WO2023225870A1

WO2023225870A1 - Method and apparatus for transmitting tracking information, and readable storage medium

Info

Publication number: WO2023225870A1
Application number: PCT/CN2022/094794
Authority: WO
Inventors: 沈洋
Original assignee: 北京小米移动软件有限公司
Priority date: 2022-05-24
Filing date: 2022-05-24
Publication date: 2023-11-30
Also published as: CN117461333A

Abstract

The present disclosure is applied to the technical field of wireless communications. Provided are a method and apparatus for transmitting tracking information, and a readable storage medium. The method comprises: determining a first user equipment; sending a first sensing start instruction to the first user equipment, wherein the first sensing start instruction comprises a feature description of a tracked object; receiving a first sensing result, which is sent by the first user equipment, wherein the first sensing result comprises first sensing location information, which is sensed by the first user equipment, of the tracked object; and updating real-time positioning information of the tracked object according to the first sensing location information.

Description

A method, device and readable storage medium for transmitting tracking information

Technical field

The present disclosure relates to wireless communication technology, and in particular, to a method of transmitting tracking information and a readable storage medium.

Background technique

The goal of wireless sensing technology is to obtain information about remote sensing objects and their characteristics without physical contact with the remote sensing objects. Sensory data of an object and its surroundings can be utilized for analysis to obtain meaningful information about the object and its characteristics.

In some communication systems, sensing information can be obtained based on radio frequency and/or non-radio frequency based sensors. How to make full use of wireless sensing functions in wireless communication systems is a problem that needs to be solved.

Contents of the invention

The present disclosure provides a method, device and readable storage medium for transmitting tracking information.

In the first aspect, a method of transmitting tracking information is provided, which is performed by the sensing application function SAF. This method includes:

Determine the first user equipment;

Send a first sensing start instruction to the first user equipment, where the first sensing start instruction includes a characteristic description of the tracked object;

Receive a first sensing result sent by the first user equipment, where the first sensing result includes first sensing location information of the tracked object sensed by the first user equipment;

Update real-time positioning information of the tracked object according to the first sensed position information.

In this method, the user equipment in the communication network is widely distributed on the ground, and its sensing capabilities are fully utilized. The SAF controls the user equipment to sense the tracked object, thereby achieving real-time tracking of the tracked object and improving Overall performance of communication networks.

In some possible implementations, determining the first user equipment includes:

Receive a sensing request sent by the sensing requester SR, where the sensing request includes initial positioning information and feature description of the tracked object;

The first user equipment is determined according to the initial positioning information.

In some possible implementations, determining the first user equipment according to the initial positioning information includes:

The first user equipment is determined according to the initial positioning information and registered device information. The registered device information includes sensing capabilities and real-time location information of multiple registered devices. The multiple registered devices include the First user equipment.

In some possible implementations, the method further includes:

Receive a first sensing registration request sent by the first user equipment, where the first sensing registration request includes the sensing capability of the first user equipment;

Receive a first reporting message sent by the first user equipment, where the first reporting message includes real-time location information of the first user equipment.

In some possible implementations, the method further includes:

It is determined that the tracked object exceeds the sensing capability of the first user equipment, and a sensing end instruction is sent to the first user equipment.

In some possible implementations, the method further includes:

Determine that the replacement conditions are met based on the updated real-time positioning information and the updated registered device information;

A second user equipment is determined according to the updated real-time positioning information and the updated registered device information. The second user equipment is different from the first user equipment. The registered device information includes multiple registered devices. Sensing capabilities and real-time location information of registered devices, the plurality of registered devices including the second user device;

Send a second sensing start instruction to the second user equipment, where the second sensing start instruction includes a characteristic description of the tracked object;

Receive a second sensing result sent by the second user equipment, where the second sensing result includes second sensing location information of the tracked object sensed by the second user equipment;

The real-time positioning information of the tracked object is updated according to the second sensed position information.

In some possible implementations, the method further includes:

Receive a second sensing registration request sent by the second user equipment, where the second sensing registration request includes the sensing capability of the second user equipment;

Receive a second reporting message sent by the second user equipment, where the second reporting message includes real-time location information of the second user equipment.

In some possible implementations, the method further includes:

Determine a first radio access network RAN device according to the updated real-time positioning information and the updated registered device information;

Send a third sensing start instruction to the first RAN device, where the third sensing start instruction includes a characteristic description of the tracked object;

Receive a third sensing result sent by the first RAN device, where the third sensing result includes third sensing location information of the tracked object sensed by the first RAN device;

The real-time positioning information of the tracked object is updated according to the third sensed position information.

In some possible implementations, the method further includes:

Receive a third sensing registration request sent by the first RAN device, where the third sensing registration request includes sensing capabilities and location information of the first RAN device.

In the second aspect, a method of receiving sensing location information is provided, which is executed by the sensing application function SAF. This method includes:

Determine the second radio access network RAN device;

Send a first sensing start instruction to the second RAN device, where the first sensing start instruction includes a characteristic description of the tracked object;

Receive a first sensing result sent by the second RAN device, where the first sensing result includes first sensing location information of the tracked object sensed by the second RAN device;

In this method, the RAN equipment in the communication network is widely distributed on the ground, and its sensing capabilities are fully utilized. The SAF controls the user equipment to sense the tracked object, thereby achieving real-time tracking of the tracked object and improving Overall performance of communication networks.

In some possible implementations, determining the second RAN device includes:

The second RAN device is determined according to the initial positioning information.

In some possible implementations, determining the second RAN device according to the initial positioning information includes:

The second RAN device is determined according to the initial positioning information and registered device information in the sensing request. The registered device information includes sensing capabilities and real-time location information of multiple registered devices. The multiple registered devices The registration device includes the second RAN device.

In some possible implementations, the method further includes:

Receive a first sensing registration request sent by the second RAN device, where the first sensing registration request includes sensing capabilities and location information of the second RAN device.

In some possible implementations, the method further includes:

It is determined that the tracked object exceeds the sensing capability of the second RAN device, and a sensing end instruction is sent to the second RAN device.

In some possible implementations, the method further includes:

A third RAN device is determined according to the updated real-time positioning information and the updated registered device information; the third RAN device is different from the second RAN device; the registered device information includes multiple registered devices. Sensing capabilities and real-time location information of registered devices; the plurality of registered devices include the third RAN device;

Send a second sensing start instruction to the third RAN device, where the second sensing start instruction includes a characteristic description of the tracked object;

Receive a second sensing result sent by the third RAN device, where the second sensing result includes second sensing location information of the tracked object sensed by the third RAN device;

In some possible implementations, the method further includes:

Receive a second sensing registration request sent by the third RAN device, where the second sensing registration request includes sensing capabilities and location information of the third RAN device.

In some possible implementations, the method further includes:

Determine a third user device according to the updated real-time positioning information and the updated registered device information;

Send a third sensing start instruction to the third user equipment, where the third sensing start instruction includes a characteristic description of the tracked object;

Receive a third sensing result sent by the third user equipment, where the third sensing result includes third sensing location information of the tracked object sensed by the third user equipment;

In some possible implementations, the method further includes:

Receive a third sensing registration request sent by the third user equipment, where the third sensing registration request includes the sensing capability of the third user equipment; receive a reporting message sent by the third user equipment, the The reported message includes real-time location information of the third user equipment.

In a third aspect, a method of sending sensed location information is provided, which is executed by the first user equipment. The method includes:

Receive a first sensing start instruction sent by the sensing application function SAF, where the first sensing start instruction includes a characteristic description of the tracked object;

Perform sensing according to the characteristic description to obtain a first sensing result, where the first sensing result includes the first sensing position information of the tracked object sensed by the first user equipment;

Send the first sensing result to the SAF.

In some possible implementations, the method further includes:

Send a first sensing registration request to the SAF, where the first sensing registration request includes the sensing capability of the first user equipment.

In some possible implementations, the method further includes:

Receive a protocol data unit PDU session establishment accept message sent by the RAN device to which the first user equipment belongs, where the PDU session establishment accept message includes the IP address of the SAF.

In some possible implementations, the method further includes:

Send a PDU session establishment request message to the access and mobility management function AFM, the PDU session establishment request message including at least one of first information and second information, the first information being used to indicate the first user equipment Information about whether the sensing capability is supported. The second information is used to request to obtain the IP address of the SAF.

In some possible implementations, the method further includes:

Send a first reporting message to the SAF, where the first reporting message includes real-time location information of the first user equipment.

In some possible implementations, the method further includes:

Receive the sensing end instruction sent by the SAF;

End sensing.

In a fourth aspect, a method of sending sensed location information is provided, which is executed by a second radio access network RAN device. The method includes:

Perform sensing according to the characteristic description to obtain a first sensing result, where the sensing result includes the first sensing position information of the tracked object sensed by the second RAN device;

Send the first sensing result to the SAF.

In this method, the RAN equipment in the communication network is widely distributed on the ground, making full use of its sensing capabilities. The SAF controls the user equipment to sense the tracked object, thereby achieving real-time tracking of the tracked object and improving Overall performance of communication networks.

In some possible implementations, the method further includes:

Send a first sensing registration request to the SAF, where the first sensing registration request includes sensing capabilities and location information of the second RAN device.

In some possible implementations, the method further includes:

Receive an N2 protocol data unit PDU session request sent by the access and mobility management function AMF, where the N2 PDU session request includes the IP address of the SAF.

In some possible implementations, the method further includes:

Receive the sensing end instruction sent by the SAF; end sensing.

In the fifth aspect, a method for receiving a request is provided, which is executed by the access and mobility management function AMF device. The method includes:

Receive a PDU session establishment request sent by the first user equipment. The PDU session establishment request includes at least one of first information and second information. The first information is used to indicate whether the first user equipment supports sensing capabilities. , the second information is used to request to obtain the IP address of the sensing application function SAF.

In this method, AMF is used to obtain the IP address of the SAF, so that the user equipment and RAN equipment can successfully complete registration on the SAF.

In some possible implementations, the method further includes:

Send an establishment protocol data unit PDU session context request message to the session management function SMF device, where the establishment PDU session context request message includes at least one of the first information and the second information included in the PDU session establishment request.

