WO2023193679A1

WO2023193679A1 - Positioning method and apparatus, and related devices and storage medium

Info

Publication number: WO2023193679A1
Application number: PCT/CN2023/085891
Authority: WO
Inventors: 张小舟; 金婧
Original assignee: 中国移动通信有限公司研究院; 中国移动通信集团有限公司
Priority date: 2022-04-08
Filing date: 2023-04-03
Publication date: 2023-10-12
Also published as: CN116939480A

Abstract

Disclosed in the present application are a positioning method and apparatus, and a network device, a positioning server, a terminal, and a storage medium. The method comprises: a network device receiving a first request, which is sent by a positioning server, wherein the first request is used for requesting positioning-related measurement of at least one object in a service area of the network device, and the object cannot be in communication with the network device; on the basis of the reception of first reference signals sent by N first terminals, determining at least one measurement quantity corresponding to each first terminal, wherein the measurement quantity represents a difference in times at which a direct wave of the first reference signal, which is sent by the first terminal, and a reflected wave reach the network device, and the reflected wave is obtained by reflecting, by means of one object, the first reference signal, which is sent by the first terminal; and sending first information to the positioning server, wherein the first information at least comprises at least one measurement quantity corresponding to each first terminal, and the first information is used for positioning of the at least one object.

Description

Positioning methods, devices, related equipment and storage media

Cross-references to related applications

This application claims priority to Chinese Patent Application No. 202210370141.7 filed in China on April 8, 2022, the entire content of which is incorporated herein by reference.

Technical field

The present application relates to the field of wireless communications, and in particular, to a positioning method, device, related equipment and storage medium.

Background technique

In related art, cellular networks support positioning of on-network targets (ie, terminals capable of communicating with network devices). Among them, as shown in Figure 1, radio access technology (RAT-dependent) positioning solutions for New Radio (NR) signals mainly include four categories, namely: NR enhanced cell identity shown in Figure 1a ( Enhanced Cell-ID, E-CID) positioning, Up-Link/Downlink Time Difference of Arrival (UL/DL-TDOA) positioning shown in Figure 1b, Uplink angle of arrival (Uplink) shown in Figure 1c Angle of Arrival (UL-AoA)/Downlink Angle-of-Departure (DL-AoD) positioning, and multi-station round trip time (Multi-Round-Trip Time, Multi-RTT) positioning shown in Figure 1d. When there is a need for positioning, devices such as terminals (i.e., the target being positioned) and positioning servers can actively send positioning requests and reference signals to network devices (such as base stations). The base stations, terminals, and positioning servers interact with each other through a series of information to determine the reference signal. The signal reception strength, arrival angle, arrival time, round trip time and other information are measured, and then the target positioning is achieved through the conversion relationship between the measured values and coordinates.

However, in related technologies, there is no effective solution for positioning non-network targets (ie, objects that cannot communicate with network devices).

Contents of the invention

In order to solve related technical problems, embodiments of the present application provide a positioning method, device, related equipment and storage medium.

The technical solution of the embodiment of this application is implemented as follows:

The embodiment of this application provides a positioning method, which is applied to network equipment, including:

Receive the first request sent by the positioning server; the first request is used to request positioning-related measurement of at least one object within the service area of the network device; the object cannot communicate with the network device;

Based on the reception of first reference signals sent by N first terminals, at least one measurement quantity corresponding to each first terminal is determined; where N is an integer greater than or equal to 3; the measurement quantity represents the first terminal The time difference between the direct wave of the sent first reference signal and a reflected wave arriving at the network device; the reflected wave is obtained by an object reflecting the first reference signal sent by the first terminal;

Send first information to the positioning server; the first information at least includes at least one measurement quantity corresponding to each first terminal; the first information is used to position the at least one object.

In the above solution, the method also includes:

At least based on the correlation between reflected waves, the correlation between the first terminal, the measurement quantity and the object is determined; the first information also includes the first terminal, the measurement quantity and the object. Describe the relationship between objects.

In the above solution, the method also includes:

Receive a second request sent by the positioning server; the second request is used to request to configure a positioning-related reference signal for a terminal capable of communicating with the network device; the second request includes at least second information and third information ; The second information includes the identities and locations of all terminals that can communicate with the network device; the third information includes a reference signal resource set, reference signal duration and reference signal resource type; the reference signal resource type representation The reference signal is sent periodically or aperiodicly or semi-continuously;

According to at least the second information, N first terminals are determined from all terminals capable of communicating with the network device, and a first reference signal is configured for each first terminal according to the third information.

In the above solution, the method also includes:

Send fourth information and fifth information to each first terminal; the fourth information includes configuration information of the first reference signal of the first terminal; the fifth information indicates whether the first terminal is periodic or not. The first reference signal is sent periodically or semi-persistently.

In the above solution, when the fifth information indicates that the first terminal sends the first reference signal aperiodically or semi-persistently, the method further includes:

Receive a third request sent by the positioning server; the third request is used to request activation of transmission of the first reference signal;

Sixth information is sent to each first terminal; the sixth information instructs the first terminal to activate transmission of the first reference signal.

The embodiment of this application also provides a positioning method, which is applied to the positioning server, including:

Send a first request to the network device; the first request is used to request positioning-related measurement of at least one object within the service area of the network device; the object cannot communicate with the network device;

Receive the first information sent by the network device; the first information at least includes at least one measurement quantity corresponding to each of the N first terminals; where N is an integer greater than or equal to 3; the measurement The quantity represents the time difference between the direct wave of the first reference signal sent by the first terminal and a reflected wave arriving at the network device; the reflected wave is obtained by reflecting the first reference signal sent by the first terminal by an object. of;

The at least one object is located based on at least the first information.

In the above solution, the first information also includes the correlation between the first terminal, the measurement quantity and the object; the at least one object is positioned based on at least the first information, include:

Determining the location of the network device and the location of each first terminal;

According to the correlation between the first terminal, the measurement quantity and the object, determine N measurement quantities corresponding to each object and the first terminal corresponding to each measurement quantity in the N measurement quantities;

For each object, the location of the object is determined based on the N measurement quantities corresponding to the object, the location of the first terminal corresponding to each of the N measurement quantities, and the location of the network device.

In the above solution, the position of the object is determined based on the N measurement quantities corresponding to the object, the position of the first terminal corresponding to each measurement quantity in the N measurement quantities, and the position of the network device, include:

Based on the N measurement quantities corresponding to the object and the N measurement quantities corresponding to each of the N measurement quantities. The position of the first terminal and the position of the network device, for each of the N measurement quantities, determine a first relational expression and a second relational expression, and based on the first relational expression and the second The relational expression determines the linear equation between the measured quantity and the position of the object; the first relational expression represents the path difference between the direct wave and the reflected wave corresponding to the measured quantity and the measured quantity and the speed of light. The products of are equal; the second relational expression represents the geometric relationship between the distance and position between the first terminal, the network device and the object corresponding to the measurement quantity;

Based on the linear equation corresponding to each of the N measured quantities, the position of the object is determined.

In the above solution, the method also includes:

Send a second request to the network device; the second request is used to request to configure a positioning-related reference signal for a terminal capable of communicating with the network device; the second request includes at least second information and third information; The second information includes the identities and locations of all terminals that can communicate with the network device; the third information includes a reference signal resource set, a reference signal duration and a reference signal resource type; the reference signal resource type represents a reference The signal is sent periodically or aperiodicly or semi-persistently; the second information is used for the network device to determine N first terminals from all terminals capable of communicating with the network device; the third information Used for the network device to configure a first reference signal for each first terminal.

In the above solution, the method also includes:

In the case where the reference signal resource type indicates that the reference signal is sent aperiodic or semi-persistently, send a third request to the network device; the third request is used to request activation of transmission of the first reference signal; The third request triggers the network device to send sixth information to each first terminal; the sixth information instructs the first terminal to activate transmission of the first reference signal.

Embodiments of this application also provide a positioning method, applied to terminals, including:

Send a first reference signal to the network device; the first reference signal is used for the network device to perform positioning-related measurements on at least one object in the service area; the object cannot communicate with the network device.

In the above solution, the method also includes:

Receive fourth information and fifth information sent by the network device; the fourth information includes configuration information of the first reference signal; the fifth information indicates whether the terminal is periodic or aperiodic or The first reference signal is sent semi-persistently.

In the above solution, sending the first reference signal to the network device includes:

In the case where the fifth information indicates that the terminal sends the first reference signal aperiodically or semi-persistently, when receiving the sixth information sent by the network device, the network device sends the first reference signal to the network device. a first reference signal; the sixth information instructs the terminal to activate the transmission of the first reference signal;

or,

If the fifth information indicates that the terminal periodically sends the first reference signal, the first reference signal is directly sent to the network device.

An embodiment of the present application also provides a positioning device, which is installed on a network device and includes:

A first receiving unit, configured to receive a first request sent by the positioning server; the first request is used to request positioning-related measurement of at least one object within the service area of the network device; the object cannot be related to the Network equipment communication;

A first processing unit configured to determine at least one measurement quantity corresponding to each first terminal based on receiving the first reference signals sent by N first terminals; where N is an integer greater than or equal to 3; the measurement The quantity represents the time difference between the direct wave of the first reference signal sent by the first terminal and a reflected wave arriving at the network device; the reflected wave is obtained by reflecting the first reference signal sent by the first terminal by an object. of;

The first sending unit is used to send first information to the positioning server; the first information at least includes at least one measurement quantity corresponding to each first terminal; the first information is used to perform measurement on the at least one object. position.

Embodiments of the present application also provide a positioning device, which is provided on a positioning server and includes:

The second sending unit is used to send a first request to the network device; the first request is used to request positioning-related measurement of at least one object in the service area of the network device; the object cannot be related to the network device. device communication;

The second receiving unit is configured to receive the first information sent by the network device; the first information at least includes at least one measurement quantity corresponding to each of the N first terminals; where N is greater than or equal to an integer of 3; the measurement quantity represents the time difference between the direct wave of the first reference signal sent by the first terminal and a reflected wave arriving at the network device; the reflected wave is an object pair The first reference signal sent by the first terminal is obtained by reflection;

A second processing unit configured to locate the at least one object based on at least the first information.

