first indication information, and the first distance variation;

The clock drift deviation and the first distance variation between the first communication device and the second communication device within the first time period are determined based on the first receiving time difference and the first sending time difference; the first sending time difference is the second communication device The time difference between the sending time of sending the first positioning reference signal to the first communication device and the sending time of the second positioning reference signal sent by the second communication device to the first communication device, the first distance change is The distance moved within a period of time. The first transmission and reception time difference is the time difference between the reception time of the first positioning reference signal and the transmission time of the third positioning reference signal. The first transmission and reception time difference is the time difference between the first communication device and the second communication device. The first indication information is used to indicate that the first sending and receiving time difference is obtained by compensating the clock drift deviation between the first communication device and the second communication device within the first sending and receiving time difference. Obtained through compensation.

Based on any one of the third aspect, the fourth aspect, the first embodiment to the twentieth embodiment of the present application, in the twenty-first embodiment of the present application, the first information includes the third reception time difference , the third receiving time difference is obtained by taking the first receiving time difference modulo the unit time; or, the third receiving time difference is determined based on the first receiving time difference and the first sending time difference, the first sending time difference is the value sent by the second communication device The time difference between the sending time of the first positioning reference signal and the sending time of the second positioning reference signal sent by the second communication device.

A fifth aspect of the present application provides a communication device. The communication device includes a processor. The processor is used to call and run the computer program stored in the memory, so that the processor implements any one of the implementation methods from the first aspect to the second aspect.

Optionally, the communication device further includes a transceiver; the processor is also used to control the transceiver to send and receive signals.

Optionally, the communication device includes a memory, and a computer program is stored in the memory.

A sixth aspect of the present application provides a computer program product including instructions, which, when run on a computer, causes the computer to execute any one of the implementations of the first to second aspects.

A seventh aspect of the present application provides a computer-readable storage medium that includes computer instructions. When the computer instructions are run on a computer, they cause the computer to execute any one of the implementations of the first to second aspects.

An eighth aspect of the present application provides a chip device, including a processor, connected to a memory, and calling a program stored in the memory, so that the processor executes any one of the above-mentioned implementations of the first to second aspects. .

A ninth aspect of the present application provides a communication system, which includes a first communication device as in the third aspect and a third communication device as in the fourth aspect.

It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

It can be seen from the above technical solution that the first communication device receives the first positioning reference signal and the second positioning reference signal from the second communication device. The first communication device measures the first positioning reference signal and the second positioning reference signal to obtain a first reception time difference. The first reception time difference is a time difference between the reception time when the first communication device receives the first positioning reference signal and the reception time when the first communication device receives the second positioning reference signal. Then, the first communication device sends first information to the third communication device, and the first information is determined based on the first reception time difference. It can be seen from this that the first communication device can measure the first positioning reference signal and the second positioning reference signal to obtain the first reception time difference; the first reception time difference is the difference between the reception time of the first communication device receiving the first positioning reference signal and the first communication device The time difference between the reception times of the second positioning reference signal. The first communication device sends the first information to the third communication device. The first information is determined based on the first reception time difference, which is helpful for the third communication device to eliminate or compensate for the clock drift deviation existing between the first communication device and the second communication device in combination with the first information. This eliminates the impact of clock drift deviation and improves the positioning accuracy of the third communication device on the first communication device.

Description of the drawings

Figure 1 is a schematic diagram of a communication system according to an embodiment of the present application;

Figure 2 is another schematic diagram of the communication system according to the embodiment of the present application;

Figure 3 is another schematic diagram of the communication system according to the embodiment of the present application;

Figure 4 is another schematic diagram of the communication system according to the embodiment of the present application;

Figure 5 is a schematic diagram of a positioning method based on the sending and receiving time difference according to an embodiment of the present application;

Figure 6 is a schematic diagram of the principle of clock drift deviation according to the embodiment of the present application;

Figure 7 is a schematic diagram of an embodiment of the communication method according to the embodiment of the present application;

Figure 8 is a schematic diagram of the second communication device sending the first positioning reference signal and the second positioning reference signal according to the embodiment of the present application;

Figure 9 is another example of the second communication device sending the first positioning reference signal and the second positioning reference signal according to the embodiment of the present application. a schematic diagram;

Figure 10A is a schematic positioning diagram between the terminal equipment 1 and the roadside unit (RSU) according to the embodiment of the present application;

Figure 10B is a schematic diagram of positioning between terminal equipment 1 and terminal equipment 2 according to the embodiment of the present application;

Figure 10C is a schematic diagram of positioning between the terminal device 1 and the access network device according to the embodiment of the present application;

Figure 11 is a positioning diagram between the terminal device 1 and multiple RSUs according to the embodiment of the present application;

Figure 12 is another positioning diagram between the terminal device 1 and multiple RSUs according to the embodiment of the present application;

Figure 13 is a schematic diagram of another embodiment of the communication method according to the embodiment of the present application;

Figure 14 is a schematic diagram of terminal equipment 1 sending positioning reference signals to terminal equipment 2 through multiple antennas according to an embodiment of the present application;

Figure 15 is a schematic structural diagram of a communication device according to an embodiment of the present application;

Figure 16 is another structural schematic diagram of a communication device according to an embodiment of the present application;

Figure 17 is a schematic structural diagram of a terminal device according to an embodiment of the present application;

Figure 18 is another schematic structural diagram of a communication device according to an embodiment of the present application.

Detailed ways

Embodiments of the present application provide a communication method and communication device for compensating or eliminating the impact of clock drift deviation and improving positioning accuracy.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the scope of protection of this application.

Reference in this application to "one embodiment" or "some embodiments" or the like means that a particular feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Therefore, the phrases "in one embodiment", "in some embodiments", "in other embodiments", "in other embodiments", etc. appearing in different places in this specification are not necessarily References are made to the same embodiment, but rather to "one or more but not all embodiments" unless specifically stated otherwise. The terms “including,” “includes,” “having,” and variations thereof all mean “including but not limited to,” unless otherwise specifically emphasized.

In the description of this application, unless otherwise stated, "/" means "or". For example, A/B can mean A or B. "And/or" in this article is just an association relationship that describes related objects, indicating that there can be three relationships, for example, A and/or B, which can mean: A exists alone, A and B exist simultaneously, and B exists alone these three situations. In addition, "at least one" means one or more, and "plurality" means two or more. "At least one of the following" or similar expressions thereof refers to any combination of these items, including any combination of a single item (items) or a plurality of items (items). For example, at least one of a, b, or c can represent: a, b, c; a and b; a and c; b and c; or a, b, and c. Among them, a, b, c can be single or multiple.

The technical solution of this application can be applied to various communication systems. For example, the fifth generation mobile communication (5th generation, 5G) system, new radio (NR) system, long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD), universal mobile telecommunication system (UMTS), mobile communication system after 5G network (for example, 6G Mobile communication system), vehicle to everything (V2X) communication system, device to device (D2D) communication system, etc.

Some scenarios applicable to this application are introduced below with reference to Figures 1 to 4.

Figure 1 is a schematic diagram of a communication system according to an embodiment of the present application. Referring to Figure 1, the communication system includes an access network device 102, an access and mobility management function (AMF) 103, and a location management function (LMF) 104.

Optionally, the terminal device 101 is connected to the access network device 102 through an interface, the access network device is connected to the AMF 103 through an interface, and the AMF 104 is connected to the LMF 104 through an interface. The LMF 104 is used for positioning calculation and management of the location of the terminal device 101 . For example, the terminal device 101 is connected to the access network device 103 through the NR-Uu interface, and the access network device 102 and the AMF 103 are connected through the NG-C interface. AMF103 and LMF104 are connected through the NL1 interface. The technical solution of this application is executed between the terminal equipment 101 and the access network equipment 102, thereby realizing the positioning of the terminal equipment 101 by the LMF 104.

The above-mentioned FIG. 1 only shows an example in which the communication system includes the access network device 102. In actual applications, the communication system may also include more access network equipment, which is not specifically limited in this application.

Figure 2 is a schematic diagram of another embodiment of the communication system according to the embodiment of the present application. Referring to Figure 2, the communication system includes a terminal device 201 and a terminal device 202. The terminal equipment 201 and the terminal equipment 202 are outside the signal coverage range of the access network equipment. The terminal device 201 and the terminal device 202 communicate through a proximity service communication (proximity service communication 5, PC5) interface. The terminal device 201 can position the terminal device 202 through the technical solution of this application.

Figure 3 is a schematic diagram of another embodiment of the communication system according to the embodiment of the present application. Referring to Figure 3, the communication system includes terminal equipment 301, roadside units RSU302, RSU303 and RSU304. The terminal equipment 301 and RSU302 to RSU304 are located outside the signal coverage range of the access network equipment. As shown in Figure 3, terminal equipment 301 communicates with the RSU through the PC5 interface. The technical solution of this application can realize the positioning of the terminal device 301 between the terminal device 301 and the RSU.

It should be noted that in the communication system shown in Figure 3 above, the form of the RSU is only an example, and does not specifically limit the RSU in this application. RSU is a roadside unit deployed on the roadside, supports sidelink communication and positioning-related protocols, and can provide wireless communication functions for terminal devices. RSUs can be various forms of roadside sites, access points, and side link devices. For access network equipment, RSU is a kind of terminal equipment. For terminal equipment, RSU can act as access network equipment.

Figure 4 is a schematic diagram of another embodiment of the communication system according to the embodiment of the present application. The communication system includes terminal equipment 401, terminal equipment 402, access network equipment 403 and LMF 404. The terminal device 401 is located within the signal coverage of the access network device 403, while the terminal device 402 is not located within the signal coverage of the access network device 403. The technical solution of this application can be implemented between the terminal equipment 401 and the terminal equipment 402, and the corresponding measurement results are sent to the LMF 404 through the access network equipment 403, thereby realizing the positioning of the terminal equipment 401 and/or the terminal equipment 402 by the LMF 404.

In the communication systems shown in Figure 1 and Figure 4 above, LMF is the name in the current communication system. In the future communication system , the name of the LMF may change with the evolution of the communication system, and this application does not limit the name of the LMF. For example, the LMF may be called a positioning management device, and the positioning management device is used to perform positioning calculations on the position of the terminal device. In current communication systems or future communication systems, as long as functional network elements with other names have similar functions to the LMF, the positioning management device in the embodiment of the present application can be understood and applicable to the communication method provided by the embodiment of the present application.

The above-mentioned communication system applicable to the present application is only an example. In actual application, the present application can also be applied to other communication systems with positioning requirements, and the specific application is not limited thereto. The above examples do not limit the technical solution of the present application.

The following describes the terminal equipment and access network equipment involved in this application.

Access network equipment is a device deployed in a wireless access network to provide wireless communication functions for terminal equipment. Access network equipment is a base station, and base stations are various forms of macro base stations, micro base stations (also called small stations), relay stations, access points (APs), wearable devices, vehicle-mounted devices, etc. The base station can also be a transmission and reception point (TRP), a transmission measurement function (TMF), etc. For example, the base station involved in the embodiment of this application may be a base station in a new radio interface (new radio, NR). Among them, the base station in 5G new radio (NR) can also be called transmission reception point (TRP) or transmission point (TP) or next generation Node B (ngNB) , or evolutionary Node B (evolutional Node B, eNB or eNodeB) in the long term evolution (long term evolution, LTE) system.