In some possible implementations, the method further includes:

Receive an N1N2 interface message sent by the session management function SMF, where the N1N2 interface message includes the IP address of the SAF.

In some possible implementations, the method further includes:

Send an N2 protocol data unit PDU session request to the radio access network RAN device to which the first user equipment belongs, where the N2 PDU session request includes the IP address of the SAF.

In a sixth aspect, a method for receiving a request is provided, which is executed by the session management function SMF device. The method includes:

Receive a PDU session context request message sent by the access and mobility management function AMF, where the PDU session establishment request includes at least one of first information and second information, where the first information is used to indicate whether the first user equipment Information supporting sensing capabilities, the second information is used to request to obtain the IP address of the sensing application function SAF.

In this method, SMF is used to obtain the IP address of the SAF, so that the user equipment and RAN equipment can successfully complete registration on the SAF.

In some possible implementations, the method further includes:

Determining that the PDU session establishment request includes the first information and that the first information indicates information that supports sensing capabilities;

Send an N1N2 interface message to the AMF, where the N1N2 interface message includes the IP address of the SAF.

In a seventh aspect, a communication device is provided. The communication device may be used to perform the steps performed by the SAF in the above-mentioned first aspect or any possible design of the first aspect. Each function in each of the above methods can be implemented through a hardware structure, a software module, or a hardware structure plus a software module.

When the communication device shown in the first aspect is implemented by a software module, the communication device may include a processing module, a sending module and a receiving module.

a processing module configured to determine the first user equipment;

A sending module configured to send a first sensing start instruction to the first user equipment, where the first sensing start instruction includes a characteristic description of the tracked object;

a receiving module configured to receive a first sensing result sent by the first user equipment, where the first sensing result includes a first sensing position of the tracked object sensed by the first user equipment information;

The processing module is further configured to update the real-time positioning information of the tracked object according to the first sensed location information.

In an eighth aspect, a communication device is provided. The communication device may be used to perform the steps performed by the SAF in the above-mentioned second aspect or any possible design of the second aspect. Each function in each of the above methods can be implemented through a hardware structure, a software module, or a hardware structure plus a software module.

When the communication device shown in the second aspect is implemented by a software module, the communication device may include a processing module, a sending module and a receiving module.

a processing module configured to determine a second radio access network RAN device;

A sending module configured to send a first sensing start instruction to the second RAN device, where the first sensing start instruction includes a characteristic description of the tracked object;

a receiving module configured to receive a first sensing result sent by the second RAN device, where the first sensing result includes a first sensing position of the tracked object sensed by the second RAN device information;

In a ninth aspect, a communication device is provided. The communication device may be used to perform the steps performed by the first UE in the above third aspect or any possible design of the third aspect. Each function in each of the above methods can be implemented through a hardware structure, a software module, or a hardware structure plus a software module.

When the communication device shown in the third aspect is implemented through a software module, the communication device may include a receiving module and a sending module.

a receiving module configured to receive a first sensing start instruction sent by the sensing application function SAF, where the first sensing start instruction includes a characteristic description of the tracked object; and

A sending module configured to send the first sensing result to the SAF.

In a tenth aspect, a communication device is provided. The communication device may be used to perform the steps performed by the second RAN device in the above-mentioned fourth aspect or any possible design of the fourth aspect. Each function in each of the above methods can be implemented through a hardware structure, a software module, or a hardware structure plus a software module.

When the communication device shown in the fourth aspect is implemented through a software module, the communication device may include a receiving module and a sending module.

A sending module configured to send the first sensing result to the SAF.

In an eleventh aspect, a communication device is provided. The communication device may be used to perform the steps performed by the AMF device in the above-mentioned fifth aspect or any possible design of the fifth aspect. Each function in each of the above methods can be implemented through a hardware structure, a software module, or a hardware structure plus a software module.

When the communication device shown in the fifth aspect is implemented through a software module, the communication device may include a receiving module.

A receiving module configured to receive a PDU session establishment request sent by the first user equipment, the PDU session establishment request including at least one of first information and second information, the first information being used to indicate whether the first user equipment Information supporting sensing capabilities, and the second information is used to request to obtain the IP address of the sensing application function SAF.

In a twelfth aspect, a communication device is provided. The communication device may be used to perform the steps performed by the SMF device in the above-mentioned sixth aspect or any possible design of the sixth aspect. Each function in each of the above methods can be implemented through a hardware structure, a software module, or a hardware structure plus a software module.

A receiving module configured to receive a PDU session context request message sent by the access and mobility management function AMF, the PDU session establishment request including at least one of first information and second information, the first information being used to Information indicating whether the first user equipment supports sensing capabilities, the second information is used to request to obtain the IP address of the sensing application function SAF.

In a thirteenth aspect, a communication device is provided, including a processor and a memory; the memory is used to store a computer program; the processor is used to execute the computer program to implement the first aspect or any one of the first aspects possible designs.

In a fourteenth aspect, a communication device is provided, including a processor and a memory; the memory is used to store a computer program; the processor is used to execute the computer program to implement the second aspect or any one of the second aspects possible designs.

In a fifteenth aspect, a communication device is provided, including a processor and a memory; the memory is used to store a computer program; the processor is used to execute the computer program to implement the third aspect or any one of the third aspects possible designs.

In a sixteenth aspect, a communication device is provided, including a processor and a memory; the memory is used to store a computer program; the processor is used to execute the computer program to implement the fourth aspect or any one of the fourth aspects possible designs.

In a seventeenth aspect, a communication device is provided, including a processor and a memory; the memory is used to store a computer program; the processor is used to execute the computer program to implement the fifth aspect or any one of the fifth aspects possible designs.

In an eighteenth aspect, a communication device is provided, including a processor and a memory; the memory is used to store a computer program; the processor is used to execute the computer program to implement the sixth aspect or any one of the sixth aspect possible designs.

In a nineteenth aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores instructions (or computer programs, programs), which when called and executed on a computer, cause the computer to execute the above-mentioned first step. any possible design of the aspect or first aspect.

In a twentieth aspect, a computer-readable storage medium is provided. Instructions (or computer programs, programs) are stored in the computer-readable storage medium. When called and executed on a computer, the computer is caused to execute the second step described above. any possible design of aspect or second aspect.

In a twenty-first aspect, a computer-readable storage medium is provided. Instructions (or computer programs, programs) are stored in the computer-readable storage medium. When called and executed on a computer, the computer is caused to execute the above-mentioned first step. Any of the three or third aspects of the possible design.

In a twenty-second aspect, a computer-readable storage medium is provided. Instructions (or computer programs, programs) are stored in the computer-readable storage medium. When called and executed on a computer, the computer is caused to execute the above-mentioned first step. Any of the four or four possible designs.

In a twenty-third aspect, a computer-readable storage medium is provided. Instructions (or computer programs, programs) are stored in the computer-readable storage medium. When called and executed on a computer, the computer is caused to execute the above-mentioned first step. Any of the five or fifth possible designs.

In a twenty-fourth aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores instructions (or computer programs, programs) that, when called and executed on a computer, cause the computer to execute the above-mentioned first step. Any of the six or fifth possible designs.

It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only, and do not limit the present disclosure.

Description of the drawings

The drawings described here are used to provide a further understanding of the embodiments of the present disclosure and constitute a part of this application. The schematic embodiments of the embodiments of the present disclosure and their descriptions are used to explain the embodiments of the present disclosure and do not constitute an explanation of the embodiments of the present disclosure. undue limitation. In the attached picture:

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with embodiments of the disclosure and together with the description, serve to explain principles of embodiments of the disclosure.

Figure 1 is a schematic diagram of a wireless communication system architecture provided by an embodiment of the present disclosure;

Figure 2 is a schematic diagram of a registration process for a UE or RAN device to register with the SAF as a tracking terminal according to an embodiment of the present disclosure;

Figure 3 is a schematic diagram of the registration process of another UE or RAN device registering with the SAF as a tracking terminal according to an embodiment of the present disclosure;

Figure 4 is a flow chart of a method for transmitting sensed location information provided by an embodiment of the present disclosure;

Figure 5 is a schematic diagram of a moving scene of a tracked object provided by an embodiment of the present disclosure;

Figure 6 is a schematic diagram of another moving scene of a tracked object provided by an embodiment of the present disclosure;

Figure 7 is a schematic diagram of another moving scene of a tracked object provided by an embodiment of the present disclosure;

Figure 8 is a schematic diagram of another moving scene of a tracked object provided by an embodiment of the present disclosure;

Figure 9 is a structural diagram of a device for transmitting tracking information provided by an embodiment of the present disclosure;

Figure 10 is a structural diagram of another device for transmitting tracking information provided by an embodiment of the present disclosure;

Figure 11 is a structural diagram of another device for transmitting tracking information provided by an embodiment of the present disclosure;

Figure 12 is a structural diagram of another device for transmitting tracking information provided by an embodiment of the present disclosure;

Figure 13 is a structural diagram of another device for transmitting tracking information provided by an embodiment of the present disclosure;

Figure 14 is a structural diagram of another device for transmitting tracking information provided by an embodiment of the present disclosure;

Figure 15 is a structural diagram of another device for transmitting tracking information provided by an embodiment of the present disclosure;

Figure 16 is a structural diagram of another device for transmitting tracking information provided by an embodiment of the present disclosure.

Detailed ways

The embodiments of the present disclosure will now be further described with reference to the accompanying drawings and specific implementation modes.

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with embodiments of the present disclosure. Rather, they are merely examples of apparatus and methods consistent with aspects of the disclosure as detailed in the appended claims.

The terminology used in the embodiments of the present disclosure is for the purpose of describing specific embodiments only and is not intended to limit the embodiments of the present disclosure. As used in the embodiments of the present disclosure and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used to describe various information in the embodiments of the present disclosure, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of the embodiments of the present disclosure, the first information may also be called second information, and similarly, the second information may also be called first information. Depending on the context, the words "if" and "if" as used herein may be interpreted as "when" or "when" or "in response to determining."

Embodiments of the present disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present disclosure and are not to be construed as limitations of the present disclosure.