An embodiment of the present application also provides a positioning device, which is provided on a terminal and includes:

The third sending unit is configured to send a first reference signal to the network device; the first reference signal is used for the network device to perform positioning-related measurements on at least one object in the service area; the object cannot be related to the Network device communication.

An embodiment of the present application also provides a network device, including: a first communication interface and a first processor; wherein,

The first communication interface is used to receive the first request sent by the positioning server; the first request is used to request positioning-related measurement of at least one object in the service area of the network device; the object cannot be related to The network equipment communicates;

The first processor is configured to determine at least one measurement quantity corresponding to each first terminal based on receiving first reference signals sent by N first terminals through the first communication interface; where N is greater than Or an integer equal to 3; the measurement quantity represents the time difference between the direct wave of the first reference signal sent by the first terminal and a reflected wave arriving at the network device; the reflected wave is the impact of an object on the first terminal Obtained by reflection of the transmitted first reference signal;

The first communication interface is also used to send first information to the positioning server; the first information at least includes at least one measurement quantity corresponding to each first terminal; the first information is used to measure the at least An object is positioned.

An embodiment of the present application also provides a positioning server, including: a second communication interface and a second processor; wherein,

The second communication interface is used for:

Receive the first information sent by the network device; the first information at least includes at least one measurement quantity corresponding to each of the N first terminals; where N is an integer greater than or equal to 3; the measurement The quantity represents the direct wave of the first reference signal sent by the first terminal and a reflected wave to The time difference to reach the network device; the reflected wave is obtained by an object reflecting the first reference signal sent by the first terminal;

The second processor is configured to position the at least one object based on at least the first information.

An embodiment of the present application also provides a terminal, including: a third communication interface and a third processor; wherein,

The third communication interface is used to send a first reference signal to a network device; the first reference signal is used for the network device to perform positioning-related measurements on at least one object in the service area; the object cannot be related to The network device communicates.

An embodiment of the present application also provides a network device, including: a first processor and a first memory for storing a computer program capable of running on the processor,

Wherein, the first processor is configured to execute the steps of any method on the network device side when running the computer program.

An embodiment of the present application also provides a positioning server, including: a second processor and a second memory for storing a computer program that can run on the processor,

Wherein, the second processor is configured to execute the steps of any of the above methods on the server side when running the computer program.

An embodiment of the present application also provides a terminal, including: a third processor and a third memory for storing a computer program capable of running on the processor,

Wherein, the third processor is used to execute the steps of any method on the terminal side when running the computer program.

Embodiments of the present application also provide a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any method on the network device side are implemented, or the steps of any method on the positioning server side are implemented. , or implement the steps of any of the above methods on the terminal side.

In the positioning method, device, related equipment and storage medium provided by the embodiment of the present application, the positioning server sends a first request to the network device; the network device receives the first request; the first request is used to request the network At least one object within the service area of the device performs positioning-related measurements; the object cannot communicate with the network device; the network device determines that each of the first reference signals sent by the N first terminals is At least one measurement quantity corresponding to a terminal; , N is an integer greater than or equal to 3; the measurement quantity represents the time difference between the direct wave of the first reference signal sent by the first terminal and a reflected wave arriving at the network device; the reflected wave is an object pair The first reference signal sent by the first terminal is obtained by reflection; the network device sends the first information to the positioning server; the first information at least contains at least one measurement quantity corresponding to each first terminal; the The first information is used to locate the at least one object. The positioning server receives the first information and positions the at least one object based on at least the first information. The solution provided by the embodiment of the present application, through the interaction between the network device, the terminal and the positioning server, measures the direct wave of the reference signal and the objects that cannot communicate with the network device in the service area of the network device (that is, not in the network device). The time difference between the reflected waves formed by the reflection of network targets (also called non-network objects) and reaching the network device is determined, and the object is positioned based on the measured time difference; in this way, the positioning of non-network targets is achieved; at the same time , by measuring the time difference, the impact of the synchronization error between the network device and the terminal on the positioning accuracy is avoided, and the positioning accuracy of non-network targets is improved.

Description of the drawings

Figure 1 is a schematic diagram of the RAT-dependent positioning scheme for NR signals in related technologies;

Figure 2 is a schematic diagram of the positioning scheme of the radar system in related technologies;

Figure 3 is a schematic diagram of the single base station echo positioning solution and the terminal-assisted echo positioning solution according to the embodiment of the present application;

Figure 4 is a schematic flow chart of a positioning method according to an embodiment of the present application;

Figure 5 is a schematic flow chart of another positioning method according to the embodiment of the present application;

Figure 6 is a schematic flow chart of the third positioning method according to the embodiment of the present application;

Figure 7 is a schematic diagram of the non-network object positioning process according to the application embodiment of the present application;

Figure 8 is a schematic diagram of the positioning system model according to the application embodiment of the present application;

Figure 9 is a schematic structural diagram of a positioning device according to an embodiment of the present application;

Figure 10 is a schematic structural diagram of another positioning device according to an embodiment of the present application;

Figure 11 is a schematic structural diagram of the third positioning device according to the embodiment of the present application;

Figure 12 is a schematic structural diagram of a network device according to an embodiment of the present application;

Figure 13 is a schematic structural diagram of a positioning server according to an embodiment of the present application;

Figure 14 is a schematic structural diagram of a terminal according to an embodiment of the present application;

Figure 15 is a schematic structural diagram of a positioning system according to an embodiment of the present application.

Detailed ways

The present application will be described in further detail below in conjunction with the accompanying drawings and embodiments.

For NR signals, although related technologies provide RAT-dependent positioning solutions and processes, these positioning solutions do not support positioning non-network targets. Therefore, the radar echo positioning algorithm can be considered to be introduced into the cellular network to complete the positioning of non-network targets. The principle of the radar echo positioning algorithm is shown in Figure 2. In the radar system, the transmitter first actively emits electromagnetic waves to illuminate the target, and then uses geometric relationships or maximum likelihood estimation algorithms to process the received echo signals and directly estimate the target location. This type of method does not require the target to participate in information interaction, so it can achieve the positioning of non-network targets. Among them, in the monostatic radar positioning system shown in Figure 2a, the transmitting antenna and the receiving antenna of the monostatic radar are co-located. Considering the recognizability of the echo signal, it is generally suitable for positioning short-range targets. As shown in the multi-base radar positioning system shown in Figure 2b, when the non-network target is far away from the radar, a multi-base radar system with separate transmitters and receivers is generally used to locate the target. In practical applications, the coordinates of the target can be represented by data such as the target's distance, angle, and distance difference relative to each base.

By introducing the radar echo positioning algorithm into the cellular network, the echo positioning solution shown in Figure 3 can be obtained. Among them, the single base station echo positioning solution shown in Figure 3a is analogous to the single base radar positioning system. In the fifth generation mobile communication technology (5th Generation Mobile Communication Technology, 5G) wireless access network (NG Radio Access Network, NG- In RAN), the base station can transmit reference signals to illuminate targets that are not on the network, and then process the echo signals locally to achieve positioning of targets that are not on the network.

However, in this solution, the base station must be full-duplex, and the echo signal is interfered by the transmitted signal (ie, self-interference), which will affect the extraction of the echo signal and affect the positioning accuracy. In order to achieve high-precision positioning, this solution requires high isolation of the transmitting and receiving antennas, and requires adding a self-interference cancellation module, which will increase the cost of the base station.

Therefore, in order to avoid the self-interference problem, the terminal-assisted echo positioning solution as shown in Figure 3b can also be used. Analogous to the multi-base radar positioning system, in NG-RAN, multiple on-network terminals (that is, capable of The terminal that communicates with the base station can be used as a separate transmitter or receiver to assist the base station in positioning non-network targets by transmitting reference signals to the base station. In this solution, both the base station and the terminal can be half-duplex, thereby avoiding the self-interference problem.

However, in the terminal-assisted echo positioning solution, the traditional positioning algorithm requires strict time synchronization between the base station and the terminal on the network. When the synchronization error is large, the positioning accuracy will be greatly affected.

Therefore, in order to avoid the self-interference problem and avoid the impact of synchronization errors on positioning accuracy, in the embodiment of the present application, a system model of multiple on-network terminals assisting positioning as shown in Figure 3b is considered. In related technologies, positioning information interaction In the process, relevant measurement quantities are added and reported to the server to avoid the impact of synchronization errors on positioning accuracy.

Based on this, in various embodiments of the present application, through the interaction between the network device, the terminal and the positioning server, the time difference between the direct wave of the reference signal and the reflected wave formed by the non-network target reflection reaching the network device is measured. , and position the non-network target according to the measured time difference; in this way, the positioning of the non-network target is achieved; at the same time, by measuring the time difference, the synchronization error between the network device and the terminal is avoided, which affects the positioning accuracy. The impact improves the positioning accuracy of non-network targets.

The embodiment of this application provides a positioning method, which is applied to network equipment (such as 5G base station (gNB), Transmission and Receiving Point (TRP), etc.). As shown in Figure 4, the method includes:

Step 401: Receive the first request sent by the positioning server;

Here, the first request is used to request positioning-related measurement of at least one object within the service area of the network device; the object cannot communicate with the network device;

Step 402: Based on receiving the first reference signals sent by N first terminals, determine at least one measurement quantity corresponding to each first terminal;

Wherein, N is an integer greater than or equal to 3; the measurement quantity represents the time difference between the direct wave of the first reference signal sent by the first terminal and a reflected wave arriving at the network device; the reflected wave is an object pair The first reference signal sent by the first terminal is obtained by reflection;

Step 403: Send the first information to the positioning server;

Here, the first information at least includes at least one measurement quantity corresponding to each first terminal; the first information is used to locate the at least one object.

In actual application, the positioning server may include a location management function (LMF), etc., which is not limited in the embodiments of this application.

In actual application, the terminal may also be called user equipment (User Equipment, UE) or a user.

In actual application, the object may also be called a non-network target, a non-network object, etc. The embodiments of this application do not limit the nouns as long as their functions are implemented. The objects may include active objects or passive objects. In other words, the objects may include users or objects that are within the cell coverage (i.e., the service area of the network device) but are not assigned user identification codes, such as Drones, vehicles, etc.

