WO2023221931A1 - 用于定位的方法和装置 - Google Patents

用于定位的方法和装置 Download PDF

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Publication number
WO2023221931A1
WO2023221931A1 PCT/CN2023/094243 CN2023094243W WO2023221931A1 WO 2023221931 A1 WO2023221931 A1 WO 2023221931A1 CN 2023094243 W CN2023094243 W CN 2023094243W WO 2023221931 A1 WO2023221931 A1 WO 2023221931A1
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WO
WIPO (PCT)
Prior art keywords
information
reference signal
positioning reference
sending
positioning
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PCT/CN2023/094243
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English (en)
French (fr)
Inventor
李俊
李雪茹
吴海兵
Original Assignee
华为技术有限公司
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Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Publication of WO2023221931A1 publication Critical patent/WO2023221931A1/zh

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/10—Scheduling measurement reports ; Arrangements for measurement reports
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • Embodiments of the present application relate to the field of communications, and more specifically, to a method and device for positioning.
  • the fifth generation mobile communication technology is standardizing work on sidelink (SL) positioning.
  • Traditional positioning solutions based on radio access technology (RAT) such as time difference of arrival (TDOA), round-trip time (RTT), etc.
  • RAT radio access technology
  • TDOA time difference of arrival
  • RTT round-trip time
  • the TDOA positioning method requires time synchronization between devices participating in positioning.
  • the SL scenario different devices are not strictly time synchronized. Therefore, the RTT positioning method, which does not require strict time synchronization between devices, is the main candidate positioning technology for SL positioning.
  • This application provides a method and device for positioning, which can save resource overhead in the positioning process and improve positioning performance.
  • the first aspect provides a method for positioning.
  • the method may be executed by a first device, or may be executed by a component (such as a chip or a circuit) of the first device, which is not limited.
  • a component such as a chip or a circuit
  • the following description takes execution by the first device as an example.
  • the method includes: a first device receiving a first positioning reference signal from a second device; the first device sending the second positioning reference signal to the second device according to first information for sending the second positioning reference signal, wherein , the first information used to send the second positioning reference signal is determined based on the first information used to receive the first positioning reference signal, where the first information includes at least one of time, phase and frequency.
  • the first device can determine the information of the second positioning reference signal to be sent by the first device based on the received information of the first positioning reference signal (such as receiving time, phase or frequency, etc.) information such as time, phase or frequency), and the first device sends the second positioning reference signal to the second device based on the information of the second positioning reference signal used for transmission, so that when the second device determines the position-related information, it can The first device does not need to report information about receiving the first positioning reference signal and sending information about the second positioning reference signal, thereby avoiding reserving resources for the first device to report information, saving resource overhead, and improving efficiency. Positioning performance.
  • the first positioning reference signal such as receiving time, phase or frequency, etc.
  • the first information for sending the second positioning reference signal is based on the first information for receiving the first positioning reference signal and the configured first information for sending.
  • the first information of the first positioning reference signal is determined.
  • the above-mentioned information used to send the second positioning reference signal may be determined based on the information used to receive the first positioning reference signal and the configured information used to send the first positioning reference signal, wherein the information used to receive the first positioning reference signal Both the information and the configured information for sending the first positioning reference signal are information known to the first device, so that the first device can successfully determine the information for sending the second positioning reference signal.
  • y represents the first information used to send the second positioning reference signal
  • x represents the first information used to receive the first positioning reference signal
  • ⁇ represents the value determined according to the preconfigured information
  • the above-mentioned information for sending the second positioning reference signal and the information for receiving the first positioning reference signal can satisfy a certain relationship, and some parameters involved in the relationship are preconfigured , so that the first device can successfully determine the information for sending the second positioning reference signal based on the relationship.
  • the method further includes: the first device receiving first indication information, the first indication information being used to indicate the configuration for sending the first positioning reference signal.
  • m2 represents the first information configured for sending the second positioning reference signal
  • m1 represents the first information configured for sending the first positioning reference signal
  • the method further includes: the first device receiving second indication information, the second indication information being used to indicate the configuration for sending the first positioning reference signal.
  • the first information configured to send the second positioning reference signal and the first information configured to send the third positioning reference signal, before receiving the first positioning reference signal, the first device Send the third positioning reference signal to the second device according to the configured first information for sending a third positioning reference signal,
  • the first information used to receive the first positioning reference signal and the first information used to send the second positioning reference signal satisfy the following relationship:
  • q 2 represents the first information configured for sending the second positioning reference signal
  • q 1 represents the first information configured for sending the first positioning reference signal
  • q 3 represents the configured first information used for sending the first positioning reference signal. The first information of the three positioning reference signals.
  • the above-mentioned information of sending the second positioning reference signal and receiving the information of the first positioning reference signal can satisfy a certain relational expression, and some parameters involved in the relational expression can be passed through the received first indication.
  • the information is obtained so that the first device can successfully determine the information for sending the second positioning reference signal based on the relationship.
  • the method further includes: the first device receiving third indication information, the third indication information being used to instruct the first device to send the third
  • the first information of the two positioning reference signals is related to the first information of the first device for receiving the first positioning reference signal.
  • the first device can learn from the received third indication information that the information of sending the second positioning reference signal is related to the information of receiving the first positioning reference signal, so that the first device can receive the first positioning reference signal after receiving the first positioning reference signal.
  • the information for sending the second positioning reference signal is determined based on the information for receiving the first positioning reference signal.
  • the second aspect provides a method for positioning.
  • the method can be executed by a second device, or can also be executed by a component (such as a chip or a circuit) of the second device, which is not limited.
  • a component such as a chip or a circuit
  • the following description takes execution by the second device as an example.
  • the method includes: the second device sends a first positioning reference signal to the first device according to the first information configured to send the first positioning reference signal; the second device receives the second positioning reference signal from the first device ; The second device determines the second information based on the first information received from the second positioning reference signal and the first information configured to send the second positioning reference signal; wherein the first information includes time, phase and frequency At least one of the second information is used to determine the location of the second device.
  • the first device determines to send the second positioning reference signal based on the received information of the first positioning reference signal.
  • the second device can determine the positioning-related information based on the preconfigured information and the information of the positioning reference signal received by itself. There is no need for the first device to report the information of the first device receiving the first positioning reference signal and sending the second positioning reference signal. Information, thereby avoiding the need to reserve resources for the first device to report information, saving resource overhead and improving positioning performance.
  • the first information is a time
  • the second information is a flight time
  • the time for receiving the second positioning reference signal, the configured time for sending The time of the second positioning reference signal and the flight time satisfy the following relationship:
  • TOF represents the flight time
  • TA2 represents the time for receiving the second positioning reference signal
  • t2 represents the configured time for transmitting the second positioning reference signal
  • the method further includes: the second device sending first indication information to the first device, the first indication information being used to indicate the configured configuration for sending the First information of the first positioning reference signal and first information configured for sending the second positioning reference signal.
  • the second device can notify the first device of the preconfigured information through the first indication information, so that the first device determines the first device to be located based on the preconfigured information and the received first positioning reference signal information.
  • the information of the second positioning reference signal sent.
  • the method before the second device sends the first positioning reference signal to the first device according to the first information configured for sending the first positioning reference signal, includes: a second device receiving a third positioning reference signal from the first device; and the second device transmitting the second positioning reference signal according to first information and configuration for receiving the second positioning reference signal.
  • the first information determines the second information, including:
  • the second device receives the first information of the third positioning reference signal, the first information of the second positioning reference signal, the configured first information for sending the first positioning reference signal, and the configuration of the first information.
  • the second information is determined based on the first information for sending the second positioning reference signal and the configured first information for sending the third positioning reference signal.
  • the second device can determine the positioning-related information based on the preconfigured information and the information of the positioning reference signal it receives.
  • the first device is required to report the information that the first device receives the first positioning reference signal and the information that sends the second positioning reference signal. This avoids reserving resources for the first device to report information, saves resource overhead, and improves positioning performance. .
  • the first information is time
  • the second information is flight time
  • the first information for receiving the third positioning reference signal the first information for receiving The first information of the second positioning reference signal
  • the configured first information for sending the first positioning reference signal the configured first information for sending the second positioning reference signal and the configured first information for sending the second positioning reference signal.
  • the first information for sending the third positioning reference signal and the flight time satisfy the following relationship:
  • t round2 TA2 -t 1
  • t reply1 t 1 -TA3
  • TOF represents the flight time
  • TA3 represents the time for receiving the third positioning reference signal
  • TA2 represents the time for receiving the second positioning
  • the time of the reference signal t 1 represents the time configured to send the first positioning reference signal
  • t 3 represents the time configured to send the third positioning reference signal
  • t 2 represents the time configured to send the second positioning reference signal. The moment of positioning the reference signal.
  • the method further includes: the second device sending second indication information to the first device, the second indication information being used to indicate the configured configuration for sending the first device.
  • First information of a positioning reference signal first information configured for sending a second positioning reference signal and first information configured for sending a third positioning reference signal.
  • the second device can notify the first device of the preconfigured information through the second indication information, so that the first device determines the first device to be located based on the preconfigured information and the received information of the first positioning reference signal.
  • the information of the second positioning reference signal sent.
  • the method further includes: the second device sending third indication information to the first device, the third indication information being used to instruct the first device to use
  • the first information for sending the second positioning reference signal is related to the first information of the first device for receiving the first positioning reference signal.
  • the second device may notify the first device through the third indication information that the first information for sending the second positioning reference signal and the first information for receiving the first positioning reference signal are related, so as to facilitate the second After receiving the first positioning reference signal, a device determines the information to send the second positioning reference signal based on the information received from the first positioning reference signal.
  • a third aspect provides a communication device, which is used to perform the method provided in any one of the above first and second aspects.
  • the device may include units and/or modules, such as a processing unit and/or a communication unit, for performing the method provided by any of the above implementations of either the first aspect or the second aspect.
  • the device is a communication device (such as a first device, and a second device).
  • the communication unit may be a transceiver, or an input/output interface; the processing unit may be at least one processor.
  • the transceiver may be a transceiver circuit.
  • the input/output interface may be an input/output circuit.
  • the device is a chip, a chip system or a circuit used in a communication device (such as a first device, or a second device).
  • the communication unit may be an input/output interface, interface circuit, output circuit, input circuit on the chip, chip system or circuit, Pins or related circuits, etc.
  • the processing unit may be at least one processor, processing circuit or logic circuit, etc.
  • a communication device which device includes: a memory for storing a program; and at least one processor for executing the computer program or instructions stored in the memory to perform any one of the above first and second aspects.
  • the device is a communication device (such as a first device, and a second device).
  • the device is a chip, a chip system or a circuit used in a communication device (such as a first device, or a second device).
  • the present application provides a processor for executing the method provided by any of the above implementations of any of the first and second aspects.
  • processor output, reception, input and other operations can be understood as processor output, reception, input and other operations.
  • transmitting and receiving operations performed by the radio frequency circuit and the antenna, which is not limited in this application.
  • a computer-readable storage medium stores program code for device execution.
  • the program code includes any one of the above-mentioned methods for executing any one of the above-mentioned first aspect and the second aspect. methods provided by this implementation.
  • a seventh aspect provides a computer program product containing instructions.
  • the computer program product When the computer program product is run on a computer, it causes the computer to execute the method provided by any of the above implementations of any of the above first and second aspects. .
  • a chip in an eighth aspect, includes a processor and a communication interface.
  • the processor reads instructions stored in the memory through the communication interface and executes any of the above implementations of any one of the first and second aspects. provided method.
  • the chip also includes a memory, in which computer programs or instructions are stored.
  • the processor is used to execute the computer programs or instructions stored in the memory.
  • the processor is used to execute The method provided by any one of the above implementations of any one of the above first to third aspects.
  • a communication system including the above first device and second device.
  • Figure 1 is a schematic diagram of the application scenario involved in this application.
  • Figure 2 is a schematic diagram of the TDOA positioning method.
  • Figure 3 is a schematic diagram of the RTT positioning method.
  • Figure 4 is a schematic diagram of DS-TWR.
  • Figure 5 is a schematic flow chart of a positioning method provided by an embodiment of the present application.
  • Figure 6 is a schematic flow chart of Example 1 provided by the embodiment of this application.
  • Figure 7 is a schematic diagram of the signal transmission time point in Example 1.
  • FIG. 8 is a schematic diagram of the signal transmission time point in Example 2 provided by the embodiment of the present application.
  • Figure 9 is a schematic block diagram of a device 900 provided by an embodiment of the present application.
  • Figure 10 is a schematic block diagram of a device 1000 provided by an embodiment of the present application.
  • FIG. 11 is a schematic diagram of a chip system 1100 provided by an embodiment of the present application.
  • GSM global system of mobile communication
  • CDMA code division multiple access
  • WCDMA broadband code division multiple access
  • GPRS general packet radio service
  • LTE long term evolution
  • FDD frequency division duplex
  • TDD LTE Time division duplex
  • UMTS universal mobile telecommunication system
  • WiMAX microwave access
  • the terminal device can be a device that provides voice/data connectivity to users, such as a handheld device with a wireless connection function, a vehicle-mounted device, etc.; it can be a device in the Internet of Vehicles communication, such as a communication terminal mounted on a vehicle, a roadside device, etc. Unit (road side unit, RSU); it can be a communication terminal carried on a drone; it can also be a terminal device in an Internet of Things (IoT) system.
  • Terminal equipment can also be called user equipment (UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication equipment, user Agent or user device, etc.
  • UE user equipment
  • terminal devices include but are not limited to: mobile phones, tablets, laptops, PDAs, mobile Internet devices (MID), wearable devices, and virtual reality (VR) devices.
  • augmented reality (AR) equipment wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical surgery, smart grids Wireless terminals in grid, wireless terminals in transportation safety, wireless terminals in smart city, wireless terminals in smart home, cellular phones, cordless phones, session initiation protocols ( session initiation protocol (SIP) telephone, wireless local loop (WLL) station, personal digital assistant (personal digital assistant (PDA)), handheld device with wireless communication capabilities, computing device or other process connected to a wireless modem Equipment, wearable devices, terminal equipment in the 5G network or terminal equipment in the future evolved public land mobile communication network (public land mobile network, PLMN), etc.
  • SIP session initiation protocol
  • WLL wireless local loop
  • PDA personal digital assistant
  • handheld device with wireless communication capabilities computing device or other process connected to a wireless modem Equipment, wearable devices, terminal equipment in
  • the technical solutions in the embodiments of this application can also be applied to access network equipment.
  • the access network device may be a device capable of connecting a terminal device to a wireless network.
  • the access network equipment may also be called a radio access network (radio access network, RAN) node, radio access network equipment, or network equipment.
  • the access network device may be a base station.
  • the base station in the embodiment of the present application can broadly cover various names as follows, or be replaced with the following names, such as: Node B (NodeB), evolved NodeB (eNB), next generation base station (next generation NodeB) , gNB), relay station, access point, transmission point (transmitting and receiving point, TRP), transmitting point (TP), master station (master eNodeB, MeNB), secondary station (secondary eNodeB, SeNB), multi-standard Wireless (multi standard radio, MSR) node, home base station, network controller, access node, wireless node, access point (access point, AP), transmission node, transceiver node, base band unit (base band unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), central unit (CU), distributed Unit (distributed unit, DU), positioning node, etc.
  • NodeB Node B
  • eNB evolved NodeB
  • next generation NodeB next generation NodeB
  • gNB
  • the base station may be a macro base station, a micro base station, a relay node, a donor node or the like, or a combination thereof.
  • a base station may also refer to a communication module, modem or chip used in the aforementioned equipment or devices.
  • the base station can also be a network-side device in the 6G network, a device that assumes the base station function in the future communication system, etc.
  • Base stations can support networks with the same or different access technologies.
  • Base stations can be fixed or mobile.
  • a helicopter or drone may be configured to act as a mobile base station, and one or more cells may move based on the mobile base station's location.
  • a helicopter or drone may be configured to serve as a device that communicates with another base station.
  • Figure 1 is a schematic diagram of an application scenario 100 involved in this application.
  • the application scenario 100 may include two terminal devices, such as the terminal device 110 and the terminal device 120 in Figure 1.
  • the application scenario 100 mainly involves the sidelink positioning scenario.
  • the terminal device 110 and the terminal device 120 in Figure 1 are terminal devices participating in positioning. Specifically, the method for realizing positioning between the terminal device 110 and the terminal device 120 will be combined with the specifics below. The embodiment will be described and will not be described again here.
  • FIG. 1 only illustrates an exemplary scenario in which the positioning method provided by the embodiment of the present application can be applied, and does not constitute any limitation on the protection scope of the present application.
  • the number of terminal devices included in the scenario shown in Figure 1 can be more than two, and any at least two terminal devices can be terminal devices participating in positioning; for another example, in the scenario shown in Figure 1 It includes a base station (eg, gNB); as another example, the scenario shown in Figure 1 may also include a positioning management device.
  • the positioning management device is a device used by the network side to determine the positioning information of the terminal device.
  • the location management device can be a location management function (LMF) entity, an evolved serving mobile location center (E-SMLC), or other devices that can be used to determine the location information of the terminal device.
  • LMF location management function
  • E-SMLC evolved serving mobile location center
  • the TDOA positioning method achieves positioning by measuring the transmission delay difference between mobile devices and multiple base stations, and requires clock synchronization between base stations.
  • Figure 2 is a schematic diagram of the TDOA positioning method.
  • the RTT positioning method obtains the round-trip transmission time by sending a positioning reference signal (PRS) back and forth to achieve positioning without clock synchronization. Specifically, by sending reference signals back and forth between two devices, To obtain the time of flight (TOF) between the two devices:
  • PRS positioning reference signal
  • TOF time of flight
  • t round represents the interval between the time when a device participating in positioning sends a positioning reference signal and the time when it receives a positioning reference signal;
  • t reply represents the time when another device participating in positioning sends a positioning reference signal and the time when it receives a positioning reference signal. The length of time between moments.
  • Figure 3 is a schematic diagram of the RTT positioning method.
  • positioning can also be achieved based on the RTT positioning method.