Figure 1 is a schematic diagram of a network architecture applicable to the embodiment of the present application. As shown in Figure 1, user equipment can access a wireless network to obtain services from an external network (such as the Internet) through the wireless network, or communicate with other devices through the wireless network, such as communicating with other user equipment. The wireless network includes radio access network (RAN) equipment (or network equipment) and core network (core network, CN) equipment. The RAN equipment is used to connect user equipment to the wireless network, and the CN equipment is used to connect user equipment to the wireless network. It is used to manage user equipment and provide a gateway for communication with the external network. It should be understood that the number of each device in the communication system shown in Figure 1 is only for illustration, and the embodiments of the present application are not limited thereto. In actual applications, the communication system may also include more user equipment and more RAN equipment. Other devices may also be included.

The CN can include multiple CN devices. When the network architecture shown in Figure 1 is applicable to the 5G communication system, the CN device can include: access and mobility management function (AMF) entities and session management functions. (session management function, SMF) entity, user plane function (UPF) entity,

The wireless communication system 100 includes user equipment 101, wireless access network equipment 102 and core network equipment. The core network equipment includes: Access and Mobility Management Function (AMF) equipment 103, session management function (Session Management Function, SMF) device 104, User Plane Function (UPF) device 105, Sensing Application Function (Sensing Application Function, SAF) device 106.

The communication between RAN equipment and users follows a certain protocol layer structure. For example, the control plane protocol layer structure can include a radio resource control (RRC) layer, a packet data convergence protocol (PDCP) layer, Functions of protocol layers such as radio link control (RLC) layer, media access control (MAC) layer and physical layer; the user plane protocol layer structure can include PDCP layer, RLC layer, MAC layer and Functions of protocol layers such as physical layer.

RAN and UPF are generally called user layer network functional entities. The data traffic of user equipment can be transmitted through the packet data unit (PDU) session (Session) established between the user equipment and the application layer equipment. The transmission will go through RAN and UPF are two network function devices; while the other parts are called control layer network functions and entities, which are mainly responsible for functions such as authentication and authentication, registration management, session management, mobility management, and policy control, so as to realize user Reliable and stable transmission of laminar traffic.

It should be noted that the AF equipment, AMF equipment, UPF equipment, etc. in Figure 1 are just names, and the names do not limit the equipment itself. In 5G networks and other future networks, the entities shown in Figure 1 may also have other names, which are not specifically limited in this disclosure.

The user equipment shown in Figure 1 may be composed of a first type of user equipment and a second type of user equipment. The first type of user equipment has a sensing function, and the second type of user equipment does not have a sensing function. The RAN equipment shown in Figure 1 may be composed of a first type of RAN equipment and a second type of RAN equipment. The first type of RAN equipment has a sensing function, and the second type of RAN equipment does not have a sensing function. The sensing function refers to the non-contact distance sensing function, such as ultrasonic sensing function, with a sensing range of 2 cm-400 cm.

User equipment and RAN equipment with sensing functions can decide on their own or based on configuration information whether to provide their own sensing functions to the SAF. When determining to provide their own sensing functions to the SAF, they need to register with the SAF as sensing devices.

The prerequisite for user equipment or RAN equipment to register with the SAF as a sensing device is to know the IP address of the SAF. The methods of knowing the IP address of the SAF can include the following two methods:

The first method is to obtain the IP address of the preconfigured SAF.

That is, the IP address of the SAF is preconfigured in the user equipment, and the IP address of the SAF is preconfigured in the RAN equipment.

The second method is to learn the IP address of the SAF from the AMF during the process of connecting to the network.

Corresponding to the first manner, an embodiment of the present disclosure provides a method for registering a sensing device. As shown in Figure 2, this method includes steps S201 to S208, where the process of steps S201 to S207 is to establish a connection between the user equipment and the network. In the process of starting a connection, S208-1 is the process of the user equipment registering with the SAF as a sensing device, and S208-2 is the process of the RAN device registering with the SAF as a sensing device. As shown in Figure 2, this method specifically includes:

Step S201: The user equipment 101 sends a registration request to the AMF equipment 103.

The user equipment 101 sends a registration request to the AMF device 103 via the RAN device 102. The registration request includes information such as registration type and security parameters.

When the registration initiated by the user equipment 101 is the first registration, the SUPI is encrypted into SUCI according to the HN Public Key and then the initial registration request is sent. The AMF device 103 will forward the SUCI for authentication, and can obtain the decrypted SUPI after successful authentication. And the AMF device 103 will generate a 5G-GUTI based on SUPI, save the mapping relationship, and use it for the next registration or PDU session request, and send a registration response to the user equipment 101, so that the UE registration is completed.

When the registration initiated by the user equipment 101 is not the first registration, the UE uses 5G-GUTI to send a registration request. When the AMF queries the SUPI based on the 5G-GUTI, it uses SUPI to complete the authentication; when the AMF cannot query the corresponding SUPI based on the 5G-GUTI, it sends a registration request to the UE. The UE requests the SUCI, performs re-authentication based on the SUCI, and sends a registration response to the user equipment 101 after the authentication is completed, thereby completing the UE registration.

Step S202: The user equipment 101 sends a PDU session establishment request to the AMF device 103.

The user equipment 101 triggers the PDU session establishment process by transmitting a NAS message in the N1SM container, where the NAS message contains a PDU session establishment request.

Step S203: The AMF device 103 establishes a PDU session context request message to the SMF device 104, and the SMF device 104 returns a PDU response message.

When the AMF device 103 determines that a new PDU session needs to be created, it executes an SMF selection process to select an SMF for the PDU session.

The AMF device sends an Nsmf_PDUSession_CreateSMContext Request message to SMF to request the establishment of a PDU session. This message can include: SUPI, DNN, S-NSSAI, PDU Session ID, AMF ID, Request Type, N1SM container (PDU Session Establishment Request), User location information, Access Type, PEI, GPSI, Subscription For PDU Session Status Notification and other information.

Step S204: SMF104 sends an N4 session establishment request to UPF105.

Specifically, SMF104 sends an N4Session Establishment Request message to UPF105 to establish a PDU session for the user equipment 101.

Step S205: SMF 104 sends an N1N2 interface message to AMF device 103.

SMF 104 sends a Namf_Communication_N1N2MessageTransfer message to AMF device 103. The Namf_Communication_N1N2MessageTransfer message includes an N2PDU session request message for sending to the RAN device 103 and a PDU session acceptance message for sending to the user equipment 101.

The AMF device 103 only forwards and does not parse the N2 PDU session request message and PDU session accept message.

Among them, the Namf_Communication_N1N2MessageTransfer message also contains the IP address that needs to be allocated to the UE for this PDU session.

Step S206, the AMF device 103 sends the NAS message to the RAN device 102 as an N2 PDU session request message.

Specifically, the AMF device 103 sends an N2 PDU session request to the RAN device 102. This N2 PDU session request contains the IP address to be allocated to the UE. This N2 PDU session request is a NAS message.

In step S207, the RAN device 102 forwards the PDU session accept (Session Accept) message to the user equipment 101 during the establishment of AN specific resources.

Among them, the N2 PDU session acceptance message is a NAS message.

In steps S208-1 and 2, the user equipment 101 and the RAN equipment 102 respectively send sensing registration requests to the SAF according to the preconfigured IP address of the SAF.

SAF receives the sensing registration request and returns a registration success response after successful registration.

The sensing registration request sent by the user equipment 101 to the SAF includes the positioning information and sensing capabilities of the user equipment 101.

When the RAN device 102 has sensing capabilities, the sensing registration request sent to the SAF includes the positioning information and sensing capabilities of the RAN device 102 .

The sensing capability may be a sensing range (such as sensing radius, sensing area, etc.).

In some possible implementations, after steps S208-1 and 2, the successfully registered user equipment 101 and the RAN device 102 may be called registered devices. The successfully registered user equipment 101 sends messages to the SAF regularly or irregularly. Report messages, which include corresponding real-time location information.

Corresponding to the second way, an embodiment of the present disclosure provides a method for registering a sensing device. As shown in Figure 3, this method includes steps S301 to S308, where the process of steps S301 to S307 is to establish a connection between the user equipment and the network. During the connection process, the user equipment and the RAN equipment learn the IP address of the SAF. S308-1 is the process of the user equipment registering with the SAF as a sensing device, and S308-2 is the process of the RAN device registering with the SAF as a sensing device. As shown in Figure 3, this method specifically includes:

Step S301: The user equipment 101 sends a registration request to the AMF equipment 103.

The specific content of this step S301 is the same as the specific content of the above-mentioned step S201.

Step S302: The user equipment 101 sends a PDU session establishment request to the AMF device 103.

The user equipment 101 triggers the PDU session establishment process by transmitting a NAS message in the N1SM container, and the NAS message contains a PDU session establishment request.

The PDU session establishment request includes at least one of first information and second information, where the first information is used to indicate whether the user equipment 101 supports sensing capabilities, and the second information is used to request to obtain the IP address of the SAF.

Step S303: AMF device 103 sends a PDU session context establishment request message to SMF 104, and SMF device 104 returns a PDU response message.

The AMF device 103 sends an Nsmf_PDUSession_CreateSMContext Request message to the SMF device 104 to request the establishment of a PDU session. This message includes at least one of first information and second information. The IP address of the SAF is preconfigured in SMF 104 in advance, and the SMF device 104 receives the Nsmf_PDUSession_CreateSMContext Request message and returns the Nsmf_PDUSession_CreateSMContext Response according to the following method:

1. When the Nsmf_PDUSession_CreateSMContext Request message includes the first information, when the first information indicates that the sensing capability is supported, an Nsmf_PDUSession_CreateSMContext Response carrying the IP address of the SAF is returned; when the first information indicates that the sensing capability is not supported. , returns the Nsmf_PDUSession_CreateSMContext Response that does not carry the IP address of the SAF.

Among them, the first information is included in the Nsmf_PDUSession_CreateSMContext Request message by: including the first information and not including the second information, and including the first information and the second information at the same time.

2. When the Nsmf_PDUSession_CreateSMContext Request message includes the second information and does not include the first information, the Nsmf_PDUSession_CreateSMContext Response carrying the IP address of the SAF is returned.

Step S304: The SMF device 104 sends an N4 session establishment request to the UPF device 105.