In actual application, for at least one measurement quantity corresponding to each first terminal, it can be understood that each measurement quantity in the at least one measurement quantity represents a direct wave and a reflected wave of the first reference signal sent by the corresponding first terminal. The time difference between arrival at the network device and the reflected wave is obtained by one of the at least one objects reflecting the first reference signal sent by the corresponding first terminal. In other words, for each first reference signal sent by the first terminal, one object corresponds to one reflected wave. For example, assuming that N is equal to 3 and the number of objects is 2, there are three first terminals sending first reference signals to the network device. For each first reference signal, the network device will receive a The direct wave and the two reflected waves reflected by the two objects are determined, that is, the two measurement quantities corresponding to each first terminal are determined, and a total of 6 measurement quantities are obtained.

In practical applications, for each first reference signal, the wave that first reaches the network device can be determined as a direct wave, and the waves that arrive at the network device at other subsequent times can be determined as reflected waves. In addition, the specific method of calculating the measurement quantity can be set according to requirements. For example, the network device can calculate the measurement quantity using time stamps corresponding to direct waves and reflected waves respectively.

In actual application, the first terminal may also be called an auxiliary terminal, etc. The embodiments of the present application do not limit the term as long as its function is implemented. Before executing step 401, the network device needs to determine N first terminals from all terminals that can communicate with itself, and configure a first reference signal for each first terminal.

Based on this, in one embodiment, before receiving the first request sent by the positioning server, the method may further include:

Receive the second request sent by the positioning server; the second request is used to request the The terminal communicating with the network device configures a reference signal related to positioning; the second request includes at least second information and third information; the second information includes the identities and locations of all terminals that can communicate with the network device; The third information includes a reference signal resource set, a reference signal duration and a reference signal resource type; the reference signal resource type indicates whether the reference signal is sent periodically or aperiodicly or semi-persistently;

Here, a terminal that can communicate with the network device may be called an on-network terminal, etc. The embodiments of this application do not limit the noun as long as its function is implemented. The identifier contained in the second information may be called an on-network terminal identifier, and the on-network terminal identifier may include a terminal Internet Protocol (Internet Protocol, IP) address, International Mobile Subscriber Identity (IMSI), etc. , the embodiment of the present application does not limit the type of identification.

In actual application, the reference signal resource type can be understood as the transmission mode of the reference signal resource, that is, it can be transmitted periodically, aperiodic, or semi-persistently.

In actual application, all terminals on the network can participate in the positioning of the object, that is, the network device can determine all terminals on the network as N first terminals; or, the network device can determine the location of the object according to its own deployment scenario and/or For positioning requirements, select some on-network terminals (ie, N first terminals) from all on-network terminals for assisted positioning. It can be understood that the value of N may be a preset fixed value, or the network device may dynamically determine the value of N according to its own deployment scenario and/or positioning requirements.

Among them, after the network device is deployed in the actual environment, the deployment scenario can be determined; in other words, the network device can perceive its own deployment scenario and select the first terminal evenly in all directions or in some locations according to the deployment scenario. Select the first terminal in a specific direction. In addition, the network device may obtain positioning requirements from the positioning server, such as obtaining the positioning accuracy given by the positioning server.

It should be noted that the greater the number of first terminals (that is, the greater the value of N), the greater the number of non-network objects that the system can locate, and at the same time, the higher the positioning accuracy. Compared with using all online terminals to assist positioning, although selecting N first terminals to assist positioning will cause a certain loss in positioning accuracy, rational selection of the first terminal can reduce system overhead.

In actual application, the process by which the network device determines the N first terminals may include an area selection process and/or a quantity selection process. In the area selection process, the network device may determine the Nth first terminal. The location of a terminal; during the quantity selection process, the network device can determine the value of N. For example, the network device may select an area according to its own deployment scenario, and/or select a quantity according to positioning requirements (such as positioning accuracy requirements):

In indoor or urban deployment scenarios, the channel environment of the network device is relatively complex, and there may be many non-network objects. That is, the network device may have echo signals to be received in all directions. In this case, the network device can be Select more first terminals evenly within the service area of the network device to participate in positioning;

In a suburban deployment scenario, there may be fewer non-network objects, and the echo signals to be received by the network equipment may only exist in some specific directions. In this case, only a few first terminals can be selected in the hotspot area to participate in positioning;

When the positioning accuracy requirement is high, the network device can select more first terminals to participate in positioning; when the positioning accuracy requirement is low, the network device can reduce the number of first terminals.

As can be seen from the above description, the process of determining the N first terminals may involve judging the number of non-network objects. In actual application, the network device can use the last positioning experience (for periodic positioning methods) and/or or system computing power (i.e., the maximum number of positioning objects that the positioning server can support), preset a relatively large number of non-network objects, thereby determining the minimum number of first terminals (i.e., determining the value of N ). Subsequently, during the specific implementation of step 402, the network device may determine the number of non-network objects based on the quantity and/or quality of the reflected waves of the first reference signal.

Specifically, assuming that the network device receives M signal waves (M is an integer greater than or equal to 1) from a first reference signal, these M signal waves must include 1 direct wave and M-1 reflected waves. , under ideal circumstances, a non-network object will generate a reflected wave, so the number of non-network objects is M-1. However, in an actual environment, due to factors such as complex environments or secondary reflections, the network device may receive L additional weaker waves in addition to M-1 reflected waves from non-network objects. Reflected waves (L is an integer greater than or equal to 1). At this time, the network device receives a total of M+L signal waves. The network device can classify these M+L signal waves according to signal quality (such as signal strength). etc.) in descending order. When the signal quality of the reflected wave is less than the preset threshold, the network device ignores the reflected wave, that is, it is assumed that the reflected wave has no corresponding reflector (ie, an object not on the network).

Based on this, in one embodiment, the specific implementation of step 402 may include:

For the first reference signal sent by each first terminal, determine all the corresponding first reference signals The measured quantity corresponding to each reflected wave in the reflected wave; or, when the signal quality of the reflected wave corresponding to the first reference signal is greater than or equal to a preset threshold, the measured quantity corresponding to the reflected wave is determined.

In practical application, for the first reference signal sent by each first terminal, when the signal quality of all waves (ie, direct waves and all reflected waves) of the corresponding first reference signal is less than a preset threshold, the network The device may determine that the first terminal's assisted positioning capability is poor, and may ignore the first reference signal of the first terminal (that is, not calculate the measurement quantity corresponding to the first terminal), or may not report the first terminal to the positioning server. All measurement quantities corresponding to the first terminal (that is, the first information does not include measurement quantities corresponding to the first terminal).

Based on this, in one embodiment, the specific implementation of step 403 may include:

Determine the first information based on the signal quality of the reflected wave corresponding to each measurement quantity in the at least one measurement quantity corresponding to each first terminal; the signal quality of the reflected wave corresponding to each measurement quantity contained in the first information is greater than or equal to the preset threshold.

In practical applications, in order to improve the positioning efficiency of non-network objects, when reporting the first information to the positioning server, the network device may perform the following operations on the first terminal, the measurement quantity and the object. association.

In actual application, the network device may determine the correlation between the reflected waves and the correlation between the first terminal, the measurement quantity and the reflected waves (this relationship is used to determine at least one corresponding to each first terminal). (can be obtained when a measurement quantity is obtained), determine the correlation between the first terminal, the measurement quantity and the object.

Wherein, the network device can determine the correlation between the reflected waves by performing correlation analysis on the reflected waves. The correlation analysis may include covariance calculation, cross-correlation coefficient calculation, regression analysis, etc. The specific method of performing correlation analysis on the reflected waves can be set according to requirements, which is not limited in the embodiments of the present application.

In actual application, since the network device can only determine the number of non-network objects, but cannot determine the type of non-network objects, there is no need between the first terminal, the measurement quantity and the object. In the association relationship between the objects, the objects may be represented by identifiers generated by the network device, such as object 1, object 2, etc. By determining the correlation between the first terminal, the measurement quantity and the object, the network device realizes the classification of the measurement quantity according to the reflector (i.e. non-network object), which is about to pass through the same non-network object. The measurement quantities corresponding to the reflected waves are divided into one category, so that the positioning server can determine the position of the corresponding object based on at least N measurement quantities corresponding to each object, thereby improving the positioning efficiency of the positioning server for non-network objects.

In actual application, when the network device configures the first reference signal for each first terminal, it needs to associate the first terminal with the configured first reference signal, that is, notify each first terminal of the configured first reference signal. Signal.

Based on this, in an embodiment, the method may further include:

Here, the fifth information may be determined based on the reference signal resource type.

In actual application, the fifth information may include the identity of the first terminal (which may be called an auxiliary terminal identity); the identity of the first terminal may be the same as or different from the corresponding on-network terminal identity.

In the case where the identity of the first terminal is different from the identity of the corresponding terminal on the network, the identity of the first terminal may be generated by the network device and needs to be associated with the identity of the corresponding terminal on the network. In this case, The fifth information may only include the identification of the first terminal; in other words, the identification of the first terminal is used to inform that the first terminal is determined to be an auxiliary terminal and needs to send a first reference signal to assist the first terminal. The network device and the positioning server perform positioning of non-network objects, and are also used to instruct the first terminal to send the first reference signal periodically, aperiodically or semi-persistently.

When the identity of the first terminal is the same as the identity of the corresponding on-network terminal, the fifth information may include the identity of the first terminal and the reference signal resource type. In this case, the first terminal The identifier is used to inform the first terminal that it is determined to be an auxiliary terminal and needs to send a first reference signal to assist the network device and the positioning server in positioning non-network objects; the reference signal resource type is used to indicate The first terminal sends the first reference signal periodically, aperiodically or semi-persistently.

In actual application, when the fifth information indicates that the first terminal transmits aperiodic or semi-persistent In the case where the first reference signal is sent, that is, when the reference signal resource type indicates that the reference signal is sent aperiodic or semi-persistently, it is necessary to use the positioning server, the network device and the first Interaction between terminals activates the transmission of the first reference signal.

Based on this, in an embodiment, when the fifth information indicates that the first terminal sends the first reference signal aperiodically or semi-persistently, the method may further include:

In actual application, when the fifth information indicates that the first terminal periodically sends the first reference signal, that is, when the reference signal resource type indicates that the reference signal is sent periodically, the After receiving the fifth information, the first terminal may directly send the first reference signal to the network device according to the fourth information and a preset period. It can be understood that at this time, the fifth information is also used to instruct the first terminal to activate the transmission of the first reference signal.