  • the mobile device to be located performs RTT processes with three base stations: base station #1 and the mobile device send PRS #1 back and forth to obtain the base station The distance between #1 and the mobile device #1; PRS#2 is sent back and forth between the base station #2 and the mobile device to obtain the distance #2 between the base station #2 and the mobile device; the PRS#2 is sent back and forth between the base station #3 and the mobile device PRS#3, get the distance #3 between base station #3 and the mobile device. After getting the distance to the three base stations, you can perform triangulation positioning.
  • the phenomenon of clock drift means that when the actual frequency of the clock crystal oscillator deviates from the nominal frequency, there will also be a deviation between the time recorded by the device and the actual time, and the deviation will increase with time.
  • the clock crystal oscillator has an error e 1 , if time t has actually passed, the time recorded by the device is t(1+e 1 ), that is, the deviation will increase as time t increases.
  • the TDOA positioning method requires clock synchronization between base stations.
  • clock synchronization is not strict between different devices, so it is not required.
  • the RTT positioning method with strict clock synchronization between devices is the main candidate technology for SL positioning.
  • the RTT positioning method is only used as an example to facilitate the description. Other methods of obtaining the distance between the two devices by sending reference signals back and forth between the two devices are similar to the RTT positioning method.
  • the positioning method can also replace the RTT positioning method involved in this application.
  • the RTT positioning method does not require strict clock synchronization between devices, since different devices will produce different clock drifts, the RTT positioning method requires the response time to be as short as possible to reduce positioning errors.
  • FIG. 4 is a schematic diagram of DS-TWR.
  • the DS-TWR positioning method is an extension of the RTT positioning method.
  • the DS-TWR positioning method uses two round-trip time measurements and combines the two round-trip times to get the TOF (T prop as shown in Figure 4) , high positioning accuracy can be maintained even when the response time is long.
  • the DS-TWR positioning method transmits a total of three messages between device #A and device #B (M#1, M#2, and M#3 as shown in Figure 4).
  • the first message and the second message can be regarded as initiated by device #A RTT positioning measurement
  • the second message and the third message can be regarded as RTT positioning measurement initiated by device #B.
  • for indicating may include direct indicating and indirect indicating.
  • indication information When describing that certain indication information is used to indicate A, it may include that the indication information directly indicates A or indirectly indicates A, but it does not mean that the indication information must carry A.
  • the information indicated by the indication information is called information to be indicated.
  • the information to be indicated can be directly indicated, such as the information to be indicated itself or the information to be indicated. Index indicating information, etc.
  • the information to be indicated may also be indirectly indicated by indicating other information, where there is an association relationship between the other information and the information to be indicated. It is also possible to indicate only a part of the information to be indicated, while other parts of the information to be indicated are known or agreed in advance. For example, you can also rely on various pre-agreed (such as agreement stipulations)
  • the order of information is arranged to achieve instructions for specific information, thereby reducing the instruction overhead to a certain extent.
  • the common parts of each piece of information can also be identified and indicated in a unified manner to reduce the instruction overhead caused by indicating the same information individually.
  • the “save” involved in the embodiments of this application may refer to saving in one or more memories.
  • the one or more memories may be provided separately, or may be integrated in an encoder or decoder, processor, or communication device.
  • the one or more memories may also be partially provided separately and partially integrated in the decoder, processor, or communication device.
  • the type of memory can be any form of storage medium, and this application is not limited thereto.
  • protocol may refer to a standard protocol in the communication field, which may include, for example, the NR protocol and related protocols applied in future communication systems. This application does not limit this.
  • the DS-TWR positioning method can obtain higher positioning accuracy, but whether it is the RTT positioning method or the DS-TWR positioning method, multiple PRSs need to be sent between two devices, and in order to enable the device that determines the TOF to determine the TOF , the following actions need to be performed:
  • Method 1 The device participating in positioning needs to send the time interval between the time it receives the PRS and the time it sends the PRS to the device that determines the TOF; or,
  • Method 2 The device participating in the positioning needs to send the time when the PRS is received and the time when the PRS is sent to the device that determines the TOF.
  • the device may be a positioning management device or a device participating in positioning.
  • the resources required for reporting the time difference (or time) need to be considered. For example, resources need to be reserved in advance to report the time difference (or time); another example is to request resources for reporting the time difference (or time) in real time.
  • time required for reporting the time difference (or time) needs to be considered, which may affect the effectiveness of positioning measurement.
  • this application proposes a method for positioning.
  • the time difference (or time) is implicitly determined to avoid reserving the time difference (or time) for reporting. resource.
  • the embodiments shown below do not specifically limit the specific structure of the execution body of the method provided by the embodiment of the present application, as long as the program that records the code of the method provided by the embodiment of the present application can be executed according to the present application. It suffices to communicate using the method provided by the embodiment of the present application.
  • the execution subject of the method provided by the embodiment of the present application may be the first device and the second device, or the first device and the second device that can call the program and execute the program. functional module.
  • the data transmission method provided by the embodiment of the present application will be described in detail by taking the interaction between the first device and the second device as an example.
  • the first device and the second device involved in the embodiment of the present application may both It is a terminal device, or it can also be that one of the first device and the second device is a terminal device, and the other device is a base station or LMF, etc.
  • the specific device types of the first device and the second device are not limited, as long as they can perform the functions of the first device and the second device.
  • Figure 5 is a schematic flow chart of a positioning method provided by an embodiment of the present application, which includes the following steps:
  • the second device sends the first positioning reference signal to the first device, or the first device receives the first positioning reference signal from the second device.
  • the second device sends (eg, sends to the first device on the first resource) the first positioning reference signal to the first device according to the configured first information for sending the first positioning reference signal.
  • the first information includes at least one of time, phase and frequency.
  • the second device can apply in advance for a first resource for sending the first positioning reference signal, and determine the configured first information for sending the first positioning reference signal.
  • the second device receives notification information from a third device (such as a base station or LMF device), the notification information is used to indicate the first resource for sending the first positioning reference signal and the configured first resource for sending the first positioning reference signal.
  • a third device such as a base station or LMF device
  • the notification information is used to indicate the first resource for sending the first positioning reference signal and the configured first resource for sending the first positioning reference signal.
  • the first message of the signal is used to indicate the first resource for sending the first positioning reference signal and the configured first resource for sending the first positioning reference signal.
  • the second device determines the first resource for sending the first positioning reference signal and the configured first information for sending the first positioning reference signal based on the historical communication information.
  • the second device sends the first positioning reference signal to the first device.
  • S520 The first device sends a second positioning reference signal to the second device, or the second device receives the second positioning reference signal from the first device.
  • the first device may send the second positioning reference signal to the second device on the second resource. That is to say, the above-mentioned first resource for transmitting the first positioning reference signal and the second resource for transmitting the second positioning reference signal are both configured, and may be pre-configured or obtained in real time.
  • the specific configuration method of resources is not limited in this embodiment.
  • the second device can apply in advance for a first resource for sending a first positioning reference signal and a second resource for sending a second positioning reference signal, and determine the configured First information of the first positioning reference signal and first information configured for sending the second positioning reference signal are sent.
  • the second device may send first indication information to the first device.
  • the first indication information includes the first information configured for sending the first positioning reference signal, the configured first information for sending the second positioning reference signal, and the first information configured for sending the second positioning reference signal.
  • the first device receives notification information from a third device (such as a base station or LMF device), where the notification information is used to indicate the second resource and configuration used to send the second positioning reference signal. for sending the first information of the second positioning reference signal.
  • a third device such as a base station or LMF device
  • the first device learns the second resource for sending the second positioning reference signal and the first information configured for sending the second positioning reference signal You can refer to the current positioning method for sending the second positioning reference signal. The description of the positioning reference signal will not be repeated here.
  • the first device sends a second positioning reference signal to the second device based on the first information used to send the second positioning reference signal.
  • the second positioning reference signal is sent, wherein first information used for sending the second positioning reference signal is determined based on first information used for receiving the first positioning reference signal.
  • the first information used to send the second positioning reference signal is determined based on the first information used to receive the first positioning reference signal. It can be understood that the first device determines the first information based on the received first positioning reference signal. The first information determines the first information for sending the second positioning reference signal.
  • the method flow shown in Figure 5 may also include:
  • the first device determines to send the first information of the second positioning reference signal based on receiving the first information of the first positioning reference signal.
  • the first information used to send the second positioning reference signal may be referred to as the first information actually used to send the second positioning reference signal.
  • the first device receives the third indication information
  • the third indication information is used to instruct the first device to send the first information of the second positioning reference signal and the first device to receive the first information.
  • the first information of the first positioning reference signal is related. Then, after receiving the first positioning reference signal, the first device can determine the first information to send the second positioning reference signal based on the first information received from the first positioning reference signal.
  • the first device uses the first information received from the first positioning reference signal as a synchronization source to determine to send the first information of the second positioning reference signal.
  • the synchronization source can be understood as the base value, that is to say, the first information for sending the second positioning reference signal is based on the first information for receiving the first positioning reference signal, and considering a certain offset, the value for Send first information of the second positioning reference signal.
  • the first device determines to send the first information of the second positioning reference signal based on the information related to receiving the first information of the first positioning reference signal.
  • the information related to the first information for receiving the first positioning reference signal can be understood as a value determined based on the first information for receiving the first positioning reference signal.
  • the method is based on the first information used to receive the first positioning reference signal (or the first information of the received first positioning reference signal, or the first information used to receive the first positioning reference signal).
  • information) to determine the first information used to send the second positioning reference signal (or the first information used to send the second positioning reference signal) is not limited, so that when the second device determines the positioning-related information, it does not need to
  • the first device reports information that the first device receives the first positioning reference signal and that the first device sends the second positioning reference signal (or reports information that the first device sends the second positioning reference signal and the first device receives the first positioning reference information related to the signal).
  • y represents the first information used to send the second positioning reference signal
  • x represents the first information used to receive the first positioning reference.
  • the first information of the signal, ⁇ represents the value determined based on the preconfigured information.
  • the first information used to receive the first positioning reference signal satisfies
  • the first information can be learned when the first device receives the first positioning reference signal, and ⁇ can be determined based on information preconfigured in advance. That is to say, after the first device receives the first positioning reference signal, the first device determines based on This relational expression (2-1) can successfully determine the first information for transmitting the second positioning reference signal.
  • the positioning reference signals transmitted between the first device and the second device are the above-mentioned first positioning reference signal and second positioning reference signal.
  • the first device receives first indication information, the first indication information is used to indicate the first information configured for sending the first positioning reference signal and the configured first information for sending the second positioning reference signal.
  • the first information of the positioning reference signal is used to indicate the first information configured for sending the first positioning reference signal and the configured first information for sending the second positioning reference signal.
  • m2 represents the first information configured for transmitting the second positioning reference signal
  • m1 represents the first information configured for transmitting the first positioning reference signal
  • the positioning reference signal transmitted between the first device and the second device also includes a third positioning reference signal in addition to the above-mentioned first positioning reference signal and second positioning reference signal.
  • the first device receives second indication information
  • the second indication information is used to indicate the first information configured to send the first positioning reference signal, the first information configured to send the first positioning reference signal, and the first information configured to send the first positioning reference signal.
  • the first device sends a third positioning reference signal to the second device, or the second device receives the third positioning reference signal from the first device.
  • the first device sends the third positioning reference signal to the second device according to the configured first information for sending the third positioning reference signal
  • the first information used to receive the first positioning reference signal and the first information used to send the second positioning reference signal satisfy the following relationship:
  • q 2 represents the first information configured for sending the second positioning reference signal
  • q 1 represents the first information configured for sending the first positioning reference signal
  • q 3 represents the configured first information for sending The first information of the third positioning reference signal.
  • the second device can determine second information, and the second information is used to determine the location of the second device.
  • the method flow shown in Figure 5 also includes:
  • the second device determines the second information.
  • the positioning reference signals transmitted between the first device and the second device are the above-mentioned first positioning reference signal and second positioning reference signal.
  • the second device receives the first information of the second positioning reference signal and the configuration for sending The first information of the second positioning reference signal determines the second information.
  • the first information is the time
  • the second information is the flight time
  • the time when the second positioning reference signal is received the time configured to send the second positioning reference signal and the flight time satisfy the following relationship:
  • TOF represents the time of flight
  • TA2 represents the time for receiving the second positioning reference signal
  • t2 represents the configured time for transmitting the second positioning reference signal.
  • the positioning reference signal transmitted between the first device and the second device also includes a third positioning reference signal in addition to the above-mentioned first positioning reference signal and second positioning reference signal.
  • the second device receives the first information of the third positioning reference signal, the first information of the second positioning reference signal, the configured first information for sending the first positioning reference signal, and the configured username.
  • the second information is determined based on the first information for sending the second positioning reference signal and the first information configured for sending the third positioning reference signal.
  • the first information is the time
  • the second information is the flight time
  • the first information of receiving the third positioning reference signal the first information of receiving the second positioning reference signal
  • the configured configuration for sending the first positioning reference signal The first information, the first information configured for sending the second positioning reference signal, the first information configured for sending the third positioning reference signal, and the flight time satisfy the following relationship:
  • t round2 T A2 - t 1
  • t reply1 t 1 - T A3
  • TOF represents the flight time
  • the T A3 represents the time for receiving the third positioning reference signal
  • T A2 represents the time for receiving the third positioning reference signal.
  • the time of the second positioning reference signal t 1 represents the time configured for sending the first positioning reference signal
  • t 3 represents the time configured for sending the third positioning reference signal
  • t 2 represents the time configured for sending the third positioning reference signal.
  • the above-mentioned first information may be time, that is to say, the time for sending the second positioning reference signal is determined based on the time for receiving the first positioning reference signal.
  • the time when the second positioning reference signal is sent is synchronized with the time when the first positioning reference signal is received.
  • the first device may record a timestamp when the first positioning reference signal is received, and send the second positioning reference signal at a certain time after the timestamp.
  • the second device can determine the flight time of positioning reference signal transmission between the second device and the first device based on the time information, thereby determining the distance between the second device and the first device.
  • the above-mentioned first information may be a phase, that is to say, the phase used for sending the second positioning reference signal is determined based on the phase used for receiving the first positioning reference signal.
  • the phase of the second positioning reference signal is sent to receive the phase of the first positioning reference signal as synchronization.
  • the first device may record the phase at which the first positioning reference signal is received, and then adjust the phase at which the second positioning reference signal is sent. For example, a phase difference may be superimposed on the preconfigured phase for sending the second positioning reference signal as the phase for sending the second positioning reference signal. 2. The actual phase of the positioning reference signal.
  • the second device can achieve carrier phase positioning based on the phase information.
  • the above-mentioned first information may be frequency, that is to say, the frequency used to send the second positioning reference signal is determined based on the frequency used to receive the first positioning reference signal.
  • the frequency of transmitting the second positioning reference signal is synchronized with the frequency of receiving the first positioning reference signal.
  • the first device may record the frequency at which the first positioning reference signal is received, and then adjust the frequency at which the second positioning reference signal is received.
  • the frequency of the positioning reference signal for example, can be a frequency difference superimposed on the preconfigured frequency for transmitting the second positioning reference signal as the actual frequency for transmitting the second positioning reference signal.
  • the second device can implement Doppler frequency shift estimation based on the phase information and the frequency information.
  • the above-mentioned first information may be at least one of time, phase and frequency.
  • the first information is time and phase, that is to say, the time used to send the second positioning reference signal is determined based on the time used to receive the first positioning reference signal, and the phase used to send the second positioning reference signal is determined based on the time used to receive the second positioning reference signal.
  • the phase of the first positioning reference signal is determined.
  • the first information may also be phase and frequency; or, the first information may also be time, phase and frequency, which will not be explained one by one here.
  • the first information is at least one of time, phase and frequency, which does not limit the scope of the present application.
  • the first information can also be parameters other than time, phase and frequency, which are not used here. Give another example.
  • the first device can determine the second positioning reference to be sent by the first device based on the information of the received first positioning reference signal (such as reception time, phase or frequency, etc.) signal information (such as transmission time, phase or frequency information), and the first device sends the second positioning reference signal to the second device based on the information of the second positioning reference signal used for transmission, so that the second device determines
  • the first device does not need to report the information, including but not limited to:
  • Method 1 The first device does not need to report to the second device the time interval between the time it receives the first positioning reference signal and the time it sends the second positioning reference signal; or,
  • Method 2 The first device does not need to report the time it receives the first positioning reference signal and the time it sends the second positioning reference signal.
  • the second device is a device that determines the second information, and the second device may be a device participating in positioning.
  • the device that determines the second information is a positioning management device
  • the first device does not need to report relevant information for determining the second information (such as the time of receiving the first positioning reference signal and sending the second positioning reference signal) to the positioning management device. time), it can also save resource overhead and improve positioning performance.
  • the first device determines the first information to send the second positioning reference signal
  • the way the second device determines the second information is related to the method transmitted between the first device and the second device. It is related to the number of positioning reference signals. The following is a detailed explanation based on two examples:
  • Example 1 The first device and the second device implement positioning through the RTT positioning method.
  • the first information is the time
  • the first positioning reference signal is recorded as PRS#1
  • the second positioning reference signal is recorded as PRS#2.
  • Example 1 is introduced in detail with reference to Figure 6.
  • Figure 6 is a schematic flow chart of Example 1 provided by the embodiment of the present application, including the following steps:
  • the second device sends the first indication information and the third indication information to the first device.
  • the second device needs ranging and has applied in advance for two PRS resources (such as resource #1 and resource #2) required to perform the RTT positioning method. These two resources are used to transmit positioning in the RTT positioning process.
  • Reference signals e.g., PRS#1 and PRS#2.
  • resource #1 is used to transmit PRS #1
  • resource #2 is used to transmit PRS #2.
  • the second device sends third indication information to the first device, used to indicate that the first information used to send PRS#2 is related to the first information used to receive PRS#1. For example, it indicates that the transmission of PRS#2 is synchronized with the reception of PRS#1.
  • the second device sends the first instruction information and the third instruction information to the first device as an example for description.
  • the device that sends the first instruction information and the third instruction information to the first device can also be They are base stations, LMF and other equipment. I will not give examples one by one here.