Specifically, the SMF device 104 sends an N4Session Establishment Request message to the UPF device 105 to establish a PDU session for the user equipment 101.

Step S305: The SMF device 104 sends an N1N2 interface message to the AMF device 103.

The SMF device 104 sends a Namf_Communication_N1N2MessageTransfer message to the AMF device 103.

The Namf_Communication_N1N2MessageTransfer message includes an N2 PDU session request message for sending to the RAN device 103. This N2 PDU session request message includes the IP address of the SAF.

The Namf_Communication_N1N2MessageTransfer message includes a PDU session acceptance message for sending to the user equipment 101, and this PDU session acceptance message includes the IP address of the SAF.

Step S306, the AMF device 103 sends an N2 PDU session request message (NAS message) to the RAN device 102.

Through this step S306, the RAN device 102 can learn the IP address of the SAF.

Step S307, the RAN device 102 forwards the PDU session accept message (Session Accept) to the user equipment 101.

Through this step S307, the user equipment 101 can learn the IP address of the SAF.

In steps S308-1 and 2, the user equipment 101 and the RAN equipment 102 send a sensing registration request to the SAF.

In some possible implementations, after steps S308-1 and 2, the user equipment 101 and RAN equipment 102 that have successfully registered can be called registered devices, and the user equipment 101 that has successfully registered sends messages to the SAF regularly or irregularly. Report messages, which include corresponding real-time location information.

Through the registration process shown in Figure 2 or Figure 3, SAF can learn the user equipment and RAN equipment that have been registered as sensing devices, so that it can maintain registered device information. This registered device information includes sensing of multiple registered devices. capabilities and real-time location information, and the registered device is a user equipment or a RAN device.

Based on the above registration process, embodiments of the present disclosure also provide a tracking method. In this method, the sensing device can be a user equipment or a RAN device. As shown in Figure 4, this method specifically includes:

Step S401: SAF determines the first sensing device.

There are many ways to trigger the SAF to determine the first sensing device, for example:

Example 1: SAF receives the sensing request sent by the sensing requester SR.

The sensing request includes positioning information and at least one feature description of the tracked object. The feature description may be a description of the appearance features of the tracked object, such as shape, size, etc. For example, the tracked object can be an ordinary vehicle, a bus, a set transport vehicle and other means of transportation.

The SAF determines the first sensing device according to the positioning information of the tracked object in the sensing request.

Example 2: The SAF pre-stores the default positioning information of the tracked object, and determines the first sensing device at a preset timing time or a time indicated by the SR.

Example 3: SAF pre-stores a positioning range information. This positioning range information includes the default positioning information of the tracking object. The first sensing device is determined based on the positioning range information at the preset timing time or the time indicated by the SR.

After the SAF obtains the positioning information of the tracked object in the sensing request, it can search for multiple devices whose sensing range includes the positioning information among registered devices as the first sensing device. That is, the first sensing device is not limited to one sensing device, but may be multiple sensing devices.

Among them, the method for SAF to determine the first sensing device based on the positioning information of the tracked object in the sensing request includes one of the following:

1. It is determined that the positioning information of the tracked object is located in the sensing range of a RAN device and not in the sensing range of any user equipment, and the RAN device is determined to be the first sensing device.

Second, determine that the positioning information of the tracked object is located in the sensing range of one or more user equipments and is not located in the sensing range of any RAN device, and determine that the one or more user equipments are the first sensing devices.

3. Determine that the positioning information of the tracked object is located in the sensing range of one or more user equipments and is also located in the sensing range of a RAN device, determine that one or more user equipments are the first sensing devices, or determine that the The RAN device is the first sensing device, or it is determined that one or more user equipments and the RAN device are both the first sensing device.

In another embodiment, when the SAF does not find a device whose sensing range includes the positioning information among the registered devices, the SAF may feed back tracking failure information to the SR.

Step S402: The SAF sends a sensing instruction to the first sensing device.

The sensing instruction sent by the SAF to the first sensing device includes all or part of the information of the tracked object that the SAF learned from the received sensing request. For example, the sensing instruction includes the positioning information and at least one feature description of the tracked object. . For another example, the sensing instruction only includes at least one characteristic description of the tracked object.

Since the first sensing device may be a RAN device or a user equipment, when the first sensing device is a RAN device, the SAF sends a sensing instruction to the RAN device. When the first sensing device is a user equipment, a forwarding instruction is sent to the RAN device to which the user equipment belongs. The forwarding instruction includes a sensing instruction for sending to the user equipment. After receiving the forwarding instruction, the RAN will use The sensing instructions sent to the user equipment are sent to the user equipment.

Step S403: The first sensing device performs sensing according to the sensing instruction and determines the sensed position information of the tracked object.

Step S404: The first sensing device sends a sensing result to the SAF, where the sensing result includes the sensing position information of the tracked object sensed by the first sensing device.

Step S405: SAF updates the real-time positioning information of the tracked object according to the sensing result sent by the first sensing device.

Through step S405, short-term tracking of the real-time positioning information of the tracked object can be achieved.

Step S405 also includes: determining that the mobile terminal moves out of the sensing range of one or more first sensing devices, and sending a sensing end instruction to the one or more first sensing devices. After receiving the sensing end instruction, the first sensing device turns off the sensing function. The sensing end command can prevent the sensing device from performing unnecessary sensing and save power.

Step S406: The SAF sends the updated real-time positioning information of the tracked object to the SR.

Step S407: When the SAF determines that the replacement condition is met based on the real-time positioning information of the tracked object, it determines at least one second sensing device based on the real-time positioning information of the tracked object.

Replacement conditions include at least one of the following:

1. The real-time positioning information of the tracked object is located in the edge area of the sensing range of the first sensing device; this edge area can be defined in different ways according to the needs of use. For example, the edge area is a ring within the sensing range. area, and the ring width is less than the set distance.

2. The first distance between the real-time positioning information of the tracked object and the positioning information of at least one first sensing device is greater than the second distance between the positioning information of the tracked object and the positioning information of at least one second sensing device. ;

3. The moving speed of the tracked object exceeds the set speed.

Wherein, the second sensing device may be a RAN device or user equipment. The method for SAF to determine at least one second sensing device based on the real-time positioning information of the tracked object includes one of the following:

1. It is determined that the real-time positioning information of the tracked object is located in the sensing range of a RAN device and not in the sensing range of any user equipment, and the RAN device is determined to be the second sensing device.

2. Determine that the real-time positioning information of the tracked object is located in the sensing range of one or more user equipments and is not located in the sensing range of any RAN device, and determine that the one or more user equipments are the second sensing device. .

3. Determine that the positioning information of the tracked object is located in the sensing range of one or more user equipments and is also located in the sensing range of a RAN device, determine that one or more user equipments are the second sensing devices, or determine that the The RAN device is a second sensing device, or it is determined that one or more user equipments and the RAN device are both second sensing devices.

Step S408: The SAF sends a sensing instruction to the second sensing device.

Step S409: The second sensing device performs sensing according to the sensing instruction and determines the sensed position information of the tracked object.

Step S410: The second sensing device sends a sensing result to the SAF, where the sensing result includes the sensing position information of the tracked object sensed by the second sensing device.

Step S411: SAF updates the real-time positioning information of the tracked object according to the sensing results sent by the second sensing device.

Through step S411, long-term tracking of the real-time positioning information of the tracked object can be realized.

Step S411 also includes: determining that the mobile terminal moves out of the sensing range of at least one second sensing device, and sending a sensing end instruction to the at least one second sensing device.

Step S412: The SAF sends the updated positioning information of the tracked object to the SR.

In this method, steps S407 to S412 are used to describe the process of replacing the sensing device. The first sensing device can be understood as the old sensing device, and the second sensing device can be understood as the new sensing device. In the subsequent steps , the SAF can execute the replacement method shown in steps S407 to S412 multiple times to achieve continuous tracking of the tracked object.

Embodiments of the present disclosure also provide a tracking method for the tracking party to change from the first user equipment to the second user equipment. This method can be applicable to when the tracked object changes from the first user equipment to the sensing range of the same RAN device. The situation where the sensing range moves to the sensing range of the second user equipment can also be applied to the situation where the tracked object moves from the sensing range of the first user equipment in a RAN device to the sensing range of the second user equipment in the second RAN device. measurement range.

The parameters are replaced according to the scenario shown in Figure 5. This method specifically includes:

Step S501: During the registration process, SAF determines that the device information has been registered.

During the registration process, multiple user equipment and multiple RAN devices have completed registration with the SAF. The registered device information includes the sensing capabilities and real-time location information of the first user equipment and the second user equipment.

For example: the first user equipment sends a first sensing registration request to the SAF, where the first sensing registration request includes the sensing capability of the first user equipment. Furthermore, the first user equipment sends a first reporting message to the SAF multiple times, where the first reporting message includes the real-time location information of the first user equipment.

The second user equipment sends a second sensing registration request to the SAF, where the second sensing registration request includes the sensing capability of the second user equipment. Furthermore, the second user equipment sends second reporting messages to the SAF multiple times, where the second reporting messages include the real-time location information of the second user equipment.

The registered device information determined by SAF includes the sensing capabilities and real-time location information of multiple registered devices. Moreover, in this method, as the registered device moves, the SAF updates the real-time location information of the registered device in the registered device information in real time.

Step S502: The SAF determines the first user equipment.

In a possible implementation, the SAF receives a sensing request sent by the SR, where the sensing request includes initial positioning information and at least one feature description of the tracked object. The SAF determines the first user equipment based on the initial positioning information of the tracked object.

Step S503: The SAF sends a first sensing start instruction to the first user equipment. The first user equipment receives the first sensing start instruction sent by the SAF to the first user equipment.

This first sensing start command includes a characterization of the tracked object.

Step S504: The first user equipment performs sensing according to the characteristic description and obtains a first sensing result. The first sensing result includes the first sensing position information of the tracked object sensed by the first user equipment.

Step S505: The first user equipment sends the first sensing result to the SAF. The SAF receives the first sensing result sent by the first user equipment.

Step S506: SAF updates the real-time positioning information of the tracked object according to the first sensed position information.

