WO2023274056A1 - 定位的方法和装置 - Google Patents

定位的方法和装置 Download PDF

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Publication number
WO2023274056A1
WO2023274056A1 PCT/CN2022/101067 CN2022101067W WO2023274056A1 WO 2023274056 A1 WO2023274056 A1 WO 2023274056A1 CN 2022101067 W CN2022101067 W CN 2022101067W WO 2023274056 A1 WO2023274056 A1 WO 2023274056A1
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WIPO (PCT)
Prior art keywords
information
positioning
moving direction
target device
positioning device
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PCT/CN2022/101067
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English (en)
French (fr)
Inventor
王四海
李雪茹
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN202110837645.0A external-priority patent/CN115567867A/zh
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Publication of WO2023274056A1 publication Critical patent/WO2023274056A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • the present application relates to the technical field of communications, and more specifically, to a positioning method and device.
  • One scenario of terminal device positioning is the trajectory tracking of the continuous movement of the same terminal device. At this time, knowing the movement information of the terminal device in time helps to improve the positioning accuracy of the terminal device.
  • sensors include but are not limited to: accelerometers (accelerometers), gyroscopes (gyros), magnetometers (magnetometers) and so on.
  • the terminal device transmits the movement information estimated by the sensor (including direction, time, etc.) to the location management function (LMF) module. movement distance within the interval, etc.).
  • the mobile information is combined with other positioning technologies to form a hybrid positioning solution, which can obtain more accurate positioning results than only using other positioning technologies.
  • LMF location management function
  • This application provides a positioning method in order to obtain more accurate positioning results.
  • a positioning method is provided, and the method may be executed by a target device, or may also be executed by a chip, a chip system or a circuit in the target device, which is not limited in the present application.
  • the execution by the target device is taken as an example below.
  • the method includes:
  • the target device determines the first movement direction at the first moment; the target device determines the second movement direction at the second moment, and the second moment is different from the first moment; the target device sends the first change amount of the movement direction to the positioning device
  • the first variation in the moving direction is a difference between the first moving direction and the second moving direction, and the first variation in the moving direction is used by the positioning device to position the target device.
  • the movement information sent by the target device to the positioning device for positioning is the change in the direction of movement, that is to say, even when the positioning device and the target device use different coordinate systems, the movement information reported by the target device can also be used. to obtain more accurate positioning results.
  • the method further includes: the target device receiving first indication information from the positioning device, where the first indication information is used to instruct the target device to periodically send a mobile and/or, the target device receives a first threshold value from the positioning device, and the first threshold value is used for comparison with the first change amount of the moving direction.
  • sending the target device to the positioning device the first change amount of the moving direction includes: the target device according to the first indication information according to the period configured by the positioning device sending the first change amount of the moving direction to the positioning device; or, before the target device sends the first change amount of the moving direction to the positioning device, the method further includes: the target device determines the first change amount of the moving direction The variation is greater than or equal to the first threshold.
  • the method for the target device to report the first change in the direction of movement may be periodically or report when the first change in the direction of movement meets a certain condition, providing the first change in the direction of movement.
  • Different reporting methods increase the flexibility of the program.
  • the method further includes: the target device sends first confidence level information to the positioning device, where the first confidence level information is used to indicate a first The degree of confidence in the amount of change.
  • the positioning device can combine various information and various positioning technologies with the confidence position.
  • a simple hybrid scheme is a weighted average, where information with high confidence has a high weight and information with low confidence has a low weight, so as to obtain more accurate positioning, thereby increasing the accuracy of the overall scheme.
  • a positioning method is provided, and the method may be performed by a positioning device, or may also be performed by a chip, a chip system or a circuit in the positioning device, which is not limited in the present application.
  • the execution by the positioning device is taken as an example below for description.
  • the method includes:
  • the positioning device receives a first change amount of the moving direction from the target device, and the first change amount of the moving direction is a difference between the first moving direction and the second moving direction, wherein the first moving direction is the target device
  • the second moving direction is the moving direction of the target device determined at the second moment by the target device, and the second moment is different from the first moment; the positioning device according to The first change amount of the moving direction locates the target device
  • the movement information sent by the target device to the positioning device for positioning is the change in the direction of movement, that is to say, even when the positioning device and the target device use different coordinate systems, the movement information reported by the target device can also be used. to obtain more accurate positioning results.
  • the method further includes: the positioning device receives first information from the auxiliary device, where the first information includes the location information of the target device and/or the target device The movement information of the target device, wherein the movement information of the target device includes at least one of the second change amount of the moving direction, acceleration, moving direction, and speed of the target device; the positioning device according to the first change amount of the moving direction and The first information locates the target device.