  • the above-mentioned first indication information and third indication information are one message. can be sent to the first device at the same time.
  • S620 The second device sends PRS#1 to the first device.
  • S630 The first device determines the time to send PRS#2.
  • S640 The first device sends PRS#2 to the second device.
  • the first device sends PRS#2 on resource #2 at time TB2 .
  • the second device calculates flight time.
  • the second device when it receives PRS#2 at time T A2 , it can calculate the TOF.
  • the calculation formula of TOF under the RTT positioning method is:
  • Equation (2-3) can be simplified to:
  • the parameters considered by the second device when calculating TOF are T A2 and t 2 , and T A2 represents the time when the second device receives the second positioning reference signal, and t 2 represents the configured user time. At the moment when the second positioning reference signal is sent, they are parameters known to the second device. Therefore, in the RTT positioning method shown in Example 1, there is no need for the first device to report TB2 and TB1 , or in other words, there is no need for the first device to report For the value of T B2 -T B1 , the second device can still calculate the TOF.
  • the RTT positioning method shown in Example 1 can save resource overhead and improve positioning performance.
  • the first device does not need to feedback the measurement results, reducing positioning delay.
  • the cyclic prefix length of OFDM is generally microsecond level, which is usually larger than the TOF in the SL scenario, so it will not affect the normal reception of the signal.
  • Figure 7 is a schematic diagram of the signal transmission time point in Example 1.
  • Example 1 takes the first information as time as an example.
  • the first information is phase:
  • the first device After the first device receives PRS#1, it measures the received phase. Then the phase of transmitting PRS#2 is adjusted, and the first device determines the phase of transmitting PRS#2.
  • the first device After receiving PRS#1, the first device records the received phase Adjustment After that, the first device actually takes the phase Send PRS #2. in, is the configured phase for transmitting the second positioning reference signal, is the configured phase for transmitting the first positioning reference signal.
  • the second device After receiving the second positioning reference signal, the second device calculates the phase difference.
  • the second device receives the phase of PRS#2 as The phase difference can be calculated
  • the carrier phase method can be used to determine the distance the signal is transmitted between the devices based on the phase difference and the wavelength of the signal.
  • the above-mentioned determination of the distance of signal transmission between devices based on the phase difference is only an example and does not constitute any limitation on the protection scope of the present application.
  • steps that can be performed based on the phase difference after the calculated phase difference are not performed Any limitations.
  • the solution for determining the phase difference provided by the embodiment of the present application can also be used, which can avoid reporting and calculating phase difference related information (such as the receiving phase and the receiving phase of PRS#1) for the first device.
  • the phase of sending PRS#2; or the difference between the phase of sending PRS#2 and the receiving phase of receiving PRS#1) to reserve resources, thus saving resource overhead.
  • the first device After receiving PRS#1, the first device measures the received frequency p B1 and then adjusts the frequency of sending PRS#2. The first device determines the frequency of sending PRS#2.
  • p 2 is the frequency configured for transmitting the second positioning reference signal
  • p 1 is the frequency configured for transmitting the first positioning reference signal.
  • the second device After receiving the second positioning reference signal, the second device calculates the frequency difference.
  • the frequency at which the second device receives PRS#2 is p A2
  • the frequency difference p d can be calculated:
  • the frequency difference corresponds to the Doppler frequency shift caused by motion between the two devices. If the second device knows the motion speed, the Doppler frequency shift and speed can be used to deduce the orientation relationship between the two devices. That is to say, after the second device calculates the frequency difference, it can deduce the azimuth relationship between the two devices based on the frequency difference in combination with Doppler frequency shift and velocity.
  • the above-mentioned determination of the azimuth relationship between two devices based on the frequency difference is only an example and does not constitute any limitation on the protection scope of the present application.
  • the solution for determining the frequency difference provided by the embodiment of the present application can also be used, which can avoid reporting and calculating frequency difference related information (such as the receiving frequency and the receiving frequency of PRS#1) for the first device.
  • the frequency at which PRS#2 is sent; or the difference between the frequency at which PRS#2 is sent and the frequency at which PRS#1 is received) is used to reserve resources, thus saving resource overhead.
  • Example 2 Positioning is achieved between the first device and the second device through the DS-TWR positioning method.
  • the first information is the time, the first positioning reference signal is recorded as PRS#1, and the second positioning reference signal is recorded as PRS#2.
  • Example 2 is introduced in detail with reference to Figure 8.
  • Figure 8(a) is an example provided by the embodiment of the present application.
  • the schematic flow chart of Example 2 in Figure 8(b) is a schematic diagram of the signal transmission time point in Example 2 provided by the embodiment of the present application.
  • Example 2 shown in (a) in Figure 8 includes the following steps:
  • the second device sends the first indication information and the third indication information to the first device.
  • PRS resources such as resource #1, resource #2 and resource #3
  • Positioning reference signals in the process e.g., PRS#1, PRS#2, and PRS#3.
  • resource #1 is used to transmit PRS #1
  • resource #2 is used to transmit PRS #2
  • resource #3 is used to transmit PRS #3.
  • PRS#3 is sent at time t3 .
  • the second device sends third indication information to the first device, used to indicate that the first information used to send PRS#2 is related to the first information used to receive PRS#1. For example, indicate the first device's t reply2 (the interval between the time when PRS#2 is sent and the time when PRS#1 is received) and t round1 (the interval between the time when PRS#1 is received and the time when PRS#3 is sent). satisfy
  • the second device sends the first instruction information and the third instruction information to the first device as an example for description.
  • the device that sends the first instruction information and the third instruction information to the first device can also be They are base stations, LMF and other equipment. I will not give examples one by one here.
  • the above-mentioned first indication information and third indication information are one message. can be sent to the first device at the same time.
  • S820 The first device sends PRS#3 to the second device.
  • the second device sends PRS#1 to the first device.
  • S840 The first device determines the time to send PRS#2.
  • the first device After receiving PRS#1, the first device records the received timestamp T B1 .
  • S850 The first device sends PRS#2 to the second device.
  • the first device sends PRS#2 on resource #2 at time TB2 .
  • the second device calculates flight time.
  • the calculation formula of TOF under the DS-TWR positioning method is:
  • T B2 T B1 + t reply2
  • T B1 t 1 + TOF
  • Example 1 takes the first information as time as an example.
  • the first information is phase:
  • the first device After the first device receives PRS#1, it measures the received phase. Then the phase of transmitting PRS#2 is adjusted, and the first device determines the phase of transmitting PRS#2.
  • the first device After receiving PRS#1, the first device records the received phase thus getting Overlay phase on preconfigured transmit phase After that, the first device actually takes the phase Send PRS#2 (send phase at this time ).
  • the configured phase for transmitting the second positioning reference signal is the configured phase for transmitting the first positioning reference signal
  • the second device After receiving the second positioning reference signal, the second device calculates the phase difference.
  • the second device receives PRS#2 and records the received phase and record and in, The phase difference can be calculated
  • the carrier phase method can be used to determine the distance the signal is transmitted between the devices based on the phase difference and the wavelength of the signal.
  • the above-mentioned determination of the distance of signal transmission between devices based on the phase difference is only an example and does not constitute any limitation on the protection scope of the present application.
  • steps that can be performed based on the phase difference after the calculated phase difference are not performed Any limitations.
  • the solution for determining the phase difference provided by the embodiment of the present application can also be used, which can avoid reporting and calculating phase difference related information (such as the receiving phase and the receiving phase of PRS#1) for the first device.
  • the phase of sending PRS#2; or the difference between the phase of sending PRS#2 and the receiving phase of receiving PRS#1) to reserve resources, thus saving resource overhead.
  • the first device After receiving PRS#1, the first device measures the received frequency p B1 and then adjusts the frequency of sending PRS#2. The first device determines the frequency of sending PRS#2.
  • the first device After receiving PRS#1, the first device records the received frequency p B1 .
  • p 2 is the configured frequency for transmitting the second positioning reference signal
  • p is the configured frequency for transmitting the first positioning reference signal
  • p 3 is the configured frequency for transmitting the third positioning reference signal.
  • the second device After receiving the second positioning reference signal, the second device calculates the frequency difference.
  • the frequency difference p d can be calculated:
  • the frequency difference corresponds to the Doppler frequency shift caused by motion between the two devices. If the second device knows the motion speed, the Doppler frequency shift and speed can be used to deduce the orientation relationship between the two devices. That is to say, after the second device calculates the frequency difference, it can deduce the azimuth relationship between the two devices based on the frequency difference in combination with Doppler frequency shift and velocity.
  • the above-mentioned determination of the azimuth relationship between two devices based on the frequency difference is only an example and does not constitute any limitation on the protection scope of the present application.
  • the solution for determining the frequency difference provided by the embodiment of the present application can also be used, which can avoid reporting and calculating frequency difference related information (such as the receiving frequency and the receiving frequency of PRS#1) for the first device.
  • the frequency at which PRS#2 is sent; or the difference between the frequency at which PRS#2 is sent and the frequency at which PRS#1 is received) is used to reserve resources, thus saving resource overhead.
  • FIGS. 5 to 8 in the embodiments of the present application are only to facilitate those skilled in the art to understand the embodiments of the present application, and are not intended to limit the embodiments of the present application to the specific illustrated scenarios. Those skilled in the art can obviously make various equivalent modifications or changes based on the examples of FIGS. 5 to 8 , and such modifications or changes also fall within the scope of the embodiments of the present application.
  • transmission includes receiving and/or sending.
  • transmitting a positioning reference signal may include receiving a positioning reference signal and/or sending a positioning reference signal.
  • the equipment in the existing network architecture is mainly used as an example for illustrative description. It should be understood that the embodiments of the present application are not limited to the specific form of the equipment. For example, devices that can achieve the same functions in the future are applicable to the embodiments of this application.
  • the methods and operations implemented by devices can also be implemented by components that can be used in the device (such as chips or circuits).
  • the first device may be replaced by a receiving device.
  • the end device may be a terminal device; the second device may be replaced by a sending device, and the sending device may be a terminal device.
  • first device can be replaced by "first terminal device”
  • second device can be replaced by "second terminal device”.
  • the positioning method provided by the embodiment of the present application is described in detail with reference to FIGS. 5 to 8 .
  • the above method for positioning is mainly introduced from the perspective of interaction between the first device and the second device. It can be understood that, in order to implement the above functions, the first device and the second device include hardware structures and/or software modules corresponding to each function. piece.
  • Embodiments of the present application can divide the sending end device or the receiving end device into functional modules according to the above method examples.
  • each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. middle.
  • the above integrated modules can be implemented in the form of hardware or software function modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. In actual implementation, there may be other division methods. The following is an example of dividing each functional module according to each function.
  • FIG. 9 is a schematic block diagram of a device 900 provided by an embodiment of the present application.
  • the device 900 includes a transceiver unit 910 and a processing unit 920.
  • the transceiver unit 910 can implement corresponding communication functions, and the processing unit 920 is used for data processing.
  • the transceiver unit 910 may also be called a communication interface or a communication unit.
  • the device 900 may also include a storage unit, which may be used to store instructions and/or data, and the processing unit 920 may read the instructions and/or data in the storage unit, so that the device implements the foregoing method embodiments. .
  • the device 900 can be used to perform the actions performed by the device (such as the first device and the second device) in the above method embodiment.
  • the device 900 can be a device or a component that can be configured in the device.
  • the transceiver unit 910 is In order to perform operations related to transmission and reception of the first device and the second device in the above method embodiment, the processing unit 920 is configured to perform operations related to processing of the first device and the second device in the above method embodiment.
  • the device 900 is used to perform the actions performed by the first device in the above method embodiment.
  • the device 900 performs the actions performed by the first device in the above method embodiment, including:
  • the transceiver unit 910 is used to receive the first positioning reference signal from the second device; the transceiver unit 910 is used to send the second positioning reference signal to the second device according to the first information used to send the second positioning reference signal, wherein, the first information used for sending the second positioning reference signal is determined based on the first information used for receiving the first positioning reference signal, and the first information includes at least one of time, phase and frequency.
  • the transceiver unit 910 is also configured to receive first indication information, which is used to indicate the first information configured to send the first positioning reference signal and the configured first information used to send the second positioning.
  • first indication information which is used to indicate the first information configured to send the first positioning reference signal and the configured first information used to send the second positioning.
  • m2 represents the first information configured for sending the second positioning reference signal
  • m1 represents the first information configured for sending the first positioning reference signal
  • the transceiver unit 910 is also configured to receive second indication information, the second indication information is used to indicate the first information configured for sending the first positioning reference signal, the configured first information for sending the second positioning reference signal, and the first information configured for sending the second positioning reference signal.
  • First letter of reference signal information and configured first information for sending a third positioning reference signal Before receiving the first positioning reference signal, the first device sends a third positioning reference signal to the third device according to the configured first information for sending a third positioning reference signal.
  • the second device sends the third positioning reference signal, and the first information used to receive the first positioning reference signal and the first information used to send the second positioning reference signal satisfy the following relationship:
  • q 2 represents the first information configured for sending the second positioning reference signal
  • q 1 represents the first information configured for sending the first positioning reference signal
  • q 3 represents the configured first information used for sending the first positioning reference signal. The first information of the three positioning reference signals.
  • the transceiver unit 910 is also configured to receive third indication information, the third indication information being used to indicate the first information of the first device for sending the second positioning reference signal and the first device.
  • the first information for receiving the first positioning reference signal is related.
  • the apparatus 900 may implement steps or processes corresponding to those executed by the first device in the method embodiments of the embodiments of the present application, and the apparatus 900 may include a unit for executing the method executed by the first device in the method embodiments. Moreover, each unit in the device 900 and the above-mentioned other operations and/or functions are respectively intended to implement the corresponding processes of the method embodiment in the first device in the method embodiment.
  • the transceiving unit 910 can be used to perform the transceiving steps in the method, such as steps S511, S510 and S520; the processing unit 920 can be used to perform the processing steps in the method, such as steps S530.
  • the transceiving unit 910 can be used to perform the transceiving steps in the method, such as steps S610, S620 and S640; the processing unit 920 can be used to perform the processing steps in the method, such as step S630.
  • the transceiving unit 910 can be used to perform the transceiving steps in the method, such as steps S810, S820, S830 and S850; the processing unit 920 can be used to perform the processing steps in the method, such as steps S840.
  • the device 900 is used to perform the actions performed by the second device in the above method embodiment.
  • the device 900 performs the actions performed by the second device in the above method embodiment, including:
  • the transceiver unit 910 is configured to send a first positioning reference signal to the first device according to the configured first information for sending the first positioning reference signal; the transceiver unit 910 is configured to receive the second positioning reference from the first device. signal; processing unit 920, configured to determine second information based on receiving the first information of the second positioning reference signal and the configured first information for sending the second positioning reference signal; wherein, for sending the second positioning reference signal;
  • the first information of the reference signal is determined based on the first information used to receive the first positioning reference signal.
  • the first information includes at least one of time, phase and frequency, and the second information is used to determine the position of the second device. Location.
  • the transceiver unit 910 is also configured to send first indication information to the first device, where the first indication information is used to indicate the configured first information for sending the first positioning reference signal and the configured first information for sending the first positioning reference signal. Send the first information of the second positioning reference signal.
  • the transceiver unit 910 is also configured to send third indication information to the first device, where the third indication information is used to instruct the first device to use the first information for sending the second positioning reference signal and The first device is used for The first information related to receiving the first positioning reference signal is related.
  • the device 900 performs the actions performed by the second device in the above method embodiment, including:
  • the transceiver unit 910 is configured to receive the third positioning reference signal from the first device; the transceiver unit 910 is configured to send the first positioning reference signal to the first device according to the configured first information for sending the first positioning reference signal. ; The transceiver unit 910 is further configured to receive a second positioning reference signal from the first device; the processing unit 920 is configured to receive the third positioning reference signal of the second positioning reference signal according to the first information of the third positioning reference signal. A piece of information, the configured first information for sending the first positioning reference signal, the configured first information for sending the second positioning reference signal, and the configured first information for sending the third positioning reference signal.
  • the first information determines the second information; wherein the first information used to send the second positioning reference signal is determined based on the first information used to receive the first positioning reference signal, and the first information includes time, phase and frequency. At least one item of the second information is used to determine the location of the second device.
  • the transceiver unit 910 is also configured to send second indication information to the first device.
  • the second indication information is used to indicate the first information configured for sending the first positioning reference signal, the configured first information for sending the first positioning reference signal, and the configured first information for sending the first positioning reference signal.
  • the transceiver unit 910 is also configured to send third indication information to the first device, where the third indication information is used to instruct the first device to use the first information for sending the second positioning reference signal and The first information of the first device for receiving the first positioning reference signal is related.
  • the apparatus 900 may implement steps or processes corresponding to those executed by the second device in the method embodiments of the embodiments of the present application, and the apparatus 900 may include a unit for executing the method executed by the second device in the method embodiments. Moreover, each unit in the device 900 and the above-mentioned other operations and/or functions are respectively intended to implement the corresponding processes of the method embodiment in the second device in the method embodiment.
  • the transceiving unit 910 can be used to perform the transceiving steps in the method, such as steps S511, S510 and S520; the processing unit 920 can be used to perform the processing steps in the method, such as steps S540.
  • the transceiving unit 910 can be used to perform the transceiving steps in the method, such as steps S610, S620 and S640; the processing unit 920 can be used to perform the processing steps in the method, such as step S650.
  • the transceiving unit 910 can be used to perform the transceiving steps in the method, such as steps S810, S820, S830 and S850; the processing unit 920 can be used to perform the processing steps in the method, such as steps S860.
  • the device 900 here is embodied in the form of a functional unit.
  • the term "unit” here may refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor) for executing at least one software or firmware program etc.) and memory, merged logic circuitry, and/or other suitable components to support the described functionality.
  • ASIC application specific integrated circuit
  • the device 900 can be specifically the equipment in the above embodiments, and can be used to perform various processes and/or steps corresponding to the equipment in the above method embodiments. In order to avoid duplication , which will not be described in detail here.
  • the device 900 of each of the above solutions has the function of realizing the corresponding steps performed by the terminal device in the above method.