Step S507: SAF determines that the replacement conditions are met based on the updated real-time positioning information and the updated registered device information.

Step S507: The SAF determines the second user equipment based on the updated real-time positioning information and the updated registered device information.

Wherein, the second user equipment is different from the first user equipment.

Step S508: The SAF sends a second sensing start instruction to the second user equipment. The second user equipment receives the second sensing start instruction sent by the SAF.

The second sensing start instruction includes a characterization of the tracked object.

Step S509: The second user equipment performs sensing according to the characteristic description and obtains a second sensing result.

The second sensing result includes second sensing location information of the tracked object sensed by the second user equipment.

Step S510: The second user equipment sends the second sensing result to the SAF. The SAF receives the second sensing result sent by the second user equipment.

Step S511: SAF updates the real-time positioning information of the tracked object according to the second sensed position information.

In this method, steps S507 to S511 are used to describe the process of changing the tracker. The first user equipment can be understood as the old sensing device, and the second user equipment can be understood as the new sensing device. In the subsequent steps, the SAF The replacement method shown in steps S507 to S511 can be executed multiple times to achieve continuous tracking of the tracked object.

It can be seen from this method that the number of first user devices can be multiple, and the SAF can determine the real-time positioning information of the tracked object based on the sensed position information of the tracked object sensed by multiple first user devices. Compared with Since the real-time positioning information of the tracked object is determined based on the sensed position information of the tracked object sensed by a first user equipment, the positioning accuracy is higher. Similarly, the number of second user equipments may also be multiple.

Embodiments of the present disclosure also provide a tracking method for the tracking party to change from the first user equipment to the first RAN equipment. This method can be applicable to the movement of the tracked object from the sensing range of the first user equipment in a RAN equipment. In the case of the sensing range of the first RAN device, in particular, there is no user equipment under the first RAN device that can cover the tracked object.

The parameters are replaced according to the scenario shown in Figure 6. This method specifically includes:

Step S601: During the registration process, SAF determines that the device information has been registered.

During the registration process, multiple user equipment and multiple RAN devices have completed registration with the SAF. The registered device information includes the sensing capabilities and real-time location information of the first user equipment and the first RAN device.

For example: the first user equipment sends a first sensing registration request to the SAF, where the first sensing registration request includes the sensing capability and location information of the first user equipment. Furthermore, the first user equipment sends a first reporting message to the SAF multiple times, where the first reporting message includes the real-time location information of the first user equipment.

The first RAN device sends a third sensing registration request to the SAF, where the third sensing registration request includes the sensing capability and location information of the first RAN device.

The registered device information determined by SAF includes the sensing capabilities and real-time location information of multiple registered devices. Moreover, in this method, as the registered device moves, SAF updates the real-time location information of the registered device in the registered device information in real time.

Step S602: The SAF determines the first user equipment.

Step S603: The SAF sends a first sensing start instruction to the first user equipment. The first user equipment receives the first sensing start instruction sent by the SAF to the first user equipment.

Step S604: The first user equipment performs sensing according to the characteristic description and obtains a first sensing result. The first sensing result includes the first sensing position information of the tracked object sensed by the first user equipment.

Step S605: The first user equipment sends the first sensing result to the SAF. The SAF receives the first sensing result sent by the first user equipment.

Step S606: SAF updates the real-time positioning information of the tracked object according to the first sensed position information.

Step S607: SAF determines that the replacement conditions are met based on the updated real-time positioning information and the updated registered device information.

Step S608: The SAF determines the first RAN device based on the updated real-time positioning information and the updated registered device information.

Step S609: The SAF sends a third sensing start instruction to the first RAN device. The first RAN device receives the third sensing start instruction sent by the SAF.

The third sensing start instruction includes a characteristic description of the tracked object.

Step S610: The first RAN device performs sensing according to the characteristic description and obtains a third sensing result.

The third sensing result includes third sensing location information of the tracked object sensed by the first RAN device.

Step S611: The first RAN device sends the third sensing result to the SAF. The SAF receives the third sensing result sent by the first RAN device.

Step S612: SAF updates the real-time positioning information of the tracked object according to the third sensed location information.

In this method, steps S607 to S612 are used to describe the process of changing the tracker. The first user equipment can be understood as the old sensing device, and the first RAN device can be understood as the new sensing device. In subsequent steps, the SAF The replacement method shown in steps S507 to S511 in the previous embodiment can be performed multiple times to achieve continuous tracking of the tracked object.

It can be seen from this method that the number of first user devices can be multiple, and the SAF can determine the real-time positioning information of the tracked object based on the sensed position information of the tracked object sensed by multiple first user devices. Compared with Since the real-time positioning information of the tracked object is determined based on the sensed position information of the tracked object sensed by a first user equipment, the positioning accuracy is higher.

Embodiments of the present disclosure also provide a tracking method for a tracking party to change from a second RAN device to a third RAN device. This method can be applied to the sensing of a tracked object from one RAN device at the intersection of two RAN devices. A situation where the range moves to the sensing range of another RAN device.

The parameters are as shown in the replacement scenario shown in Figure 7. This method specifically includes:

Step S701: During the registration process, SAF determines that the device information has been registered.

During the registration process, multiple user equipment and multiple RAN devices have completed registration with the SAF. The registered device information includes the sensing capabilities and real-time location information of the second RAN device and the third RAN device.

For example: the second RAN device sends a first sensing registration request to the SAF, where the first sensing registration request includes the sensing capability of the second RAN device.

The third RAN device sends a second sensing registration request to the SAF, where the second sensing registration request includes the sensing capability and location information of the third RAN device.

Step S702: The SAF determines the second RAN device.

In a possible implementation, the SAF receives a sensing request sent by the SR, where the sensing request includes initial positioning information and at least one feature description of the tracked object. The SAF determines the second RAN device based on the initial positioning information of the tracked object.

Step S703: The SAF sends a first sensing start instruction to the second RAN device. The second RAN device receives the first sensing start instruction sent by the SAF to the second RAN device.

Step S704: The second RAN device performs sensing according to the characteristic description and obtains a first sensing result. The first sensing result includes the first sensing position information of the tracked object sensed by the second RAN device.

Step S705: The second RAN device sends the first sensing result to the SAF. The SAF receives the first sensing result sent by the second RAN device.

Step S706: SAF updates the real-time positioning information of the tracked object according to the first sensed position information.

Step S707: SAF determines that the replacement conditions are met based on the updated real-time positioning information and the updated registered device information.

Step S707: The SAF determines a third RAN device based on the updated real-time positioning information and the updated registered device information.

Wherein, the third RAN device is different from the second RAN device.

Step S708: The SAF sends a second sensing start instruction to the third RAN device. The third RAN device receives the second sensing start instruction sent by the SAF.

Step S709: The third RAN device performs sensing according to the characteristic description and obtains a second sensing result.

The second sensing result includes second sensing location information of the tracked object sensed by the third RAN device.

Step S710: The third RAN device sends the second sensing result to the SAF. The SAF receives the second sensing result sent by the third RAN device.

Step S711: SAF updates the real-time positioning information of the tracked object according to the second sensed position information.

In this method, steps S707 to S711 are used to describe the process of changing the tracker. The second RAN device can be understood as the old sensing device, and the third RAN device can be understood as the new sensing device. In subsequent steps, the SAF The replacement method shown in steps S507 to S511 in the aforementioned embodiment can be executed multiple times, thereby achieving continuous tracking of the tracked object.

Embodiments of the present disclosure also provide a tracking method for a tracking party to change from a second RAN device to a third user device. This method can be applied to the sensing of a tracked object from one RAN device at the intersection of two RAN devices. The case where the range moves to the sensing range of the user equipment within another RAN device.

The parameters are based on the replacement scenario shown in Figure 8. This method specifically includes:

Step S801: During the registration process, the SAF determines that the device information has been registered.

During the registration process, multiple user equipment and multiple RAN devices have completed registration with the SAF. The registered device information includes the sensing capabilities and real-time location information of the second RAN device and the third user device.

The third user equipment sends a second sensing registration request to the SAF, where the second sensing registration request includes the sensing capability of the third user equipment. Furthermore, the third user equipment sends reporting messages to the SAF multiple times, where the reporting messages include the real-time location information of the third user equipment.

Step S802: The SAF determines the second RAN device.

Step S803: The SAF sends a first sensing start instruction to the second RAN device. The second RAN device receives the first sensing start instruction sent by the SAF to the second RAN device.

Step S804: The second RAN device performs sensing according to the characteristic description and obtains a first sensing result. The first sensing result includes the first sensing position information of the tracked object sensed by the second RAN device.

Step S805: The second RAN device sends the first sensing result to the SAF. The SAF receives the first sensing result sent by the second RAN device.

Step S806: SAF updates the real-time positioning information of the tracked object according to the first sensed position information.

Step S807: The SAF determines that the replacement conditions are met based on the updated real-time positioning information and the updated registered device information.

Step S807: The SAF determines the third user equipment according to the updated real-time positioning information and the updated registered device information.

Step S808: The SAF sends a second sensing start instruction to the third user equipment. The third user equipment receives the second sensing start instruction sent by the SAF.

Step S809: The third user equipment performs sensing according to the characteristic description and obtains a second sensing result.

The second sensing result includes second sensing location information of the tracked object sensed by the third user equipment.

Step S810: The third user equipment sends the second sensing result to the SAF. The SAF receives the second sensing result sent by the third user equipment.

Step S811: SAF updates the real-time positioning information of the tracked object according to the second sensed position information.

In this method, steps S807 to S811 are used to describe the process of changing the tracker. The second RAN device can be understood as the old sensing device, and the third user equipment can be understood as the new sensing device. In subsequent steps, the SAF The replacement method shown in steps S507 to S511 in the aforementioned embodiment can be executed multiple times, thereby achieving continuous tracking of the tracked object.

Based on the same concept as the above method embodiment, an embodiment of the present disclosure also provides a communication device, which can have the function of the SAF in the above method embodiment, and is used to perform the steps performed by the SAF provided in the above embodiment. . This function can be implemented by hardware, or it can be implemented by software or hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

Corresponding to the above method embodiment, the communication device shown in Figure 9 can serve as the SAF involved in the above method embodiment, and perform the steps performed by the SAF in the above method embodiment.