The terminal device may be a wireless terminal device capable of receiving access network device scheduling and indication information. A wireless end device may refer to a device that provides voice and/or data connectivity to a user, or a handheld device with wireless connectivity capabilities, or other processing device connected to a wireless modem.

Terminal equipment, also known as user equipment (UE), mobile station (MS), mobile terminal (MT), etc., includes wireless communication functions (providing voice/data connectivity to users) Devices, such as handheld devices with wireless connection capabilities, or vehicle-mounted devices. At present, some examples of terminal devices are: mobile phones, tablets, laptops, PDAs, trains, cars, airplanes, mobile internet devices (MID), wearable devices, virtual reality , VR) equipment, augmented reality (AR) equipment, wireless terminals in industrial control, wireless terminals in the Internet of Vehicles, wireless terminals in self-driving, smart grid ), wireless terminals in transportation safety, wireless terminals in smart cities, etc. For example, wireless terminals in the Internet of Vehicles can be vehicle-mounted equipment, vehicle equipment, vehicle-mounted modules, vehicles, etc. Wireless terminals in industrial control can be robots, etc.

FIG. 5 is a schematic diagram of a principle of a positioning method based on the difference in sending and receiving time according to an embodiment of the present application. Please refer to Figure 5. The basic principle of the positioning method based on the sending and receiving time difference will be introduced below in conjunction with Figure 5. Terminal device 1 receives the positioning reference signal sent by terminal device 2. The terminal device 1 measures the reception time of the positioning reference signal of the terminal device 2 . Then, the terminal device 1 sends a positioning reference signal and records the sending time of the positioning reference signal. The terminal device 1 determines the sending and receiving time difference RxTx1 between the receiving time of the positioning reference signal of the terminal device 2 and the sending time of the positioning reference signal of the terminal device 1 . The terminal device 2 records the sending time of the positioning reference signal of the terminal device 2 and measures the receiving time of the positioning reference signal of the terminal device 1 . The terminal device 2 can determine the positioning reference signal of the terminal device 2. The sending and receiving time difference RxTx2 between the sending time and the receiving time of the positioning reference signal of the terminal device 1. Therefore, the distance d1 between the terminal device 1 and the terminal device 2 =c*(RxTx2-RxTx1)/2. Among them, c is the speed of light.

It can be seen from this that the positioning method based on the sending and receiving time difference does not require the absolute synchronization of time between the terminal device 1 and the terminal device 2. It only needs to calculate the terminal device 1 and the terminal device 2 based on the respective sending and receiving time differences obtained by the terminal device 1 and the terminal device 2. The distance between 2.

However, in practical applications, in addition to the absolute synchronization error, there is also a clock drift deviation between the terminal device 1 and the terminal device 2. That is, the time drift speed of terminal device 1 is different from the time drift speed of terminal device 2. For example, 10 seconds have passed for terminal device 1, but only 9 seconds have passed for terminal device 2. In this scenario, the positioning method based on the sending and receiving time difference will be affected by the clock drift deviation of the sending and receiving segments, thus affecting the positioning accuracy.

Referring to Figure 6, during this measurement, the clock of terminal device 1 drifted by e2, and the clock of terminal device drifted by e1. Therefore, the distance d2 between the terminal device 1 and the terminal device 2=c*(RxTx2-RxTx1)/2-c*(e2-e1)/2. Among them, c is the speed of light. Assuming that the clock drift deviation between terminal equipment 1 and terminal equipment 2 reaches 20ppm (one millionth)), then the maximum deviation will be 200 nanoseconds (ns) within 10 milliseconds (ms), which corresponds to 60 meters error. That is to say, the distance error between terminal equipment 1 and terminal equipment 2 reaches an error of 60 meters.

The above-mentioned Figures 5 and 6 take the positioning process between two terminal devices on the sidelink as an example to illustrate the technical problems existing in the positioning method based on the transmission and reception time difference. In practical applications, the above positioning process between terminal equipment 1 and terminal equipment 2 can be replaced by a positioning process between the terminal equipment and the access network equipment, or by a positioning process between the terminal equipment and the RSU. Specifically, this application does not Make limitations.

This application provides corresponding technical solutions to eliminate or compensate for the impact of clock drift deviations between communication devices and improve positioning accuracy. In the technical solution of the present application, the first communication device receives the first positioning reference signal and the second positioning reference signal from the second communication device. The first communication device measures the first positioning reference signal and the second positioning reference signal to obtain a first receiving time difference. The first reception time difference is a time difference between the reception time when the first communication device receives the first positioning reference signal and the reception time when the first communication device receives the second positioning reference signal. Then, the first communication device sends first information to the third communication device, and the first information is determined based on the first reception time difference. It can be seen from this that the first communication device can measure the first positioning reference signal and the second positioning reference signal to obtain the first reception time difference; the first reception time difference is the difference between the reception time of the first communication device receiving the first positioning reference signal and the first communication device The time difference between the reception times of the second positioning reference signal. The first communication device sends the first information to the third communication device. The first information is determined based on the first reception time difference, which facilitates the third communication device to eliminate or compensate for the clock drift deviation existing between the first communication device and the second communication device in combination with the first information. This eliminates the impact of clock drift deviation and improves the positioning accuracy of the third communication device on the first communication device.

The communication system applicable to this application includes a first communication device, a second communication device and a third communication device. Several possible implementations of the first communication device, the second communication device, and the third communication device are introduced below.

Implementation Mode 1. The first communication device is a terminal device, the second communication device is an access network device, and the third communication device is a positioning management device; or the first communication device is an access network device, and the second communication device is a terminal device. , the third communication device is a positioning management device.

For example, as shown in Figure 1, the first communication device is the terminal device 101, the second communication device is the access network device 102, and the third communication device is the LMF 104. The terminal device 101 can measure the downlink positioning reference signal sent by the access network device 102, And feed back the measured information to LMF104. The LMF 104 can combine this information to position the terminal device 101 . Optionally, the access network device 102 can measure the uplink positioning reference signal sent by the terminal device 101, and feed back the measured information to the LMF 104. The LMF 104 can locate the terminal device 101 by integrating the information reported by the terminal device 101 and the information reported by the access network device 102 .

Implementation Mode 2: The first communication device is the first terminal device, the second communication device is the second terminal device, and the third communication device is the positioning management device; or the first communication device is the first terminal device, and the second communication device is RSU, the third communication device is the positioning management device; or, the first communication device is the RSU, the second communication device is the first terminal equipment, and the third communication device is the positioning management device.

For example, as shown in Figure 4, the first communication device is the terminal device 401, the second communication device is the terminal device 402, and the third communication device is the LMF 404. The terminal device 402 can feed back the measured information to the terminal device 401. The terminal device 401 may feed back the information measured by itself and the information measured by the terminal device 402 to the LMF 404 through the access network device 403. LMF 404 can combine this information to achieve positioning of terminal device 401 and/or terminal device 402.

Implementation Mode 3: The first communication device is a first terminal device, the second communication device and the third communication device are the same communication device, and the second communication device and the third communication device are second terminal devices; or the first communication device is The first terminal equipment, the second communication device and the third communication device are the same communication device, and the second communication device and the third communication device are access network equipment; or the first communication device is access network equipment and the second communication device The second communication device and the third communication device are the same communication device, and the second communication device and the third communication device are the first terminal equipment.

For example, as shown in FIG. 2 , the first communication device is terminal equipment 201 and the second communication device is 202 . The terminal device 201 feeds back the measured information to the terminal device 202. The terminal device 202 can locate the terminal device 1 through this information.

Implementation Mode 4: The first communication device is a terminal device, the second communication device and the third communication device are the same communication device, and the second communication device and the third communication device are RSUs; or the first communication device is an RSU, and the second communication device The device and the third communication device are the same communication device, and the second communication device and the third communication device are terminal equipment.

For example, as shown in FIG. 3 , the first communication device is the terminal device 301 and the second communication device is the RSU 302 . The terminal device 301 measures the positioning reference signal of the RSU302 and feeds back the measured information to the RSU302. The RSU 302 locates the terminal device 301 based on the information fed back by the terminal device 301 .

The above-mentioned implementations of the first communication device, the second communication device, and the third communication device are only examples and do not limit the present application. The first communication device, the second communication device and the third communication device may also be implemented in other ways, which are not specifically limited in this application.

The technical solution of the present application will be introduced below with reference to specific embodiments.

Figure 7 is a schematic diagram of a communication method according to an embodiment of the present application. See Figure 7. Methods include:

701. The second communication device sends the first positioning reference signal and the second positioning reference signal to the first communication device. Correspondingly, the first communication device receives the first positioning reference signal and the second positioning reference signal from the second communication device.

Some possible implementations of resources for carrying the first positioning reference signal and the second positioning reference signal are introduced below.

Implementation 1. The first positioning reference signal and the second positioning reference signal may be positioning reference signals sent by the second communication device through the same reference signal resource or the same reference signal resource set at two adjacent times. The first sending time difference Tx-Tx time difference) The transmission period of the positioning reference signal configured for this reference signal resource or this reference signal resource set. Wherein, the first sending time difference is a time difference between the sending time when the second communication device sends the first positioning reference signal and the sending time when the second communication device sends the second positioning reference signal.

For example, as shown in Figure 8, the first positioning reference signal and the second positioning reference signal may be positioning reference signals sent at different times in the same reference signal resource or in the same reference signal resource set, and the first sending time difference is equal to the positioning reference signal sent by the second communication device. The transmission period of the positioning reference signal.

Implementation 2. The first positioning reference signal is a positioning reference signal sent at a time in the first reference signal resource or the first reference signal resource set, and the second positioning reference signal is a second reference signal resource or a second reference signal resource set. A positioning reference signal sent at a time. The first sending time difference is the time difference between the sending time when the second communication device sends the first positioning reference signal and the sending time when the second communication device sends the second positioning reference signal.

For example, as shown in Figure 9, the first positioning reference signal and the second positioning reference signal may be positioning reference signals sent at different times in the same reference signal resource or in the same reference signal resource set, and the first sending time difference is equal to the positioning reference signal sent by the second communication device. The time interval between the sending time of the first positioning reference signal and the sending time of the second positioning reference signal sent by the second communication device.

The following article uses implementation mode 1 as an example to introduce the technical solution of this application.

Optionally, the first communication device is a first terminal equipment, and the second communication device is an RSU or a second terminal equipment, then the first positioning reference signal and the second positioning reference signal are both sidelink positioning reference signals (sidelink positioning). reference signal, SL-PRS).

For example, as shown in FIG. 10A , the first communication device is the terminal equipment 1 and the second communication device is the RSU. The RSU sends SL-PRS1 to the terminal device 1 at the sending time Tx1, and sends SL-PRS2 to the terminal device 1 at the sending time Tx2. Correspondingly, terminal device 1 receives the SL-PRS1 and SL-PRS2.