  • the functions described can be implemented by hardware, or can be implemented by hardware executing corresponding software.
  • the hardware or software includes There is one less module corresponding to the above functions; for example, the transceiver unit can be replaced by a transceiver (for example, the sending unit in the transceiver unit can be replaced by a transmitter, and the receiving unit in the transceiver unit can be replaced by a receiver).
  • Other units, such as The processing unit, etc. can be replaced by a processor to respectively perform the sending and receiving operations and related processing operations in each method embodiment.
  • transceiver unit 910 may also be a transceiver circuit (for example, it may include a receiving circuit and a transmitting circuit), and the processing unit 920 may be a processing circuit.
  • the device in Figure 9 can be the device in the aforementioned embodiment, or it can be a chip or a chip system, such as a system on chip (SoC).
  • the transceiver unit may be an input-output circuit or a communication interface; the processing unit may be a processor, microprocessor, or integrated circuit integrated on the chip. No limitation is made here.
  • an embodiment of the present application also provides a device 1000.
  • the apparatus 1000 includes a processor 1010 and may also include one or more memories 1020 .
  • the processor 1010 is coupled to the memory 1020.
  • the memory 1020 is used to store computer programs or instructions and/or data.
  • the processor 1010 is used to execute the computer programs or instructions and/or data stored in the memory 1020, so that the method in the above method embodiment be executed.
  • the device 1000 includes one or more processors 1010 .
  • the memory 1020 can be integrated with the processor 1010 or provided separately.
  • the device 1000 may also include a transceiver 1030, which is used for receiving and/or transmitting signals.
  • the processor 1010 is used to control the transceiver 1030 to receive and/or transmit signals.
  • the device 1000 is used to implement the operations performed by the device (such as the above-mentioned first device and the second device) in the above method embodiment.
  • the processor 1010 is used to execute computer programs or instructions stored in the memory 1020 to implement related operations of the first device and the second device in each of the above method embodiments. For example, the method performed by the first device and the second device in the embodiment shown in FIG. 5, or the method performed by the first device and the second device in the embodiment shown in FIG. 6, or the method performed by the first device and the second device in the embodiment shown in FIG. 8. Methods performed by the first device and the second device.
  • processors mentioned in the embodiments of this application may be a central processing unit (CPU), or other general-purpose processor, digital signal processor (DSP), or application-specific integrated circuit (ASIC).
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • the memory mentioned in the embodiments of the present application may be a volatile memory and/or a non-volatile memory.
  • the non-volatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable programmable read-only memory (erasable PROM, EPROM), electrically removable memory.
  • ROM read-only memory
  • PROM programmable ROM
  • EPROM erasable programmable read-only memory
  • EPROM erasable PROM
  • EPROM erasable programmable read-only memory
  • Erase programmable read-only memory electrically EPROM, EEPROM
  • Volatile memory may be random access memory (RAM).
  • RAM can be used as an external cache.
  • RAM includes the following forms: static random access memory (static RAM, SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous dynamic random access memory (synchronous DRAM, SDRAM), Double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (synchlink DRAM, SLDRAM) and direct Memory bus random access memory (direct rambus RAM, DR RAM).
  • the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component
  • the memory storage module
  • memories described herein are intended to include, but are not limited to, these and any other suitable types of memories.
  • an embodiment of the present application provides a chip system 1100.
  • the chip system 1100 (or can also be called a processing system) includes a logic circuit 1110 and an input/output interface 1120.
  • the logic circuit 1110 may be a processing circuit in the chip system 1100 .
  • the logic circuit 1110 can be coupled to the memory unit and call instructions in the memory unit, so that the chip system 1100 can implement the methods and functions of various embodiments of the present application.
  • the input/output interface 1120 can be an input/output circuit in the chip system 1100, which outputs information processed by the chip system 1100, or inputs data or signaling information to be processed into the chip system 1600 for processing.
  • the logic circuit 1110 is coupled with the input/output interface 1120, and the input/output interface 1120 can input the wake-up signal to the logic circuit 1110 for processing.
  • the chip system 1100 is used to implement the operations performed by the first device and the second device in each of the above method embodiments.
  • the logic circuit 1110 is used to implement the processing-related operations performed by the first device and the second device in the above method embodiment, such as the processing-related operations performed by the first device and the second device in the embodiment shown in Figure 5 or processing-related operations performed by the first device and the second device in the embodiment shown in FIG. 6 , or processing-related operations performed by the first device and the second device in the embodiment shown in FIG. 8 .
  • the input/output interface 1120 is used to implement the sending and/or receiving related operations performed by the first device and the second device in the above method embodiment, such as the first device and the second device in the embodiment shown in Figure 5
  • Embodiments of the present application also provide a computer-readable storage medium on which are stored computer instructions for implementing the method executed by the device (such as the above-mentioned first device and the second device) in the above method embodiment.
  • the computer when the computer program is executed by a computer, the computer can implement the method executed by the device (such as the first device and the second device) in the above method embodiment.
  • Embodiments of the present application also provide a computer program product containing instructions.
  • the instructions When the instructions are executed by a computer, the computer implements the method executed by the device (such as the first device and the second device) in the above method embodiment.
  • An embodiment of the present application also provides a communication system, which includes the first device and the second device in the above embodiment.
  • the disclosed devices and methods can be used through other way to achieve.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or can be integrated into another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to implement the solution provided by this application.
  • each functional unit in each embodiment of the present application can be integrated into one unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.
  • the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.
  • the computer may be a personal computer, a server, or a network device.
  • the computer instructions may be stored in or transmitted from one computer-readable storage medium to another, e.g., the computer instructions may be transferred from a website, computer, server, or data center Transmission to another website, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) means.
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more available media integrated.
  • the available media may be magnetic media (such as floppy disks, hard disks, magnetic tapes), optical media (such as DVDs), or semiconductor media (such as solid state disks (SSD)), etc.
  • the aforementioned available media may include But it is not limited to: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk and other media that can store program code.

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Abstract

本申请提供了一种用于定位的方法和装置，该方法包括：第一设备接收来自第二设备的第一定位参考信号；第一设备根据用于发送第二定位参考信号的第一信息向第二设备发送第二定位参考信号，其中，用于发送第二定位参考信号的第一信息基于用于接收第一定位参考信号的第一信息确定，第一信息包括时刻、相位和频率中的至少一项。该用于定位的方法，第一设备以接收到的定位参考信号的信息为参考确定实际用于发送定位参考信号的信息，以期第二设备确定位置相关信息的时候可以无需获知第一设备实际用于发送定位参考信号的信息，避免为该第一设备预留资源上报确定位置信息所需的信息，节省了资源开销，提高定位性能。

Description

用于定位的方法和装置
本申请要求于2022年5月17日提交中国专利局、申请号为202210540171.8、申请名称为“一种发送定位参考信号的方法”和于2022年7月12日提交中国专利局、申请号为202210815926.0、申请名称为“用于定位的方法和装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及通信领域，并且更具体地，涉及一种用于定位的方法和装置。
背景技术