In the case where the fifth information indicates that the first terminal transmits the first reference signal aperiodically, that is, in the case where the reference signal resource type indicates that the reference signal is transmitted aperiodically, when receiving the When the sixth information is sent by the network device, the first terminal may send the first reference signal to the network device once according to the fourth information, and when receiving the sixth information sent by the network device again when, sending the first reference signal to the network device again.

In the case where the fifth information indicates that the first terminal sends the first reference signal semi-persistently, that is, in the case where the reference signal resource type indicates that the reference signal is sent semi-persistently, when the When receiving the sixth information sent by the network device, the first terminal may send the first reference signal to the network device according to the fourth information and a preset period.

In actual application, corresponding to the fifth information and the reference signal resource type, the first request may be used to request positioning-related periodicity or Non-periodic measurements. Wherein, when the fifth information indicates that the first terminal sends the first reference signal periodically or semi-persistently, that is, when the reference signal resource type indicates that the reference signal is sent periodically or semi-persistently. In the case of , the first request may be used to request positioning-related periodicity of at least one object within the service area of the network device. Measurement: When the fifth information indicates that the first terminal transmits the first reference signal aperiodically, that is, when the reference signal resource type indicates that the reference signal is transmitted aperiodically, the third A request may be used to request positioning-related aperiodic measurements of at least one object within the service area of the network device. Correspondingly, the network device may send the first information to the positioning server periodically or aperiodically.

Correspondingly, the embodiment of the present application also provides a positioning method, which is applied to a positioning server (such as LMF). As shown in Figure 5, the method includes:

Step 501: Send the first request to the network device;

Step 502: Receive the first information sent by the network device;

Here, the first information at least includes at least one measurement quantity corresponding to each of the N first terminals; where N is an integer greater than or equal to 3; the measurement quantity represents the measurement quantity sent by the first terminal. The time difference between the direct wave of the first reference signal and a reflected wave arriving at the network device; the reflected wave is obtained by reflecting the first reference signal sent by the first terminal by an object;

Step 503: Position the at least one object based on at least the first information.

In step 501, in actual application, when the positioning server has a positioning requirement for non-network objects, such as receiving a Network Function (NF) such as a Network Data Analysis Function (NWDAF) or a client When a client application (Application, APP) or the like sends a positioning request for a non-network object, the first request may be sent to the network device. It can be understood that the first request is used to activate the network device to perform measurements related to positioning of non-network objects.

In actual application, before step 501, the positioning server needs to request the network device to configure the first reference signal for the first terminal.

Based on this, in one embodiment, before sending the first request to the network device, the method may further include:

Send a second request to the network device; the second request is used to request to configure a positioning-related reference signal for a terminal capable of communicating with the network device; the second request includes at least second information and third information; The second information includes identifiers of all terminals capable of communicating with the network device. identification and location; the third information includes a reference signal resource set, a reference signal duration and a reference signal resource type; the reference signal resource type indicates whether the reference signal is sent periodically or aperiodicly or semi-persistently; the third information The second information is used for the network device to determine N first terminals from all terminals that can communicate with the network device; the third information is used for the network device to configure a first reference for each first terminal. Signal.

Here, after receiving the second request, the network device determines N first terminals from all terminals that can communicate with the network device based on at least the second information. According to the third information, Each first terminal configures a first reference signal; and sends fourth information and fifth information to each first terminal; the fourth information includes the configuration information of the first reference signal of the first terminal; the third The fifth information instructs the first terminal to send the first reference signal periodically or aperiodicly or semi-persistently.

In actual application, when the fifth information indicates that the first terminal sends the first reference signal aperiodic or semi-persistently, that is, when the reference signal resource type indicates whether the reference signal is aperiodic or semi-persistent. In the case of persistent transmission, before step 501, the positioning server needs to activate the transmission of the first reference signal.

Based on this, in one embodiment, after sending the second request to the network device, the method may further include:

Specifically, in actual application, when the reference signal resource type indicates that the reference signal is sent aperiodic or semi-persistently, when the positioning server has a positioning requirement for an object not on the network, it can first send a request to the network. The device sends a third request to activate the transmission of the first reference signal; after receiving the third request, the network device may send an activation response to the positioning server; the positioning server may receive the After the activation response is sent by the network device, the first request is sent to the network device.

In actual application, corresponding to the fifth information and the reference signal resource type, the first request may be used to request to determine at least one object in the service area of the network device. Bit-dependent periodic or aperiodic measurements. Correspondingly, in step 502, receiving the first information sent by the network device may include: receiving the first information sent periodically or aperiodically by the network device.

In actual application, when the network device reports the first information to the positioning server, it can associate the first terminal, the measurement quantity and the object; the positioning server can associate the first information with the positioning server according to the first information. The correlation between the terminal, the measurement quantity and the object, as well as some positioning auxiliary information (such as the location of the network device, the location of each first terminal, the identification of each first terminal, etc.), for all At least one object is positioned.

Based on this, in one embodiment, when the first information also includes the correlation between the first terminal, the measurement quantity and the object, the specific implementation of step 503 may include:

Here, the specific method of determining the location of the network device and the location of each first terminal can be set according to requirements, which is not limited in the embodiments of the present application.

In one embodiment, the determination of the object is based on the N measurement quantities corresponding to the object, the location of the first terminal corresponding to each measurement quantity in the N measurement quantities, and the location of the network device. Location, which can include:

Based on the N measurement quantities corresponding to the object, the position of the first terminal corresponding to each of the N measurement quantities, and the location of the network device, for each of the N measurement quantities, Determine a first relational expression and a second relational expression, and determine a linear equation between the measured quantity and the position of the object based on the first relational expression and the second relational expression; the first relational expression The path difference between the direct wave and the reflected wave corresponding to the measured quantity is represented by being equal to the product of the measured quantity and the speed of light; the second relational expression represents the first terminal, the network device and the corresponding measured quantity. The geometric relationship between the distance and position between the objects;

Based on the linear equation corresponding to each of the N measured quantities, determine the position of the object Set.

Here, through the measurement quantity, the synchronization error between the first terminal and the network device can be implicitly calculated and eliminated before determining the position of the object; in other words, the first reference sent by each first terminal The time difference between the direct wave of the signal and a reflected wave reaching the network device can offset the synchronization error between the first terminal and the network device; thereby improving the positioning accuracy of non-network objects.

Specifically, determining the position of the object based on the linear equation corresponding to each of the N measurement quantities may include:

Based on the linear equation corresponding to each of the N measured quantities, determine the set of equations corresponding to the corresponding object;

By solving the system of equations corresponding to the corresponding object, the position of the corresponding object and the distance between the corresponding object and the network device are obtained.

Here, the distance between the corresponding object and the network device is used to reduce the complexity and error of the positioning algorithm. When N is equal to 3, only the three-dimensional linear equations corresponding to the corresponding object need to be solved. The calculation is simple. The error is small.

Correspondingly, embodiments of the present application also provide a positioning method, which is applied to a terminal (ie, the above-mentioned first terminal). As shown in Figure 6, the method includes:

Step 601: Send the first reference signal to the network device;

Here, the first reference signal is used for the network device to perform positioning-related measurements on at least one object in the service area; the object cannot communicate with the network device.

In actual application, before step 601, the network device needs to configure the first reference signal for the terminal.

Based on this, in one embodiment, as shown in Figure 6, the method further includes:

Step 602: Receive the fourth information and the fifth information sent by the network device;

Wherein, the fourth information includes configuration information of the first reference signal; and the fifth information instructs the terminal to send the first reference signal periodically or aperiodicly or semi-persistently.

Here, the specific content of the fifth information has been described in detail above and will not be described again here.

In an embodiment, the specific implementation of step 601 may include:

When the fifth information indicates that the terminal sends the first reference signal aperiodically or semi-persistently, In the case of a signal, when receiving the sixth information sent by the network device, the first reference signal is sent to the network device; the sixth information instructs the terminal to activate the transmission of the first reference signal. ;

or,

Here, it can be understood that in the case where the fifth information instructs the terminal to periodically transmit the first reference signal, the fifth information is also used to instruct the terminal to activate the transmission of the first reference signal, That is, after receiving the fifth information, the terminal may directly send the first reference signal to the network device according to the fourth information and a preset period.

In practical application, when receiving the sixth information sent by the network device, sending the first reference signal to the network device may include:

In the case where the fifth information indicates that the terminal sends the first reference signal aperiodically, the terminal may send the first reference signal to the network device once according to the fourth information, and When receiving the sixth information sent by the network device again, sending the first reference signal to the network device again;

In the case where the fifth information instructs the terminal to send the first reference signal semi-persistently, the terminal may send the third reference signal to the network device according to the fourth information and a preset period. a reference signal.

In the positioning method provided by the embodiment of the present application, the positioning server sends a first request to a network device; the network device receives the first request; the first request is used to request at least one location within the service area of the network device. The object performs positioning-related measurements; the object cannot communicate with the network device; the network device determines at least one measurement quantity corresponding to each first terminal based on receiving first reference signals sent by N first terminals. ; Wherein, N is an integer greater than or equal to 3; the measurement quantity represents the time difference between the direct wave of the first reference signal sent by the first terminal and a reflected wave arriving at the network device; the reflected wave is an object Obtained by reflecting the first reference signal sent by the first terminal; the network device sends first information to the positioning server; the first information at least contains at least one measurement quantity corresponding to each first terminal; The first information is used to locate the at least one object. The positioning server receives the first information, and The at least one object is positioned based on the first information. The solution provided by the embodiment of this application measures the time difference between the direct wave of the reference signal and the reflected wave formed by the reflection of non-network objects to reach the network device through the interaction between the network device, the terminal and the positioning server, and based on the measured The time difference is used to locate non-network objects; in this way, the positioning of non-network objects is achieved; at the same time, by measuring the time difference, the impact of the synchronization error between the network equipment and the terminal on the positioning accuracy is avoided, and the positioning accuracy is improved. Positioning accuracy for non-network objects.

The present application will be described in further detail below in conjunction with application examples.