For example, as shown in FIG. 10B , the first communication device is terminal equipment 1 and the second communication device is terminal equipment 2 . The terminal device 2 sends SL-PRS1 to the terminal device 1 at the sending time Tx1, and sends SL-PRS2 to the terminal device 1 at the sending time Tx2. Correspondingly, terminal device 1 receives the SL-PRS1 and SL-PRS2.

Optionally, if the first communication device is a terminal device and the second communication device is an access network device, then the first positioning reference signal and the second positioning reference signal are both downlink positioning reference signals. Or, if the first communication device is access network equipment and the second communication device is terminal equipment, then the first positioning reference signal and the second positioning reference signal are both uplink positioning reference signals.

For example, as shown in Figure 10C, the first communication device is the terminal device 1, and the second communication device is the access network device. The access network device sends the downlink positioning reference signal 1 to the terminal device 1 at the sending time Tx1, and sends the downlink positioning reference signal 2 to the terminal device 1 at the sending time Tx2. Correspondingly, the terminal equipment 1 receives the downlink positioning reference signal 1 and the downlink positioning reference signal 2 .

702. The first communication device measures the first positioning reference signal and the second positioning reference signal to obtain the first reception time difference (Rx-Rx time difference).

For example, as shown in FIG. 10A , the terminal device 1 measures SL-PRS1 and SL-PRS2 and obtains the reception time Rx1 of SL-PRS1 and the reception time Rx2 of SL-PRS2. Then, the terminal device 1 determines the first reception time difference RXRXTD1 through the reception time Rx1 of the SL-PRS1 and the reception time Rx2 of the SL-PRS2.

For example, as shown in Figure 10C, terminal equipment 1 measures downlink positioning reference signal 1 and downlink positioning reference signal 2, The reception time Rx1 of the downlink positioning reference signal 1 and the reception time Rx2 of the downlink positioning reference signal are obtained. Then, the terminal device 1 determines the first reception time difference RXRXTD1 through the reception time Rx1 of the downlink positioning reference signal 1 and the reception time Rx2 of the downlink positioning reference signal.

It should be noted that the above step 702 takes the first communication device measuring the first positioning reference signal and the second positioning reference signal to obtain the first receiving time difference as an example to introduce the technical solution of the present application. In practical applications, the first communication device can measure the reception times of two positioning reference signals sent adjacently by the second communication device multiple times to obtain multiple reception time differences. Then, the first communication device determines an average reception time difference from the plurality of reception time differences.

Optionally, the second communication device sends the positioning reference signal to the first communication device according to a preset period. The first communication device can measure the reception time of two positioning reference signals sent adjacently by the second communication device multiple times, and then perform smooth calculation to obtain the time when the two positioning reference signals sent adjacently by the second communication device arrive at the first communication device. interval. Therefore, the average reception time difference RXRXTD obtained by smooth calculation can be expressed by the following formula:

In the above formula (1), N is the number of positioning reference signals from the second communication device measured by the first communication device, is the arrival time of the i+1th positioning reference signal from the second communication device measured by the first communication device to the first communication device. is the arrival time of the i-th positioning reference signal from the second communication device measured by the first communication device to the first communication device.

The first communication device can determine the first information through the average reception time difference, which is beneficial to eliminating error fluctuations in a single measurement by the first communication device, improving delay deviation correction accuracy, and further improving positioning accuracy. The technical solution of the present application will be introduced below by taking the above-mentioned first reception time difference as an example.

703. The first communication device sends the first information to the third communication device. Correspondingly, the third communication device receives the first information from the first communication device.

The first information is determined based on the first reception time difference. Regarding the first information, please refer to the detailed introduction later.

704. The third communication device locates the first communication device according to the first information.

The above step 704 will be introduced below in conjunction with the content included in the first information in the above step 703.

Implementation manner 1: The first information includes the first reception time difference.

In this implementation manner 1, the first communication device reports the first reception time difference to the third communication device. The third communication device may determine the clock drift deviation between the first communication device and the second communication device within unit time in combination with the first reception time difference, and compensate for the clock drift deviation. Thereby improving positioning accuracy. For the specific positioning process, please refer to the relevant introduction later. The clock drift deviation between the first communication device and the second communication device within a unit time may also be referred to as the clock drift deviation rate, clock drift deviation rate, or clock drift deviation between the first communication device and the second communication device. Slope, this application does not specifically limit the name.

Both the first communication device and the second communication device have linear clock models, that is, the clock of the first communication device and the clock of the second communication device have linear drift, but the clock drift rates are not consistent. The clock of the second communication device is represented by T1, and the clock of the first communication device is represented by T2. Then the relationship between T1 and T2 can be expressed as:
T1＝(1-Δ)T2+k Formula (2)

Wherein, Δ represents the clock drift deviation between T1 and T2, and k represents the synchronization error between the first communication device and the second communication device. Based on the above formula (2), it can be seen that the positioning method based on the transmission and reception time difference can effectively resist the synchronization error k, but it cannot eliminate the clock drift deviation Δ between T1 and T2.

In this implementation, the first communication device sends the first reception time difference to the third communication device. The third communication device may obtain the sending time difference between the first positioning reference signal and the second positioning reference signal. Specifically, the third communication device may determine the period in which the second communication device sends the positioning reference signal by acquiring the configuration information of the positioning reference signal of the second communication device. Theoretically, when there is no clock drift deviation between the first communication device and the second communication device, the first receiving time difference should be equal to the first sending time difference. The first sending time difference is the sending time interval between the first positioning reference signal and the second positioning reference signal. Therefore, the third communication device can determine the clock drift deviation Δ between the first communication device and the second communication device within unit time through the first reception time difference, which can be specifically expressed as:
Δ＝(TXTXTD1-RXRXTD1)/RXRXTD1 Formula (3)

Among them, TXTXTD1 is the first sending time difference, and RXRXTD1 is the first receiving time difference.

In this implementation, the first communication device sends the sending and receiving time difference 1 to the third communication device. The sending and receiving time difference 1 is the time difference between the receiving time of the first positioning reference signal and the sending time of the third positioning reference signal. The third positioning reference signal is a positioning reference signal sent by the first communication device to the second communication device. The second communication device sends the sending and receiving time difference 2 to the third communication device. The sending and receiving time difference 2 is the time difference between the receiving time of the third positioning reference signal and the sending time of the first positioning reference signal. Then, the third communication device can determine the distance between the first communication device and the second communication device d3=c*[transmitting and receiving time difference 1-(1-Δ)*transmitting and receiving time difference 2]/2, where c is the speed of light. In this way, the clock drift deviation between the first communication device and the second communication device can be compensated or eliminated, and the positioning accuracy can be improved.

For example, as shown in FIG. 10B , the first communication device is terminal equipment 1 and the second communication device is terminal equipment 2 . The transmission and reception time difference 1 is the time difference between the reception time Rx1 of SL-PRS1 and the transmission time Tx3 of SL-PRS3. That is Rx1-Tx3. The transmission and reception time difference 2 is the time difference between the reception time Rx3 of SL-PRS3 and the transmission time Tx1 of SL-PRS1. That is Rx3-Tx1. Therefore, the distance between terminal equipment 1 and terminal equipment 2 is d3=c*[(Rx1-Tx3)-(1-Δ)*Rx3-Tx1]/2, and c is the speed of light. If the position of terminal device 2 is known, terminal device 1 can calculate the position of terminal device 1 based on the position of terminal device 2 and the distance d3 between terminal device 1 and terminal device 2.

For example, as shown in FIG. 10C , the first communication device is the terminal device 1, the second communication device is the access network device, and the third communication device is the LMF. The transmission and reception time difference 1 is the time difference between the reception time Rx1 of the downlink positioning reference signal 1 and the transmission time Tx3 of the uplink positioning reference signal 1. That is Rx1-Tx3. The transmission and reception time difference 2 is the time difference between the reception time Rx3 of the uplink positioning reference signal and the transmission time Tx1 of the downlink positioning reference signal 1. That is Rx3-Tx1. Therefore, the distance between the terminal equipment 1 and the access network equipment is d3=c*[(Rx1-Tx3)-(1-Δ)*Rx3-Tx1]/2, and c is the speed of light. Due to the location of the access network device, the LMF can calculate the location of the terminal device 1 based on the location of the access network device and the distance d3 between the terminal device 1 and the access network device.

It can be seen from this that in the above implementation mode 1, the first communication device reports the first reception time difference to the third communication device. The third communication device may calculate the clock drift deviation between the first communication device and the second communication device within the first time period based on the first reception time difference, and compensate or eliminate the clock drift deviation. thereby eliminating clock drift bias impact and improve positioning accuracy. For the first time period, please refer to the relevant introduction in Implementation Method 2.

Implementation manner 2: The first information includes: the clock drift deviation between the first communication device and the second communication device within the first time period.

Optionally, the first time period may be unit time, a first receiving time difference, or a second sending and receiving time difference. The second sending and receiving time difference is the time difference between the receiving time of the first positioning reference signal and the sending time of the third positioning reference signal. The second sending and receiving time difference has not been compensated for clock drift deviation. The third positioning reference signal is a positioning reference signal sent by the first communication device to the second communication device.

The clock drift deviation between the first communication device and the second communication device within the unit time or the first reception time is determined based on the first reception time difference and the first transmission time difference. The first sending time difference is the time difference between the sending time when the second communication device sends the first positioning reference signal and the sending time when the second communication device sends the second positioning reference signal.

Specifically, the first communication device obtains the first sending time difference. For example, the first positioning reference signal and the second positioning reference signal may be positioning reference signals sent by the second communication device at two adjacent times through the same reference signal resource or the same reference signal resource set. The first communication device may obtain the reference signal resource or the transmission period of the positioning reference signal configured in the reference signal resource set to determine the first transmission time difference. The first communication device may determine the clock drift deviation between the first communication device and the second communication device within unit time based on the first receiving time difference and the first sending time difference. For the specific calculation method, please refer to the aforementioned formula (3). Alternatively, the first communication device may determine a clock drift deviation between the first communication device and the second communication device within the first reception time difference based on the first reception time and the first transmission time difference. Specifically, the clock drift deviation between the first communication device and the second communication device within the first receiving time difference is equal to the first sending time difference minus the first receiving time difference.

The clock drift deviation between the first communication device and the second communication device within the second transmission and reception time difference is determined based on the first reception time difference, the first transmission time difference and the second transmission and reception time difference.

Specifically, the first communication device may determine the clock drift deviation between the first communication device and the second communication device within unit time based on the first receiving time difference and the first sending time difference. Then, the first communication device multiplies the second sending and receiving time difference by the clock drift deviation between the first communication device and the second communication device within the unit time to obtain the second time difference between the first communication device and the second communication device. The clock drift deviation within the sending and receiving time difference. The second sending and receiving time difference has not been compensated for clock drift deviation.

The second communication device sends the third sending and receiving time difference to the third communication device. The third sending and receiving time difference is the time difference between the receiving time of the third positioning reference signal and the sending time of the first positioning reference signal. Then, the third communication device can determine the distance d3 between the first communication device and the second communication device, d3=c*[second transmission and reception time difference-(1-Δ)*third transmission and reception time difference]/2. Thus, the clock drift deviation between the first communication device and the second communication device within the first reception time difference can be compensated or eliminated, and the positioning accuracy can be improved. If the position of the second communication device is known, the third communication device can determine the position of the first communication device through the distance d3 and the position of the second communication device. For specific examples of clock drift deviation compensation, please refer to the relevant introduction mentioned above, and no examples will be given here.