  • the positioning device when the positioning device locates the target device, it can also refer to the location information of the target device and/or the movement information of the target device reported by the auxiliary device, which can further increase the accuracy of positioning.
  • the method further includes: the positioning device sending second indication information to the auxiliary device, where the second indication information is used to instruct the auxiliary device to periodically send information period; and/or, the positioning device sends a second threshold value to the auxiliary device, and the second threshold value is used for comparison with the second change amount of the moving direction.
  • the method further includes: the positioning device receives second confidence level information from the auxiliary device, and the second confidence level information is used to indicate the accuracy of the first information. Credibility.
  • the auxiliary device includes at least one of the following devices: an access network device, a terminal device, a short-distance communication device, or a smart camera device.
  • the auxiliary equipment can have multiple possibilities, increasing the flexibility of the solution.
  • the method further includes: the positioning device sending first indication information to the target device, where the first indication information is used to instruct the target device to periodically send the moving direction and/or, the positioning device sends a first threshold value to the target device, and the first threshold value is used for comparison with the first change amount of the moving direction.
  • the method further includes: the positioning device receives first confidence level information from the target device, and the first confidence level information is used to indicate the first confidence level of the moving direction. The degree of confidence in the variable.
  • a positioning method is provided.
  • the method may be performed by a positioning device, or may also be performed by a chip, a chip system or a circuit in the positioning device, which is not limited in the present application.
  • the execution by the positioning device is taken as an example below for description.
  • the method includes:
  • the positioning device receives first information from the auxiliary device, where the first information includes position information of the target device and/or movement information of the target device, wherein the movement information of the target device includes a second change in the moving direction of the target device At least one of the amount, acceleration, moving direction, and speed; the positioning device locates the target device according to the first information.
  • the positioning device can locate the target device based on the information reported by the auxiliary device, that is to say, even if the target device does not have the ability to report its own movement information, the positioning device can also obtain the positioning result of the target device based on the information reported by the auxiliary device .
  • the method further includes: the method further includes:
  • the positioning device receives a first change in the moving direction from the target device, and the first change in the moving direction is the difference between the first moving direction and the second moving direction, wherein the first moving direction is the target
  • the first moving direction is the target
  • the second moving direction is the moving direction of the target device determined by the target device at the second moment
  • the second moment is different from the first moment
  • the positioning device The target device is positioned according to the first change amount of the moving direction and the first information.
  • the positioning device when the positioning device locates the target device, it can also refer to the movement information reported by the target device, which can further increase the accuracy of positioning.
  • the method further includes: the positioning device sends second indication information to the auxiliary device, where the second indication information is used to instruct the auxiliary device to periodically send information period; and/or, the positioning device sends a second threshold value to the auxiliary device, and the second threshold value is used for comparison with the second change amount of the moving direction.
  • the method further includes: the positioning device receives second confidence level information from the auxiliary device, and the second confidence level information is used to indicate the accuracy of the first information. Credibility.
  • the auxiliary device includes at least one of the following devices: an access network device, a terminal device, a short-distance communication device, or a smart camera device.
  • the auxiliary equipment can have multiple possibilities, increasing the flexibility of the solution.
  • the method further includes: the positioning device sending first indication information to the target device, where the first indication information is used to instruct the target device to periodically send the moving direction and/or, the positioning device sends a first threshold value to the target device, and the first threshold value is used for comparison with the first change amount of the moving direction.
  • the method further includes: the positioning device receives first confidence level information from the target device, where the first confidence level information is used to indicate the first confidence level of the moving direction. The degree of confidence in the variable.
  • a positioning method is provided, and the method may be executed by an auxiliary device, or may also be executed by a chip, a chip system, or a circuit in the auxiliary device, which is not limited in the present application.
  • the following uses an auxiliary device as an example for description.
  • the method includes:
  • the auxiliary device acquires first information, where the first information includes position information of the target device and/or movement information of the target device, and the movement information of the target device includes a second variation of the moving direction of the target device, acceleration, and moving direction and at least one item of speed; the auxiliary device sends the first information to the positioning device, and the first information is used by the positioning device to locate the target device.
  • the positioning device can locate the target device based on the information reported by the auxiliary device, that is to say, even if the target device does not have the ability to report its own movement information, the positioning device can also obtain the positioning result of the target device based on the information reported by the auxiliary device .