In this application embodiment, as shown in Figure 7, through the interaction between the auxiliary terminal (that is, the above-mentioned first terminal), gNB/TRP (that is, the above-mentioned network device) and the LMF (that is, the above-mentioned positioning server), based on N The non-network object positioning process assisted by network terminals (N is an integer greater than or equal to 3) may include the following steps:

Step 701: Positioning information request, notification and response;

Step 702: Perform positioning activation and response for the aperiodic or semi-persistently transmitted reference signal (i.e., the above-mentioned first reference signal);

Step 703: Measurement, reporting and end instructions.

Steps 701 to 703 will be described in detail below.

First, as shown in Figure 7, step 701 may include:

Step 701a: LMF sends a positioning information request (i.e., the above-mentioned second request) to gNB/TRP; then execute step 701b;

Step 701b: gNB/TRP performs reference signal configuration; then perform steps 701c and 701d;

Step 701c: gNB/TRP sends a reference signal configuration notification (i.e., the above-mentioned fourth information and fifth information) to the auxiliary terminal;

Step 701d: gNB/TRP sends a reference signal configuration response to the LMF.

Among them, in step 701a, the positioning information request includes the network terminal identification and location (i.e., the above-mentioned second information), as well as information such as reference signal resource set, reference signal duration, and reference signal resource type (i.e., the above-mentioned third information). ).

In step 701b, after receiving the positioning information request, the gNB/TRP determines the auxiliary information contained in the positioning information request (i.e., on-network terminal identification and location, as well as information such as reference signal resource set, reference signal duration, and reference signal resource type). , select appropriate N auxiliary terminals, and provide each An auxiliary terminal configures a reference signal (ie, the above-mentioned first reference signal). gNB/TRP can select all online terminals to participate in non-network object positioning, or select some online terminals as auxiliary terminals to participate in non-network object positioning based on deployment scenarios and/or positioning requirements.

For example, in indoor or urban scenarios, the channel environment is relatively complex, there are many non-network objects, and there are echo signals to be received in all directions of the system. At this time, more auxiliary devices can be selected evenly within the service area. The terminal participates in positioning. In suburban scenarios, there are fewer non-network objects and echo signals only exist in certain specific directions. At this time, only a few auxiliary terminals can be selected in hot spots to participate in positioning. When positioning accuracy requirements are high, more terminals can be selected to assist positioning, otherwise the number of auxiliary terminals can be reduced.

Here, the greater the number of auxiliary terminals, the greater the number of non-network objects that the system can locate and the higher the positioning accuracy. Compared with using all online terminals for auxiliary positioning, selecting some online terminals for auxiliary positioning will cause a certain loss in positioning accuracy, but a reasonable selection of auxiliary terminals can reduce system overhead.

In step 701c, gNB/TRP may instruct the auxiliary terminal to perform assisted positioning through the auxiliary terminal identifier (ie, the identifier of the first terminal), that is, instruct the auxiliary terminal to transmit periodically or aperiodicly or semi-persistently according to the reference signal configuration. reference signal.

In this application embodiment, gNB/TRP needs to associate the auxiliary terminal with the configured reference signal when configuring and notifying the reference signal (ie, steps 701b and 701c).

In this application embodiment, for the reference signal that is sent periodically, after receiving the reference signal configuration notification, the auxiliary terminal directly starts to send the reference signal to the gNB/TRP periodically, that is, after executing step 701c, it directly executes step 703b. Execute step 702; for aperiodic or semi-persistently transmitted reference signals, step 702 needs to be executed to activate the transmission of the reference signal.

As shown in Figure 7, step 702 may include:

Step 702a: LMF sends a positioning activation request (i.e., the above-mentioned third request) to gNB/TRP; then execute step 702b and step 702c;

Step 702b: gNB/TRP activates reference signal transmission (i.e., the above-mentioned sixth information) to the auxiliary terminal;

Step 702c: gNB/TRP sends a positioning activation response to the LMF.

In actual application, when the system generates a positioning requirement, the LMF sends a positioning activation request to gNB/TRP; after receiving the positioning activation request, gNB/TRP notifies the auxiliary terminal to activate reference signal transmission. At the same time, feedback to the LMF that the activation step has been completed; after receiving the information to activate reference signal transmission (ie, the above-mentioned sixth information), the auxiliary terminal sends the reference signal to gNB/TRP according to the instruction of gNB/TRP in step 701c.

As shown in Figure 7, step 703 may include:

Step 703a: LMF sends a positioning measurement request (i.e., the above-mentioned first request) to gNB/TRP; then execute step 703b;

Step 703b: The auxiliary terminal sends a reference signal to gNB/TRP, and gNB/TRP performs reference signal measurement; then perform step 703c;

Step 703c: gNB/TRP reports the measurement quantity (i.e., the above-mentioned first information) to the LMF; then execute step 703d;

Step 703d: LMF sends a positioning end indication to gNB/TRP.

Among them, in step 703a, for the reference signal sent periodically, after receiving the reference signal configuration response in step 701d, the LMF sends a positioning measurement request to the gNB/TRP; for the reference signal sent aperiodically or semi-persistently, After receiving the positioning activation response in step 702c, the LMF sends a positioning measurement request to the gNB/TRP.

In step 703b and step 703c, after receiving the positioning measurement request, the gNB/TRP measures the reference signal sent by the auxiliary terminal, sorts the measurement amount, and reports it to the LMF. This process may specifically include the following steps:

1) For each auxiliary terminal, gNB/TRP measures the time it takes for the direct wave and reflected wave of the reference signal sent by the auxiliary terminal to reach gNB/TRP.

Here, for the reference signal sent by each auxiliary terminal, the direct wave is the wave that reaches gNB/TRP first, and the reflected wave is the wave that reaches gNB/TRP at other times; the time of arrival at gNB/TRP can be calculated using a timestamp.

2) For the reference signal sent by each auxiliary terminal, gNB/TRP calculates the time difference between the direct wave and each reflected wave reaching gNB/TRP to obtain the measurement quantity.

3) gNB/TRP classifies the measured quantities according to reflectors (i.e. non-network objects).

Here, when there are multiple non-network objects in the system, gNB/TRP can classify the measurement quantities according to the types of non-network objects based on the correlation of the received signals to facilitate subsequent positioning. Specifically, gNB/TRP classifies the reflected waves passing through the same non-network object and their corresponding measurement quantities into one category.

4) gNB/TRP associates the auxiliary terminal identification, arrival time difference (i.e., measurement quantity) with non-network objects (i.e., determines the correlation between the first terminal, the measurement quantity, and the object) and uploads them to LMF .

In step 703d, the LMF executes a positioning algorithm based on the received positioning measurement quantity (i.e., the above-mentioned first information) and the positioning assistance information, positions the non-network object, and after the positioning is completed, sends a positioning end instruction to the gNB/TRP.

Wherein, the positioning assistance information includes the auxiliary terminal identification, the physical location of the auxiliary terminal and the physical location of gNB/TRP, etc.; the input parameters of the positioning algorithm include: the auxiliary terminal location, the gNB/TRP location and the reference signal from each auxiliary terminal. Arrival time difference (i.e., measurement quantity); the output parameters of the positioning algorithm include: the position of the positioning target (i.e., non-network object) and the distance from the non-network object to the gNB/TRP.

The principle of the positioning algorithm is to use the arrival time difference of multipath signals to implicitly calculate and eliminate the synchronization error between the auxiliary terminal and the gNB/TRP before solving the position of the non-network object, thereby improving the positioning accuracy. Specifically, the ideas of the positioning algorithm include:

1) Based on the algebraic relationship obtained by the equivalent deformation of the quadratic function and the geometric relationship between the coordinates and distance of the auxiliary terminal, gNB/TRP, and non-network objects, construct the arrival time difference and the coordinates of the non-network object. linear equation;

2) Connect the linear equations of N auxiliary terminals to form a system of equations;

3) Obtain the position of non-network objects by solving a system of linear equations.

For example, assuming that the value of N is 3, and assuming that there is a non-network object to be measured within the coverage of gNB/TRP, then as shown in Figure 8, the positioning system includes three auxiliary terminals and one reflector (i.e. non-network object to be located), a gNB/TRP and LMF (the LMF is not shown in Figure 8). Among them, the gNB/TRP position (x _r ,y _r ) and the positions of the three auxiliary terminals (x _t1 ,y _t1 ), (x _t2 ,y _t2 ), (x _t3 ,y _t3 ) are known. The position of the object is (x, y), the position of gNB/TRP to the auxiliary terminal i is R _i , the distance from gNB/TRP to the non-network object is r, and the distance from the non-network object to the auxiliary terminal i is r _i .

When there is a positioning requirement in the positioning system, through steps 701a to 703c, gNB/TRP measures the arrival time difference (i.e., the above-mentioned measurement quantity) Δt _i of the reference signals sent by all auxiliary terminals i and reports it to the LMF; the LMF can obtain the following formula ( That is, the first relation above):

r+r _i -R _i =cΔt _i (1)

Among them, c represents the speed of light. The physical meaning of formula (1) is: the distance difference between the direct path and the reflection path is equal to the reference signal arrival time difference multiplied by the speed of light.

Based on formula (1), the idea of the positioning algorithm can be expressed by the following formula:

First, based on formula (1), the quadratic function is organized according to the algebraic relationship, and the following formula can be obtained:

According to the geometric relationship, using coordinates to describe the Euclidean distance between two points, the following formula can be obtained (that is, the second relationship above):

r ² =(xx _r ) ² +(yy _r ) ² (4)

Here, define variable Z = (x y r) ^T represents the x-axis coordinate, y-axis coordinate of the non-network object and the distance r between the non-network object and gNB/TRP. Change formula (1) and formula (3) to ( 5) Substituting into formula (2), the following linear equations can be obtained:
AZ=b (6)

Among them, A = (a ₁ a ₂ a ₃ ) ^T , a _i = (x _r -x _ti y _r -y _ti R _i +cΔt _i ) ^T , b = (b ₁ b ₂ b ₃ ) ^T , are all constants.

By solving the linear equations (6), the physical position (x, y) of the non-network object can be obtained.