第五代移动通信技术(5th generation，5G)正在针对侧行链路(sidelink，SL)定位进行标准化工作。传统的基于无线电接入技术(radio access technology，RAT)定位方案(如，到达时间差(time difference of arrival，TDOA)、往返时间(round-trip time，RTT)等)需要重新评估其在SL场景下的性能。其中，TDOA定位方法要求参与定位的设备之间时间同步，SL场景下不同设备间并非严格时间同步，从而不要求设备间严格时间同步的RTT定位方法是SL定位的主要候选定位技术。
但是，RTT定位方法直接应用在SL场景下会影响SL定位的性能，因此如何提高SL定位的性能成为亟待解决的问题。
发明内容
本申请提供一种用于定位的方法和装置，能够节省定位过程中资源开销，提高定位性能。
第一方面，提供了一种用于定位的方法，该方法可以由第一设备执行，或者，也可以由第一设备的组成部件(例如芯片或者电路)执行，对此不作限定。为了便于描述，下面以由第一设备执行为例进行说明。
该方法包括：第一设备接收来自第二设备的第一定位参考信号；该第一设备根据用于发送第二定位参考信号的第一信息向该第二设备发送该第二定位参考信号，其中，该用于发送该第二定位参考信号的第一信息基于用于接收该第一定位参考信号的第一信息确定，该第一信息包括时刻、相位和频率中的至少一项。
基于上述技术方案，第一设备可以基于接收到的第一定位参考信号的信息(如，接收时刻、相位或频率等信息)确定待第一设备发送的第二定位参考信号的信息(如，发送时刻、相位或频率等信息)，并且第一设备根据用于发送的第二定位参考信号的信息向第二设备发送第二定位参考信号，以便于第二设备在确定位置相关信息的时候，可以不需要第一设备上报的该第一设备接收第一定位参考信号的信息和发送第二定位参考信号的信息，从而可以避免为第一设备上报信息而预留资源，节省了资源开销，提高了定位性能。
结合第一方面，在第一方面的某些实现方式中，该用于发送该第二定位参考信号的第一信息基于用于接收该第一定位参考信号的第一信息和配置的用于发送该第一定位参考信号的第一信息确定。
上述的用于发送第二定位参考信号的信息可以基于用于接收第一定位参考信号的信息和配置的用于发送第一定位参考信号的信息确定，其中，用于接收第一定位参考信号的信息和配置的用于发送第一定位参考信号的信息均为第一设备已知的信息，以便于第一设备顺利确定用于发送第二定位参考信号的信息。
结合第一方面，在第一方面的某些实现方式中，该用于接收该第一定位参考信号的第一信息和用于发送该第二定位参考信号的第一信息满足以下关系：y＝x+Δ
其中，y表示用于发送该第二定位参考信号的第一信息，x表示用于接收该第一定位参考信号的第一信息，Δ表示根据预配置信息确定的值。
基于上述技术方案，上述的用于发送第二定位参考信号的信息和用于接收第一定位参考信号的信息之间可以满足一定的关系式，而该关系式中涉及的部分参数为预配置的，以便于第一设备基于该关系式顺利确定用于发送第二定位参考信号的信息。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：该第一设备接收第一指示信息，该第一指示信息用于指示配置的用于发送该第一定位参考信号的第一信息和配置的用于发送该第二定位参考信号的第一信息，该用于接收该第一定位参考信号的第一信息和用于发送该第二定位参考信号的第一信息满足以下关系：
y＝x+m2-m1
其中，m2表示配置的用于发送该第二定位参考信号的第一信息，m1表示配置的用于发送该第一定位参考信号的第一信息。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：该第一设备接收第二指示信息，该第二指示信息用于指示配置的用于发送该第一定位参考信号的第一信息、配置的用于发送该第二定位参考信号的第一信息和配置的用于发送第三定位参考信号的第一信息，在接收该第一定位参考信号之前，该第一设备根据该配置的用于发送第三定位参考信号的第一信息向该第二设备发送该第三定位参考信号，
该用于接收该第一定位参考信号的第一信息和用于发送该第二定位参考信号的第一信息满足以下关系：
其中，q2表示配置的用于发送该第二定位参考信号的第一信息，q1表示配置的用于发送该第一定位参考信号的第一信息，q3表示配置的用于发送该第三定位参考信号的第一信息。
基于上述技术方案，上述的发送第二定位参考信号的信息和接收第一定位参考信号的信息之间可以满足一定的关系式，而该关系式中涉及的部分参数可以通过接收到的第一指示信息获得，以便于第一设备基于该关系式顺利确定发送第二定位参考信号的信息。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：该第一设备接收第三指示信息，该第三指示信息用于指示所述第一设备的用于发送该第二定位参考信号的第一信息和所述第一设备的用于接收该第一定位参考信号的第一信息相关。
基于上述技术方案，第一设备可以通过接收到的第三指示信息获知，发送第二定位参考信号的信息和接收第一定位参考信号的信息相关，以便于第一设备在接收到第一定位参考信号之后，根据接收第一定位参考信号的信息确定发送第二定位参考信号的信息。
第二方面，提供了一种用于定位的方法，该方法可以由第二设备执行，或者，也可以由第二设备的组成部件(例如芯片或者电路)执行，对此不作限定。为了便于描述，下面以由第二设备执行为例进行说明。
该方法包括：第二设备根据配置的用于发送第一定位参考信号的第一信息向第一设备发送第一定位参考信号；该第二设备接收来自该第一设备的该第二定位参考信号；该第二设备根据接收该第二定位参考信号的第一信息和配置的用于发送该第二定位参考信号的第一信息确定第二信息；其中，该第一信息包括时刻、相位和频率中的至少一项，该第二信息用于确定该第二设备的位置。
基于上述技术方案，第一设备和第二设备之间用于定位的定位参考信号传输结束之后，由于第一设备是基于接收到的第一定位参考信号的信息确发送的第二定位参考信号的信息，第二设备可以根据预配置的信息和自身接收定位参考信号的信息确定定位相关信息，不需要第一设备上报该第一设备接收第一定位参考信号的信息和发送第二定位参考信号的信息，从而可以避免为第一设备上报信息而预留资源，节省了资源开销，提高了定位性能。
结合第二方面，在第二方面的某些实现方式中，该第一信息为时刻，该第二信息为飞行时间，该用于接收该第二定位参考信号的时刻、该配置的用于发送该第二定位参考信号的时刻和该飞行时间满足以下关系：
其中，TOF表示该飞行时间，该TA2表示用于接收该第二定位参考信号的时刻，t2表示配置的用于发送该第二定位参考信号的时刻。
结合第二方面，在第二方面的某些实现方式中，该方法还包括：该第二设备向该第一设备发送第一指示信息，该第一指示信息用于指示配置的用于发送该第一定位参考信号的第一信息和配置的用于发送该第二定位参考信号的第一信息。
基于上述技术方案，第二设备可以将预配置的信息通过第一指示信息通知第一设备，以便于第一设备基于预配置的信息和接收到的第一定位参考信号的信息确定待第一设备发送的第二定位参考信号的信息。
结合第二方面，在第二方面的某些实现方式中，在该第二设备根据配置的用于发送第一定位参考信号的第一信息向该第一设备发送该第一定位参考信号之前，该方法包括：第二设备接收来自该第一设备的第三定位参考信号；该第二设备根据用于接收该第二定位参考信号的第一信息和配置的用于发送该第二定位参考信号的第一信息确定第二信息，包括：
该第二设备根据接收该第三定位参考信号的第一信息、接收该第二定位参考信号的第一信息、该配置的用于发送该第一定位参考信号的第一信息、该配置的用于发送该第二定位参考信号的第一信息和该配置的用于发送该第三定位参考信号的第一信息确定第二信息。
基于上述技术方案，第一设备和第二设备之间用于定位的定位参考信号传输结束之后， 由于第一设备是基于接收到的第一定位参考信号的信息确定发送的第二定位参考信号的信息，第二设备可以根据预配置的信息和自身接收定位参考信号的信息确定定位相关信息，不需要第一设备上报该第一设备接收第一定位参考信号的信息和发送第二定位参考信号的信息，从而可以避免为第一设备上报信息而预留资源，节省了资源开销，提高了定位性能。
结合第二方面，在第二方面的某些实现方式中，该第一信息为时刻，该第二信息为飞行时间，该用于接收该第三定位参考信号的第一信息、该用于接收该第二定位参考信号的第一信息、该配置的用于发送该第一定位参考信号的第一信息、该配置的用于发送该第二定位参考信号的第一信息和该配置的用于发送该第三定位参考信号的第一信息和该飞行时间满足以下关系：
其中，tround2＝TA2-t1，treply1＝t1-TA3，TOF表示该飞行时间，该TA3表示用于接收该第三定位参考信号的时刻，TA2表示用于接收该第二定位参考信号的时刻，t1表示配置的用于发送该第一定位参考信号的时刻，t3表示配置的用于发送该第三定位参考信号的时刻，t2表示配置的用于发送该第二定位参考信号的时刻。
结合第二方面，在第二方面的某些实现方式中，该方法还包括：该第二设备向该第一设备发送第二指示信息，该第二指示信息用于指示配置的用于发送第一定位参考信号的第一信息、配置的用于发送第二定位参考信号的第一信息和配置的用于发送第三定位参考信号的第一信息。
基于上述技术方案，第二设备可以将预配置的信息通过第二指示信息通知第一设备，以便于第一设备基于预配置的信息和接收到的第一定位参考信号的信息确定待第一设备发送的第二定位参考信号的信息。
结合第二方面，在第二方面的某些实现方式中，该方法还包括：该第二设备向该第一设备发送第三指示信息，该第三指示信息用于指示第一设备的用于发送该第二定位参考信号的第一信息和第一设备的用于接收该第一定位参考信号的第一信息相关。
基于上述技术方案，第二设备可以通过第三指示信息通知第一设备用于发送该第二定位参考信号的第一信息和用于接收该第一定位参考信号的第一信息相关，以便于第一设备在接收到第一定位参考信号之后，根据接收第一定位参考信号的信息确定发送第二定位参考信号的信息。
第三方面，提供一种通信装置，该装置用于执行上述第一方面和第二方面中任一方面提供的方法。具体地，该装置可以包括用于执行第一方面和第二方面中任一方面的上述任意一种实现方式提供的方法的单元和/或模块，如处理单元和/或通信单元。
在一种实现方式中，该装置为通信设备(如第一设备，又如第二设备)。当该装置为通信设备时，通信单元可以是收发器，或，输入/输出接口；处理单元可以是至少一个处理器。可选地，收发器可以为收发电路。可选地，输入/输出接口可以为输入/输出电路。
在另一种实现方式中，该装置为用于通信设备(如第一设备，又如第二设备)中的芯片、芯片系统或电路。当该装置为用于通信设备中的芯片、芯片系统或电路时，通信单元可以是该芯片、芯片系统或电路上的输入/输出接口、接口电路、输出电路、输入电路、 管脚或相关电路等；处理单元可以是至少一个处理器、处理电路或逻辑电路等。
第四方面，提供一种通信装置，该装置包括：存储器，用于存储程序；至少一个处理器，用于执行存储器存储的计算机程序或指令，以执行上述第一方面和第二方面中任一方面的上述任意一种实现方式提供的方法。
在一种实现方式中，该装置为通信设备(如第一设备，又如第二设备)。
在另一种实现方式中，该装置为用于通信设备(如第一设备，又如第二设备)中的芯片、芯片系统或电路。
第五方面，本申请提供一种处理器，用于执行上述第一方面和第二方面中任一方面的上述任意一种实现方式提供的方法。
对于处理器所涉及的发送和获取/接收等操作，如果没有特殊说明，或者，如果未与其在相关描述中的实际作用或者内在逻辑相抵触，则可以理解为处理器输出和接收、输入等操作，也可以理解为由射频电路和天线所进行的发送和接收操作，本申请对此不做限定。
第六方面，提供一种计算机可读存储介质，该计算机可读介质存储用于设备执行的程序代码，该程序代码包括用于执行上述第一方面和第二方面中任一方面的上述任意一种实现方式提供的方法。
第七方面，提供一种包含指令的计算机程序产品，当该计算机程序产品在计算机上运行时，使得计算机执行上述第一方面和第二方面中任一方面的上述任意一种实现方式提供的方法。
第八方面，提供一种芯片，芯片包括处理器与通信接口，处理器通过通信接口读取存储器上存储的指令，执行上述第一方面和第二方面中任一方面的上述任意一种实现方式提供的方法。
可选地，作为一种实现方式，芯片还包括存储器，存储器中存储有计算机程序或指令，处理器用于执行存储器上存储的计算机程序或指令，当计算机程序或指令被执行时，处理器用于执行上述第一方面至第三方面中任一方面的上述任意一种实现方式提供的方法。
第九方面，提供一种通信系统，包括上文的第一设备和第二设备。
附图说明
图1是本申请涉及的应用场景示意图。
图2是TDOA定位方法的一种示意图。
图3是RTT定位方法的一种示意图。
图4是DS-TWR的一种示意图。
图5是本申请实施例提供的一种用于定位的方法的示意性流程图。
图6是本申请实施例提供的示例一的示意性流程图。
图7是示例一的信号传输时间点的示意图。
图8中(a)是本申请实施例提供的示例二的示意性流程图。
图8中(b)是本申请实施例提供的示例二的中信号传输时间点的示意图。
图9是本申请实施例提供的装置900的示意性框图。
图10是本申请实施例提供的装置1000的示意性框图。
图11是本申请实施例提供的一种芯片系统1100的示意图。
具体实施方式
下面将结合附图，对本申请中的技术方案进行描述。
本申请实施例的技术方案可以应用于各种通信系统，例如：全球移动通讯(global system of mobile communication，GSM)系统、码分多址(code division multiple access，CDMA)系统、宽带码分多址(wideband code division multiple access，WCDMA)系统、通用分组无线业务(general packet radio service，GPRS)、长期演进(long term evolution，LTE)系统、LTE频分双工(frequency division duplex，FDD)系统、LTE时分双工(time division duplex，TDD)、通用移动通信系统(universal mobile telecommunication system，UMTS)、全球互联微波接入(worldwide interoperability for microwave access，WiMAX)通信系统、5G移动通信系统或新无线接入技术(new radio，NR)，本申请提供的技术方案还可以应用于未来的通信系统，如第六代移动通信系统。
本申请的实施例可以应用于终端设备。终端设备可以是一种向用户提供语音/数据连通性的设备，例如，具有无线连接功能的手持式设备、车载设备等；可以是车联网通信中的设备，例如车辆上载的通信终端、路边单元(road side unit，RSU)；可以是无人机上载有的通信终端；还可以是物联网(internet of things，IoT)系统中的终端设备。终端设备也可以称为用户设备(user equipment，UE)、接入终端、用户单元、用户站、移动站、移动台、远方站、远程终端、移动设备、用户终端、终端、无线通信设备、用户代理或用户装置等。
示例性的，终端设备包括但不限于：手机(mobile phone)、平板电脑、笔记本电脑、掌上电脑、移动互联网设备(mobile internet device，MID)、可穿戴设备，虚拟现实(virtual reality，VR)设备、增强现实(augmented reality，AR)设备、工业控制(industrial control)中的无线终端、无人驾驶(self driving)中的无线终端、远程手术(remote medical surgery)中的无线终端、智能电网(smart grid)中的无线终端、运输安全(transportation safety)中的无线终端、智慧城市(smart city)中的无线终端、智慧家庭(smart home)中的无线终端、蜂窝电话、无绳电话、会话启动协议(session initiation protocol，SIP)电话、无线本地环路(wireless local loop，WLL)站、个人数字助理(personal digital assistant，PDA)、具有无线通信功能的手持设备、计算设备或连接到无线调制解调器的其它处理设备、可穿戴设备，5G网络中的终端设备或者未来演进的公用陆地移动通信网络(public land mobile network，PLMN)中的终端设备等，本申请实施例对终端设备的具体形式不作限定。
本申请实施例中的技术方案还可以应用于接入网设备。接入网设备可以是能够将终端设备接入到无线网络的设备。该接入网设备还可以称为无线接入网(radio access network，RAN)节点、无线接入网设备、网络设备。示例性的，该接入网设备可以是基站。
本申请实施例中的基站可以广义的覆盖如下中的各种名称，或与如下名称进行替换，比如：节点B(NodeB)、演进型基站(evolved NodeB，eNB)、下一代基站(next generation NodeB，gNB)、中继站、接入点、传输点(transmitting and receiving point，TRP)、发射点(transmitting point，TP)、主站(master eNodeB，MeNB)、辅站(secondary eNodeB，SeNB)、多制式无线(multi standard radio，MSR)节点、家庭基站、网络控制器、接入节点、无线节点、接入点(access point，AP)、传输节点、收发节点、基带单元(base band  unit，BBU)、射频拉远单元(remote radio unit，RRU)、有源天线单元(active antenna unit，AAU)、射频头(remote radio head，RRH)、中心单元(central unit，CU)、分布式单元(distributed unit，DU)、定位节点等。基站可以是宏基站、微基站、中继节点、施主节点或类似物，或其组合。基站还可以指用于设置于前述设备或装置内的通信模块、调制解调器或芯片。基站还可以是6G网络中的网络侧设备、未来的通信系统中承担基站功能的设备等。基站可以支持相同或不同接入技术的网络。
基站可以是固定的，也可以是移动的。例如，直升机或无人机可以被配置成充当移动基站，一个或多个小区可以根据该移动基站的位置移动。在其他示例中，直升机或无人机可以被配置成用作与另一基站通信的设备。
本申请的实施例对接入网设备所采用的具体技术和具体设备形态不作限定。
为便于理解本申请实施例，首先，以图1为例，对本申请实施例适用的应用场景进行说明。
图1是本申请涉及的应用场景100的示意图。如图1所示，应用场景100可以包括两个终端设备，例如图1中的终端设备110和终端设备120。应用场景100主要涉及的是sidelink定位场景，图1中的终端设备110和终端设备120为参与定位的终端设备，具体地，终端设备110和终端设备120之间实现定位的方法在下文中将结合具体的实施例进行说明，这里不再赘述。
应理解，图1只是示例性示出本申请实施例提供的用于定位的方法能够应用的场景，对本申请的保护范围不构成任何的限定。例如，上述图1所示的场景中包括的终端设备的个数可以为两个以上，任意的至少两个终端设备可以为参与定位的终端设备；还例如，图1所示的场景中还可以包括基站(如，gNB)；又例如，图1所示的场景中还可以包括定位管理设备，具体地，定位管理设备是网络侧用于确定终端设备的定位信息的设备。定位管理设备可以为位置管理功能(location management function，LMF)实体、演进服务移动位置中心(evolved serving mobile location center，E-SMLC)或其他可用于确定终端设备的定位信息的设备。
进一步地，为便于理解本申请实施例，对本申请实施例中涉及的几个基本概念做简单说明。
1、TDOA。
TDOA定位方法是通过测量移动设备和多个基站间的传输时延差来实现定位，要求基站间时钟同步。如图2所示，图2是TDOA定位方法的一种示意图。
从图2中可以看出，当己知基站#1和基站#2与移动设备之间的距离差为R#21时，移动设备位于以基站#1和基站#2为焦点、与两个焦点的距离差恒为R#21的双曲线上；再根据基站#1和基站#3与移动设备之间的距离差为R#31，可以得到另一组以基站#1和基站#3为焦点、与两个焦点的距离差恒为R#31的双曲线，其中，距离差R#21以及R#31是通过基站之间的时延差乘以光速得到。两组双曲线的交点代表对移动设备位置的估计。由于该TDOA定位方法需要获知准确的基站之间的时延差，因此要求不同基站之间实现时钟同步。
2、RTT。
RTT定位方法通过来回发送定位参考信号(positioning reference signal，PRS)获取往返传输时间以实现定位，无需时钟同步。具体地，通过两个设备间来回发送参考信号，可 以得到两个设备间的飞行时间(time of flight，TOF)为：
其中，tround表示参与定位的一个设备发送定位参考信号的时刻以及接收定位参考信号的时刻之间的间隔时长；treply表示参与定位的另一个设备发送定位参考信号的时刻以及接收定位参考信号的时刻之间的间隔时长。
进一步地，将TOF乘上光速，就可以得到两个设备之间的距离。如图3所示，图3是RTT定位方法的一种示意图。