  • the method further includes: the auxiliary device receives second indication information from the positioning device, where the second indication information is used to instruct the auxiliary device to periodically send information and/or, the auxiliary device receives a second threshold value from the positioning device, and the second threshold value is used for magnitude comparison with the second change amount of the moving direction.
  • the sending of the first information by the auxiliary device to the positioning device includes: the auxiliary device sends the first information to the positioning device according to the second indication information according to a period configured by the positioning device.
  • the way for the auxiliary device to report the first information of the moving direction may be periodically or when the second variation of the moving direction meets a certain condition, and different reporting methods of the first information are provided. Increased program flexibility.
  • the auxiliary device includes at least one of the following devices: an access network device, a terminal device, a short-distance communication device, or a smart camera device.
  • the auxiliary equipment can have multiple possibilities, increasing the flexibility of the solution.
  • the method further includes: the auxiliary device sends first confidence level information to the positioning device, and the first confidence level information is used to indicate the reliability of the first information. confidence level.
  • the positioning device can combine various information and various positioning technologies to perform positioning in combination with the confidence.
  • a simple hybrid scheme is a weighted average, where information with high confidence has a high weight and information with low confidence has a low weight, so as to obtain more accurate positioning, thereby increasing the accuracy of the overall scheme.
  • a target device including a module configured to execute the method described in any possible implementation manner of the first aspect above.
  • a positioning device including a module for performing the method described in any possible implementation manner of the above-mentioned second aspect and third aspect.
  • an auxiliary device including a module for performing the method described in any possible implementation manner of the foregoing fourth aspect.
  • a target device in an eighth aspect, includes a processor, configured to realize the functions of the target device in the method described in the first aspect above.
  • the target device may further include a memory, where the memory is used to store program instructions and data.
  • the memory is coupled with the processor, and the processor is configured to realize the function of the target device in the method described in the first aspect above.
  • the target device may further include a communication interface, where the communication interface is used for the target device to communicate with other devices.
  • the communication interface may be a transceiver, an input/output interface, or a circuit.
  • a ninth aspect provides a positioning device, the positioning device includes a processor, configured to implement the functions of the positioning device in the methods described in the second aspect and the third aspect above.
  • the target device may further include a memory, where the memory is used to store program instructions and data.
  • the memory is coupled with the processor, and the processor is configured to realize the function of the positioning device in the methods described in the second aspect and the third aspect.
  • the positioning device may further include a communication interface, where the communication interface is used for the positioning device to communicate with other devices.
  • the communication interface may be a transceiver, an input/output interface, or a circuit.
  • a tenth aspect provides an auxiliary device, the auxiliary device includes a processor, configured to realize the function of the auxiliary device in the method described in the fourth aspect above.
  • the auxiliary device for use may further include a memory, and the memory is used for storing program instructions and data.
  • the memory is coupled with the processor, and the processor is configured to realize the function of the auxiliary device in the method described in the fourth aspect above.
  • the auxiliary device for use may further include a communication interface, where the communication interface is used for the positioning device to communicate with other devices.
  • the communication interface may be a transceiver, an input/output interface, or a circuit.
  • the present application provides a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, and when the computer-readable storage medium is run on a computer, it causes the computer to execute the method of the above aspects.
  • the present application provides a computer program product containing instructions, which, when run on a computer, cause the computer to execute the method of the above aspects.
  • a thirteenth aspect provides a positioning system, including the target device described in the fifth aspect and the positioning device described in the sixth aspect.
  • the positioning system further includes the auxiliary device shown in the seventh aspect.
  • FIG. 2 is a schematic diagram of a positioning architecture
  • (b) in FIG. 2 is a schematic flowchart of a positioning method.
  • Fig. 3 is a schematic flowchart of a positioning method provided by an embodiment of the present application.
  • Fig. 4 is a schematic diagram of a first variation in the moving direction.
  • Fig. 5 is another positioning method provided by the embodiment of the present application.
  • Fig. 6 is a schematic block diagram of a device provided by an embodiment of the present application.
  • Fig. 7 is another schematic block diagram of the device provided by the embodiment of the present application.
  • Fig. 8 is a schematic structural diagram of a device provided by an embodiment of the present application.
  • the technical solutions of the embodiments of the present application can be applied to various communication systems, such as: the fifth generation (5th generation, 5G) system or new radio (new radio, NR), long term evolution (long term evolution, LTE) system, LTE frequency Division duplex (frequency division duplex, FDD) system, LTE time division duplex (time division duplex, TDD), future sixth generation (6th generation, 6G) system, etc.