In this application embodiment, since the positioning algorithm has three variables x, y and r, it is necessary to solve at least three sets of equations to determine the variables. Each set of equations corresponds to an auxiliary terminal, so the positioning system requires at least three auxiliary terminals. . Compared with the traditional way of determining the position of an object by solving a system of quadratic equations of two variables, by introducing the variable r of the distance r from the non-network object to gNB/TRP, the non-network object can be obtained by solving a system of three-dimensional linear equations. position, reducing computational complexity and calculation errors.

This application embodiment considers the assisted positioning model of N network terminals in the cellular network and proposes an echo positioning solution for non-network objects, which has the following advantages:

1) The on-network terminal identification and location are introduced in the positioning information request, allowing gNB/TRP to select the appropriate one based on the on-network terminal identification and location, combined with its own deployment scenarios and/or positioning requirements. N on-network terminals serve as auxiliary terminals; and the auxiliary terminal identifier is introduced in the reference signal configuration notification to indicate that the on-network terminal is selected as an auxiliary terminal, so that non-on-network objects can be flexibly implemented based on the reference signals sent by the N auxiliary terminals. positioning;

2) A new antenna measurement quantity is added to the positioning process: the time difference between the direct wave and the reflected wave of the reference signal reaching the gNB/TRP, and a new positioning algorithm is designed based on this measurement quantity, thereby eliminating the problem between the auxiliary terminal and the gNB/TRP The synchronization error between them avoids the impact of the synchronization error of the transmitting and receiving antennas on the positioning accuracy in the multi-base radar positioning algorithm, thereby improving the positioning accuracy of non-network objects.

In order to implement the method on the network device side of the embodiment of the present application, the embodiment of the present application also provides a positioning device, which is provided on the network device. As shown in Figure 9, the device includes:

The first receiving unit 901 is used to receive the first request sent by the positioning server; the first request is used to request positioning-related measurement of at least one object in the service area of the network device; the object cannot be related to the Network equipment communication;

The first processing unit 902 is configured to determine at least one measurement quantity corresponding to each first terminal based on receiving the first reference signals sent by N first terminals; where N is an integer greater than or equal to 3; The measurement quantity represents the time difference between the direct wave of the first reference signal sent by the first terminal and a reflected wave arriving at the network device; the reflected wave is an object that reflects the first reference signal sent by the first terminal. owned;

The first sending unit 903 is used to send first information to the positioning server; the first information at least includes at least one measurement quantity corresponding to each first terminal; the first information is used to measure the at least one object. To position.

In one embodiment, the first processing unit 902 is further configured to determine the correlation between the first terminal, the measurement quantity and the object based on at least the correlation between the reflected waves; The first information also includes an association relationship between the first terminal, the measurement quantity and the object.

In an embodiment, the first receiving unit 901 is further configured to receive a second request sent by the positioning server; the second request is used to request to configure positioning-related information for a terminal capable of communicating with the network device. reference signal; the second request includes at least second information and third information; the second information includes the identities and locations of all terminals that can communicate with the network device; the third information includes a reference signal resource set, Reference signal duration and reference signal resource type; the reference signal resource type indicates whether the reference signal is sent periodically or aperiodicly or semi-persistently;

The first processing unit 902 is also configured to determine N first terminals from all terminals capable of communicating with the network device based on at least the second information, and based on the third information, determine N first terminals for each of the first terminals based on the third information. A terminal configures a first reference signal.

In an embodiment, the first sending unit 903 is further configured to send fourth information and fifth information to each first terminal; the fourth information includes the configuration of the first reference signal of the first terminal. Information; the fifth information instructs the first terminal to send the first reference signal periodically or aperiodicly or semi-persistently.

In an embodiment, when the fifth information indicates that the first terminal sends the first reference signal aperiodically or semi-persistently, the first receiving unit 901 is also configured to receive the A third request sent by the positioning server; the third request is used to request activation of transmission of the first reference signal;

The first sending unit 903 is also configured to send sixth information to each first terminal; the sixth information instructs the first terminal to activate the transmission of the first reference signal.

In actual application, the first receiving unit 901 and the first sending unit 903 may be implemented by a communication interface in the positioning device; the first processing unit 902 may be implemented by a processor in the positioning device.

In order to implement the method of locating the server side in the embodiment of the present application, the embodiment of the present application also provides a positioning device, which is provided on the positioning server. As shown in Figure 10, the device includes:

The second sending unit 1001 is used to send a first request to the network device; the first request is used to request positioning-related measurement of at least one object in the service area of the network device; the object cannot be related to the Network equipment communication;

The second receiving unit 1002 is configured to receive the first information sent by the network device; the first information at least includes at least one measurement quantity corresponding to each of the N first terminals; where N is greater than or An integer equal to 3; the measurement quantity represents the time difference between the direct wave of the first reference signal sent by the first terminal and a reflected wave arriving at the network device; the reflected wave is sent by an object to the first terminal Obtained by reflection of the first reference signal;

The second processing unit 1003 is configured to locate the at least one object based on at least the first information.

In one embodiment, the first information also includes the first terminal, the measured quantity and the association between the objects; the second processing unit 1003 is also used to:

In one embodiment, the second processing unit 1003 is also used to:

In an embodiment, the second sending unit 1001 is further configured to send a second request to the network device; the second request is used to request to configure a positioning-related reference for a terminal that can communicate with the network device. signal; the second request includes at least second information and third information; the second information includes the identities and locations of all terminals that can communicate with the network device; the third information includes a reference signal resource set, a reference Signal duration and reference signal resource type; the reference signal resource type indicates whether the reference signal is sent periodically or aperiodicly or semi-persistently; the second information is used for the network device to be able to communicate with the network device N first terminals are determined among all communicating terminals; the third information is used for the network device to configure a first reference signal for each first terminal.

In an embodiment, the second sending unit 1001 is further configured to send a third request to the network device when the reference signal resource type indicates that the reference signal is sent aperiodic or semi-persistently; so The third request is used to request activation of the transmission of the first reference signal; the third request triggers the network device to send sixth information to each first terminal; the sixth information indicates that the The first terminal activates transmission of the first reference signal.

In actual application, the second sending unit 1001 and the second receiving unit 1002 can be implemented by a communication interface in the positioning device; the second processing unit 1003 can be implemented by a processor in the positioning device.

In order to implement the method on the terminal side of the embodiment of the present application, the embodiment of the present application also provides a positioning device, which is provided on the terminal. As shown in Figure 11, the device includes:

The third sending unit 1101 is used to send a first reference signal to the network device; the first reference signal is used for the network device to perform positioning-related measurements on at least one object in the service area; the object cannot be related to the Described network device communication.

In one embodiment, as shown in Figure 11, the device further includes a third receiving unit 1102, configured to receive fourth information and fifth information sent by the network device; the fourth information includes the third Configuration information of a reference signal; the fifth information instructs the terminal to send the first reference signal periodically or aperiodicly or semi-persistently.

In one embodiment, the third sending unit 1101 is also used to:

In the case where the fifth information indicates that the terminal sends the first reference signal aperiodically or semi-persistently, when the third receiving unit 1102 receives the sixth information sent by the network device, The network device sends the first reference signal; the sixth information instructs the terminal to activate the transmission of the first reference signal;

or,

In actual application, the third sending unit 1101 and the third receiving unit 1102 may be implemented by a communication interface in the positioning device.

It should be noted that when the positioning device provided in the above embodiment performs positioning, only the division of the above program modules is used as an example. In practical applications, the above processing can be allocated to different program modules as needed, that is, the device The internal structure is divided into different program modules to complete all or part of the processing described above. In addition, the positioning device provided by the above embodiments and the positioning method embodiments belong to the same concept. Please refer to the method embodiments for the specific implementation process, which will not be described again here.

Based on the hardware implementation of the above program module, and in order to implement the method on the network device side of the embodiment of the present application, the embodiment of the present application also provides a network device. As shown in Figure 12, the network device 1200 includes:

The first communication interface 1201 is capable of information interaction with the terminal and the positioning server;

The first processor 1202 is connected to the first communication interface 1201 to implement information interaction with the terminal and the positioning server, and is used to execute the method provided by one or more technical solutions on the network device side when running a computer program. The computer program is stored on the first memory 1203 .

Specifically, the first communication interface 1201 is used to receive a first request sent by a positioning server; the first request is used to request positioning-related measurement of at least one object within the service area of the network device 1200; The object cannot communicate with the network device 1200;

The first processor 1202 is configured to determine at least one measurement quantity corresponding to each first terminal based on receiving the first reference signal sent by N first terminals through the first communication interface; where N is An integer greater than or equal to 3; the measurement quantity represents the time difference between the direct wave of the first reference signal sent by the first terminal and a reflected wave arriving at the network device 1200; the reflected wave is the impact of an object on the third Obtained by reflecting the first reference signal sent by a terminal;

The first communication interface 1201 is also used to send first information to the positioning server; the first information at least includes at least one measurement quantity corresponding to each first terminal; the first information is used to At least one object is positioned.

In one embodiment, the first processor 1202 is further configured to determine the correlation between the first terminal, the measurement quantity and the object based on at least the correlation between the reflected waves; The first information also includes an association relationship between the first terminal, the measurement quantity and the object.

In one embodiment, the first communication interface 1201 is also used to receive a second request sent by the positioning server; the second request is used to request to configure positioning related information for a terminal capable of communicating with the network device 1200 reference signal; the second request includes at least second information and third information; the second information includes the identities and locations of all terminals that can communicate with the network device 1200; the third information includes reference signal resources Set, reference signal duration and reference signal resource type; the reference signal resource type indicates whether the reference signal is sent periodically or aperiodicly or semi-persistently;

The first processor 1202 is further configured to determine N first terminals from all terminals capable of communicating with the network device 1200 based on at least the second information, and based on the third information, A first reference signal is configured for each first terminal.

In one embodiment, the first communication interface 1201 is also used to send fourth information and fifth information to each first terminal; the fourth information includes the configuration of the first reference signal of the first terminal. Information; the fifth information instructs the first terminal to send the first reference signal periodically or aperiodicly or semi-persistently.

In an embodiment, when the fifth information indicates that the first terminal sends the first reference signal aperiodically or semi-continuously, the first communication interface 1201 is also used to:

It should be noted that the specific processing procedures of the first communication interface 1201 and the first processor 1202 can be understood with reference to the above method.