It can be seen from the above implementation mode 2 that the first communication device reports the clock drift deviation between the first communication device and the second communication device within the first time period to the third communication device. The third communication device can compensate or eliminate the clock drift deviation, thereby eliminating the impact of the clock drift deviation and improving positioning accuracy.

Implementation manner 3: The first information includes the first sending and receiving time difference and the first indication information.

The first sending and receiving time difference is the time difference between the receiving time of the first positioning reference signal and the sending time of the third positioning reference signal. The first transmission and reception time difference is obtained by compensating for the clock drift deviation between the first communication device and the second communication device within the first transmission and reception time difference. The sending time of the third positioning reference signal is the sending time of the first communication device sending the third positioning reference signal to the second communication device. The first indication information is used to indicate that the first transmission and reception time difference is obtained by compensating for the clock drift deviation between the first communication device and the second communication device within the first transmission and reception time difference.

In this implementation, the first communication device sends the first sending and receiving time difference to the third communication device. The second communication device sends the third sending and receiving time difference to the third communication device. The third sending and receiving time difference is the time difference between the receiving time of the third positioning reference signal and the sending time of the first positioning reference signal. The third sending and receiving time difference has not been compensated for clock drift deviation. The first sending and receiving time difference is compensated by the clock drift deviation, so the third communication device can determine the distance d4 between the first communication device and the second communication device. d4=(first sending and receiving time difference-third sending and receiving time difference)/2. In this way, the clock drift deviation between the first communication device and the second communication device can be compensated or eliminated, and the positioning accuracy can be improved. If the position of the second communication device is known, the third communication device can determine the position of the first communication device through the distance d4 and the position of the second communication device.

Based on the above implementation manner 1 to implementation manner 3, optionally, the first information also includes the index of one or more antennas. The index of the one or more antennas includes at least one of the indexes of the antennas used by the second communication device to send the first positioning reference signal and the second positioning reference signal; or, the index of the one or more antennas includes the first communication device receiving the first positioning reference signal. At least one of an index of an antenna for a reference signal and an index of an antenna for the first communication device to receive a second reference signal.

Optionally, the first positioning reference signal and the second positioning reference signal are sent by the second communication device to the first communication device through the same antenna, or the first positioning reference signal and the second positioning reference signal are transmitted by the first communication device. received through the same antenna, the first information also includes the index of the antenna. That is, if the second communication device sends the positioning reference signal through the same antenna, then the first information only needs to include an antenna index.

Optionally, the first positioning reference signal is sent by the second communication device to the first communication device through the first antenna, and the second positioning reference signal is sent by the second communication device to the first communication device through the second antenna, then the first positioning reference signal is sent by the second communication device to the first communication device through the second antenna. One information also includes the index of the first antenna and the index of the second antenna. This implementation will be introduced in detail later through the embodiment shown in Figure 12 . Alternatively, the first information further includes the index of the second antenna. The first antenna may serve as a reference antenna, and the index of the reference antenna may be pre-agreed or pre-configured between the first communication device and the third communication device. Therefore, the index of the reference antenna may not be included in the first information.

Optionally, the first positioning reference signal is received by the first communication device through the first antenna, the second positioning reference signal is received by the first communication device through the first antenna, and the first information also includes the index and sum of the first antenna. Index of the second antenna. In this implementation, the second communication device may send the first positioning reference signal and the second positioning reference signal through a fixed antenna. The first communication device uses the first antenna to receive the first positioning reference signal. The first communication device switches from the first antenna to the second antenna, and uses the second antenna to receive the second positioning reference signal. There is also a channel time difference between the first antenna and the second antenna. The principle is the same as that in the embodiment shown in Figure 12. The first antenna of the second communication device (used to send the first positioning reference signal) and the third antenna of the second communication device The channel time difference between the two antennas (used to send the second positioning reference signal) is similar. For details, please refer to the relevant introduction later. Alternatively, the first information also includes an index of the second antenna. The first antenna may be used as a reference antenna, and the index of the reference antenna may be between the first communication device and the third communication device. pre-agreed or pre-configured. Therefore, the index of the reference antenna may not be included in the first information.

It can be seen from the above implementation manner 3 that the first communication device reports the first sending and receiving time difference and the first indication information to the third communication device. The first transmission and reception time difference is obtained by compensating for the clock drift deviation between the first communication device and the second communication device within the first transmission and reception time difference. The third communication device can position the first communication device based on the first sending and receiving time difference, thereby eliminating the impact of clock drift deviation and improving positioning accuracy.

Implementation manner 4: The first information includes the first distance variation. The first distance variation is the variation between the distance from the first communication device to the second communication device at the first time and the second time. The time interval between the first moment and the second moment is the first time period. Regarding the first time period, please refer to the relevant introduction mentioned above.

In this implementation, the first communication device may send the first distance change to the third communication device. The third communication device positions the first communication device according to the first distance change.

Optionally, the first communication device may receive corresponding distance changes from multiple second communication devices. The distance variation corresponding to each second communication device among the plurality of second communication devices is the variation between the distance of each second communication device to the second communication device at the first time and the second time. Then, the first communication device locates the first communication device according to the corresponding distance changes of the plurality of second communication devices.

In one possible implementation, there is a relatively stable clock drift deviation between the terminal device 1 and each RSU, that is, there is a fixed clock drift deviation. In this scenario, for an RSU, the reception time difference measured by the first communication device can eliminate the clock drift deviation between the terminal equipment 1 and the RSU, and the movement of the terminal equipment 1 can be used to achieve accurate positioning of the terminal equipment.

For example, as shown in Figure 11, the first communication device is the terminal device 1, and the plurality of second communication devices are multiple RSUs. Each RSU periodically sends positioning reference signals. Terminal equipment 1 separately measures the arrival time difference between the two positioning reference signals sent by each RSU that are continuously received by terminal equipment 1 (the two positioning reference signals of each RSU arrive at terminal equipment 1 at time 1 and time 2 respectively) and arrive at terminal equipment 1, that is, the reception time difference is Time difference. Therefore, the change in distance between terminal equipment 1 and each RSU at time 1 and time 2 can be expressed by the following formula:

In the above formula (4), Δd ₁ is the change in the distance between terminal device 1 and RSU1 at time 1 and time 2. is the distance between terminal equipment 1 and RSU1 at time 1, is the distance between terminal device 1 and RSU1 at time 2. TTTD ₁ is the sending time difference between two positioning reference signals sent by RSU1. RRTD ₁ is the arrival time difference of the two positioning reference signals of RSU1 measured by terminal equipment 1 to terminal equipment 1, that is, the reception time difference, and c is the speed of light.

In the above formula (5), Δd ₂ is the change in the distance between terminal device 1 and RSU2 at time 1 and time 2. is the distance between terminal equipment 1 and RSU2 at time 1, is the distance between terminal device 1 and RSU2 at time 2. TTTD ₂ is the sending time difference between RSU2 sending two positioning reference signals. RRTD ₂ is the arrival time difference of the two positioning reference signals of RSU2 measured by terminal equipment 1 to terminal equipment 1, that is, the reception time difference, and c is the speed of light.

In the above formula (6), Δd ₃ is the change in the distance between terminal device 1 and RSU3 at time 1 and time 2. is the distance between terminal equipment 1 and RSU3 at time 1, is the distance between terminal equipment 1 and RSU3 at time 2 Leave. TTTD ₃ is the sending time difference between two positioning reference signals sent by RSU3. RRTD ₃ is the arrival time difference of the two positioning reference signals of RSU3 measured by the terminal equipment 1 to the terminal equipment 1, that is, the reception time difference, and c is the speed of light.

In the above formula (7), Δd ₄ is the change in the distance between terminal device 1 and RSU4 at time 1 and time 2. is the distance between terminal device 1 and RSU4 at time 1, is the distance between terminal device 1 and RSU4 at time 2. TTTD ₄ is the sending time difference between two positioning reference signals sent by RSU4. RRTD ₄ is the arrival time difference of the two positioning reference signals of RSU4 measured by the terminal equipment 1 to the terminal equipment 1, that is, the reception time difference, and c is the speed of light.

The third communication device can calculate the position of the terminal device 1 at time 1 and the position of the terminal device 1 at time 2 according to the above formula 4 to formula 7. Specifically, the third communication device can calculate the position (x1, y1) of the terminal device 1 at time 1 and the position (x2, y2) of the terminal device 1 at time 2 through the following formula (8).

In the above formula (8), Indicates the distance difference between the position of terminal equipment 1 at time 1 and the position at time 2 to reach the i-th RSU. Indicates the fluctuation coefficient of the i-th RSU, which is related to the channel quality between the terminal device and the i-th RSU. The better the channel quality between the terminal device and the i-th RSU, the higher the received signal energy of the i-th RSU received by the terminal device. The smaller.

In the above formula (8), the third communication device can search the position (x1, y1) of the terminal device 1 at time 1 and the position (x2, y2) of the terminal device 1 at time 2. The third communication device brings the terminal’s position (x1, y1) at time 1 and the position (x2, y2) at time 2 Minimizing the above formula (8), it can be seen that (x1, y1) and (x2, y2) are (x ₁ ', y ₁ ') and (x ₂ ', y ₂ ' in the above formula (8) ).

Optionally, the third communication device can obtain (x ₁ ', y ₁ ', x ₂ ', y in the above formula (8) through particle swarm optimization (PSO) search method or maximum likelihood estimation method ₂ ').

In another possible implementation, the clock of the terminal device 1 drifts linearly, while the clock drift of each RSU is relatively stable. In this scenario, for an RSU, the first communication device can eliminate the clock drift deviation of the clock of the RSU at different times by receiving the time difference, but cannot eliminate the clock drift deviation of the clock of the terminal device 1 at different times.

Therefore, in this scenario, the third communication device can subtract Δd ₁ from the above Δd ₂ , Δd ₃ and Δd ₄ respectively to obtain the difference value, thereby further eliminating the clock drift deviation of the clock of the terminal device 1 at different times, as shown in the following formula (9) to formula (11).

The third communication device can calculate the position of the terminal device 1 at time 1 and the position of the terminal device 1 at time 2 according to the above formula (9) to formula (11). Specifically, the third communication device calculates the position (x1, y1) of the terminal device at time 1 and the position (x2, y2) of the terminal device 1 at time 2 through the following formula (12).

In the above formula (12), Indicates the difference between the distance difference between the position of terminal equipment 1 at time 1 and the position at time 2 and the i-th RSU and Δd ₁ . about Please refer to the relevant introduction mentioned above and will not go into details here.

In the above formula (12), the third communication device searches for the position (x1, y1) of the terminal device 1 at time 1 and the position (x2, y2) of the terminal device 1 at time 2. The third communication device brings the position (x1, y1) of the terminal device 1 at time 1 and the position (x2, y2) of the terminal device 1 at time 2. So that the above formula (12) is minimized. Therefore, it can be seen that (x1,y1,x2,y2) is (x' ₁ ,y ₁ ',x ₂ ',y ₂ ') in the above formula (12).