  • 5G fifth generation
  • NR new radio
  • long term evolution long term evolution
  • LTE frequency Division duplex frequency division duplex
  • FDD frequency division duplex
  • TDD time division duplex
  • future sixth generation (6th generation, 6G) system etc.
  • the technical solution of the embodiment of the present application can also be applied to device to device (device to device, D2D) communication, vehicle-to-everything (V2X) communication, machine to machine (machine to machine, M2M) communication, machine Type communication (machine type communication, MTC), and Internet of things (internet of things, IoT) communication system or other communication systems.
  • D2D device to device
  • V2X vehicle-to-everything
  • M2M machine to machine
  • MTC machine Type communication
  • IoT Internet of things
  • FIG. 1 a positioning architecture applicable to the embodiment of the present application is briefly introduced with reference to FIG. 1 .
  • the architecture shown in (a) in FIG. 1 is a Uu interface-based positioning architecture proposed by 3GPP.
  • the positioning architecture may include but not limited to the following devices (or called functional network elements, functional entities, nodes, etc.):
  • Targeting Devices Targeting Devices, Targeting Devices and Third Devices.
  • Positioning device also called a location server: it can be used to estimate the position of the target device.
  • the positioning device can be deployed inside the core network, that is, the positioning device also belongs to a core network element.
  • the positioning device may communicate with the third device through a mobility management function (access and mobility management function, AMF) network element (not shown in the figure).
  • AMF access and mobility management function
  • the positioning device can also communicate with the target device.
  • the positioning device may communicate with the target device through an LTE positioning protocol (LTE positioning protocol, LPP).
  • LTE positioning protocol LTE positioning protocol, LPP
  • part of the functions of the location device such as a location management component (location management component, LMC) may be integrated in the third device.
  • LMC location management component
  • the sending of information by the LMC integrated in the third device to the third device may also be regarded as sending information from the positioning device to the third device.
  • the positioning device shown in (a) in FIG. 1 may be a location management function (location management function, LMF) network element.
  • LMF location management function
  • Target device the device that needs to be located, including but not limited to terminal equipment.
  • terminal devices may include various handheld devices, vehicle-mounted devices, wearable devices, computing devices or other processing devices connected to wireless modems with wireless communication functions, as well as various forms of terminals, mobile stations (mobile station, MS ), terminal (terminal) or soft terminal, etc.
  • MS mobile station
  • terminal terminal
  • water meters electricity meters, sensors, etc.
  • the terminal device can also be the user equipment in the Internet of Things (Internet of Things, IoT) system.
  • IoT Internet of Things
  • IoT is an important part of the development of information technology in the future, and its main technical feature is that items can be Connect with the network to realize the intelligent network of man-machine interconnection and object interconnection.
  • the third device used to provide the first positioning information of the target device to the positioning device, so that the positioning device can locate or enhance the positioning of the target device.
  • the third device includes but is not limited to a radio access network device (radio access network, RAN).
  • radio access network equipment is used to provide network access functions for authorized terminal equipment in a specific area, and can use transmission tunnels with different service qualities according to the level of terminal equipment and service requirements.
  • RAN can manage wireless resources, provide access services for terminal devices, and then complete the forwarding of control signals and terminal device data between terminal devices and the core network.
  • RAN can also be understood as a base station in a traditional network.
  • the access network device in the embodiment of the present application may be any communication device with a wireless transceiver function for communicating with a terminal device.
  • the access network equipment includes but not limited to: evolved Node B (evolved Node B, eNB), radio network controller (radio network controller, RNC), Node B (Node B, NB), base station controller (base station controller) , BSC), base transceiver station (base transceiver station, BTS), home base station (home evolved Node B, HeNB, or home Node B, HNB), baseband unit (baseBand unit, BBU), wireless fidelity (wireless fidelity, WIFI ) system in the access point (access point, AP), wireless relay node, wireless backhaul node, transmission point (transmission point, TP) or transmission and reception point (transmission and reception point, TRP), etc., can also be 5G , such as, NR, gNB in the system, or, transmission point (TRP or TP), one or a group (including multiple antenna
  • the third device can communicate with the positioning device.
  • the third device may communicate with the positioning device through NR positioning protocol A (NR positioning protocol A, NRPPa).
  • NR positioning protocol A NR positioning protocol A, NRPPa
  • the positioning architecture shown in (b) in FIG. 1 is a positioning architecture based on the PC5 interface proposed by 3GPP. As shown in (b) in Figure 1, the positioning architecture may include but not limited to the following devices (or called functional network elements, functional entities, nodes, etc.):
  • Target device and target device.