从图3中可以看出，参与定位的设备(如，图3中所示的设备#A和设备#B)之间来回发送PRS，可以得到设备#A和设备#B之间的距离。
对于类似于图2中所示的场景，也可以基于RTT定位方式实现定位，如待定位移动设备与三个基站分别进行RTT过程：基站#1和移动设备之间来回发送PRS#1，得到基站#1和移动设备之间的距离#1；基站#2和移动设备之间来回发送PRS#2，得到基站#2和移动设备之间的距离#2；基站#3和移动设备之间来回发送PRS#3，得到基站#3和移动设备之间的距离#3，得到与三个基站的距离之后就可以进行三角定位。
3、三角定位。
指的是一种数学原理，是利用2台或者2台以上的探测器在不同位置探测目标方位，然后运用三角几何原理确定目标的位置和距离。
4、时钟漂移现象。
时钟漂移现象是指当时钟晶振的实际频率与标称频率存在偏差时，设备记录的时间与实际时间之间也会存在偏差，且偏差会随着时间的增大而增大。当时钟晶振存在误差e1时，如果实际经过了时间t，那么设备记录的时间为t(1+e1)，也就是偏差会随时间t的增大而增大。
上述简单介绍了传统的基于无线电接入技术定位方案中的TDOA定位方法和RTT定位方法，由上述可知TDOA定位方法要求基站间时钟同步，在SL场景下不同设备间并非严格时钟同步，因此不要求设备间严格时钟同步的RTT定位方法是SL定位的主要候选技术。但是需要说明的是，本申请中仅仅是为了便于描述以RTT定位方法为例进行说明，其他的通过两个设备间来回发送参考信号，以得到两个设备之间的距离的与RTT定位方法类似的定位方法也可以替换本申请中涉及的RTT定位方法。
虽然RTT定位方法不要求设备间严格时钟同步，但是由于不同设备会产生不一样的时钟漂移，因此RTT定位方法要求响应时间尽可能短以减小定位误差。
例如，为了减小时钟漂移的影响，目前标准(如，IEEE 802.15.4z)采用双边双向测距(double-sided two-way ranging，DS-TWR)法实现定位。如图4所示，图4是DS-TWR的一种示意图。
具体地，DS-TWR定位方法是RTT定位方法的延伸，DS-TWR定位方法使用了两个往返时间测量，并将两个往返时间组合在一起得到TOF(如图4中所示的Tprop)，即使响应时间较长时也能保持较高定位精度。
为了便于理解，下面详细说明DS-TWR定位方法如何保持较高定位精度：
从图4中可以看出，DS-TWR定位方法在设备#A和设备#B间一共传输了三条消息(如图4中所示的M#1、M#2和M#3)。第一条消息和第二条消息可以看作是设备#A发起的 RTT定位测量，第二条消息和第三条消息可以看作是设备#B发起的RTT定位测量。
从而得到两个RTT方程：
具体地，对方程式(1-2)进行如下推导，以得到TOF的表示式：
因此结合式(1-3)和式(1-4)，可以得到TOF：
考虑设备#A和设备#B存在不同的时钟晶振误差eA和eB，那么实际测量得到的飞行时间为：
由于Tround1+Treply2＝Tround2+Treply1，因此有
因此，最终由于时钟漂移引入的误差为：
因为eA+eB远小于2，2eaeb远小于eA+eB，所以可以有这个近似，从式(1-9)中可以看到，误差与响应时间无关，只与eA、eB和TOF有关。由于eA和eB一般为10-6量级，而TOF为纳秒量级，因此误差几乎可以忽略不计。从而可以说明DS-TWR定位方法可以保持较高定位精度。
此外，为了便于理解本申请实施例，首先做出以下几点说明。
第一，在本申请中，“用于指示”可以包括用于直接指示和用于间接指示。当描述某一指示信息用于指示A时，可以包括该指示信息直接指示A或间接指示A，而并不代表该指示信息中一定携带有A。
将指示信息所指示的信息称为待指示信息，则具体实现过程中，对待指示信息进行指示的方式有很多种，例如但不限于，可以直接指示待指示信息，如待指示信息本身或者该待指示信息的索引等。也可以通过指示其他信息来间接指示待指示信息，其中该其他信息与待指示信息之间存在关联关系。还可以仅仅指示待指示信息的一部分，而待指示信息的其他部分则是已知的或者提前约定的。例如，还可以借助预先约定(例如协议规定)的各 个信息的排列顺序来实现对特定信息的指示，从而在一定程度上降低指示开销。同时，还可以识别各个信息的通用部分并统一指示，以降低单独指示同样的信息而带来的指示开销。
第二，在本申请中示出的“至少一个”是指一个或者多个，“多个”是指两个或两个以上。另外，在本申请的实施例中，“第一”、“第二”以及各种数字编号(例如，“#1”、“#2”等)只是为了描述方便进行的区分，并不用来限制本申请实施例的范围。下文各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定，应该理解这样描述的对象在适当情况下可以互换，以便能够描述本申请的实施例以外的方案。此外，在本申请实施例中，“510”、“610”、“810”等字样仅为了描述方便作出的标识，并不是对执行步骤的次序进行限定。
第三，本申请实施例中，“示例性的”或者“例如”等词用于表示作例子、例证或说明。本申请中被描述为“示例性的”或者“例如”的任何实施例或设计方案不应被解释为比其他实施例或设计方案更优选或更具优势。确切而言，使用“示例性的”或者“例如”等词旨在以具体方式呈现相关概念。
第四，本申请实施例中涉及的“保存”，可以是指的保存在一个或者多个存储器中。该一个或者多个存储器，可以是单独的设置，也可以是集成在编码器或者译码器，处理器、或通信装置中。该一个或者多个存储器，也可以是一部分单独设置，一部分集成在译码器、处理器、或通信装置中。存储器的类型可以是任意形式的存储介质，本申请并不对此限定。
第五，在本申请实施中，“协议”可以指通信领域的标准协议，例如可以包括NR协议以及应用于未来的通信系统中的相关协议，本申请对此不做限定。
第六，本申请实施例中，“的(of)”，“相应的(corresponding，relevant)”、“对应的(corresponding)”和“关联的(associate)”有时可以混用，应当指出的是，在不强调其区别时，其所要表达的含义是一致的。
由上述可知DS-TWR定位方法能够获得较高的定位精度，但无论是RTT定位方法还是DS-TWR定位方法需要两个设备之间发送多个PRS，并且为了使得确定TOF的设备能够确定得到TOF，需要执行以下动作：
方式一：参与定位的设备需要将自身接收PRS的时刻和发送PRS的时刻之间的时间间隔发送给确定TOF的设备；或者，
方式二：参与定位的设备需要将接收PRS的时刻和发送PRS的时刻发送给确定TOF的设备。
应理解，本申请中对于确定TOF的设备是否参与定位不做限定，该设备可以为定位管理设备，也可以为参与定位的设备。
也就是说应用上述的RTT定位方法或DS-TWR定位方法的情况下，需要考虑上报时间差(或者时刻)所需资源。例如，需要提前预留资源以便于上报时间差(或者时刻)；还例如，实时请求用于上报时间差(或者时刻)的资源。
而一旦涉及时间差(或者时刻)的上报，需要考虑到时间差(或者时刻)上报所需的时间，可能会影响定位测量的实效性。
为了提高定位的性能，本申请提出一种用于定位的方法，通过根据接收参考信号的时刻确定发送参考信号的时刻，隐式确定时间差(或者时刻)，避免为上报时间差(或者时刻)预留资源。
下面将结合附图详细说明本申请提供的技术方案。本申请实施例可以应用于多个不同的场景下，包括图1所示的场景，但并不限于该场景。例如还可以应用在蜂窝网络中上行(uplink)或下行(downlink)定位场景中。
应理解，下文示出的实施例并未对本申请实施例提供的方法的执行主体的具体结构特别限定，只要能够通过运行记录有本申请实施例的提供的方法的代码的程序，以根据本申请实施例提供的方法进行通信即可，例如，本申请实施例提供的方法的执行主体可以是第一设备和第二设备，或者，是第一设备和第二设备中能够调用程序并执行程序的功能模块。
以下，不失一般性，以第一设备和第二设备之间的交互为例详细说明本申请实施例提供的数据传输的方法，本申请实施例中涉及的第一设备和第二设备可以均为终端设备，或者还可以为第一设备和第二设备中的一个设备为终端设备，另一个设备为基站或者LMF等。下述实施例中对于第一设备和第二设备的具体设备类型不做限定，能够执行第一设备和第二设备的功能即可。
图5是本申请实施例提供的一种用于定位的方法的示意性流程图，包括以下步骤：
S510，第二设备向第一设备发送第一定位参考信号，或者说第一设备接收来自第二设备的第一定位参考信号。
具体地，第二设备根据配置的用于发送第一定位参考信号的第一信息向第一设备发送(如，在第一资源上向第一设备发送)第一定位参考信号。其中，第一信息包括时刻、相位和频率中的至少一项。
例如，第二设备需要执行定位，该第二设备可以预先申请发送第一定位参考信号的第一资源，并确定配置的用于发送第一定位参考信号的第一信息。
还例如，第二设备接收来自第三设备(如，基站或者LMF等设备)的通知信息，该通知信息用于指示发送第一定位参考信号的第一资源和配置的用于发送第一定位参考信号的第一信息。
又例如，第二设备根据历史通信信息确定发送第一定位参考信号的第一资源和配置的用于发送第一定位参考信号的第一信息。
应理解，该实施例中对于第二设备如何向第一设备发送第一定位参考信号不做限定，可以参考目前定位方法中关于发送定位参考信号的描述，这里不再赘述。
S520，第一设备向第二设备发送第二定位参考信号，或者说第二设备接收来自第一设备的第二定位参考信号。
具体地，第一设备可以在第二资源上向第二设备发送第二定位参考信号。也就是说，上述的用于发送第一定位参考信号的第一资源和用于发送第二定位参考信号的第二资源均为配置的，可以是预先配置的，也可以是实时获取的，对于资源的具体配置方式该实施例中不做限定。
作为一种可能的实现方式，第二设备需要执行定位，该第二设备可以预先申请发送第一定位参考信号的第一资源和发送第二定位参考信号的第二资源，并确定配置的用于发送第一定位参考信号的第一信息以及配置的用于发送第二定位参考信号的第一信息。
在该实现方式下，第二设备可以向第一设备发送第一指示信息，该第一指示信息中包括配置的用于发送第一定位参考信号的第一信息、配置的用于发送第二定位参考信号的第一信息和用于发送第二定位参考信号的第二资源。
作为另一种可能的实现方式，第一设备接收来自第三设备(如，基站或者LMF等设备)的通知信息，该通知信息用于指示发送第二定位参考信号的第二资源和配置的用于发送第二定位参考信号的第一信息。
应理解，该实施例中对于第一设备如何获知发送第二定位参考信号的第二资源和配置的用于发送第二定位参考信号的第一信息不做限定，可以参考目前定位方法中关于发送定位参考信号的描述，这里不再赘述。
需要注意的是，该实施例中与目前定位方法中发送定位参考信号最大的不同点在于：该实施例中第一设备根据用于发送第二定位参考信号的第一信息向所述第二设备发送所述第二定位参考信号，其中，用于发送第二定位参考信号的第一信息基于用于接收第一定位参考信号的第一信息确定。
示例性地，由上述可知，用于发送第二定位参考信号的第一信息基于用于接收第一定位参考信号的第一信息确定，可以理解为第一设备根据接收到的第一定位参考信号的第一信息确定发送第二定位参考信号的第一信息，图5所示的方法流程还可以包括：
S530，第一设备根据接收第一定位参考信号的第一信息确定发送第二定位参考信号的第一信息。
为了区别于上述的配置的用于发送第二定位参考信号的第一信息，该用于发送第二定位参考信号的第一信息可以称为实际用于发送第二定位参考信号的第一信息。
示例性地，第一设备接收到第三指示信息，该第三指示信息用于指示所述第一设备的用于发送第二定位参考信号的第一信息和所述第一设备的用于接收第一定位参考信号的第一信息相关。则第一设备在接收到第一定位参考信号之后，能够根据接收第一定位参考信号的第一信息确定发送第二定位参考信号的第一信息。
例如，第一设备以接收第一定位参考信号的第一信息为同步源确定发送第二定位参考信号的第一信息。其中，同步源可以理解为基值，也就是说发送第二定位参考信号的第一信息以接收第一定位参考信号的第一信息为基准，并考虑一定的偏移量即可得到该用于发送第二定位参考信号的第一信息。
还例如，第一设备以接收第一定位参考信号的第一信息相关的信息确定发送第二定位参考信号的第一信息。其中，接收第一定位参考信号的第一信息相关的信息可以理解为根据该用于接收第一定位参考信号的第一信息确定得到的值。
应理解，该实施例中对于如何基于用于接收第一定位参考信号的第一信息(或者说接收到的第一定位参考信号的第一信息、或者说接收第一定位参考信号使用的第一信息)确定用于发送第二定位参考信号的第一信息(或者说发送第二定位参考信号使用的第一信息)不做限定，能够使得第二设备在确定定位相关信息的时候，可以不需要第一设备上报该第一设备接收第一定位参考信号的信息和发送第二定位参考信号的信息(或者上报该第一设备发送第二定位参考信号的信息和该第一设备接收第一定位参考信号的信息相关的信息)即可。
示例性地，用于接收第一定位参考信号的第一信息和用于发送第二定位参考信号的第一信息满足以下关系：
y＝x+Δ  (2-1)
其中，y表示用于发送第二定位参考信号的第一信息，x表示用于接收第一定位参考 信号的第一信息，Δ表示根据预配置信息确定的值。
从式(2-1)中可以看出，用于接收第一定位参考信号的第一信息和用于发送第二定位参考信号的第一信息满足的关系式中，接收第一定位参考信号的第一信息可以在第一设备接收到第一定位参考信号的时候获知，而Δ可以根据提前预配置的信息确定，也就是说第一设备在第一设备接收到第一定位参考信号之后，基于该关系式(2-1)能够顺利确定发送第二定位参考信号的第一信息。
作为一种可能的实现方式，第一设备和第二设备之间传输的定位参考信号为上述的第一定位参考信号和第二定位参考信号。
在该实现方式下，第一设备接收第一指示信息，所述第一指示信息用于指示配置的用于发送所述第一定位参考信号的第一信息和配置的用于发送所述第二定位参考信号的第一信息，
所述用于接收所述第一定位参考信号的第一信息和用于发送所述第二定位参考信号的第一信息满足以下关系：
y＝x+m2-m1
其中，m2表示配置的用于发送所述第二定位参考信号的第一信息，m1表示配置的用于发送所述第一定位参考信号的第一信息。
作为另一种可能的实现方式，第一设备和第二设备之间传输的定位参考信号除了上述的第一定位参考信号和第二定位参考信号之外，还包括第三定位参考信号。
在该实现方式下，所述第一设备接收第二指示信息，所述第二指示信息用于指示配置的用于发送所述第一定位参考信号的第一信息、配置的用于发送所述第二定位参考信号的第一信息和配置的用于发送第三定位参考信号的第一信息，在接收所述第一定位参考信号之前，图5所示的方法流程还包括：
S511，第一设备向第二设备发送第三定位参考信号，或者说第二设备接收来自第一设备的第三定位参考信号。
具体地，第一设备根据所述配置的用于发送第三定位参考信号的第一信息向所述第二设备发送所述第三定位参考信号，
在该实现方式下，所述用于接收所述第一定位参考信号的第一信息和用于发送所述第二定位参考信号的第一信息满足以下关系：
其中，q2表示配置的用于发送所述第二定位参考信号的第一信息，q1表示配置的用于发送所述第一定位参考信号的第一信息，q3表示配置的用于发送所述第三定位参考信号的第一信息。
进一步地，在第二设备接收到第二定位参考信号之后，第二设备可以确定第二信息，该第二信息用于确定第二设备的位置，图5所示的方法流程还包括：
S540，第二设备确定第二信息。
作为一种可能的实现方式，第一设备和第二设备之间传输的定位参考信号为上述的第一定位参考信号和第二定位参考信号。
在该实现方式下，第二设备根据接收第二定位参考信号的第一信息和配置的用于发送 第二定位参考信号的第一信息确定第二信息。
示例性地，第一信息为时刻，第二信息为飞行时间，接收第二定位参考信号的时刻、配置的用于发送第二定位参考信号的时刻和飞行时间满足以下关系：
其中，TOF表示飞行时间，TA2表示用于接收第二定位参考信号的时刻，t2表示配置的用于发送第二定位参考信号的时刻。
作为另一种可能的实现方式，第一设备和第二设备之间传输的定位参考信号除了上述的第一定位参考信号和第二定位参考信号之外，还包括第三定位参考信号。
在该实现方式下，第二设备根据接收第三定位参考信号的第一信息、接收第二定位参考信号的第一信息、配置的用于发送第一定位参考信号的第一信息、配置的用于发送第二定位参考信号的第一信息和配置的用于发送第三定位参考信号的第一信息确定第二信息。
示例性地，第一信息为时刻，第二信息为飞行时间，接收第三定位参考信号的第一信息、接收第二定位参考信号的第一信息、配置的用于发送第一定位参考信号的第一信息、配置的用于发送第二定位参考信号的第一信息和配置的用于发送第三定位参考信号的第一信息和飞行时间满足以下关系：
其中，tround2＝TA2-t1，treply1＝t1-TA3，TOF表示所述飞行时间，所述TA3表示用于接收所述第三定位参考信号的时刻，TA2表示用于接收所述第二定位参考信号的时刻，t1表示配置的用于发送所述第一定位参考信号的时刻，t3表示配置的用于发送所述第三定位参考信号的时刻，t2表示配置的用于发送所述第二定位参考信号的时刻。
作为一种可能的实现方式，上述的第一信息可以为时刻，也就是说用于发送第二定位参考信号的时刻基于用于接收第一定位参考信号的时刻确定。
在该实现方式下，可以理解为发送第二定位参考信号的时刻以接收第一定位参考信号的时刻作为同步。第一设备可以记录接收到第一定位参考信号的时间戳，并在该时间戳之后的某个时刻发送第二定位参考信号。
具体地，该实现方式下，第二设备根据时刻信息能够确定第二设备和第一设备之间定位参考信号传输的飞行时间，从而确定第二设备和第一设备之间的距离。
作为另一种可能的实现方式，上述的第一信息可以为相位，也就是说用于发送第二定位参考信号的相位基于用于接收第一定位参考信号的相位确定。
在该实现方式下，可以理解为发送第二定位参考信号的相位以接收第一定位参考信号的相位作为同步。第一设备可以记录接收到第一定位参考信号的相位，然后调整发送第二定位参考信号的相位，例如可以在预配置的用于发送第二定位参考信号的相位上叠加一个相位差作为发送第二定位参考信号的实际相位。
具体地，该实现方式下，第二设备根据相位信息能够实现载波相位定位。
作为又一种可能的实现方式，上述的第一信息可以为频率，也就是说用于发送第二定位参考信号的频率基于用于接收第一定位参考信号的频率确定。
在该实现方式下，可以理解为发送第二定位参考信号的频率以接收第一定位参考信号的频率作为同步。第一设备可以记录接收到第一定位参考信号的频率，然后调整发送第二 定位参考信号的频率，例如可以在预配置的用于发送第二定位参考信号的频率上叠加一个频率差作为发送第二定位参考信号的实际频率。
具体地，该实现方式下，第二设备根据相位信息能够频率信息实现多普勒频移估计。
作为又一种可能的实现方式，上述的第一信息可以为时刻、相位和频率中的至少一项。如，第一信息为时刻和相位，也就是说用于发送第二定位参考信号的时刻基于用于接收第一定位参考信号的时刻确定，用于发送第二定位参考信号的相位基于用于接收第一定位参考信号的相位确定。或者，第一信息还可以为相位和频率；或者，第一信息还可以为时刻、相位和频率，这里不再一一举例说明。
应理解，上述举例说明第一信息为时刻、相位和频率中的至少一项，对本申请的保护范围不构成任何的限定，第一信息还可以为时刻、相位和频率之外的参数，这里不再举例说明。
图5所示的用于定位的方法中，第一设备可以基于接收到的第一定位参考信号的信息(如，接收时刻、相位或频率等信息)确定待第一设备发送的第二定位参考信号的信息(如，发送时刻、相位或频率等信息)，并且第一设备根据用于发送的第二定位参考信号的信息向第二设备发送第二定位参考信号，以便于第二设备在确定位置相关信息的时候，可以不需要第一设备上报信息，包括但不限于：
方式一：不需要第一设备上报自身接收第一定位参考信号的时刻和发送第二定位参考信号的时刻之间的时间间隔发送给第二设备；或者，
方式二：不需要第一设备上报自身接收第一定位参考信号的时刻和发送第二定位参考信号的时刻。
从而可以避免为第一设备上报信息而预留资源，节省了资源开销，提高了定位性能。
应理解，图5所示的实施例中第二设备为确定第二信息的设备，且该第二设备可以为参与定位的设备，但是需要说明的是，当确定第二信息的设备为定位管理设备的情况下，图5所示的实施例中第一设备也无需向定位管理设备上报用于确定第二信息的相关信息(如，接收第一定位参考信号的时刻和发送第二定位参考信号的时刻)，也能够节省资源开销，提高定位性能。
由图5所示的用于定位的方法可知，第一设备确定发送第二定位参考信号的第一信息，以及第二设备确定第二信息的方式与第一设备和第二设备之间传输的定位参考信号个数有关，下面结合两个示例具体说明：
示例一：第一设备和第二设备之间通过RTT定位方法实现定位，第一信息为时刻，第一定位参考信号记为PRS#1，第二定位参考信号记为PRS#2。
为了便于理解，结合图6详细介绍示例一，图6是本申请实施例提供的示例一的示意性流程图包括以下步骤：
S610，第二设备向第一设备发送第一指示信息和第三指示信息。
具体地，第二设备需要测距，并预先申请了执行RTT定位方法所需的两个PRS资源(如，资源#1和资源#2)，该两个资源用于传输RTT定位流程中的定位参考信号(如，PRS#1和PRS#2)。其中，资源#1用于传输PRS#1，资源#2用于传输PRS#2。并且第二设备确定发送PRS#1的时刻TA1＝t1，以及发送PRS#2的时刻t2。