Optionally, the third communication device can obtain (x' ₁ , y ₁ ', x ₂ ', y ₂ ') in the above formula (12) through the PSO search method or the maximum likelihood estimation method.

Another possible implementation is that the clock of the terminal device drifts linearly, and the clocks of each RSU also drift linearly. In this scenario, the first communication device cannot eliminate the clock drift deviation of the clock of the RSU at different times and the clock drift deviation of the clock of the terminal device 1 at different times by receiving the time difference.

As shown in Figure 12, the first communication device is the terminal equipment 1, and the plurality of second communication devices are a plurality of RSUs. In this scenario, each RSU periodically sends positioning reference signals. Terminal equipment 1 separately measures and continuously receives three positioning reference signals sent by each RSU (three positioning reference signals of each RSU (positioning reference signal 1, positioning reference signal 2 and positioning reference signal 3) at time 1 and time respectively. The difference in arrival time between 2 and time 3 arriving at the terminal device 1) is the reception time difference. Therefore, the change amount of the distance between the terminal equipment 1 and each RSU at time 1, time 2 and time 3 is specifically expressed by the above formula (4) to formula (7) and the following formula (13) to formula (17) express.

In the above formula (13), Δd ₅ is the change in the distance between terminal equipment 1 and RSU1 at time 2 and time 3. is the distance between terminal equipment 1 and RSU1 at time 2, is the distance between terminal device 1 and RSU1 at time 3. TTTD ₅ is the sending time difference between RSU1 sending positioning reference signal 2 and positioning reference signal 3. RRTD ₅ is the arrival time difference between the positioning reference signal 2 and the positioning reference signal 3 of RSU1 measured by the terminal device 1 to the terminal device 1, that is, the reception time difference, and c is the speed of light.

In the above formula (14), Δd ₆ is the change in the distance between terminal equipment 1 and RSU2 at time 2 and time 3. is the distance between terminal equipment 1 and RSU2 at time 2, is the distance between terminal device 1 and RSU2 at time 3. TTTD ₆ is the time difference between RSU2 sending positioning reference signal 2 and positioning reference signal 3. RRTD ₆ is the arrival time difference between the positioning reference signal 2 and the positioning reference signal 3 of RSU2 measured by the terminal device 1 to the terminal device 1, that is, the reception time difference, and c is the speed of light.

In the above formula (15), Δd ₇ is the change in the distance between terminal equipment 1 and RSU3 at time 2 and time 3. is the distance between terminal equipment 1 and RSU3 at time 2, is the distance between terminal device 1 and RSU3 at time 3. TTTD ₇ is the time difference between when RSU3 sends positioning reference signal 2 and positioning reference signal 3. RRTD ₇ is the arrival time difference between the positioning reference signal 2 and the positioning reference signal 3 of RSU3 measured by the terminal device 1 to the terminal device 1, that is, the reception time difference, and c is the speed of light.

In the above formula (16), Δd ₈ is the change in the distance between terminal equipment 1 and RSU4 at time 2 and time 3. is the distance between terminal equipment 1 and RSU4 at time 2, is the distance between terminal device 1 and RSU4 at time 3. TTTD ₈ is the time difference between RSU4 sending positioning reference signal 2 and positioning reference signal 3. RRTD ₈ is a terminal device The arrival time difference between the positioning reference signal 2 and the positioning reference signal 3 of RSU4 measured by device 1 reaches the terminal device 1, that is, the reception time difference, and c is the speed of light.

In this scenario, the third communication device determines the following formulas (17) to formula (20) through the above formulas (4) to formula (7) and formulas (13) to formula (16).

It can be seen from this that the third communication device can eliminate the clock drift deviation of the terminal equipment 1 and the clock drift deviation of each RSU through the above formula (17) to formula (20).

The third communication device can calculate the positions of the terminal device 1 at time 1, time 2 and time 3 according to the above formula (17) to formula (20). Specifically, the third communication device calculates the position (x1, y1) of the terminal device at time 1, the position (x2, y2) at time 2, and the position (x3, y3) at time 3 by using the following formula (21).

In the above formula (21), Represents the difference between Δd _i and Δd _i+4 , i is an integer greater than or equal to 1 and less than or equal to 4.

In the above formula (21), the third communication device finds the position (x1, y1) of the terminal device at time 1, the position (x2, y2) at time 2, and the position (x3, y3) at time 3. The third communication device substitutes the position (x1, y1) of the terminal device at time 1, the position (x2, y2) at time 2, and the position (x3, y3) at time 3. So that the above formula (21) is minimized. Therefore, (x1, y1, x2, y2, x3, y3) is (x ₁ ', x ₂ ', x ₃ ', y ₁ ', y ₂ ', y ₃ ') in the above formula (21).

Optionally, the third communication device can obtain (x ₁ , x ₂ _, x _{3 , y 1} , y ₂ , y ₃ ) in the above formula (21) through the PSO search method or the maximum likelihood estimation method.

In the positioning method based on the sending and receiving time difference, when the terminal device moves between the sending and receiving time, it will cause a large deviation in the measured distance, thus limiting the positioning accuracy. The above implementation mode 4 provides a positioning method based on the reception time difference. The first communication device calculates the distance changes between the first communication device and the plurality of second communication devices by measuring multiple reception time differences, and uses the The distance changes between the first communication device and the plurality of second communication devices realize the positioning of the first communication device. The movement characteristics of the first communication device are effectively utilized to achieve positioning of the terminal equipment, and the impact of the movement of the first communication device on the positioning accuracy is avoided. At the same time, the influence caused by the clock drift deviation between the first communication device and the second communication device can be overcome, and the positioning accuracy can be further improved.

Based on the above implementation manner 1 to implementation manner 4, optionally, the first information also includes a time tag, and the time tag is used to indicate the measurement time of the first reception time difference. For example, the time tag is used to indicate the time slot or subframe at which the first communication device receives the first positioning reference signal; and/or is used to indicate the time slot or subframe at which the first communication device receives the second positioning reference signal. time slot or subframe.

Implementation manner 5: The first information includes the third reception time difference, and the third reception time difference is determined based on the first reception time difference.

Optionally, the third reception time difference is obtained by taking the first reception time difference modulo the unit time; or, the third reception time difference is The third receiving time difference is determined based on the first receiving time difference and the first sending time difference. The calculation methods of the third reception time difference mentioned above are just some examples. In practical applications, other calculation methods may also be used, which are not specifically limited in this application.

Optionally, the unit time can be 1 millisecond, a subframe, or a time slot, etc., which is not specifically limited in this application.

Optionally, the third reception time difference may also be called a relative time difference, which is not specifically limited in this application.

Optionally, the first information also includes a time tag, and the time tag is used to indicate the measurement time of the first reception time difference. For example, the time tag is used to indicate the time slot or subframe at which the first communication device receives the first positioning reference signal; and/or is used to indicate the time slot or subframe at which the first communication device receives the second positioning reference signal. time slot or subframe.

Specifically, the third communication device determines the first reception time difference based on the third reception time difference. Then, the third communication device locates the first communication device according to the first reception time difference. For specific information about the positioning of the first communication device by the third communication device based on the first reception time difference, please refer to the relevant introduction in Implementation Mode 1 in the aforementioned step 704.

For example, the first reception time difference is 9.5 milliseconds. The first communication device performs a modulo operation on the first reception time difference within unit time (here, the unit time is 1 millisecond) to obtain the third reception time difference. The third reception time difference is 0.5 milliseconds. For example, time tag 1 is the 1st subframe, time tag 2 is the 10th subframe, and the time tag 1 is used to indicate that the reception time of the first positioning reference signal falls on the 1st subframe. Time tag 2 is used to indicate that the reception time of the first positioning reference signal falls on the 10th subframe. Assuming that the length of each subframe is 1 millisecond, the third communication device can determine that the first reception time difference is equal to the time interval between time tag 2 and time tag 1 plus the third reception time difference. The time interval between time tag 2 and time tag 1 is equal to 9 milliseconds, so the first reception time difference is 9.5 milliseconds. The third communication device may determine the first reception time difference through the third reception time difference. Then, the third communication device locates the first communication device according to the first reception time difference.

For example, the first positioning reference signal and the second positioning reference signal are positioning reference signals sent by the second communication device through the same reference signal resource at different times. The transmission period of the positioning reference signal configured in this reference signal resource is 10 milliseconds. The first reception time difference is 9.6 milliseconds. The first communication device subtracts the first reception time difference from the transmission period to obtain the third reception time difference. That is, the third reception time difference is 0.4 milliseconds. The third communication device may determine the first reception time difference through the third reception time difference. Then, the third communication device locates the first communication device according to the first reception time difference.

It should be noted that the specific content of the first information is introduced above with reference to specific scenarios. In practical applications, the first information includes at least one of the following: the first receiving time difference, the clock drift deviation between the first communication device and the second communication device within the first time period, the first sending and receiving time difference, and the first indication information. The first distance change amount and the third reception time difference. Specifically, the first information may carry the content shown above depending on the actual situation. The implementation manner shown above is not a limitation of this application.

Optionally, the embodiment shown in FIG. 7 also includes step 704a, which may be performed before step 704.

704a. The third communication device obtains the second information.

The second information is determined based on the second reception time difference. The second reception time difference is a time difference between the reception time when the second communication device receives the third positioning reference signal from the first communication device and the reception time when the second communication device receives the fourth positioning reference signal from the first communication device.

Optionally, the second information includes at least one of the following: second reception time difference, time difference between the first communication device and the second communication device The clock drift deviation, the fifth sending and receiving time difference, and the third indication information between settings within the second time period. For example, the second time period is unit time, or the second receiving time difference, or the fourth sending and receiving time difference.

The fifth sending and receiving time difference is the time difference between the receiving time of the third positioning reference signal and the sending time of the first positioning reference signal. The fifth transmission and reception time difference is obtained by compensating the clock drift deviation between the first communication device and the second communication device within the fifth transmission and reception time difference.

The third indication information is used to indicate that the fifth transmission and reception time difference is obtained by compensating for the clock drift deviation between the first communication device and the second communication device within the fifth transmission and reception time difference.

The second information is similar to the first information. For details, please refer to the relevant introduction of the first information.

For example, as shown in Figure 10C, the first communication device is the terminal device 1, and the second communication device is the access network device. The access network device receives the uplink positioning reference signal 1 sent from the terminal device 1 at the receiving time Rx3, and receives the uplink positioning reference signal 2 sent from the terminal device 1 at the receiving time Rx5. The access network device may determine a second reception time difference between the reception time Rx3 and the reception time Rx5.

It should be noted that, optionally, the third communication device and the second communication device may be two different communication devices, or they may be the same communication device, which is not specifically limited in this application. Regarding some possible forms of the first communication device, the second communication device and the third communication device, please refer to the relevant introductions above.

Based on the above step 704a, optionally, the above step 704 specifically includes:

The third communication device locates the first communication device according to the first information and the second information.

In this implementation manner, the second communication device further provides the second information, thereby facilitating the third communication device to locate the first communication device based on the first information and the second information. This further improves positioning accuracy.