  • Positioning device It can be used to realize the position estimation of the target device. It includes but is not limited to terminal equipment, and for the specific form of terminal equipment, reference may be made to the above description, which will not be repeated here.
  • Target device a device that needs to be located, including but not limited to a terminal device.
  • the form of the terminal device can refer to the above description, and will not be repeated here.
  • the positioning architecture may also include an auxiliary device, which is used to perceive the location information and movement information of the target device, and the movement information of the target device includes But not limited to: at least one of the moving direction, the change amount of the moving direction, the speed, and the acceleration.
  • the auxiliary device can transmit the location information and movement information of the target device to the positioning device, which is used for high-precision positioning of the target device by the positioning device.
  • Auxiliary equipment includes, but is not limited to: access network equipment, terminal equipment, short-distance communication equipment, or smart camera equipment.
  • the third device in the positioning architecture shown in (a) of FIG. 1 may serve as an auxiliary device.
  • the positioning device acquires first positioning information from a third device.
  • the positioning of terminal equipment based on cellular network is one of the technical directions that 5G and its future evolution focus on. ) positioning method, network-assisted global navigation satellite system (network-assisted global navigation satellite system, Network-assisted GNSS) positioning method and other positioning methods have been studied, and the corresponding system framework and system for terminal equipment positioning have been formulated. Interactive protocol.
  • the positioning information of the target device required by the above various positioning methods includes the first positioning information obtained from the third device, and/or the second positioning information obtained from the target device.
  • the second positioning information needs to be obtained from the target device, the following step S220 needs to be performed.
  • the target device for example, a smart terminal
  • these sensors include: accelerometers (accelerometers), gyroscopes (gyros), and magnetometers (magnetometers).
  • accelerometers accelerometers
  • gyroscopes gyros
  • magnetometers magnetometers
  • 3GPP also defines that the target device transmits to the positioning device the estimated movement information of the target device based on the information obtained by these sensors.
  • the movement information of the target device includes the direction, the moving distance within the time interval, etc.
  • the method flow shown in Figure 2 also includes:
  • the positioning device acquires second positioning information and/or movement information from the target device.
  • the positioning device performs positioning or positioning enhancement based on the first positioning information obtained from the third device and the second positioning information and/or movement information obtained from the target device.
  • the first positioning information obtained by the positioning device from the third device and the second positioning information obtained by the positioning device from the target device may be the same or different.
  • the description in the agreement (3GPP 37.355, LPP agreement), this application will not go into details.
  • the positioning device obtains the second positioning information and movement information required for positioning from the target device, it may not need to obtain the first positioning information from the third device.
  • the method flow shown in Figure 2 also includes:
  • the positioning device performs positioning or positioning enhancement.
  • the positioning or positioning enhancement by the positioning device includes: the positioning device according to the positioning information, and the positioning information includes the above-mentioned first positioning information and/or the second positioning information.
  • the positioning information includes the above-mentioned first positioning information and/or the second positioning information.
  • the positioning information includes the above-mentioned first positioning information and/or the second positioning information.
  • the positioning information includes the above-mentioned first positioning information and/or the second positioning information.
  • the positioning information obtained for positioning equipment and other positioning technologies for example, the information obtained for positioning equipment and other positioning technologies
  • obtain independent position sequence positions then combine mobile information through Kalman filtering (KF) or deep learning (deep learning, DL) (For example, the movement information obtained by the positioning device and estimated by the target device) to further optimize the position sequence to obtain more accurate positioning results;
  • KF Kalman filtering
  • DL deep learning
  • the positioning or positioning enhancement by the positioning device includes: the positioning device performs positioning according to the positioning information, and the positioning information includes the above-mentioned first positioning information and/or second positioning information (for example, obtained by the positioning device, other Positioning technology needs to use) and movement information (for example, the movement information obtained for the positioning device and estimated by the target device) directly obtains the position.
  • the positioning information includes the above-mentioned first positioning information and/or second positioning information (for example, obtained by the positioning device, other Positioning technology needs to use) and movement information (for example, the movement information obtained for the positioning device and estimated by the target device) directly obtains the position.
  • the target device transmits the movement information estimated by the internal sensor to the positioning device, including direction, moving distance, etc. It is required that the target device and the positioning device adopt the same coordinate system.
  • the north pole of the coordinate system adopted by the target device and the positioning device respectively
  • the north pole of the coordinate system adopted by the target device and the positioning device is the north pole of the magnetic pole; for another example, the coordinate systems maintained by the target device and the positioning device are the same.