The communication device includes a processing module 901, a sending module 902 and a receiving module 903.

The processing module 901 is configured to determine the first user equipment.

The sending module 902 is configured to send a first sensing start instruction to the first user equipment, where the first sensing start instruction includes a characteristic description of the tracked object;

The receiving module 903 is configured to receive a first sensing result sent by the first user equipment, where the first sensing result includes a first sensing position of the tracked object sensed by the first user equipment. information.

The processing module 901 is further configured to update the real-time positioning information of the tracked object according to the first sensed location information.

In some possible implementations, the receiving module 903 is also configured to receive a sensing request sent by the sensing requester SR, where the sensing request includes the initial positioning information and feature description of the tracked object; the processing module 901 is also configured To determine the first user equipment according to the initial positioning information.

In some possible implementations, the processing module 901 is further configured to determine the first user device according to the initial positioning information and registered device information, where the registered device information includes sensing capabilities of multiple registered devices. and real-time location information, the plurality of registered devices including the first user device.

In some possible implementations, the receiving module 903 is further configured to receive a first sensing registration request sent by the first user equipment, where the first sensing registration request includes the sensing capability of the first user equipment. ; Receive a first reporting message sent by the first user equipment, where the first reporting message includes real-time location information of the first user equipment.

In some possible implementations, the processing module 901 is further configured to determine that the tracked object exceeds the sensing capability of the first user equipment; the sending module 902 is also configured to send the sensing capability to the first user equipment. End command.

In some possible implementations, the processing module 901 is further configured to determine that the replacement condition is met based on the updated real-time positioning information and the updated registered device information; and based on the updated real-time positioning information and the updated registered device information, The updated registered device information determines a second user equipment, the second user equipment is different from the first user equipment, and the registered device information includes sensing capabilities and real-time location information of multiple registered devices, so The plurality of registered devices include the second user device;

The sending module 902 is further configured to send a second sensing start instruction to the second user equipment, where the second sensing start instruction includes a characteristic description of the tracked object;

The receiving module 903 is further configured to receive a second sensing result sent by the second user equipment, where the second sensing result includes the second sensing position information of the tracked object sensed by the second user equipment;

The processing module 901 is further configured to update the real-time positioning information of the tracked object according to the second sensed location information.

In some possible implementations, the receiving module 903 is further configured to receive a second sensing registration request sent by the second user equipment, where the second sensing registration request includes the sensing capability of the second user equipment. ; and receiving a second reporting message sent by the second user equipment, where the second reporting message includes the real-time location information of the second user equipment.

In some possible implementations, the processing module 901 is further configured to determine that the replacement condition is met based on the updated real-time positioning information and the updated registered device information; and based on the updated real-time positioning information information and the updated registered device information to determine the first radio access network RAN device;

The sending module 902 is further configured to send a third sensing start instruction to the first RAN device, where the third sensing start instruction includes a characteristic description of the tracked object;

The receiving module 903 receives a third sensing result sent by the first RAN device, where the third sensing result includes third sensing location information of the tracked object sensed by the first RAN device;

The processing module 901 is further configured to update the real-time positioning information of the tracked object according to the third sensed location information.

In some possible implementations, the receiving module 903 is further configured to receive a third sensing registration request sent by the first RAN device, where the third sensing registration request includes the sensing capability of the first RAN device. and location information.

Corresponding to another above-mentioned method embodiment, the communication device shown in FIG. 9 can serve as the SAF involved in the above-mentioned method embodiment, and perform the steps performed by the SAF in the above-mentioned one method embodiment.

The processing module 901 is configured to determine a second radio access network RAN device;

The sending module 9021 is configured to send a first sensing start instruction to the second RAN device, where the first sensing start instruction includes a characteristic description of the tracked object;

The receiving module 903 is configured to receive a first sensing result sent by the second RAN device, where the first sensing result includes a first sensing position of the tracked object sensed by the second RAN device. information;

In some possible implementations, the receiving module 903 is also configured to receive a sensing request sent by the sensing requester SR, where the sensing request includes the initial positioning information and feature description of the tracked object; the processing module 901 is also configured To determine the second RAN device according to the initial positioning information.

In some possible implementations, the processing module 901 is further configured to determine the second RAN device according to the initial positioning information and registered device information in the sensing request, and the registered device information includes multiple registered devices. Sensing capabilities and real-time location information of the device, the plurality of registered devices include the second RAN device.

In some possible implementations, the receiving module 903 is further configured to receive a first sensing registration request sent by the second RAN device, where the first sensing registration request includes the sensing capability of the second RAN device. and location information.

In some possible implementations, the processing module 901 is further configured to determine that the tracked object exceeds the sensing capability of the second RAN device, and the sending module 902 is further configured to send the sensing capability to the second RAN device. End command.

In some possible implementations, the processing module 901 is further configured to determine that the replacement condition is met based on the updated real-time positioning information and the updated registered device information; and based on the updated real-time positioning information and the updated registered device information, The updated registered device information determines a third RAN device; the third RAN device is different from the second RAN device; the registered device information includes sensing capabilities and real-time location information of multiple registered devices ;The plurality of registered devices include the third RAN device;

The sending module 902 is also configured to send a second sensing start instruction to the third RAN device, where the second sensing start instruction includes a feature description of the tracked object;

The receiving module 903 is further configured to receive a second sensing result sent by the third RAN device, where the second sensing result includes second sensing location information of the tracked object sensed by the third RAN device. ;

In some possible implementations, the receiving module 903 is further configured to receive a second sensing registration request sent by the third RAN device, where the second sensing registration request includes the sensing capability of the third RAN device. and location information.

In some possible implementations, the processing module 901 is further configured to determine that the replacement condition is met based on the updated real-time positioning information and the updated registered device information; and based on the updated real-time positioning information information and the updated registered device information to determine the third user device;

The sending module 902 is further configured to send a third sensing start instruction to the third user equipment, where the third sensing start instruction includes a characteristic description of the tracked object;

The receiving module 903 is further configured to receive a third sensing result sent by the third user equipment, where the third sensing result includes third sensing location information of the tracked object sensed by the third user equipment. ;

In some possible implementations, the receiving module 903 is further configured to receive a third sensing registration request sent by the third user equipment, where the third sensing registration request includes the sensing capability of the third user equipment. ; Receive a reporting message sent by the third user equipment, where the reporting message includes real-time location information of the third user equipment.

When the communication device is a SAF, its structure can also be shown in Figure 10. As shown in Figure 10, device 1000 includes a memory 1001, a processor 1002, a transceiver component 1003, and a power supply component 1006. The memory 1001 is coupled to the processor 1002 and can be used to store programs and data necessary for the communication device 1000 to implement various functions. The processor 1002 is configured to support the communication device 1000 to perform corresponding functions in the above method. This function can be implemented by calling a program stored in the memory 1001 . The transceiver component 1003 can be a wired transceiver or a wireless transceiver. The wireless transceiver can be used to support the communication device 1000 to receive signaling and/or data through the wireless air interface, and to send signaling and/or data. The transceiver component 1003 may also be called a transceiver unit or a communication unit. The transceiver component 1003 may include a radio frequency component 1004 and one or more antennas 1005. The radio frequency component 1004 may be a remote radio unit (RRU). Specifically, It can be used for the transmission of radio frequency signals and the conversion of radio frequency signals and baseband signals. The one or more antennas 1005 can be specifically used for radiating and receiving radio frequency signals.

Based on the same concept as the above method embodiments, embodiments of the present disclosure also provide a communication device, which can have the functions of the UE in the above method embodiments, and is used to perform the steps performed by the UE provided in the above embodiments. This function can be implemented by hardware, or it can be implemented by software or hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

In a possible implementation, the communication device shown in Figure 11 can serve as the UE involved in the above method embodiment, and perform the steps performed by the UE in one of the above method embodiments.

The communication device includes a receiving module 1101 and a sending module 1102.

The receiving module 1101 is configured to receive a first sensing start instruction sent by the sensing application function SAF, where the first sensing start instruction includes a characteristic description of the tracked object; and perform sensing according to the characteristic description to obtain the first Sensing results, the first sensing results include first sensing position information of the tracked object sensed by the first user equipment;

The sending module 1102 is configured to send the first sensing result to the SAF.

In some possible implementations, the sending module 1102 is further configured to send a first sensing registration request to the SAF, where the first sensing registration request includes the sensing capability of the first user equipment.

In some possible implementations, the receiving module 1101 is further configured to receive a protocol data unit PDU session establishment accept message sent by the RAN device to which the first user equipment belongs, where the PDU session establishment accept message includes the IP of the SAF. address.

In some possible implementations, the sending module 1102 is further configured to send a PDU session establishment request message to the access and mobility management function AFM, where the PDU session establishment request message includes at least one of first information and second information. , the first information is used to indicate whether the first user equipment supports sensing capabilities, and the second information is used to request to obtain the IP address of the SAF.

In some possible implementations, the sending module 1102 is further configured to send a reporting message to the SAF, where the reporting message includes the real-time location information of the first user equipment.

In some possible implementations, the receiving module 1101 is further configured to receive a sensing end instruction sent by the SAF; and to end sensing.

When the communication device is user equipment 102, its structure may also be as shown in Figure 12. For example, the device 1200 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, or the like.

Referring to Figure 12, the device 1200 may include one or more of the following components: a processing component 1202, a memory 1204, a power component 1206, a multimedia component 1208, an audio component 1210, an input/output (I/O) interface 1212, a sensor component 1214, and communications component 1216.

Processing component 1202 generally controls the overall operations of device 1200, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 1202 may include one or more processors 1220 to execute instructions to complete all or part of the steps of the above method. Additionally, processing component 1202 may include one or more modules that facilitate interaction between processing component 1202 and other components. For example, processing component 1202 may include a multimedia module to facilitate interaction between multimedia component 1208 and processing component 1202.

Memory 1204 is configured to store various types of data to support operations at device 1200 . Examples of such data include instructions for any application or method operating on device 1200, contact data, phonebook data, messages, pictures, videos, etc. Memory 1204 may be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EEPROM), Programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

Power component 1206 provides power to various components of device 1200. Power components 1206 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to device 1200 .