In this embodiment of the present application, the first communication device receives the first positioning reference signal and the second positioning reference signal from the second communication device. The first communication device measures the first positioning reference signal and the second positioning reference signal to obtain a first receiving time difference. The first reception time difference is a time difference between the reception time when the first communication device receives the first positioning reference signal and the reception time when the first communication device receives the second positioning reference signal. Then, the first communication device sends first information to the third communication device, and the first information is determined based on the first reception time difference. It can be seen from this that the first communication device can measure the first positioning reference signal and the second positioning reference signal to obtain the first reception time difference; the first reception time difference is the difference between the reception time of the first communication device receiving the first positioning reference signal and the first communication device The time difference between the reception times of the second positioning reference signal. The first communication device sends the first information to the third communication device. The first information is determined based on the first reception time difference, which facilitates the third communication device to eliminate or compensate for the clock drift deviation existing between the first communication device and the second communication device in combination with the first information. This eliminates the impact of clock drift deviation and improves the positioning accuracy of the third communication device on the first communication device.

The following describes the second communication device sending positioning reference signals to the first communication device through multiple antennas with reference to the embodiment shown in FIG. 13, so as to realize the positioning process of the first communication device.

Figure 13 is a schematic diagram of another embodiment of the communication method according to the embodiment of the present application. See Figure 13. Methods include:

1301. The second communication device sends the first positioning reference signal and the second antenna to the first communication device through the first antenna. Send a second positioning reference signal to the first communication device. Correspondingly, the first communication device receives the first positioning reference signal and the second positioning reference signal from the second communication device.

For example, as shown in FIG. 14 , the first communication device is terminal equipment 1 and the second communication device is terminal equipment 2 . The terminal device 1 sends a first positioning reference signal to the terminal device 2 through the antenna A1, and sends a second positioning reference signal to the terminal device 2 through the antenna A2.

1302. The first communication device measures the first positioning reference signal and the second positioning reference signal to obtain the first reception time difference.

Step 1302 is similar to step 702 in the embodiment shown in FIG. 7 . For details, please refer to the relevant introduction of step 702 in the embodiment shown in FIG. 7 , which will not be described again here.

1303. The second communication device sends the fifth positioning reference signal to the first communication device through the first antenna. Correspondingly, the first communication device receives the fifth positioning reference signal from the second communication device.

For example, as shown in FIG. 14 , the first communication device is terminal equipment 1 and the second communication device is terminal equipment 2 . The terminal device 2 sends the positioning reference signal to the terminal device 2 again through the antenna A1.

1304. The first communication device measures the first positioning reference signal and the fifth positioning reference signal to obtain a fourth reception time difference.

The fourth reception time difference is a time difference between the reception time when the first communication device receives the first positioning reference signal and the reception time when the first communication device receives the fifth positioning reference signal.

For example, as shown in FIG. 14 , the first communication device is terminal equipment 1 and the second communication device is terminal equipment 2 . Terminal device 1. Terminal equipment 2 periodically sends positioning reference signals to terminal equipment 1. It can be seen from this that the transmission time difference TXTXTD2 of the first positioning reference signal and the fifth positioning reference signal is equal to 3Tp, and Tp is the period in which the terminal device 2 sends the positioning reference signal. The reception time when the terminal equipment 1 receives the first positioning reference signal is Ta1, and the reception time when it receives the fifth positioning reference signal is Ta1'. Therefore, the fourth reception time difference RXRXTD2=Ta1-Ta1'.

1305. The first communication device sends the first information to the third communication device, and the first information is determined based on the first reception time difference. Correspondingly, the third communication device receives the first information from the first communication device.

1306. The third communication device locates the first communication device according to the first information.

Some possible implementation methods for the content included in the first information are introduced below.

Implementation 1: The first information includes the first reception time difference, and the first information also includes the fourth reception time difference.

Optionally, the first information also includes the index of the first antenna and the index of the second antenna.

Optionally, the first information also includes phase information. The phase information includes a first phase and a second phase. The first phase is the phase of the first positioning reference signal measured by the first communication device. The second phase is the phase of the second positioning reference signal measured by the first communication device.

The third communication device determines the clock drift deviation between the first communication device and the second communication device within unit time based on the fourth receiving time difference and the second sending time difference. The second sending time difference is the sending time difference between the second communication device sending the first positioning reference signal and the fifth positioning reference signal.

The third communication device determines the first reception time difference between the first communication device and the second communication device through the clock drift deviation between the first communication device and the second communication device within the unit time and the first reception time difference. Clock drift deviation. The third communication device uses the first reception time difference and the third communication device between the first communication device and the second communication device. The clock drift deviation within a reception time determines the channel time difference between the first antenna and the second antenna. The third communication device may compensate the first phase and the second phase by a clock drift deviation within a first reception time difference between the first communication device and the second communication device and the channel time difference.

The first communication device sends the sending and receiving time difference 1 to the third communication device. The second communication device sends the sending and receiving time difference 2 to the third communication device. The sending and receiving time difference 2 is the time difference between the receiving time of the third positioning reference signal and the sending time of the first positioning reference signal. The third communication device determines the clock between the first communication device and the second communication device within the sending and receiving time difference 1 through the clock drift deviation and the sending and receiving time difference 1 between the first communication device and the second communication device. Drift bias. Then, the third communication device can compensate the sending and receiving time difference 1 using the clock drift deviation between the first communication device and the second communication device within the sending and receiving time difference 1, and obtain the compensated sending and receiving time difference 1. Then, the third communication device determines the distance, position, etc. between the first communication device and the second communication device based on the compensated transmission and reception time difference 1 and transmission and reception time difference 2.

The following uses the example shown in FIG. 14 to introduce the process of the third communication device determining the channel time difference between the first antenna and the second antenna and the clock drift deviation a between the first communication device and the second communication device within unit time.

The channel time difference between the first antenna and the second antenna refers to the time when the first positioning reference signal on the baseband of the first communication device reaches the first antenna and the time of the second positioning reference signal of the second communication device on the baseband. The time difference between the time of arrival at the second antenna. That is to say, the time for the first positioning reference signal on the baseband of the first communication device to arrive at the first antenna includes: the transmission time from the first positioning reference signal of the first communication device on the baseband to the first positioning reference signal sent by the first antenna. the time between. The time when the second positioning reference signal of the second communication device on the baseband reaches the second antenna includes: the time when the second positioning reference signal of the first communication device on the baseband reaches the second antenna and the time when the second positioning reference signal is sent by the second antenna. time.

For example, as shown in Figure 14, the first communication device is terminal equipment 1, the second communication device is terminal equipment 2, and the third communication device is LMF. The transmission period in which the terminal equipment 2 transmits the positioning reference signal is Tp. The third communication device can obtain the following formula (22) through the first reception time difference, and the third communication device can obtain the following formula (23) through the fourth reception time difference.
RXRXTD1+T _ε12 +T _d1 =Tp Formula (22)
RXRXTD2+T _d2 =3*Tp Formula (23)

In the above formula (22), T _ε12 is the channel time difference between antenna A1 and antenna A2, and T _d1 is the clock drift between terminal equipment 1 and terminal equipment 2 in the time period between reception time a1 and reception time a2. deviation. T _d1 =a*t1, a is the clock drift deviation rate between the terminal device and the terminal device 2, and t1 represents the time interval between the receiving time a1 and the receiving time a2, that is, t1 is equal to Tp.

T _d2 is the clock drift deviation between the terminal device 1 and the terminal device 2 in the time period between the reception time a1 and the reception time a1'. T _d2 =a*t2, a is the clock drift deviation rate between terminal equipment 1 and terminal equipment 2, and t2 represents the time interval between receiving time a1 and receiving time a1', that is, t2 is equal to 3*Tp.

LMF can know from the above formula (23) that T _d2 =3*Tp-RXRXTD2, so LMF can determine a. Among them, a=T _d2 /3*Tp=3*Tp-RXRXTD2/3*Tp. Therefore, LMF determines T _d1 , and then combines the above formula (22) and T _d1 to determine T _ε12 .

Therefore, the LMF can compensate the first phase and the second phase through the T _d1 and T _ε12 , and determine the azimuth angle where the terminal device 1 is located through the first phase and the second phase. Terminal device 1 sends the sending and receiving time difference 1 to LMF. The terminal device 2 sends a transmission and reception time difference 2 to the LMF. The transmission and reception time difference 2 is the time difference between the reception time of the third positioning reference signal and the transmission time of the first positioning reference signal. The LMF can determine the clock drift deviation of the first communication device and the second communication device in the sending and receiving time difference 1 based on the clock drift deviation a and the sending and receiving time difference 1 of the first communication device and the second communication device within unit time. Then, the LMF compensates for the sending and receiving time difference 1 reported by the terminal device 1 through the clock drift deviation of the sending and receiving time difference 1 between the first communication device and the second communication device. LMF can accurately determine the distance between terminal device 1 and terminal device 2 through the sending and receiving time difference 1 and the sending and receiving time difference 2.

Implementation 2: The first information includes: the clock drift deviation between the first communication device and the second communication device within the first time period, and the first information also includes the channel time difference between the first antenna and the second antenna.

In this implementation, the third communication device can compensate the first phase and the second phase through the above-mentioned clock drift deviation and channel time difference, and determine the azimuth angle of the first communication device through the first phase and the second phase. The terminal device 1 sends the sending and receiving time difference 1 to the third communication device. The terminal equipment 2 sends the transmission and reception time difference 2 to the third communication device. The transmission and reception time difference 2 is the time difference between the reception time of the third positioning reference signal and the transmission time of the first positioning reference signal. The third communication device can use the clock drift deviation to compensate for the sending and receiving time difference 1 reported by the terminal device 1 . Then, the third communication device can accurately determine the distance between the terminal device 1 and the terminal device 2 through the sending and receiving time difference 1 and the sending and receiving time difference 2.

In this implementation, the first transmission and reception time difference is obtained by compensating for the clock drift deviation between the first communication device and the second communication device within the first transmission and reception time difference. The first indication information is used to indicate that the first transmission and reception time difference is obtained by compensating for the clock drift deviation between the first communication device and the second communication device within the first transmission and reception time difference.

Optionally, the first information also includes phase information. The phase information includes a first phase and a second phase. The first phase and the second phase are obtained by compensating for the channel time difference between the first antenna and the second antenna and the clock drift deviation between the first communication device and the second communication device within the first reception time difference.

The first sending and receiving time difference is obtained by compensating the clock drift deviation and the channel time difference. Therefore, the third communication device can accurately determine the distance between the terminal device 1 and the terminal device 2 through the first sending and receiving time difference and the third sending and receiving time difference reported by the terminal device 2 . The third sending and receiving time difference is the time difference between the receiving time of the third positioning reference signal and the sending time of the first positioning reference signal. The third sending and receiving time difference has not been compensated for clock drift deviation. first phase bit and the second phase are obtained by compensating for the channel time difference between the first antenna and the second antenna and the clock drift deviation between the first communication device and the second communication device within the first reception time difference, so the third communication device can The azimuth angle where the first communication device is located is accurately determined through the first phase and the second phase.