  • one way to obtain more accurate positioning results in (b) in Figure 2 is to align the coordinate systems adopted by the target device and the positioning device so that the target The device and the pointing device use the same coordinate system.
  • the positioning device calculates the moving direction of the target device at two consecutive moments Subtract to obtain the change in the moving direction of the target device. This process will bring additional delay when the positioning is started.
  • the more valuable information for improving the positioning accuracy may not be the direction, but the change in the direction of the target device; at the same time, this also means that in In the case that the direction does not change, there is no need to feedback to the positioning device.
  • the positioning device cannot obtain the movement information of the target device, and therefore cannot use the hybrid positioning technology, and cannot obtain more accurate positioning results.
  • the target device has internal sensors and can transmit movement information to the positioning device, how to obtain the movement information of the target device through other independent sensing technologies to further improve the positioning accuracy.
  • this application provides a positioning method.
  • a positioning method By redefining the information type fed back by the target device, more accurate positioning can be obtained even when the target device and the positioning device use different coordinate systems. result.
  • the method provided in the embodiment of the present application may be applied to an existing positioning architecture, for example, the positioning architecture shown in (a) in FIG. 1 .
  • the embodiments of the present application do not limit the applicable scenarios of the method, for example, it is also applicable to other positioning architectures including devices capable of implementing corresponding functions.
  • Short-distance wireless communication Usually, the sending and receiving parties use radio waves to transmit information, and can transmit information within a short distance, which can be called short-distance wireless communication, or short-distance communication technology.
  • Short-distance communication technologies have many common features, namely, peer-to-peer, low cost, and low power consumption.
  • Short-distance communication technology essentially refers to wireless personal network technology in a general sense, mainly including the following standards:
  • Bluetooth ultra wide band
  • wireless fidelity wireless fidelity
  • WIFI wireless personal area network
  • ZigBee wireless personal area network
  • IrDA infrared data association
  • radio frequency identification radio frequency identification devices
  • short-distance wireless communication technologies Bluetooth (Bluetooth), Wi-Fi and IrDA.
  • Bluetooth Bluetooth
  • Wi-Fi Wi-Fi
  • IrDA IrDA
  • short-range wireless technology standards with development potential such as ZigBee, ultra wide band (UWB), near-field communication (near-field communication, NFC), wireless multimedia (WiMedia), digital enhanced wireless Communication systems (digital enhanced cordless telecommunications, DECT) and dedicated wireless systems, etc.
  • the short-distance communication devices involved in the embodiments of the present application include but are not limited to WLAN devices, Bluetooth devices, UWB devices, and the like.
  • the embodiments shown below do not specifically limit the specific structure of the execution subject of the method provided by the embodiment of the present application, as long as the program that records the code of the method provided by the embodiment of the present application can be run to provide the method according to the embodiment of the present application.
  • the execution subject of the method provided by the embodiment of the present application may be a positioning device, or a functional module in the positioning device that can call a program and execute the program.
  • for indicating can be understood as “enabling”, and “enabling” can include direct enabling and indirect enabling.
  • enabling can include direct enabling and indirect enabling.
  • information for enabling A it may include that the information directly enables A or indirectly enables A, but it does not mean that A must be carried in the information.
  • the information enabled by the information is called the information to be enabled.
  • the information to be enabled can be directly enabled.
  • the to-be-enabled information may also be indirectly enabled by enabling other information, where there is an association relationship between the other information and the to-be-enabled information.
  • specific information can also be enabled by means of a pre-agreed (for example, protocol-specified) arrangement order of each information, thereby reducing the enabling overhead to a certain extent.
  • common parts of each information can be identified and enabled uniformly, so as to reduce the enabling overhead caused by enabling the same information separately.
  • preset may include pre-definition, for example, protocol definition.
  • predefinition can be realized by pre-saving corresponding codes, tables or other methods that can be used to indicate related information in the device, and this application does not limit its specific implementation.
  • the "storage" mentioned in the embodiment of the present application may refer to saving in one or more memories.
  • the one or more memories may be provided independently, or may be integrated in an encoder or decoder, a processor, or a communication device.
  • a part of the one or more memories may also be provided separately, and a part may be integrated in a decoder, a processor, or a communication device.
  • the type of the storage may be any form of storage medium, which is not limited in this application.
  • Fig. 3 is a schematic flowchart of a positioning method provided by an embodiment of the present application. Include the following steps:
  • the target device determines a first moving direction at a first moment.