Multimedia component 1208 includes a screen that provides an output interface between the device 1200 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide action. In some embodiments, multimedia component 1208 includes a front-facing camera and/or a rear-facing camera. When the device 1200 is in an operating mode, such as a shooting mode or a video mode, the front camera and/or the rear camera may receive external multimedia data. Each front-facing camera and rear-facing camera can be a fixed optical lens system or have a focal length and optical zoom capabilities.

Audio component 1210 is configured to output and/or input audio signals. For example, audio component 1210 includes a microphone (MIC) configured to receive external audio signals when device 1200 is in operating modes, such as call mode, recording mode, and speech recognition mode. The received audio signals may be further stored in memory 1204 or sent via communications component 1216 . In some embodiments, audio component 1210 also includes a speaker for outputting audio signals.

The I/O interface 1212 provides an interface between the processing component 1202 and a peripheral interface module. The peripheral interface module may be a keyboard, a click wheel, a button, etc. These buttons may include, but are not limited to: Home button, Volume buttons, Start button, and Lock button.

Sensor component 1214 includes one or more sensors that provide various aspects of status assessment for device 1200 . For example, the sensor component 1214 can detect the open/closed state of the device 1200, the relative positioning of components, such as the display and keypad of the device 1200, and the sensor component 1214 can also detect a change in position of the device 1200 or a component of the device 1200. , the presence or absence of user contact with device 1200 , device 1200 orientation or acceleration/deceleration and temperature changes of device 1200 . Sensor assembly 1214 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 1214 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 1214 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

Communication component 1216 is configured to facilitate wired or wireless communication between device 1200 and other devices. Device 1200 may access a wireless network based on a communication standard, such as WiFi, 4G or 5G, or a combination thereof. In one exemplary embodiment, the communication component 1216 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communications component 1216 also includes a near field communications (NFC) module to facilitate short-range communications. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

In an exemplary embodiment, apparatus 1200 may be configured by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable Gate array (FPGA), controller, microcontroller, microprocessor or other electronic components are implemented for executing the above method.

In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions, such as a memory 1204 including instructions, which are executable by the processor 1220 of the device 1200 to complete the above method is also provided. For example, the non-transitory computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

Based on the same concept as the above method embodiments, embodiments of the present disclosure also provide a communication device, which can have the functions of the RAN device in the above method embodiments, and is used to perform the tasks performed by the RAN device provided in the above embodiments. step. This function can be implemented by hardware, or it can be implemented by software or hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

In a possible implementation, the communication device shown in Figure 13 can serve as the RAN device involved in the above method embodiment, and perform the steps performed by the RAN device in the above method embodiment.

The communication device includes a receiving module 1301 and a sending module 1302.

The receiving module 1301 is configured to receive a first sensing start instruction sent by the sensing application function SAF, where the first sensing start instruction includes a feature description of the tracked object; and

The sending module 1302 is configured to send the first sensing result to the SAF.

In some possible implementations, the sending module 1302 is further configured to send a first sensing registration request to the SAF, where the first sensing registration request includes the sensing capability of the second RAN device.

In some possible implementations, the receiving module 1301 is also configured to receive an N2 protocol data unit PDU session request sent by the access and mobility management function AMF, where the N2 PDU session request includes the IP address of the SAF.

In some possible implementations, the receiving module 1301 is further configured to receive a sensing end instruction sent by the SAF; and end sensing.

When the communication device is a RAN device, its structure may also be as shown in Figure 14. As shown in Figure 14, the device 1400 includes a memory 1401, a processor 1402, a transceiver component 1403, and a power supply component 1406. The memory 1401 is coupled to the processor 1402 and can be used to store programs and data necessary for the communication device 1400 to implement various functions. The processor 1402 is configured to support the communication device 1400 to perform corresponding functions in the above method. This function can be implemented by calling a program stored in the memory 1401 . The transceiver component 1403 may be a wireless transceiver, which may be used to support the communication device 1400 to receive signaling and/or data through a wireless air interface, and to send signaling and/or data. The transceiver component 1403 may also be called a transceiver unit or a communication unit. The transceiver component 1403 may include a radio frequency component 1404 and one or more antennas 1405. The radio frequency component 1404 may be a remote radio unit (RRU). Specifically, It can be used for the transmission of radio frequency signals and the conversion of radio frequency signals and baseband signals. The one or more antennas 1405 can be specifically used for radiating and receiving radio frequency signals.

When the communication device 1400 needs to send data, the processor 1402 can perform baseband processing on the data to be sent, and then output the baseband signal to the radio frequency unit. The radio frequency unit performs radio frequency processing on the baseband signal and then sends the radio frequency signal in the form of electromagnetic waves through the antenna. When data is sent to the communication device 1400, the radio frequency unit receives the radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor 1402. The processor 1402 converts the baseband signal into data and processes the data. for processing.

Based on the same concept as the above method embodiments, embodiments of the present disclosure also provide a communication device, which can have the functions of the AMF device in the above method embodiments, and is used to perform the tasks performed by the AMF device provided in the above embodiments. step. This function can be implemented by hardware, or it can be implemented by software or hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

In a possible implementation, the communication device shown in Figure 15 can serve as the AMF device involved in the above method embodiment, and perform the steps performed by the AMF device in the above method embodiment.

The communication device includes a receiving module 1501.

The receiving module 1501 is configured to receive a PDU session establishment request sent by the first user equipment. The PDU session establishment request includes at least one of first information and second information. The first information is used to indicate whether the first user equipment Information supporting sensing capabilities, and the second information is used to request to obtain the IP address of the sensing application function SAF.

In some possible implementations, the receiving module 1501 is further configured to send an establishment protocol data unit PDU session context request message to the session management function SMF device, where the establishment PDU session context request message includes the PDU session establishment request included in the PDU session establishment request. at least one of first information and said second information.

In some possible implementations, the receiving module 1501 is further configured to receive an N1N2 interface message sent by the session management function SMF, where the N1N2 interface message includes the IP address of the SAF.

In some possible implementations, the receiving module 1501 is also configured to send an N2 protocol data unit PDU session request to the radio access network RAN device to which the first user equipment belongs, where the N2 PDU session request includes the SAF IP address.

Based on the same concept as the above method embodiments, embodiments of the present disclosure also provide a communication device, which can have the functions of the SMF device in the above method embodiments, and is used to perform the tasks performed by the SMF device provided in the above embodiments. step. This function can be implemented by hardware, or it can be implemented by software or hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

In a possible implementation, the communication device shown in Figure 16 can serve as the SMF device involved in the above method embodiment, and perform the steps performed by the SMF device in the above method embodiment.

The communication device includes a receiving module 1601 and a processing module 1602.

The receiving module 1601 is configured to receive a PDU session context request message sent by the access and mobility management function AMF, where the PDU session establishment request includes at least one of first information and second information, the first information is used to Information indicating whether the first user equipment supports sensing capabilities, the second information is used to obtain the IP address of the sensing application function SAF.

In some possible implementations, the processing module 1602 is configured to determine that the PDU session establishment request includes the first information and the first information indicates information that supports sensing capabilities;

The receiving module 1501 is further configured to send an N1N2 interface message to the AMF, where the N1N2 interface message includes the IP address of the SAF.

Other implementations of the disclosed embodiments will be readily apparent to those skilled in the art, upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the embodiments of the disclosure that follow the general principles of the embodiments of the disclosure and include common general knowledge in the technical field that is not disclosed in the disclosure. or conventional technical means. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosed embodiments being indicated by the following claims.

It is to be understood that the disclosed embodiments are not limited to the precise structures described above and illustrated in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the disclosed embodiments is limited only by the appended claims.

Industrial applicability

Taking advantage of the fact that user equipment and/or RAN equipment in the communication network are widely distributed on the ground, and making full use of its sensing capabilities, the SAF controls the user equipment and/or RAN equipment to sense the tracked object, thereby achieving tracking. Real-time tracking of objects improves the overall performance of communication networks.

Claims

A method of receiving sensing location information, executed by the sensing application function SAF, this method includes:

Determine the first user equipment;

Send a first sensing start instruction to the first user equipment, where the first sensing start instruction includes a characteristic description of the tracked object;

Receive a first sensing result sent by the first user equipment, where the first sensing result includes first sensing location information of the tracked object sensed by the first user equipment;

Update real-time positioning information of the tracked object according to the first sensed position information.
The method of claim 1, wherein determining the first user equipment includes:

Receive a sensing request sent by the sensing requester SR, where the sensing request includes initial positioning information and feature description of the tracked object;

The first user equipment is determined according to the initial positioning information.
The method of claim 2, wherein determining the first user equipment according to the initial positioning information includes:

The first user equipment is determined according to the initial positioning information and registered device information. The registered device information includes sensing capabilities and real-time location information of multiple registered devices. The multiple registered devices include the First user equipment.
The method of claim 2, further comprising:

Receive a first sensing registration request sent by the first user equipment, where the first sensing registration request includes the sensing capability of the first user equipment;

Receive a first reporting message sent by the first user equipment, where the first reporting message includes real-time location information of the first user equipment.
The method of claim 4, further comprising:

It is determined that the tracked object exceeds the sensing capability of the first user equipment, and a sensing end instruction is sent to the first user equipment.
The method of any one of claims 1 to 5, wherein the method further includes:

Determine that the replacement conditions are met based on the updated real-time positioning information and the updated registered device information;

A second user equipment is determined according to the updated real-time positioning information and the updated registered device information. The second user equipment is different from the first user equipment. The registered device information includes multiple registered devices. Sensing capabilities and real-time location information of registered devices, the plurality of registered devices including the second user device;

Send a second sensing start instruction to the second user equipment, where the second sensing start instruction includes a characteristic description of the tracked object;

Receive a second sensing result sent by the second user equipment, where the second sensing result includes second sensing location information of the tracked object sensed by the second user equipment;

The real-time positioning information of the tracked object is updated according to the second sensed position information.
The method of claim 6, further comprising:

Receive a second sensing registration request sent by the second user equipment, where the second sensing registration request includes the sensing capability of the second user equipment;