进一步地，第二设备向第一设备发送第一指示信息，用于指示第二设备在TA1＝t1时 刻发送PRS#1，第一设备在t2时刻发送PRS#2。
第二设备向第一设备发送第三指示信息，用于指示用于发送PRS#2的第一信息和用于接收PRS#1的第一信息相关。如，指示PRS#2的发送以PRS#1的接收作为同步。
需要说明的是，该实施例中以第二设备向第一设备发送第一指示信息和第三指示信息为例进行说明，向第一设备发送第一指示信息和第三指示信息的设备还可以是基站、LMF等设备，这里不再一一举例说明。
示例性地，上述的第一指示信息和第三指示信息为一条消息。可以同时发送给第一设备。
S620，第二设备向第一设备发送PRS#1。
第二设备在TA1＝t1时刻在资源#1上发送PRS#1。
S630，第一设备确定发送PRS#2的时刻。
具体地，第一设备在接收到PRS#1后，记录接收到的时间戳TB1。由第一指示信息可知配置的用于发送PRS#2的时刻和发送PRS#1的时刻之间的时间间隔为t2-t1，所以第一设备接收到PRS#1后经过t2-t1时间再向第二设备发送PRS#2，那么第一设备实际在TB2＝TB1+t2-t1时刻发送PRS#2。
S640，第一设备向第二设备发送PRS#2。
第一设备在TB2时刻在资源#2上发送PRS#2。
S650，第二设备计算飞行时间。
具体地，第二设备在TA2时刻接收到PRS#2，即可计算TOF，由前文所述，RTT定位方法下TOF的计算公式为：
将TB2＝TB1+t2-t1带入式(2-2)，可得：
由于TA1＝t1，则式(2-3)可以简化为：
由式(2-4)可知，第二设备在计算TOF的时候所考虑的参数为TA2和t2，而TA2表示第二设备接收第二定位参考信号的时刻，t2表示配置的用于发送第二定位参考信号的时刻，均为第二设备已知的参数，所以说示例一所示的RTT定位方法中，无需第一设备上报TB2和TB1，或者说无需第一设备上报TB2-TB1的值，第二设备仍然能够计算得到TOF。也就是说既然无需第一设备上报TB2和TB1(或上报TB2-TB1的值)，也就无需为第一设备预留用于上报TB2和TB1(或上报TB2-TB1的值)的资源，从而示例一所示的RTT定位方法能够节省资源的开销，提高定位性能。另外，第一设备无需反馈测量结果，降低了定位时延。
示例一中，配置的PRS#2发送时刻为t2，而实际的发送时刻为TB2＝TB1+t2-t1，比实际要求的发送时刻t2偏移TB1-t1，而TB1-t1约等于TOF。实际信号传输过程中OFDM的循环前缀长度一般是微秒级，通常要比SL场景的TOF要大，因而不会影响信号的正常接收。如图7所示，图7是示例一的信号传输时间点的示意图。
需要说明的是，示例一是以第一信息为时刻为例进行说明的，当第一信息为相位的情况下：
第一设备收到PRS#1后测量接收到的相位然后调整发送PRS#2的相位，第一设备确定发送PRS#2的相位。
具体地，第一设备在接收到PRS#1后，记录接收到的相位调整后，第一设备实际以相位发送PRS#2。其中，为配置的用于发送第二定位参考信号的相位，为配置的用于发送第一定位参考信号的相位。
第二设备接收到第二定位参考信号之后，计算相位差。
具体地，第二设备接收到PRS#2的相位为即可计算相位差
示例性地，第二设备计算得到相位差之后，可以根据相位差并结合信号的波长即可利用载波相位法确定信号在设备间传输的距离。
应理解，上述基于相位差确定信号在设备间传输的距离只是举例，对本申请的保护范围不构成任何的限定，本申请实施例中对于计算得到的相位差之后能够基于相位差执行的步骤不做任何限定。其他需要利用相位差实现某种目的的场景下也可以使用本申请实施例提供的确定相位差的方案，可以避免为第一设备上报计算相位差相关信息(如，接收PRS#1的接收相位和发送PRS#2的相位；或者，发送PRS#2的相位与接收PRS#1的接收相位之间差值)而预留资源，节省了资源开销。
当第一信息为频率的情况下：
第一设备收到PRS#1后测量接收到的频率pB1，然后调整发送PRS#2的频率，第一设备确定发送PRS#2的频率。
具体地，第一设备在接收到PRS#1后，记录接收到的频率pB1。调整p2-p1后，第一设备实际以频率pB2＝pB1+p2-p1发送PRS#2。其中，p2为配置的用于发送第二定位参考信号的频率，p1为配置的用于发送第一定位参考信号的频率。
第二设备接收到第二定位参考信号之后，计算频率差。
具体地，第二设备接收到PRS#2的频率为pA2，即可计算频率差pd：
示例性地，频率差即对应两个设备间由于运动产生的多普勒频移，如果第二设备已知运动速度，那么可以利用多普勒频移和速度推导两个设备的方位关系。也就是说第二设备计算得到频率差之后，可以根据频率差并结合多普勒频移和速度推导两个设备的方位关系。
应理解，上述基于频率差确定两个设备的方位关系只是举例，对本申请的保护范围不构成任何的限定，本申请实施例中对于计算得到的频率差之后能够基于频率差执行的步骤不做任何限定。其他需要利用频率差实现某种目的的场景下也可以使用本申请实施例提供的确定频率差的方案，可以避免为第一设备上报计算频率差相关信息(如，接收PRS#1的接收频率和发送PRS#2的频率；或者，发送PRS#2的频率与接收PRS#1的接收频率之间差值)而预留资源，节省了资源开销。
示例二：第一设备和第二设备之间通过DS-TWR定位方法实现定位，第一信息为时刻，第一定位参考信号记为PRS#1，第二定位参考信号记为PRS#2。
为了便于理解，结合图8详细介绍示例二，图8中(a)是本申请实施例提供的示例 二的示意性流程图，图8中(b)是本申请实施例提供的示例二的中信号传输时间点的示意图。
图8中(a)所示的示例二包括以下步骤：
S810，第二设备向第一设备发送第一指示信息和第三指示信息。
具体地，第二设备需要测距，并预先申请了DS-TWR定位所需要的三个PRS资源(如，资源#1、资源#2和资源#3)，该三个资源用于传输RTT定位流程中的定位参考信号(如，PRS#1、PRS#2和PRS#3)。其中，资源#1用于传输PRS#1，资源#2用于传输PRS#2，资源#3用于传输PRS#3。并且第二设备确定发送PRS#1的时刻TA1＝t1，发送PRS#2的时刻t2以及发送PRS#3的时刻t3。
进一步地，第二设备向第一设备发送第一指示信息，用于指示第二设备在TA1＝t1时刻发送PRS#1，第一设备在t2时刻发送PRS#2，第一设备在t3时刻发送PRS#3。
第二设备向第一设备发送第三指示信息，用于指示用于发送PRS#2的第一信息和用于接收PRS#1的第一信息相关。如，指示第一设备的treply2(发送PRS#2的时刻和接收PRS#1的时刻之间的间隔)与tround1(接收PRS#1的时刻和发送PRS#3的时刻之间的间隔)满足
需要说明的是，该实施例中以第二设备向第一设备发送第一指示信息和第三指示信息为例进行说明，向第一设备发送第一指示信息和第三指示信息的设备还可以是基站、LMF等设备，这里不再一一举例说明。
示例性地，上述的第一指示信息和第三指示信息为一条消息。可以同时发送给第一设备。
S820，第一设备向第二设备发送PRS#3。
第一设备在TB3＝t3时刻在资源#3上发送PRS#3。
S830，第二设备向第一设备发送PRS#1。
第二设备在TA1＝t1时刻在资源#1上发送PRS#1。
S840，第一设备确定发送PRS#2的时刻。
具体地，第一设备在接收到PRS#1后，记录接收到的时间戳TB1。从而得到tround1＝TB1-t3，经过后，第一设备在TB2＝TB1+treply2时刻发送PRS#2(此时发送时刻TB2≠t2)。
S850，第一设备向第二设备发送PRS#2。
第一设备在TB2时刻在资源#2上发送PRS#2。
S860，第二设备计算飞行时间。
第二设备在接收到PRS#2后，记录接收到的时间戳TA2，并记录treply1和tround2，其中，treply1＝t1-TA3，tround2＝TA2-t1。由前文所述，DS-TWR定位方法下TOF的计算公式为：
结合化简式(2-5)可得：
tround2＝N(treply1+2TOF)+2TOF   (2-6)
从而可得：
另外，考虑设备的晶振频率偏移，实际测量的飞行时间为：
由式(2-8)可知晶振偏移引入的误差为TOF·eB，量级非常小，对定位精度几乎无影响。
此外，根据TB2＝TB1+treply2、TB1＝t1+TOF、及tround1＝TOF+(t1-t3)可推出TB1＝t2+(N+1)·TOF，也就是PRS#2的发送时刻相比原始的t2会有(N+1)·TOF的偏移。
需要说明的是，示例一是以第一信息为时刻为例进行说明的，当第一信息为相位的情况下：
第一设备收到PRS#1后测量接收到的相位然后调整发送PRS#2的相位，第一设备确定发送PRS#2的相位。
具体地，第一设备在接收到PRS#1后，记录接收到的相位从而得到 在预配置发送相位上叠加相位后，第一设备实际以相位发送PRS#2(此时发送相位)。其中，为配置的用于发送第二定位参考信号的相位，为配置的用于发送第一定位参考信号的相位，为配置的用于发送第三定位参考信号的相位。
第二设备接收到第二定位参考信号之后，计算相位差。
具体地，第二设备接收到PRS#2，记录接收到相位并记录和其中，即可计算相位差

示例性地，第二设备计算得到相位差之后，可以根据相位差并结合信号的波长即可利用载波相位法确定信号在设备间传输的距离。
应理解，上述基于相位差确定信号在设备间传输的距离只是举例，对本申请的保护范围不构成任何的限定，本申请实施例中对于计算得到的相位差之后能够基于相位差执行的步骤不做任何限定。其他需要利用相位差实现某种目的的场景下也可以使用本申请实施例提供的确定相位差的方案，可以避免为第一设备上报计算相位差相关信息(如，接收PRS#1的接收相位和发送PRS#2的相位；或者，发送PRS#2的相位与接收PRS#1的接收相位之间差值)而预留资源，节省了资源开销。
当第一信息为频率的情况下：
第一设备收到PRS#1后测量接收到的频率pB1，然后调整发送PRS#2的频率，第一设备确定发送PRS#2的频率。
具体地，第一设备在接收到PRS#1后，记录接收到的频率pB1。从而得到pround1＝pB1-p3，在预配置发送频率上叠加频率后，第一设备实际以频率pB2＝B1+reply2发送PRS#2(此时发送频率pB2≠p2)。其中，p2为配置的用于发送第二定位参考信号的频率，p为配置的用于发送第一定位参考信号的频率，p3为配置的用于发送第三定位参考信号的频率。
第二设备接收到第二定位参考信号之后，计算频率差。
具体地，第二设备接收到PRS#2，记录接收到的频率pA2，并记录preply1和pround2，其中，preply1＝p1-pA3，pround2＝pA2-p1。即可计算频率差pd：

示例性地，频率差即对应两个设备间由于运动产生的多普勒频移，如果第二设备已知运动速度，那么可以利用多普勒频移和速度推导两个设备的方位关系。也就是说第二设备计算得到频率差之后，可以根据频率差并结合多普勒频移和速度推导两个设备的方位关系。
应理解，上述基于频率差确定两个设备的方位关系只是举例，对本申请的保护范围不构成任何的限定，本申请实施例中对于计算得到的频率差之后能够基于频率差执行的步骤不做任何限定。其他需要利用频率差实现某种目的的场景下也可以使用本申请实施例提供的确定频率差的方案，可以避免为第一设备上报计算频率差相关信息(如，接收PRS#1的接收频率和发送PRS#2的频率；或者，发送PRS#2的频率与接收PRS#1的接收频率之间差值)而预留资源，节省了资源开销。
可以理解，本申请实施例中的图5至图8中的例子仅仅是为了便于本领域技术人员理解本申请实施例，并非要将本申请实施例限于例示的具体场景。本领域技术人员根据图5至图8的例子，显然可以进行各种等价的修改或变化，这样的修改或变化也落入本申请实施例的范围内。
还可以应理解，在本申请的各个实施例中，如果没有特殊说明以及逻辑冲突，不同的实施例之间的术语和/或描述具有一致性、且可以相互引用，不同的实施例中的技术特征根据其内在的逻辑关系可以组合形成新的实施例。
还可以理解，在上述实施例中，提到了“传输”，在未作出特别说明的情况下，传输，包括接收和/或发送。例如，传输定位参考信号，可以包括接收定位参考信号和/或发送定位参考信号。
还可以理解，在上述一些实施例中，主要以现有的网络架构中的设备为例进行了示例性说明，应理解，对于设备的具体形式本申请实施例不作限定。例如，在未来可以实现同样功能的设备都适用于本申请实施例。
可以理解的是，上述各个方法实施例中，由设备(如第一设备和第二设备)实现的方法和操作，也可以由可用于设备的部件(例如芯片或者电路)实现。
还可以理解，在本申请的各实施例中，主要以第一设备和第二设备之间的交互为例进行示例性说明，本申请不限于此，第一设备可以替换为接收端设备，接收端设备可以为终端设备；第二设备可以替换为发送端设备，发送端设备可以为终端设备。示例地，“第一设备”可以替换为“第一终端设备”，“第二设备”可以替换为“第二终端设备”。
还可以理解，本申请的各实施例中的一些可选的特征，在某些场景下，可以不依赖于其他特征，也可以在某些场景下，与其他特征进行结合，不作限定。
以上，结合图5至图8详细说明了本申请实施例提供的用于定位的方法。上述用于定位的方法主要从第一设备和第二设备之间交互的角度进行了介绍。可以理解的是，第一设备和第二设备，为了实现上述功能，其包含了执行各个功能相应的硬件结构和/或软件模 块。
本领域技术人员应该可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，本申请能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
以下，结合图9和图11详细说明本申请实施例提供的用于定位的装置。应理解，装置实施例的描述与方法实施例的描述相互对应，因此，未详细描述的内容可以参见上文方法实施例，为了简洁，部分内容不再赘述。
本申请实施例可以根据上述方法示例对发送端设备或者接收端设备进行功能模块的划分，例如，可以对应各个功能划分各个功能模块，也可以将两个或两个以上的功能集成在一个处理模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。需要说明的是，本申请实施例中对模块的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。下面以采用对应各个功能划分各个功能模块为例进行说明。
图9是本申请实施例提供的装置900的示意性框图。该装置900包括收发单元910和处理单元920。收发单元910可以实现相应的通信功能，处理单元920用于进行数据处理。收发单元910还可以称为通信接口或通信单元。
可选地，该装置900还可以包括存储单元，该存储单元可以用于存储指令和/或数据，处理单元920可以读取存储单元中的指令和/或数据，以使得装置实现前述方法实施例。
该装置900可以用于执行上文方法实施例中设备(如第一设备和第二设备)所执行的动作，这时，该装置900可以为设备或者可配置于设备的部件，收发单元910用于执行上文方法实施例中第一设备和第二设备的收发相关的操作，处理单元920用于执行上文方法实施例中第一设备和第二设备的处理相关的操作。
作为一种设计，该装置900用于执行上文方法实施例中第一设备所执行的动作。
具体地，该装置900执行上文方法实施例中第一设备所执行的动作，包括：
收发单元910，用于接收来自第二设备的第一定位参考信号；收发单元910，用于根据用于发送第二定位参考信号的第一信息向该第二设备发送该第二定位参考信号，其中，该用于发送该第二定位参考信号的第一信息基于用于接收该第一定位参考信号的第一信息确定，该第一信息包括时刻、相位和频率中的至少一项。
可选地，收发单元910，还用于接收第一指示信息，该第一指示信息用于指示配置的用于发送该第一定位参考信号的第一信息和配置的用于发送该第二定位参考信号的第一信息，该用于接收该第一定位参考信号的第一信息和用于发送该第二定位参考信号的第一信息满足以下关系：
y＝x+m2-m1
其中，m2表示配置的用于发送该第二定位参考信号的第一信息，m1表示配置的用于发送该第一定位参考信号的第一信息。
可选地，收发单元910，还用于接收第二指示信息，该第二指示信息用于指示配置的用于发送该第一定位参考信号的第一信息、配置的用于发送该第二定位参考信号的第一信 息和配置的用于发送第三定位参考信号的第一信息，在接收该第一定位参考信号之前，该第一设备根据该配置的用于发送第三定位参考信号的第一信息向该第二设备发送该第三定位参考信号，该用于接收该第一定位参考信号的第一信息和用于发送该第二定位参考信号的第一信息满足以下关系：
其中，q2表示配置的用于发送该第二定位参考信号的第一信息，q1表示配置的用于发送该第一定位参考信号的第一信息，q3表示配置的用于发送该第三定位参考信号的第一信息。
可选地，收发单元910，还用于接收第三指示信息，该第三指示信息用于指示所述第一设备的用于发送该第二定位参考信号的第一信息和所述第一设备的用于接收该第一定位参考信号的第一信息相关。
该装置900可实现对应于根据本申请实施例的方法实施例中的第一设备执行的步骤或者流程，该装置900可以包括用于执行方法实施例中的第一设备执行的方法的单元。并且，该装置900中的各单元和上述其他操作和/或功能分别为了实现方法实施例中的第一设备中的方法实施例的相应流程。
其中，当该装置900用于执行图5中的方法时，收发单元910可用于执行方法中的收发步骤，如步骤S511、S510和S520；处理单元920可用于执行方法中的处理步骤，如步骤S530。
当该装置900用于执行图6中的方法时，收发单元910可用于执行方法中的收发步骤，如步骤S610、S620和S640；处理单元920可用于执行方法中的处理步骤，如步骤S630。
当该装置900用于执行图6中的方法时，收发单元910可用于执行方法中的收发步骤，如步骤S810、S820、S830和S850；处理单元920可用于执行方法中的处理步骤，如步骤S840。
应理解，各单元执行上述相应步骤的具体过程在上述方法实施例中已经详细说明，为了简洁，在此不再赘述。
作为另一种设计，该装置900用于执行上文方法实施例中第二设备所执行的动作。
作为一种可能的实现方式，该装置900执行上文方法实施例中第二设备所执行的动作，包括：
收发单元910，用于根据配置的用于发送第一定位参考信号的第一信息向第一设备发送第一定位参考信号；收发单元910，用于接收来自该第一设备的该第二定位参考信号；处理单元920，用于根据接收该第二定位参考信号的第一信息和配置的用于发送该第二定位参考信号的第一信息确定第二信息；其中，用于发送该第二定位参考信号的第一信息基于用于接收该第一定位参考信号的第一信息确定，该第一信息包括时刻、相位和频率中的至少一项，该第二信息用于确定该第二设备的位置。
可选地，收发单元910，还用于向该第一设备发送第一指示信息，该第一指示信息用于指示配置的用于发送该第一定位参考信号的第一信息和配置的用于发送该第二定位参考信号的第一信息。
可选地，收发单元910，还用于向该第一设备发送第三指示信息，该第三指示信息用于指示所述第一设备的用于发送该第二定位参考信号的第一信息和所述第一设备的用于 接收该第一定位参考信号的第一信息相关。
作为另一种可能的实现方式，该装置900执行上文方法实施例中第二设备所执行的动作，包括：
收发单元910，用于接收来自第一设备的第三定位参考信号；收发单元910，用于根据配置的用于发送第一定位参考信号的第一信息向第一设备发送该第一定位参考信号；收发单元910，还用于备接收来自该第一设备的第二定位参考信号；处理单元920，用于根据接收该第三定位参考信号的第一信息、接收该第二定位参考信号的第一信息、该配置的用于发送该第一定位参考信号的第一信息、该配置的用于发送该第二定位参考信号的第一信息和该配置的用于发送该第三定位参考信号的第一信息确定第二信息；其中，用于发送该第二定位参考信号的第一信息基于用于接收该第一定位参考信号的第一信息确定，该第一信息包括时刻、相位和频率中的至少一项，该第二信息用于确定该第二设备的位置。
可选地，收发单元910，还用于向该第一设备发送第二指示信息，该第二指示信息用于指示配置的用于发送第一定位参考信号的第一信息、配置的用于发送第二定位参考信号的第一信息和配置的用于发送第三定位参考信号的第一信息。
可选地，收发单元910，还用于向该第一设备发送第三指示信息，该第三指示信息用于指示所述第一设备的用于发送该第二定位参考信号的第一信息和所述第一设备的用于接收该第一定位参考信号的第一信息相关。
该装置900可实现对应于根据本申请实施例的方法实施例中的第二设备执行的步骤或者流程，该装置900可以包括用于执行方法实施例中的第二设备执行的方法的单元。并且，该装置900中的各单元和上述其他操作和/或功能分别为了实现方法实施例中的第二设备中的方法实施例的相应流程。
其中，当该装置900用于执行图5中的方法时，收发单元910可用于执行方法中的收发步骤，如步骤S511、S510和S520；处理单元920可用于执行方法中的处理步骤，如步骤S540。
当该装置900用于执行图6中的方法时，收发单元910可用于执行方法中的收发步骤，如步骤S610、S620和S640；处理单元920可用于执行方法中的处理步骤，如步骤S650。
当该装置900用于执行图6中的方法时，收发单元910可用于执行方法中的收发步骤，如步骤S810、S820、S830和S850；处理单元920可用于执行方法中的处理步骤，如步骤S860。