  • the target device may perceive the first moving direction of the target device at the first moment according to its own configured internal sensor (eg, gyroscope);
  • its own configured internal sensor eg, gyroscope
  • the target device may read the first movement direction of the target device input by the sensor from the internal memory at the first moment;
  • the target device may obtain the first moving direction of the target device from other devices (eg, a device attached to the target device, or a device attached to the target device) at the first moment.
  • other devices eg, a device attached to the target device, or a device attached to the target device
  • a smartphone is a target device
  • a smart watch connected to the phone is a device attached to the target device.
  • the target device determines the first moving direction at the first moment, as long as the target device can acquire one moving direction of the target device at the first moment.
  • the target device determines a second moving direction at a second moment.
  • the second moment is different from the first moment.
  • the manner in which the target device determines the second movement direction at the second moment is similar to the manner in which the target device determines the first movement direction at the first moment, and will not be repeated here.
  • the target device sends the first change amount of the moving direction to the positioning device, or the positioning device receives the first change amount of the moving direction from the target device.
  • the first change amount of the moving direction is a difference between the above-mentioned first moving direction and the above-mentioned second moving direction, and the first change amount of the moving direction is used to assist the positioning device to locate the target device.
  • the target device may periodically send the change amount of the moving direction to the positioning device.
  • the cycle for the target device to send movement information is ⁇ T.
  • the target device sends the change in the direction of movement to the positioning device at time T, and it will also send the change in the direction of movement to the positioning device at time T+ ⁇ T. Will send the change in direction of movement to the pointing device....
  • the above period is configured by the positioning device.
  • the method flow shown in Figure 3 also includes:
  • the positioning device sends first indication information to the target device, or the target device receives the first indication information from the positioning device.
  • the first indication information is used to indicate a period for the target device to periodically send movement information.
  • the above period is determined by the target device.
  • the target device may send movement information to the positioning device when a condition is met.
  • the target device determines whether the first change in the moving direction is greater than or equal to the first threshold: when the first change in the moving direction is greater than or equal to the first threshold, the first change in the moving direction is sent to the positioning device; When the first change amount of is less than the first threshold, the first change amount of the moving direction is not sent to the positioning device.
  • the foregoing first threshold is configured for the positioning device.
  • the method flow shown in Figure 3 also includes:
  • the positioning device sends the first threshold to the target device, or the target device receives the first threshold from the positioning device.
  • the first threshold is used for comparison with the above-mentioned change amount of the moving direction.
  • the foregoing first threshold is determined for the target device.
  • the target device may send first confidence information to the positioning device, where the first confidence information is used to indicate the above-mentioned first change in the moving direction degree of credibility
  • the method flow shown in Figure 3 also includes:
  • the target device sends the first confidence information to the positioning device, or the positioning device receives the first confidence information from the target device.
  • the first confidence level information may be represented by a confidence interval and a confidence level.
  • the above-mentioned first change amount of the moving direction and the first confidence level information may be carried in a message and sent to the positioning device.
  • the positioning method shown in FIG. 3 can be applied to the positioning architecture shown in (a) in FIG. 1 .
  • the positioning device locates the target device, in addition to the first change in the moving direction reported by the target device, it also needs to be based on the first positioning information of the target device sent by the third device, and/or the first positioning information of the target device sent by the target device.
  • the second positioning information, the method flow shown in Figure 3 also includes:
  • the positioning device receives first positioning information from a third device.
  • the positioning device receives second positioning information from the target device.
  • the positioning method shown in FIG. 3 can also be applied to the positioning architecture shown in (b) in FIG. 1 , and other positioning architectures including devices capable of implementing corresponding functions, which will not be repeated here.
  • the method flow shown in FIG. 3 also includes:
  • the positioning device performs positioning.
  • the positioning device may base on the first variation of the moving direction and the first positioning information and/or the second positioning information of the target device to locate the target device. A more accurate positioning result can be obtained.
  • Fig. 4 is a schematic diagram of a first variation in the moving direction. It can be seen from FIG. 4 that the first moment is before the second moment, the moving direction of the target device determined at the first moment is the first moving direction, and the moving direction of the target device determined at the second moment is the second moving direction.
  • the first moment is the moment when the third variation of the moving direction reported to the positioning device is determined, and the third variation of the moving direction is also determined by the difference between the two moving directions, the two The subtrahend in the moving direction is the first moving direction, and the subtrahend is the moving direction determined by the target device before the first moment; the second moment is the moment when the first variation of the moving direction reported to the positioning device is determined.