Of course, in actual application, various components in the network device 1200 are coupled together through the bus system 1204. It can be understood that the bus system 1204 is used to implement connection communication between these components. In addition to the data bus, the bus system 1204 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, the various buses are labeled bus system 1204 in FIG. 12 .

The first memory 1203 in the embodiment of the present application is used to store various types of data to support the operation of the network device 1200 . Examples of such data include: any computer program used to operate on network device 1200.

The methods disclosed in the above embodiments of the present application can be applied to the first processor 1202 or implemented by the first processor 1202 . The first processor 1202 may be an integrated circuit chip with signal processing capabilities. During the implementation process, each step of the above method can be completed by instructions in the form of hardware integrated logic circuits or software in the first processor 1202 . The above-mentioned first processor 1202 may be a general processor, a digital signal processor (Digital Signal Processor, DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The first processor 1202 can implement or execute the various methods, steps and logical block diagrams disclosed in the embodiments of this application. A general-purpose processor may be a microprocessor or any conventional processor, etc. Combined with the steps of the method disclosed in the embodiments of the present application, it can be directly embodied as a hardware decoding processor executing It can be completed by line, or by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, and the storage medium is located in the first memory 1203. The first processor 1202 reads the information in the first memory 1203, and completes the steps of the foregoing method in combination with its hardware.

In an exemplary embodiment, the network device 1200 may be configured by one or more application specific integrated circuits (Application Specific Integrated Circuits, ASICs), DSPs, programmable logic devices (Programmable Logic Devices, PLDs), complex programmable logic devices (Complex Programmable Logic Device (CPLD), Field-Programmable Gate Array (FPGA), general-purpose processor, controller, microcontroller (Micro Controller Unit, MCU), microprocessor (Microprocessor), or other electronic Component implementation, used to execute the aforementioned methods.

Based on the hardware implementation of the above program module, and in order to implement the positioning server side method of the embodiment of the present application, the embodiment of the present application also provides a positioning server. As shown in Figure 13, the positioning server 1300 includes:

The second communication interface 1301 is capable of information interaction with network devices;

The second processor 1302 is connected to the second communication interface 1301 to implement information interaction with the network device, and is used to execute the method provided by one or more technical solutions on the positioning server side when running a computer program. The computer program is stored on the second memory 1303 .

Specifically, the second communication interface 1301 is used for:

The second processor 1302 is configured to locate the at least one object based on at least the first information.

In one embodiment, the first information also includes the first terminal, the measured quantity and the association between the objects; the second processor 1302 is also used to:

In one embodiment, the second processor 1302 is also used to:

In one embodiment, the second communication interface 1301 is also used to send a second request to the network device; the second request is used to request to configure a positioning-related reference for a terminal that can communicate with the network device. signal; the second request includes at least second information and third information; the second information includes the identities and locations of all terminals that can communicate with the network device; the third information includes a reference signal resource set, a reference Signal duration and reference signal resource type; the reference signal resource type indicates whether the reference signal is sent periodically or aperiodicly or semi-persistently; the second information is used for the network device to be able to communicate with the network device N first terminals are determined among all communicating terminals; the third information is used for the network device to configure a first reference signal for each first terminal.

In one embodiment, the second communication interface 1301 is further configured to send a third request to the network device when the reference signal resource type indicates that the reference signal is sent aperiodic or semi-persistently; so The third request is used to request activation of the transmission of the first reference signal; the third request triggers the network device to send sixth information to each first terminal; the sixth information indicates that the The first terminal activates transmission of the first reference signal.

It should be noted that the specific processing procedures of the second communication interface 1301 and the second processor 1302 can be understood with reference to the above method.

Of course, in actual application, various components in the positioning server 1300 are coupled together through the bus system 1304. It can be understood that the bus system 1304 is used to implement connection communication between these components. In addition to the data bus, the bus system 1304 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, the various buses are labeled as bus system 1304 in FIG. 13 .

The second memory 1303 in the embodiment of the present application is used to store various types of data to support the operation of the positioning server 1300 . Examples of such data include: any computer program used to operate on location server 1300.

The methods disclosed in the above embodiments of the present application can be applied to the second processor 1302 or implemented by the second processor 1302 . The second processor 1302 may be an integrated circuit chip with signal processing capabilities. During the implementation process, each step of the above method can be completed by instructions in the form of hardware integrated logic circuits or software in the second processor 1302 . The above-mentioned second processor 1302 may be a general-purpose processor, a DSP, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The second processor 1302 can implement or execute the various methods, steps and logical block diagrams disclosed in the embodiments of this application. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in the embodiments of this application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, and the storage medium is located in the second memory 1303. The second processor 1302 reads the information in the second memory 1303, and completes the steps of the foregoing method in combination with its hardware.

In an exemplary embodiment, the positioning server 1300 may be implemented by one or more ASICs, DSPs, PLDs, CPLDs, FPGAs, general processors, controllers, MCUs, Microprocessors, or other electronic components for performing the foregoing methods.

Based on the hardware implementation of the above program module, and in order to implement the method on the terminal side of the embodiment of the present application, the embodiment of the present application also provides a terminal (ie, a first terminal). As shown in Figure 14, the terminal 1400 includes:

The third communication interface 1401 is capable of information interaction with network devices;

The third processor 1402 is connected to the third communication interface 1401 to implement information interaction with network devices, and is used to execute the method provided by one or more technical solutions on the terminal side when running a computer program. The computer program is stored on the third memory 1403.

Specifically, the third communication interface 1401 is used to send a first reference signal to a network device; the first reference signal is used for the network device to perform positioning-related measurements on at least one object in the service area; The object cannot communicate with the network device.

In one embodiment, the third communication interface 1401 is also used to receive fourth information and fifth information sent by the network device; the fourth information includes the configuration information of the first reference signal; The fifth information instructs the terminal 1400 to send the first reference signal periodically or aperiodicly or semi-continuously.

In one embodiment, the third communication interface 1401 is also used for:

In the case where the fifth information indicates that the terminal 1400 sends the first reference signal aperiodically or semi-continuously, when the sixth information sent by the network device is received, the The first reference signal; the sixth information instructs the terminal 1400 to activate the transmission of the first reference signal;

or,

If the fifth information indicates that the terminal 1400 periodically sends the first reference signal, the first reference signal is directly sent to the network device.

It should be noted that the specific processing process of the third communication interface 1401 can be understood with reference to the above method.

Of course, in actual application, various components in the terminal 1400 are coupled together through the bus system 1404. It can be understood that the bus system 1404 is used to implement connection communication between these components. In addition to the data bus, the bus system 1404 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, the various buses are labeled bus system 1404 in FIG. 14 .

The third memory 1403 in the embodiment of the present application is used to store various types of data to support the operation of the terminal 1400. Examples of such data include: any computer program used to operate on terminal 1400.

The methods disclosed in the above embodiments of the present application can be applied to the third processor 1402 or implemented by the third processor 1402 . The third processor 1402 may be an integrated circuit core Chip, with signal processing capabilities. During the implementation process, each step of the above method can be completed by instructions in the form of hardware integrated logic circuits or software in the third processor 1402 . The above-mentioned third processor 1402 may be a general-purpose processor, a DSP, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The third processor 1402 can implement or execute the disclosed methods, steps, and logical block diagrams in the embodiments of this application. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in the embodiments of this application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, and the storage medium is located in the third memory 1403. The third processor 1402 reads the information in the third memory 1403, and completes the steps of the foregoing method in combination with its hardware.

In an exemplary embodiment, the terminal 1400 may be implemented by one or more ASICs, DSPs, PLDs, CPLDs, FPGAs, general processors, controllers, MCUs, Microprocessors, or other electronic components for performing the foregoing methods.

It can be understood that the memory (first memory 1203, second memory 1303, third memory 1403) in the embodiment of the present application can be a volatile memory or a non-volatile memory, and can also include volatile and non-volatile memories. Both. Among them, the non-volatile memory can be read-only memory (Read Only Memory, ROM), programmable read-only memory (Programmable Read-Only Memory, PROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory). , EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Magnetic Random Access Memory (ferromagnetic random access memory, FRAM), Flash Memory, Magnetic Surface Memory , optical disk, or compact disc (Compact Disc Read-Only Memory, CD-ROM); the magnetic surface memory can be a magnetic disk memory or a magnetic tape memory. The volatile memory may be random access memory (RAM), which is used as an external cache. By way of illustration, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory Memory (Dynamic Random Access Memory, DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (Double Data Rate Synchronous Dynamic Random Access Memory, DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Synchronous Link Dynamic Random Access Memory (SyncLink Dynamic Random Access Memory, SLDRAM), Direct Rambus Random Access Memory (Direct Rambus Random Access Memory, DRRAM). The memories described in the embodiments of the present application are intended to include, but are not limited to, these and any other suitable types of memories.

In order to implement the method provided by the embodiment of the present application, the embodiment of the present application also provides a positioning system, as shown in Figure 15. The system includes: a network device 1501, a positioning server 1502 and N terminals 1503 (ie, the first terminal) ; N is an integer greater than or equal to 3.

Here, it should be noted that the specific processing procedures of the network device 1501, the positioning server 1502 and the N terminals 1503 have been described in detail above and will not be described again here.

In an exemplary embodiment, the embodiment of the present application also provides a storage medium, that is, a computer storage medium, specifically a computer-readable storage medium, for example, including a first memory 1203 that stores a computer program. The computer program can be used by the network device 1200 The first processor 1202 executes to complete the steps described in the foregoing network device side method. Another example includes a second memory 1303 that stores a computer program. The computer program can be executed by the second processor 1302 of the positioning server 1300 to complete the steps of the aforementioned positioning server-side method. Another example includes a third memory 1403 that stores a computer program. The computer program can be executed by the third processor 1402 of the terminal 1400 to complete the steps of the aforementioned terminal-side method. The computer-readable storage medium can be FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disk, or CD-ROM and other memories.

It should be noted that "first", "second", etc. are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

In addition, the technical solutions described in the embodiments of this application can be combined arbitrarily as long as there is no conflict.