It can be seen from the embodiment shown in FIG. 13 that the third communication device uses the channel time difference between the first antenna and the second antenna and the clock drift deviation between the first communication device and the second communication device within the first reception time difference. Compensation of the first phase and the second phase is achieved. This eliminates the effects of channel time differences and clock drift deviations on the angle measurement accuracy of different antenna measurement phases, and improves positioning accuracy. At the same time, the influence of clock drift deviation between the first communication device and the second communication device can be overcome, ranging accuracy is improved, and positioning accuracy is further improved.

In this implementation, the first information also includes second indication information. The second indication information is used to indicate that the first phase and the second phase pass through the channel time difference between the first antenna and the second antenna and within the first reception time difference between the first communication device and the second communication device. Clock drift offset compensation is obtained.

It should be noted that the above is based on the first phase and the second phase passing through the channel time difference between the first antenna and the second antenna and the clock drift deviation between the first communication device and the second communication device within the first receiving time difference. compensated. In practical applications, the first communication device may compensate part of the phases but not compensate part of the phases. For example, the first phase is obtained by compensating for the channel time difference between the first antenna and the second antenna and the clock drift deviation between the first communication device and the second communication device within the first reception time difference. While the second phase is not compensated, the third communication device can compensate itself through clock drift deviation and channel time difference. This application is not specifically limited.

It should be noted that in the embodiments shown in FIGS. 7 and 13 , the first communication device reports the first information to the third communication device, and the third communication device positions the first communication device based on the first information. plan. In practical applications, the first communication device can determine the first information, and the first communication device can position the first communication device according to the first information, which is not limited in this application.

The communication device provided by the embodiment of the present application is described below. Please refer to FIG. 15 , which is a schematic structural diagram of a communication device according to an embodiment of the present application. The communication device may be used to perform the steps performed by the first communication device in the embodiments shown in Figures 7 and 13. For details, please refer to the relevant introduction in the above method embodiments.

The communication device 1500 includes a transceiver module 1501 and a processing module 1502.

The transceiver module 1501 can implement corresponding communication functions, and the transceiver module 1501 can also be called a communication interface or a communication unit. Processing module 1502 is used to perform processing operations.

Optionally, the communication device 1500 may also include a storage module, which may be used to store instructions and/or data, and the processing module 1502 may read the instructions and/or data in the storage module, so that the communication device implements the preceding figure. 7. and the method embodiment shown in Figure 13.

The communication device 1500 may be used to perform the actions performed by the first communication device in the above method embodiment. The communication device 1500 may be a first communication device or a component that may be configured in the first communication device. The transceiver module 1501 is configured to perform reception-related operations on the first communication device side in the above method embodiment, and the processing module 1502 is used to perform processing-related operations on the first communication device side in the above method embodiment.

Optionally, the transceiver module 1501 may include a sending module and a receiving module. The sending module is used to perform the sending operation of the first communication device in the method embodiments shown in FIG. 7 and FIG. 13 . The receiving module is used to perform the receiving operation of the first communication device in the method embodiments shown in FIG. 7 and FIG. 13 .

It should be noted that the communication device 1500 may include a sending module but not a receiving module. Alternatively, communication device 1500 may include a receiving module but not a transmitting module. Specifically, it may depend on whether the above solution executed by the communication device 1500 includes a sending action and a receiving action.

For example, the communication device 1500 is used to perform the following solution:

Transceiver module 1501, configured to receive the first positioning reference signal and the second positioning reference signal from the second communication device;

The processing module 1502 is used to measure the first positioning reference signal and the second positioning reference signal to obtain a first reception time difference; the first reception time difference is the reception time between the communication device 1500 receiving the first positioning reference signal and the communication device 1500 receiving the second positioning time. The time difference between the reception times of the reference signals;

The transceiver module 1501 is also used to send first information to the third communication device, where the first information is determined based on the first reception time difference.

The communication device provided by the embodiment of the present application is described below. Please refer to FIG. 16 , which is a schematic structural diagram of a communication device according to an embodiment of the present application. The communication device may be used to perform the steps performed by the third communication device in the embodiments shown in Figures 7 and 13. For details, please refer to the relevant introduction in the above method embodiments.

The communication device 1600 includes a transceiver module 1601 and a processing module 1602.

The transceiver module 1601 can implement corresponding communication functions, and the transceiver module 1601 can also be called a communication interface or a communication unit. Processing module 1602 is used to perform processing operations.

Optionally, the communication device 1600 may also include a storage module, which may be used to store instructions and/or data, and the processing module 1602 may read the instructions and/or data in the storage module, so that the communication device implements the preceding figure. 7. and the method embodiment shown in Figure 13.

The communication device 1600 may be used to perform the actions performed by the third communication device in the above method embodiment. The communication device 1600 may be a third communication device or a component configurable in the third communication device. The transceiver module 1601 is configured to perform reception-related operations on the third communication device side in the above method embodiment, and the processing module 1602 is used to perform processing-related operations on the third communication device side in the above method embodiment.

Optionally, the transceiver module 1601 may include a sending module and a receiving module. The sending module is used to perform the sending operation of the third communication device in the method embodiments shown in FIG. 7 and FIG. 13 . The receiving module is used to perform the receiving operation of the third communication device in the method embodiments shown in FIG. 7 and FIG. 13 .

It should be noted that the communication device 1600 may include a sending module but not a receiving module. Alternatively, communication device 1600 may include a receiving module but not a transmitting module. Specifically, it may depend on whether the above solution executed by the communication device 1600 includes a sending action and a receiving action.

For example, the communication device 1600 can be used to perform the following solutions:

Transceiver module 1601, configured to receive first information from the first communication device. The first information is determined based on the first reception time difference. The first reception time difference is when the first communication device receives the first positioning reference signal from the second communication device. The time difference between the reception time and the reception time of the first communication device receiving the second positioning reference signal from the second communication device;

The processing module 1602 is used to locate the first communication device according to the first information.

A possible structural schematic diagram in which the first communication device or the third communication device is a terminal device is shown below in FIG. 17 .

Figure 17 shows a simplified structural diagram of a terminal device. In order to facilitate understanding and illustration, in Figure 17, a mobile phone is used as an example of the terminal device. As shown in Figure 17, the terminal equipment includes a processor, memory, radio frequency circuit, antenna and input and output device.

The processor is mainly used to process communication protocols and communication data, control terminal equipment, execute software programs, process data of software programs, etc.

Memory is mainly used to store software programs and data.

Radio frequency circuits are mainly used for conversion of baseband signals and radio frequency signals and processing of radio frequency signals.

Antennas are mainly used to send and receive radio frequency signals in the form of electromagnetic waves.

Input and output devices, such as touch screens, display screens, keyboards, etc., are mainly used to receive data input by users and output data to users.

It should be noted that some types of terminal equipment may not have input and output devices.

When data needs to be sent, the processor performs baseband processing on the data to be sent and then outputs the baseband signal to the radio frequency circuit. The radio frequency circuit performs radio frequency processing on the baseband signal and then sends the radio frequency signal out in the form of electromagnetic waves through the antenna. When data is sent to the terminal device, the radio frequency circuit receives the radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor. The processor converts the baseband signal into data and processes the data.

For ease of illustration, only one memory and processor are shown in Figure 17. In an actual terminal device product, there may be one or more processors and one or more memories. Memory can also be called storage media or storage devices. The memory may be provided independently of the processor, or may be integrated with the processor, which is not limited in the embodiment of the present application.

In the embodiment of the present application, the antenna and the radio frequency circuit with the transceiver function can be regarded as the transceiver unit of the terminal device, and the processor with the processing function can be regarded as the processing unit of the terminal device. As shown in Figure 17, the terminal device includes a transceiver unit 1710 and a processing unit 1720. The transceiver unit may also be called a transceiver, a transceiver, a transceiver device, etc. The processing unit can also be called a processor, a processing board, a processing module, a processing device, etc.

Optionally, the devices used to implement the receiving function in the transceiver unit 1710 can be regarded as a receiving unit, and the devices used in the transceiver unit 1710 used to implement the transmitting function can be regarded as a sending unit. That is, the transceiving unit 1710 includes a receiving unit and a sending unit. The transceiver unit may sometimes also be called a transceiver, transceiver, or transceiver circuit. The receiving unit may also be called a receiver, receiver, or receiving circuit. The sending unit may sometimes be called a transmitter, transmitter or transmitting circuit.

It should be understood that the transceiver unit 1710 is used to perform the sending and receiving operations of the first communication device or the third communication device in the above method embodiment, and the processing unit 1720 is used to perform the first communication device or the third communication device in the above method embodiment. Other operations besides sending and receiving operations.

When the terminal device is a chip, the chip includes a transceiver unit and a processing unit. The transceiver unit may be an input-output circuit or a communication interface; the processing unit may be a processor or microprocessor, integrated circuit or logic circuit integrated on the chip.

The present application also provides a communication device. Please refer to FIG. 18 , which is another schematic structural diagram of a communication device according to an embodiment of the present application. The communication device may be used to perform the steps performed by the first communication device or the third communication device in the embodiments shown in Figures 7 and 13. Reference may be made to the relevant descriptions in the above method embodiments.

The communication device includes a processor 1801. Optionally, the communication device also includes a memory 1802 and a transceiver 1803.

In a possible implementation, the processor 1801, the memory 1802, and the transceiver 1803 are respectively connected through a bus, and computer instructions are stored in the memory.

Optionally, the communication device may be used to perform the steps performed by the first communication device in the embodiments shown in FIG. 7 and FIG. 13 . The processing module 1502 in the foregoing embodiment may specifically be the processor 1801 in this embodiment, so the specific implementation of the processor 1801 will not be described again. The transceiver module 1501 in the foregoing embodiment may specifically be the transceiver 1803 in this embodiment, so the specific implementation of the transceiver 1803 will not be described again.

Optionally, the communication device may be used to perform the steps performed by the third communication device in the embodiments shown in FIG. 7 and FIG. 13 . The processing module 1602 in the foregoing embodiment may specifically be the processor 1801 in this embodiment, so the specific implementation of the processor 1801 will not be described again. The transceiver module 1601 in the foregoing embodiment may specifically be the transceiver 1803 in this embodiment, so the specific implementation of the transceiver 1803 will not be described again.

An embodiment of the present application also provides a communication system, which includes a first communication device, a second communication device, and a third communication device. The first communication device is used to perform all or part of the steps performed by the first communication device in the embodiments shown in FIG. 7 and FIG. 13 . The third communication device is used to perform all or part of the steps performed by the third communication device in the embodiments shown in FIG. 7 and FIG. 13 .

Embodiments of the present application also provide a computer program product including instructions that, when run on a computer, cause the computer to perform the communication method of the embodiments shown in FIG. 7 and FIG. 13 .

Embodiments of the present application also provide a computer-readable storage medium that includes computer instructions. When the computer instructions are run on a computer, they cause the computer to perform the communication method of the embodiments shown in FIG. 7 and FIG. 13 .

An embodiment of the present application also provides a chip device, including a processor, configured to be connected to a memory and call a program stored in the memory, so that the processor executes the communication method of the embodiment shown in FIG. 7 and FIG. 13 .