应理解，各单元执行上述相应步骤的具体过程在上述方法实施例中已经详细说明，为了简洁，在此不再赘述。
还应理解，这里的装置900以功能单元的形式体现。这里的术语“单元”可以指应用特有集成电路(application specific integrated circuit，ASIC)、电子电路、用于执行至少一个软件或固件程序的处理器(例如共享处理器、专有处理器或组处理器等)和存储器、合并逻辑电路和/或其它支持所描述的功能的合适组件。在一个可选例子中，本领域技术人员可以理解，装置900可以具体为上述实施例中的设备，可以用于执行上述各方法实施例中与设备对应的各个流程和/或步骤，为避免重复，在此不再赘述。
上述各个方案的装置900具有实现上述方法中终端设备所执行的相应步骤的功能。所述功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。所述硬件或软件包括至 少一个与上述功能相对应的模块；例如收发单元可以由收发机替代(例如，收发单元中的发送单元可以由发送机替代，收发单元中的接收单元可以由接收机替代)，其它单元，如处理单元等可以由处理器替代，分别执行各个方法实施例中的收发操作以及相关的处理操作。
此外，上述收发单元910还可以是收发电路(例如可以包括接收电路和发送电路)，处理单元920可以是处理电路。
需要指出的是，图9中的装置可以是前述实施例中的设备，也可以是芯片或者芯片系统，例如：片上系统(system on chip，SoC)。其中，收发单元可以是输入输出电路、通信接口；处理单元为该芯片上集成的处理器或者微处理器或者集成电路。在此不做限定。
如图10所示，本申请实施例还提供一种装置1000。该装置1000包括处理器1010，还可以包括一个或多个存储器1020。处理器1010与存储器1020耦合，存储器1020用于存储计算机程序或指令和/或数据，处理器1010用于执行存储器1020存储的计算机程序或指令和/或数据，使得上文方法实施例中的方法被执行。
可选地，该装置1000包括的处理器1010为一个或多个。
可选地，该存储器1020可以与该处理器1010集成在一起，或者分离设置。
可选地，如图10所示，该装置1000还可以包括收发器1030，收发器1030用于信号的接收和/或发送。例如，处理器1010用于控制收发器1030进行信号的接收和/或发送。
作为一种方案，该装置1000用于实现上文方法实施例中由设备(如上述第一设备和第二设备)执行的操作。
例如，处理器1010用于执行存储器1020存储的计算机程序或指令，以实现上文各个方法实施例中第一设备和第二设备的相关操作。例如，图5所示实施例中的第一设备和第二设备执行的方法，或图6所示实施例中的第一设备和第二设备执行的方法，或图8所示实施例中的第一设备和第二设备执行的方法。
应理解，本申请实施例中提及的处理器可以是中央处理单元(central processing unit，CPU)，还可以是其他通用处理器、数字信号处理器(digital signal processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现成可编程门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
还应理解，本申请实施例中提及的存储器可以是易失性存储器和/或非易失性存储器。其中，非易失性存储器可以是只读存储器(read-only memory，ROM)、可编程只读存储器(programmable ROM，PROM)、可擦除可编程只读存储器(erasable PROM，EPROM)、电可擦除可编程只读存储器(electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(random access memory，RAM)。例如，RAM可以用作外部高速缓存。作为示例而非限定，RAM包括如下多种形式：静态随机存取存储器(static RAM，SRAM)、动态随机存取存储器(dynamic RAM，DRAM)、同步动态随机存取存储器(synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(double data rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(direct rambus RAM，DR RAM)。
需要说明的是，当处理器为通用处理器、DSP、ASIC、FPGA或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件时，存储器(存储模块)可以集成在处理器中。
还需要说明的是，本文描述的存储器旨在包括但不限于这些和任意其它适合类型的存储器。
如图11，本申请实施例提供一种芯片系统1100。该芯片系统1100(或者也可以称为处理系统)包括逻辑电路1110以及输入/输出接口(input/output interface)1120。
其中，逻辑电路1110可以为芯片系统1100中的处理电路。逻辑电路1110可以耦合连接存储单元，调用存储单元中的指令，使得芯片系统1100可以实现本申请各实施例的方法和功能。输入/输出接口1120，可以为芯片系统1100中的输入输出电路，将芯片系统1100处理好的信息输出，或将待处理的数据或信令信息输入芯片系统1600进行处理。
具体地，例如，若终端设备安装了该芯片系统1100，逻辑电路1110与输入/输出接口1120耦合，输入/输出接口1120可将唤醒信号输入至逻辑电路1110进行处理。
作为一种方案，该芯片系统1100用于实现上文各个方法实施例中由第一设备和第二设备执行的操作。
例如，逻辑电路1110用于实现上文方法实施例中由第一设备和第二设备执行的处理相关的操作，如，图5所示实施例中的第一设备和第二设备执行的处理相关的操作，或图6所示实施例中的第一设备和第二设备执行的处理相关的操作，或图8所示实施例中的第一设备和第二设备执行的处理相关的操作。输入/输出接口1120用于实现上文方法实施例中由第一设备和第二设备执行的发送和/或接收相关的操作，如，图5所示实施例中的第一设备和第二设备执行的发送和/或接收相关的操作，或图6所示实施例中的第一设备和第二设备执行的发送和/或接收相关的操作，或图8所示实施例中的第一设备和第二设备执行的发送和/或接收相关的操作。
本申请实施例还提供一种计算机可读存储介质，其上存储有用于实现上述方法实施例中由设备(如上述第一设备和第二设备)执行的方法的计算机指令。
例如，该计算机程序被计算机执行时，使得该计算机可以实现上述方法实施例中由设备(如上述第一设备和第二设备)执行的方法。
本申请实施例还提供一种包含指令的计算机程序产品，该指令被计算机执行时使得该计算机实现上述方法实施例中由设备(如上述第一设备和第二设备)执行的方法。
本申请实施例还提供一种通信系统，该通信系统包括上文实施例中的第一设备和第二设备。
上述提供的任一种装置中相关内容的解释及有益效果均可参考上文提供的对应的方法实施例，此处不再赘述。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的保护范围。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它 的方式实现。例如，以上所描述的装置实施例仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。此外，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元实现本申请提供的方案。
另外，在本申请各个实施例中的各功能单元可以集成在一个单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。例如，所述计算机可以是个人计算机，服务器，或者网络设备等。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质(例如固态硬盘(solid state disk，SSD)等。例如，前述的可用介质可以包括但不限于：U盘、移动硬盘、只读存储器(read-only memory，ROM)、随机存取存储器(random access memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (29)

  1. 一种用于定位的方法，其特征在于，包括：
    第一设备接收来自第二设备的第一定位参考信号；
    所述第一设备根据用于发送第二定位参考信号的第一信息向所述第二设备发送所述第二定位参考信号，
    其中，所述用于发送所述第二定位参考信号的第一信息基于用于接收所述第一定位参考信号的第一信息确定，所述第一信息包括时刻、相位和频率中的至少一项。
  2. 根据权利要求1所述的方法，其特征在于，所述用于发送所述第二定位参考信号的第一信息基于用于接收所述第一定位参考信号的第一信息和配置的用于发送所述第一定位参考信号的第一信息确定。
  3. 根据权利要求1或2所述的方法，其特征在于，所述用于接收所述第一定位参考信号的第一信息和用于发送所述第二定位参考信号的第一信息满足以下关系：
    y＝x+Δ
    其中，y表示用于发送所述第二定位参考信号的第一信息，x表示用于接收所述第一定位参考信号的第一信息，Δ表示根据预配置信息确定的值。
  4. 根据权利要求3所述的方法，其特征在于，所述方法还包括：
    所述第一设备接收第一指示信息，所述第一指示信息用于指示配置的用于发送所述第一定位参考信号的第一信息和配置的用于发送所述第二定位参考信号的第一信息，
    所述用于接收所述第一定位参考信号的第一信息和用于发送所述第二定位参考信号的第一信息满足以下关系：
    y＝x+m2-m1
    其中，m2表示配置的用于发送所述第二定位参考信号的第一信息，m1表示配置的用于发送所述第一定位参考信号的第一信息。
  5. 根据权利要求3所述的方法，其特征在于，所述方法还包括：
    所述第一设备接收第二指示信息，所述第二指示信息用于指示配置的用于发送所述第一定位参考信号的第一信息、配置的用于发送所述第二定位参考信号的第一信息和配置的用于发送第三定位参考信号的第一信息，
    在接收所述第一定位参考信号之前，所述第一设备根据所述配置的用于发送第三定位参考信号的第一信息向所述第二设备发送所述第三定位参考信号，
    所述用于接收所述第一定位参考信号的第一信息和用于发送所述第二定位参考信号的第一信息满足以下关系：
    其中，q2表示配置的用于发送所述第二定位参考信号的第一信息，q1表示配置的用于发送所述第一定位参考信号的第一信息，q3表示配置的用于发送所述第三定位参考信号的第一信息。
  6. 根据权利要求1至5中任一项所述的方法，其特征在于，所述方法还包括：
    所述第一设备接收第三指示信息，所述第三指示信息用于指示所述第一设备的用于发 送所述第二定位参考信号的第一信息和所述第一设备的用于接收所述第一定位参考信号的第一信息相关。
  7. 一种用于定位的方法，其特征在于，包括：
    第二设备根据配置的用于发送第一定位参考信号的第一信息向第一设备发送所述第一定位参考信号；
    所述第二设备接收来自所述第一设备的所述第二定位参考信号；
    所述第二设备根据用于接收所述第二定位参考信号的第一信息和配置的用于发送所述第二定位参考信号的第一信息确定第二信息；
    其中，所述第一信息包括时刻、相位和频率中的至少一项，所述第二信息用于确定所述第二设备的位置。
  8. 根据权利要求7所述的方法，其特征在于，所述第一信息为时刻，所述第二信息为飞行时间，
    所述用于接收所述第二定位参考信号的时刻、所述配置的用于发送所述第二定位参考信号的时刻和所述飞行时间满足以下关系：
    其中，TOF表示所述飞行时间，所述TA2表示用于接收所述第二定位参考信号的时刻，t2表示配置的用于发送所述第二定位参考信号的时刻。
  9. 根据权利要求7或8所述的方法，其特征在于，所述方法还包括：
    所述第二设备向所述第一设备发送第一指示信息，所述第一指示信息用于指示配置的用于发送所述第一定位参考信号的第一信息和配置的用于发送所述第二定位参考信号的第一信息。
  10. 根据权利要求7至9中任一项所述的方法，其特征在于，在所述第二设备根据配置的用于发送第一定位参考信号的第一信息向所述第一设备发送所述第一定位参考信号之前，所述方法还包括：
    所述第二设备接收来自所述第一设备的第三定位参考信号；
    所述第二设备根据用于接收所述第二定位参考信号的第一信息和配置的用于发送所述第二定位参考信号的第一信息确定第二信息，包括：
    所述第二设备根据用于接收所述第三定位参考信号的第一信息、所述用于接收所述第二定位参考信号的第一信息、所述配置的用于发送所述第一定位参考信号的第一信息、所述配置的用于发送所述第二定位参考信号的第一信息和所述配置的用于发送所述第三定位参考信号的第一信息确定所述第二信息。
  11. 根据权利要求10所述的方法，其特征在于，所述第一信息为时刻，所述第二信息为飞行时间，
    所述用于接收所述第三定位参考信号的第一信息、所述用于接收所述第二定位参考信号的第一信息、所述配置的用于发送所述第一定位参考信号的第一信息、所述配置的用于发送所述第二定位参考信号的第一信息和所述配置的用于发送所述第三定位参考信号的第一信息和所述飞行时间满足以下关系：
    其中，tround2＝TA2-t1，treply1＝t1-TA3，TOF表示所述飞行时间，所述TA3表示用于接收所述第三定位参考信号的时刻，TA2表示用于接收所述第二定位参考信号的时刻，t1表示配置的用于发送所述第一定位参考信号的时刻，t3表示配置的用于发送所述第三定位参考信号的时刻，t2表示配置的用于发送所述第二定位参考信号的时刻。
  12. 根据权利要求10或11所述的方法，其特征在于，所述方法还包括：
    所述第二设备向所述第一设备发送第二指示信息，所述第二指示信息用于指示配置的用于发送第一定位参考信号的第一信息、配置的用于发送第二定位参考信号的第一信息和配置的用于发送第三定位参考信号的第一信息。
  13. 根据权利要求7至12中任一项所述的方法，其特征在于，所述方法还包括：
    所述第二设备向所述第一设备发送第三指示信息，所述第三指示信息用于指示所述第一设备的用于发送所述第二定位参考信号的第一信息和所述第一设备的用于接收所述第一定位参考信号的第一信息相关。
  14. 一种用于定位的装置，其特征在于，包括：
    接收单元，用于接收来自第二设备的第一定位参考信号；
    发送单元，用于根据用于发送第二定位参考信号的第一信息向所述第二设备发送所述第二定位参考信号，
    其中，所述用于发送所述第二定位参考信号的第一信息基于用于接收所述第一定位参考信号的第一信息确定，所述第一信息包括时刻、相位和频率中的至少一项。
  15. 根据权利要求14所述的装置，其特征在于，所述用于发送所述第二定位参考信号的第一信息基于用于接收所述第一定位参考信号的第一信息和配置的用于发送所述第一定位参考信号的第一信息确定。
  16. 根据权利要求14或15所述的装置，其特征在于，所述用于接收所述第一定位参考信号的第一信息和用于发送所述第二定位参考信号的第一信息满足以下关系：
    y＝x+Δ
    其中，y表示用于发送所述第二定位参考信号的第一信息，x表示用于接收所述第一定位参考信号的第一信息，Δ表示根据预配置信息确定的值。
  17. 根据权利要求16所述的装置，其特征在于，所述接收单元，还用于接收第一指示信息，所述第一指示信息用于指示配置的用于发送所述第一定位参考信号的第一信息和配置的用于发送所述第二定位参考信号的第一信息，
    所述用于接收所述第一定位参考信号的第一信息和用于发送所述第二定位参考信号的第一信息满足以下关系：
    y＝x+m2-m1
    其中，m2表示配置的用于发送所述第二定位参考信号的第一信息，m1表示配置的用于发送所述第一定位参考信号的第一信息。
  18. 根据权利要求16所述的装置，其特征在于，所述接收单元，还用于接收第二指示信息，所述第二指示信息用于指示配置的用于发送所述第一定位参考信号的第一信息、配置的用于发送所述第二定位参考信号的第一信息和配置的用于发送第三定位参考信号的第一信息，
    在接收所述第一定位参考信号之前，所述第一设备根据所述配置的用于发送第三定位 参考信号的第一信息向所述第二设备发送所述第三定位参考信号，
    所述用于接收所述第一定位参考信号的第一信息和用于发送所述第二定位参考信号的第一信息满足以下关系：
    其中，q2表示配置的用于发送所述第二定位参考信号的第一信息，q1表示配置的用于发送所述第一定位参考信号的第一信息，q3表示配置的用于发送所述第三定位参考信号的第一信息。
  19. 根据权利要求14至18中任一项所述的装置，其特征在于，所述接收单元，还用于接收第三指示信息，所述第三指示信息用于指示所述第一设备的用于发送所述第二定位参考信号的第一信息和所述第一设备的用于接收所述第一定位参考信号的第一信息相关。
  20. 一种用于定位装置，其特征在于，包括：
    发送单元，用于根据配置的用于发送第一定位参考信号的第一信息向第一设备发送第一定位参考信号；
    接收单元，用于接收来自所述第一设备的所述第二定位参考信号；
    处理单元，用于根据用于接收所述第二定位参考信号的第一信息和配置的用于发送所述第二定位参考信号的第一信息确定第二信息；
    其中，所述第一信息包括时刻、相位和频率中的至少一项，所述第二信息用于确定所述第二设备的位置。
  21. 根据权利要求20所述的装置，其特征在于，所述第一信息为时刻，所述第二信息为飞行时间，
    所述用于接收所述第二定位参考信号的时刻、所述配置的用于发送所述第二定位参考信号的时刻和所述飞行时间满足以下关系：
    其中，TOF表示所述飞行时间，所述TA2表示用于接收所述第二定位参考信号的时刻，t2表示配置的用于发送所述第二定位参考信号的时刻。
  22. 根据权利要求20或21所述的装置，其特征在于，所述发送单元，还用于向所述第一设备发送第一指示信息，所述第一指示信息用于指示配置的用于发送所述第一定位参考信号的第一信息和配置的用于发送所述第二定位参考信号的第一信息。
  23. 根据权利要求20至22中任一项所述的装置，其特征在于，在所述发送单元，用于根据配置的用于发送第一定位参考信号的第一信息向第一设备发送第一定位参考信号之前，所述接收单元，还用于接收来自所述第一设备的第三定位参考信号；
    所述处理单元，用于根据用于接收所述第二定位参考信号的第一信息和配置的用于发送所述第二定位参考信号的第一信息确定第二信息，包括：所述处理单元，用于根据用于接收所述第三定位参考信号的第一信息、用于接收所述第二定位参考信号的第一信息、所述配置的用于发送所述第一定位参考信号的第一信息、所述配置的用于发送所述第二定位参考信号的第一信息和所述配置的用于发送所述第三定位参考信号的第一信息确定所述第二信息。
  24. 根据权利要求23所述的装置，其特征在于，所述第一信息为时刻，所述第二信 息为飞行时间，
    所述用于接收所述第三定位参考信号的第一信息、所述用于接收所述第二定位参考信号的第一信息、所述配置的用于发送所述第一定位参考信号的第一信息、所述配置的用于发送所述第二定位参考信号的第一信息和所述配置的用于发送所述第三定位参考信号的第一信息和所述飞行时间满足以下关系：
    其中，tround2＝TA2-t1，treply1＝t1-TA3，TOF表示所述飞行时间，所述TA3表示用于接收所述第三定位参考信号的时刻，TA2表示用于接收所述第二定位参考信号的时刻，t1表示配置的用于发送所述第一定位参考信号的时刻，t3表示配置的用于发送所述第三定位参考信号的时刻，t2表示配置的用于发送所述第二定位参考信号的时刻。
  25. 根据权利要求23或24所述的装置，其特征在于，所述发送单元，还用于向所述第一设备发送第二指示信息，所述第二指示信息用于指示配置的用于发送第一定位参考信号的第一信息、配置的用于发送第二定位参考信号的第一信息和配置的用于发送第三定位参考信号的第一信息。
  26. 根据权利要求20至25中任一项所述的装置，其特征在于，所述发送单元，还用于向所述第一设备发送第三指示信息，所述第三指示信息用于指示所述用于定位的装置的用于发送所述第二定位参考信号的第一信息和所述用于定位的装置的用于接收所述第一定位参考信号的第一信息相关。
  27. 一种通信系统，其特征在于，包括至少一个如权利要求14至19中任意一项所述的用于定位的装置和至少一个如权利要求20至26中任意一项所述的用于定位的装置。
  28. 一种芯片，其特征在于，包括处理电路，所述处理电路用于从存储器中调用并运行程序，使得安装有该芯片装置的通信设备执行如权利要求1至13中任一项所述的方法。
  29. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储有计算机程序，当所述计算机程序在计算机上运行时，使得所述计算机执行如权利要求1至13中任意一项所述的方法。
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