Receive a second reporting message sent by the second user equipment, where the second reporting message includes real-time location information of the second user equipment.
The method of any one of claims 1 to 5, wherein the method further includes:

Determine that the replacement conditions are met based on the updated real-time positioning information and the updated registered device information;

Determine a first radio access network RAN device according to the updated real-time positioning information and the updated registered device information;

Send a third sensing start instruction to the first RAN device, where the third sensing start instruction includes a characteristic description of the tracked object;

Receive a third sensing result sent by the first RAN device, where the third sensing result includes third sensing location information of the tracked object sensed by the first RAN device;

The real-time positioning information of the tracked object is updated according to the third sensed position information.
The method of claim 8, further comprising:

Receive a third sensing registration request sent by the first RAN device, where the third sensing registration request includes sensing capabilities and location information of the first RAN device.
A method of receiving sensing location information, executed by the sensing application function SAF, this method includes:

Determine the second radio access network RAN device;

Send a first sensing start instruction to the second RAN device, where the first sensing start instruction includes a characteristic description of the tracked object;

Receive a first sensing result sent by the second RAN device, where the first sensing result includes first sensing location information of the tracked object sensed by the second RAN device;

Update real-time positioning information of the tracked object according to the first sensed position information.
The method of claim 10, wherein determining the second RAN device includes:

Receive a sensing request sent by the sensing requester SR, where the sensing request includes initial positioning information and feature description of the tracked object;

The second RAN device is determined according to the initial positioning information.
The method of claim 11, wherein the determining the second RAN device according to the initial positioning information includes:

The second RAN device is determined according to the initial positioning information and registered device information in the sensing request. The registered device information includes sensing capabilities and real-time location information of multiple registered devices. The multiple registered devices The registration device includes the second RAN device.
The method of claim 11, further comprising:

Receive a first sensing registration request sent by the second RAN device, where the first sensing registration request includes sensing capabilities and location information of the second RAN device.
The method of claim 13, wherein the method further includes:

It is determined that the tracked object exceeds the sensing capability of the second RAN device, and a sensing end instruction is sent to the second RAN device.
The method of any one of claims 10 to 14, wherein the method further includes:

Determine that the replacement conditions are met based on the updated real-time positioning information and the updated registered device information;

A third RAN device is determined according to the updated real-time positioning information and the updated registered device information; the third RAN device is different from the second RAN device; the registered device information includes multiple registered devices. Sensing capabilities and real-time location information of registered devices; the plurality of registered devices include the third RAN device;

Send a second sensing start instruction to the third RAN device, where the second sensing start instruction includes a characteristic description of the tracked object;

Receive a second sensing result sent by the third RAN device, where the second sensing result includes second sensing location information of the tracked object sensed by the third RAN device;

The real-time positioning information of the tracked object is updated according to the second sensed position information.
The method of claim 15, further comprising:

Receive a second sensing registration request sent by the third RAN device, where the second sensing registration request includes sensing capabilities and location information of the third RAN device.
The method of any one of claims 10 to 14, wherein the method further includes:

Determine that the replacement conditions are met based on the updated real-time positioning information and the updated registered device information;

Determine a third user device according to the updated real-time positioning information and the updated registered device information;

Send a third sensing start instruction to the third user equipment, where the third sensing start instruction includes a characteristic description of the tracked object;

Receive a third sensing result sent by the third user equipment, where the third sensing result includes third sensing location information of the tracked object sensed by the third user equipment;

The real-time positioning information of the tracked object is updated according to the third sensed position information.
The method of claim 17, further comprising:

Receive a third sensing registration request sent by the third user equipment, where the third sensing registration request includes the sensing capability of the third user equipment; receive a reporting message sent by the third user equipment, the The reported message includes real-time location information of the third user equipment.
A method of sending sensed location information, executed by a first user equipment, the method includes:

Receive a first sensing start instruction sent by the sensing application function SAF, where the first sensing start instruction includes a characteristic description of the tracked object;

Perform sensing according to the characteristic description to obtain a first sensing result, where the first sensing result includes the first sensing position information of the tracked object sensed by the first user equipment;

Send the first sensing result to the SAF.
The method of claim 19, further comprising:

Send a first sensing registration request to the SAF, where the first sensing registration request includes the sensing capability of the first user equipment.
The method of claim 20, wherein the method further includes:

Receive a protocol data unit PDU session establishment accept message sent by the radio access network RAN device to which the first user equipment belongs, where the PDU session establishment accept message includes the IP address of the SAF.
The method of claim 21, wherein the method further includes:

Send a PDU session establishment request message to the access and mobility management function AFM, the PDU session establishment request message including at least one of first information and second information, the first information being used to indicate the first user equipment Information about whether the sensing capability is supported. The second information is used to request to obtain the IP address of the SAF.
The method of claim 19, further comprising:

Send a reporting message to the SAF, where the reporting message includes real-time location information of the first user equipment.
The method of claim 19, further comprising:

Receive the sensing end instruction sent by the SAF;

End sensing.
A method of sending sensed location information, executed by a second radio access network RAN device, the method includes:

Receive a first sensing start instruction sent by the sensing application function SAF, where the first sensing start instruction includes a characteristic description of the tracked object;

Perform sensing according to the characteristic description to obtain a first sensing result, where the sensing result includes the first sensing position information of the tracked object sensed by the second RAN device;

Send the first sensing result to the SAF.
The method of claim 25, wherein the method further includes:

Send a first sensing registration request to the SAF, where the first sensing registration request includes the sensing capability of the second RAN device.
The method of claim 26, wherein the method further includes:

Receive an N2 protocol data unit PDU session request sent by the access and mobility management function AMF, where the N2 PDU session request includes the IP address of the SAF.
The method of claim 25, wherein the method further includes:

Receive the sensing end instruction sent by the SAF;

End sensing.
A method of receiving a request, executed by an access and mobility management function AMF device, the method includes:

Receive a PDU session establishment request sent by the first user equipment. The PDU session establishment request includes at least one of first information and second information. The first information is used to indicate whether the first user equipment supports sensing capabilities. , the second information is used to request to obtain the IP address of the sensing application function SAF.
The method of claim 29, wherein the method further includes:

Send an establishment protocol data unit PDU session context request message to the session management function SMF device, where the establishment PDU session context request message includes at least one of the first information and the second information included in the PDU session establishment request.
The method of claim 30, wherein the method further includes:

Receive an N1N2 interface message sent by the session management function SMF, where the N1N2 interface message includes the IP address of the SAF.
The method of claim 30, wherein the method further includes:

Send an N2 protocol data unit PDU session request to the radio access network RAN device to which the first user equipment belongs, where the N2 PDU session request includes the IP address of the SAF.
A method of receiving a request, executed by a session management function SMF device, the method includes:

Receive a PDU session context request message sent by the access and mobility management function AMF, where the PDU session establishment request includes at least one of first information and second information, where the first information is used to indicate whether the first user equipment Information supporting sensing capabilities, the second information is used to request to obtain the IP address of the sensing application function SAF.
The method of claim 33, wherein the method further includes:

Determining that the PDU session establishment request includes the first information and that the first information indicates information that supports sensing capabilities;

Send an N1N2 interface message to the AMF, where the N1N2 interface message includes the IP address of the SAF.
A device for receiving sensing location information, the device includes:

a processing module configured to determine the first user equipment;

A sending module configured to send a first sensing start instruction to the first user equipment, where the first sensing start instruction includes a characteristic description of the tracked object;

a receiving module configured to receive a first sensing result sent by the first user equipment, where the first sensing result includes a first sensing position of the tracked object sensed by the first user equipment information;

The processing module is further configured to update the real-time positioning information of the tracked object according to the first sensed location information.
A device for receiving sensing location information, the device includes:

a processing module configured to determine a second radio access network RAN device;

A sending module configured to send a first sensing start instruction to the second RAN device, where the first sensing start instruction includes a characteristic description of the tracked object;

a receiving module configured to receive a first sensing result sent by the second RAN device, where the first sensing result includes a first sensing position of the tracked object sensed by the second RAN device information;

The processing module is further configured to update the real-time positioning information of the tracked object according to the first sensed location information.
A device for sending sensed location information, the device includes:

A receiving module configured to receive a first sensing start instruction sent by the sensing application function SAF, where the first sensing start instruction includes a characteristic description of the tracked object; and perform sensing according to the characteristic description to obtain the first Sensing results, the first sensing results include first sensing position information of the tracked object sensed by the device;

A sending module configured to send the first sensing result to the SAF.
A device for sending sensed location information, the device includes:

A receiving module configured to receive a first sensing start instruction sent by the sensing application function SAF, where the first sensing start instruction includes a characteristic description of the tracked object; and perform sensing according to the characteristic description to obtain the first Sensing results, the sensing results include first sensing location information of the tracked object sensed by the second RAN device;

The sending module is further configured to send the first sensing result to the SAF.
A device for receiving requests, the device includes:

A receiving module configured to receive a PDU session establishment request sent by the first user equipment, the PDU session establishment request including at least one of first information and second information, the first information being used to indicate whether the first user equipment Information supporting sensing capabilities, and the second information is used to request to obtain the IP address of the sensing application function SAF.
A device for receiving requests, the device includes:

A receiving module configured to receive a PDU session context request message sent by the access and mobility management function AMF, the PDU session establishment request including at least one of first information and second information, the first information being used to Information indicating whether the first user equipment supports sensing capabilities, the second information is used to request to obtain the IP address of the sensing application function SAF.
A communication device includes a processor and a memory, wherein,

The memory is used to store computer programs;

The processor is configured to execute the computer program to implement the method as claimed in any one of claims 1-9, or the method as claimed in any one of claims 10-18, or as claimed in claim 1. The method of any one of claims 19-24, or the method of any one of claims 25-28, or the method of any one of claims 29-32, or the method of any one of claims 29-32. The method of any one of claims 33-34.
A computer-readable storage medium, in which instructions are stored. When the instructions are called and executed on a computer, they cause the computer to execute as described in any one of claims 1-9. The method according to any one of claims 10-18, or the method according to any one of claims 19-24, or the method according to any one of claims 25-28. The method described in any one of claims 29-32 or the method described in any one of claims 33-34.