Among them, the processor mentioned in any of the above places can be a general central processing unit, a microprocessor, an application-specific integrated circuit (ASIC), or one or more for controlling the above-mentioned Figure 7 and Figure 13 shows an integrated circuit for program execution of the communication method of the embodiment. The memory mentioned in any of the above places can be read-only memory (ROM) or other types of static storage devices that can store static information and instructions, random access memory (random access memory, RAM), etc.

Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be described again here.

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

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

In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or software functional units.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage media include: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

As mentioned above, the above embodiments are only used to illustrate the technical solution of the present application, but not to limit it. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still make the foregoing technical solutions. The technical solutions described in each embodiment may be modified, or some of the technical features may be equivalently replaced; however, these modifications or substitutions do not cause the essence of the corresponding technical solutions to depart from the scope of the technical solutions in each embodiment of the present application.

Claims

A communication method, characterized in that the method includes:

The first communication device receives a first positioning reference signal and a second positioning reference signal from the second communication device;

The first communication device measures the first positioning reference signal and the second positioning reference signal to obtain a first reception time difference. The first reception time difference is when the first communication device receives the first positioning reference signal. The time difference between the reception time and the reception time of the first communication device receiving the second positioning reference signal;

The first communication device sends first information to the third communication device, where the first information is determined based on the first reception time difference.
A communication method, characterized in that the method includes:

The third communication device receives the first information from the first communication device. The first information is determined based on the first reception time difference. The first reception time difference is when the first communication device receives the third communication device from the second communication device. The time difference between the reception time of a positioning reference signal and the reception time of the first communication device receiving the second positioning reference signal from the second communication device;

The third communication device locates the first communication device according to the first information.
The method of claim 2, further comprising:

The third communication device obtains second information, the second information is determined based on a second reception time difference, and the second reception time difference is when the second communication device receives a third positioning from the first communication device. a time difference between the reception time of the reference signal and the reception time of the second communication device receiving the fourth positioning reference signal from the first communication device;

The third communication device locates the first communication device according to the first information, including:

The third communication device locates the first communication device according to the first information and the second information.
The method according to any one of claims 1 to 3, characterized in that the first information includes the first reception time difference.
The method according to any one of claims 1 to 3, characterized in that the first information includes a third reception time difference, and the third reception time difference is the modulo unit time of the first reception time difference. obtained; or, the third reception time difference is determined based on the first reception time difference and the first transmission time difference, and the first transmission time difference is when the second communication device sends the first positioning reference signal. The time difference between the time and the sending time of the second positioning reference signal sent by the second communication device.
The method according to any one of claims 1 to 3, characterized in that the first information includes: clock drift between the first communication device and the second communication device within a first time period. Deviation, or the first distance change;

The clock drift deviation and the first distance variation between the first communication device and the second communication device within the first time period are determined based on the first receiving time difference and the first sending time difference. The first sending time difference is the sending time of the second communication device sending the first positioning reference signal to the first communication device and the sending time of the second communication device sending the first positioning reference signal to the first communication device. The time difference between the sending times of the second positioning reference signal, the first distance variation is the variation between the distance from the first communication device to the second communication device at the first time and the second time, The time interval between the first time and the second time is the first time period.
The method according to any one of claims 1 to 3, characterized in that the first information includes: a first sending and receiving time difference;

Wherein, the first transmission and reception time difference is the time difference between the reception time of the first positioning reference signal and the transmission time of the third positioning reference signal, and the first transmission and reception time difference is the time difference between the first communication device and the third positioning reference signal. The sending time of the third positioning reference signal is the time when the first communication device sends the third positioning reference signal to the second communication device. 3. The sending time of the positioning reference signal.
The method according to claim 7, characterized in that the first information further includes first indication information, the first indication information is used to indicate: the first sending and receiving time difference is obtained by passing the first communication device and The clock drift deviation between the second communication devices within the first sending and receiving time difference is compensated.
The method according to any one of claims 1 to 8, characterized in that the first information further includes an index of one or more antennas, and the index of the one or more antennas includes: the second communication At least one of the index of the antenna through which the device transmits the first reference signal and the index of the antenna through which the second communication device transmits the second reference signal; or, the index of the one or more antennas includes the first At least one of an index of an antenna through which a communication device receives the first reference signal and an index of an antenna through which the first communication device receives the second reference signal.
The method of claim 9, wherein the one or more antennas include a first antenna and a second antenna, and the first information further includes a signal between the first antenna and the second antenna. Channel time difference.
The method of claim 10, wherein the first information further includes phase information, the phase information includes a first phase and a second phase, and the first phase is measured by the first communication device. the phase of the first positioning reference signal, and the second phase is the phase of the second positioning reference signal measured by the first communication device.
The method according to claim 11, wherein the first phase and the second phase are the channel time difference between the first antenna and the second antenna and the first communication device and the second phase. The clock drift deviation between the second communication devices within the first reception time difference is compensated.
The method according to claim 12, characterized in that the first information further includes second indication information, the second indication information is used to indicate: the first phase and the second phase pass through the It is obtained by compensating for the channel time difference between the first antenna and the second antenna and the clock drift deviation between the first communication device and the second communication device within the first reception time difference.
The method according to any one of claims 10 to 13, characterized in that the channel time difference between the first antenna and the second antenna is based on the first sending time difference, the first receiving time difference and the The first communication device and the second communication device are determined by the clock drift deviation within the first receiving time difference, and the first sending time difference is when the second communication device sends the said first communication device to the first communication device. The time difference between the sending time of the first positioning reference signal and the sending time of the second communication device sending the second positioning reference signal to the first communication device.
The method according to any one of claims 1 to 14, characterized in that the first information further includes a time tag, and the time tag is used to indicate the measurement time of the first reception time difference.
A first communication device, characterized in that the first communication device includes:

A transceiver module configured to receive the first positioning reference signal and the second positioning reference signal from the second communication device;

a processing module, configured to measure the first positioning reference signal and the second positioning reference signal to obtain the first received Time difference, the first reception time difference is the time difference between the reception time when the first communication device receives the first positioning reference signal and the reception time when the first communication device receives the second positioning reference signal;

The transceiver module is also configured to send first information to a third communication device, where the first information is determined based on the first reception time difference.
A third communication device, characterized in that the third communication device includes:

A transceiver module, configured to receive first information from a first communication device, where the first information is determined based on a first reception time difference. The first reception time difference is when the first communication device receives a message from a second communication device. a time difference between the reception time of the first positioning reference signal and the reception time of the first communication device receiving the second positioning reference signal from the second communication device;

A processing module configured to locate the first communication device according to the first information.
The third communication device according to claim 17, characterized in that the processing module is also used to:

Obtain second information, the second information is determined based on a second reception time difference, the second reception time difference is the reception time of the second communication device receiving the third positioning reference signal from the first communication device and a time difference between the reception times of the fourth positioning reference signal received by the second communication device from the first communication device;

The processing module is specifically used for:

The first communication device is positioned according to the first information and the second information.
The first communication device according to claim 16, or the third communication device according to claim 17 or 18, characterized in that the first information includes the first reception time difference.
The first communication device according to claim 16, or the third communication device according to claim 17 or 18, characterized in that the first information includes a third reception time difference, and the third reception time difference is the The first communication device modulo the first reception time difference to the unit time; or, the third reception time difference is determined based on the first reception time difference and the first transmission time difference, the first transmission time difference is the time difference between the sending time when the second communication device sends the first positioning reference signal and the sending time when the second communication device sends the second positioning reference signal.
The first communication device according to claim 16, or the third communication device according to claim 17 or 18, characterized in that the first information includes: the first communication device and the second communication device The clock drift deviation between them within the first time period, or the first distance variation;

The clock drift deviation and the first distance variation between the first communication device and the second communication device within the first time period are determined based on the first receiving time difference and the first sending time difference. The first sending time difference is the sending time of the second communication device sending the first positioning reference signal to the first communication device and the sending time of the second communication device sending the first positioning reference signal to the first communication device. The time difference between the sending times of the second positioning reference signal, the first distance variation is the variation between the distance from the first communication device to the second communication device at the first time and the second time, The time interval between the first time and the second time is the first time period.
The first communication device according to claim 16, or the third communication device according to claim 17 or 18, characterized in that the first information includes a first sending and receiving time difference;

Wherein, the first transmission and reception time difference is the time difference between the reception time of the first positioning reference signal and the transmission time of the third positioning reference signal, and the first transmission and reception time difference is the time difference between the first communication device and the third positioning reference signal. Second communication The sending time of the third positioning reference signal is when the first communication device sends the third positioning reference to the second communication device. The time the signal was sent.
The first communication device or the third communication device according to claim 22, wherein the first information further includes first indication information;

The first indication information is used to indicate that the first transmission and reception time difference is obtained by compensating the clock drift deviation between the first communication device and the second communication device within the first transmission and reception time difference.
The first communication device according to any one of claims 16 and 19 to 23, or the third communication device according to any one of claims 17 to 23, characterized in that the first information further includes a Or the index of multiple antennas, the index of the one or more antennas includes: the index of the antenna where the second communication device sends the first reference signal and the index of the antenna where the second communication device sends the second reference signal. At least one of the indexes of the antennas; alternatively, the indexes of the one or more antennas include the index of the antenna through which the first communication device receives the first reference signal and the first communication device receives the second reference signal. At least one of the antenna indexes.
The first communication device or the third communication device according to claim 24, wherein the one or more antennas include a first antenna and a second antenna, and the first information further includes the first antenna and the second antenna. The channel time difference between the second antennas.
The first communication device or the third communication device according to claim 25, wherein the first information further includes phase information, the phase information includes a first phase and a second phase, and the first phase is The phase of the first positioning reference signal measured by the first communication device, and the second phase is the phase of the second positioning reference signal measured by the first communication device.
The first communication device or the third communication device according to claim 25, wherein the first phase and the second phase are a channel time difference between the first antenna and the second antenna. It is obtained by compensating for the clock drift deviation between the first communication device and the second communication device within the first reception time difference.
The first communication device or the third communication device according to claim 27, characterized in that the first information further includes second indication information, the second indication information is used to indicate: the first phase and the The second phase is a channel time difference between the first antenna and the second antenna and a clock drift deviation between the first communication device and the second communication device within the first reception time difference. compensated.
The first communication device or the third communication device according to any one of claims 25 to 28, characterized in that the channel time difference between the first antenna and the second antenna is based on the first transmission time difference, The first receiving time difference is determined by the clock drift deviation between the first communication device and the second communication device within the first receiving time difference, and the first sending time difference is determined by the second communication device. The time difference between the sending time when the first communication device sends the first positioning reference signal and the sending time when the second communication device sends the second positioning reference signal to the first communication device.
The first communication device according to any one of claims 16 and 19 to 29, or the third communication device according to any one of claims 17 to 29, characterized in that the first information further includes a time stamp. , the time tag is used to indicate the measurement time of the first reception time difference.
A communication device, characterized in that the communication device includes a processor;

The processor is used to execute computer programs or computer instructions in the memory to execute claims 1 to 15 any one of the methods.
The communication device according to claim 31, further comprising the memory.
A computer-readable storage medium, characterized in that a computer program is stored thereon. When the computer program is executed by a communication device, the communication device causes the communication device to perform the method according to any one of claims 1 to 15.