It can be understood that the embodiments described in the embodiments of this application can be implemented using hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, modules, units, sub-modules, sub-units, etc. can be implemented in one or more Application Specific Integrated Circuits (Application Specific Integrated Circuits (ASIC), Digital Signal Processing (DSP), Digital Signal Processing Device (DSP Device, DSPD), Programmable Logic Device (PLD), Field-Programmable Gate Array (Field-Programmable Gate) Array, FPGA), general-purpose processor, controller, microcontroller, microprocessor, other electronic units used to perform the functions described in this application, or combinations thereof.

The above descriptions are only preferred embodiments of the present application and are not intended to limit the protection scope of the present application.

Claims

A positioning method, applied to network equipment, the method includes:

Receive the first request sent by the positioning server; the first request is used to request positioning-related measurement of at least one object within the service area of the network device; the object cannot communicate with the network device;

Based on the reception of first reference signals sent by N first terminals, at least one measurement quantity corresponding to each first terminal is determined; where N is an integer greater than or equal to 3; the measurement quantity represents the first terminal The time difference between the direct wave of the sent first reference signal and a reflected wave arriving at the network device; the reflected wave is obtained by an object reflecting the first reference signal sent by the first terminal;

Send first information to the positioning server; the first information at least includes at least one measurement quantity corresponding to each first terminal; the first information is used to position the at least one object.
The method of claim 1, further comprising:

At least based on the correlation between reflected waves, the correlation between the first terminal, the measurement quantity and the object is determined; the first information also includes the first terminal, the measurement quantity and the object. Describe the relationship between objects.
The method of claim 1, further comprising:

Receive a second request sent by the positioning server; the second request is used to request to configure a positioning-related reference signal for a terminal capable of communicating with the network device; the second request includes at least second information and third information ; The second information includes the identities and locations of all terminals that can communicate with the network device; the third information includes a reference signal resource set, reference signal duration and reference signal resource type; the reference signal resource type representation The reference signal is sent periodically or aperiodicly or semi-continuously;

According to at least the second information, N first terminals are determined from all terminals capable of communicating with the network device, and a first reference signal is configured for each first terminal according to the third information.
The method of claim 3, further comprising:

Send fourth information and fifth information to each first terminal; the fourth information includes configuration information of the first reference signal of the first terminal; the fifth information indicates that the first terminal periodically or The first reference signal is sent aperiodically or semi-persistently.
The method according to claim 4, wherein in the case where the fifth information indicates that the first terminal sends the first reference signal aperiodically or semi-persistently, the method further includes:

Receive a third request sent by the positioning server; the third request is used to request activation of transmission of the first reference signal;

Sixth information is sent to each first terminal; the sixth information instructs the first terminal to activate transmission of the first reference signal.
A positioning method, applied to positioning servers, the method includes:

Send a first request to the network device; the first request is used to request positioning-related measurement of at least one object within the service area of the network device; the object cannot communicate with the network device;

Receive the first information sent by the network device; the first information at least includes at least one measurement quantity corresponding to each of the N first terminals; where N is an integer greater than or equal to 3; the measurement The quantity represents the time difference between the direct wave of the first reference signal sent by the first terminal and a reflected wave arriving at the network device; the reflected wave is obtained by reflecting the first reference signal sent by the first terminal by an object. of;

The at least one object is located based on at least the first information.
The method according to claim 6, wherein the first information further includes a correlation between the first terminal, the measurement quantity and the object; and at least according to the first information, the At least one of the above objects is positioned, including:

Determining the location of the network device and the location of each first terminal;

According to the correlation between the first terminal, the measurement quantity and the object, determine N measurement quantities corresponding to each object and the first terminal corresponding to each measurement quantity in the N measurement quantities;

For each object, the location of the object is determined based on the N measurement quantities corresponding to the object, the location of the first terminal corresponding to each of the N measurement quantities, and the location of the network device.
The method of claim 7, wherein the method is based on N measurement quantities corresponding to the object, the location of the first terminal corresponding to each measurement quantity in the N measurement quantities, and the location of the network device, Determine the location of said object, including:

Based on the N measurement quantities corresponding to the object, the position of the first terminal corresponding to each of the N measurement quantities, and the location of the network device, for each of the N measurement quantities, Determine a first relational expression and a second relational expression, and determine a linear equation between the measured quantity and the position of the object based on the first relational expression and the second relational expression; the first relational expression The path difference between the direct wave and the reflected wave corresponding to the measured quantity is represented by being equal to the product of the measured quantity and the speed of light; the second relational expression represents the first terminal, the network device and the corresponding measured quantity. The geometric relationship between the distance and position between the objects;

Based on the linear equation corresponding to each of the N measured quantities, the position of the object is determined.
The method according to any one of claims 6 to 8, further comprising:

Send a second request to the network device; the second request is used to request to configure a positioning-related reference signal for a terminal capable of communicating with the network device; the second request includes at least second information and third information; The second information includes the identities and locations of all terminals that can communicate with the network device; the third information includes a reference signal resource set, a reference signal duration and a reference signal resource type; the reference signal resource type represents a reference The signal is sent periodically or aperiodicly or semi-persistently; the second information is used for the network device to determine N first terminals from all terminals capable of communicating with the network device; the third information Used for the network device to configure a first reference signal for each first terminal.
The method of claim 9, further comprising:

In the case where the reference signal resource type indicates that the reference signal is sent aperiodic or semi-persistently, send a third request to the network device; the third request is used to request activation of transmission of the first reference signal; The third request triggers the network device to send sixth information to each first terminal; the sixth information instructs the first terminal to activate transmission of the first reference signal.
A positioning method, applied to a terminal, the method includes:

Send a first reference signal to the network device; the first reference signal is used for the network device to perform positioning-related measurements on at least one object in the service area; the object cannot communicate with the network device.
The method of claim 11, further comprising:

Receive fourth information and fifth information sent by the network device; the fourth information includes the Configuration information of the first reference signal; the fifth information instructs the terminal to send the first reference signal periodically or aperiodicly or semi-persistently.
The method according to claim 12, wherein sending the first reference signal to the network device includes:

In the case where the fifth information indicates that the terminal sends the first reference signal aperiodically or semi-persistently, when receiving the sixth information sent by the network device, the network device sends the first reference signal to the network device. a first reference signal; the sixth information instructs the terminal to activate the transmission of the first reference signal;

or,

If the fifth information indicates that the terminal periodically sends the first reference signal, the first reference signal is directly sent to the network device.
A positioning device is provided on a network device. The positioning device includes:

A first receiving unit, configured to receive a first request sent by the positioning server; the first request is used to request positioning-related measurement of at least one object within the service area of the network device; the object cannot be related to the Network equipment communication;

A first processing unit configured to determine at least one measurement quantity corresponding to each first terminal based on receiving the first reference signals sent by N first terminals; where N is an integer greater than or equal to 3; the measurement The quantity represents the time difference between the direct wave of the first reference signal sent by the first terminal and a reflected wave arriving at the network device; the reflected wave is obtained by reflecting the first reference signal sent by the first terminal by an object. of;

The first sending unit is used to send first information to the positioning server; the first information at least includes at least one measurement quantity corresponding to each first terminal; the first information is used to perform measurement on the at least one object. position.
A positioning device is provided on a positioning server. The positioning device includes:

The second sending unit is used to send a first request to the network device; the first request is used to request positioning-related measurement of at least one object in the service area of the network device; the object cannot be related to the network device. device communication;

The second receiving unit is configured to receive the first information sent by the network device; the first information at least includes at least one measurement quantity corresponding to each of the N first terminals; where N is An integer greater than or equal to 3; the measurement quantity represents the time difference between the direct wave of the first reference signal sent by the first terminal and a reflected wave arriving at the network device; the reflected wave is the impact of an object on the first Obtained by reflection of the first reference signal sent by the terminal;

A second processing unit configured to locate the at least one object based on at least the first information.
A positioning device is provided on a terminal. The positioning device includes:

The third sending unit is configured to send a first reference signal to the network device; the first reference signal is used for the network device to perform positioning-related measurements on at least one object in the service area; the object cannot be related to the Network device communication.
A network device includes: a first communication interface and a first processor; wherein,

The first communication interface is used to receive the first request sent by the positioning server; the first request is used to request positioning-related measurement of at least one object in the service area of the network device; the object cannot be related to The network equipment communicates;

The first processor is configured to determine at least one measurement quantity corresponding to each first terminal based on receiving first reference signals sent by N first terminals through the first communication interface; where N is greater than Or an integer equal to 3; the measurement quantity represents the time difference between the direct wave of the first reference signal sent by the first terminal and a reflected wave arriving at the network device; the reflected wave is the impact of an object on the first terminal Obtained by reflection of the transmitted first reference signal;

The first communication interface is also used to send first information to the positioning server; the first information at least includes at least one measurement quantity corresponding to each first terminal; the first information is used to measure the at least An object is positioned.
A positioning server, including: a second communication interface and a second processor; wherein,

The second communication interface is used for:

Send a first request to the network device; the first request is used to request positioning-related measurement of at least one object within the service area of the network device; the object cannot communicate with the network device;

Receive the first information sent by the network device; the first information at least includes at least one measurement quantity corresponding to each of the N first terminals; where N is an integer greater than or equal to 3; the measurement The quantity represents the direct wave of the first reference signal sent by the first terminal and a reflected wave to The time difference to reach the network device; the reflected wave is obtained by an object reflecting the first reference signal sent by the first terminal;

The second processor is configured to position the at least one object based on at least the first information.
A terminal including: a third communication interface and a third processor; wherein,

The third communication interface is used to send a first reference signal to a network device; the first reference signal is used for the network device to perform positioning-related measurements on at least one object in the service area; the object cannot be related to The network device communicates.
A network device including: a first processor and a first memory for storing a computer program capable of running on the processor,

Wherein, the first processor is configured to perform the steps of the method described in any one of claims 1 to 5 when running the computer program.
A positioning server including: a second processor and a second memory for storing a computer program capable of running on the processor,

Wherein, the second processor is configured to perform the steps of the method described in any one of claims 6 to 10 when running the computer program.
A terminal including: a third processor and a third memory for storing a computer program capable of running on the processor,

Wherein, the third processor is configured to perform the steps of the method described in any one of claims 11 to 13 when running the computer program.
A storage medium with a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 5 are implemented, or the steps of any one of claims 6 to 10 are implemented. The steps of the method, or the steps of implementing the method of any one of claims 11 to 13.