  • the amount of change in the moving direction is the difference between the moving direction when the target device determines the amount of change in the moving direction that needs to be reported this time, and the moving direction when the last time the amount of change in the moving direction that needs to be reported is determined. difference.
  • the target device determines the third change in the moving direction reported to the positioning device at time T, and the moving direction of the target device at time T is the first moving direction; determines the third change in the moving direction reported to the positioning device at time T+ ⁇ T.
  • a change amount, the second moving direction of the target device at the time T+ ⁇ T is 30 degrees clockwise compared to the first moving direction at the time T, assuming that the clockwise movement is expressed as (+), and the counterclockwise movement is expressed as (- ), and the target device does not send the change amount of the moving direction to the positioning device between T and T+ ⁇ T, then the above-mentioned first change amount of the moving direction is +30 degrees.
  • the amount of change in the moving direction is the difference between the moving direction when the target device determines the amount of change in the moving direction that needs to be reported this time, and the moving direction when the target device is configured to report the amount of change in the moving direction difference.
  • the positioning device can obtain the first moving direction (for example, through the direction sensing module to perceive the first moving direction) The first moving direction); when the moving direction changes suddenly at T+ ⁇ T time, the target device determines to report the change amount of the moving direction, and the second moving direction moves counterclockwise by 30 degrees compared with the first moving direction, then the above moving direction
  • the first amount of change is -30 degrees.
  • Fig. 4 is only an example of a possible form of the first variation of the moving direction, and does not constitute any limitation to the protection scope of the present application.
  • the first moment and the second moment may also have other definition methods, for example, the second moment is The moments before the first moment will not be repeated here.
  • the above-mentioned first amount of change in the moving direction can be determined by the information obtained by the sensor installed inside the target device.
  • the auxiliary device can be drawn out.
  • the target device is positioned by means of the auxiliary information provided by the auxiliary device. The method for locating based on the auxiliary information provided by the auxiliary device will be described in detail below with reference to FIG. 5 .
  • Fig. 5 is another positioning method provided by the embodiment of the present application. Include the following steps:
  • the auxiliary device acquires first information.
  • the first information includes location information of the target device and/or movement information of the target device.
  • the position information of the target device includes relative position information or absolute position information
  • the relative position information includes position information of the target device relative to the auxiliary device, or position information of the target device relative to a preset anchor point.
  • the positioning device When the relative position information is the position information of the target device relative to the auxiliary device, the positioning device needs to know the position of the auxiliary device, for example, the positioning device obtains the position of the auxiliary device through signaling interaction;
  • the positioning device needs to know the position of the preset anchor point, for example, the positioning device perceives the position of the preset anchor point, and the preset anchor point is the anchor point.
  • the above-mentioned movement information of the target device includes at least one item of the second variation of the moving direction, acceleration, moving direction, and speed of the target device.
  • the auxiliary device when the auxiliary device is an access network device, the auxiliary device may obtain the first information in the following manner:
  • Method 1 Based on radar perception technology.
  • the auxiliary device may acquire location information and movement information of the target device based on frequency-modulated continuous-wave (FMCW) technology.
  • FMCW frequency-modulated continuous-wave
  • FMCW technology is just an example, and does not constitute any limitation to the protection scope of the present application.
  • the radar sensing technology used by the auxiliary device to obtain the movement information of the target device.
  • the auxiliary device can perceive and acquire the movement information of the target device through the first method.
  • the movement information of the target device includes at least one of the second change in the direction of movement, acceleration, direction of movement, and speed.
  • the movement information of the target device may be an absolute value or May be relative values.
  • the auxiliary device can sense and acquire the relative location information of the target device through the first method.
  • the positioning device is required to know the location of the auxiliary device.
  • the auxiliary device when the auxiliary device uses radar-based sensing technology, it can also directly feed back radar reflection signal information to the positioning device, and the positioning device performs subsequent processing to improve the positioning accuracy of the target device.
  • Method 2 The camera attached to the auxiliary device acquires image information.
  • the auxiliary device can process the movement information of the target device through deep learning technology.
  • the movement information of the target device includes at least one of the second change in the direction of movement of the target device, acceleration, direction of movement, and speed.
  • the movement information of the target device may be It can be an absolute value or a relative value.
  • the auxiliary device may obtain the relative position information of the target device (for example, the position of the target device relative to a pre-marked anchor point) or absolute position information.
  • the relative position information it is required that the positioning device knows the position of the anchor point.
  • the auxiliary device when the auxiliary device is a short-distance communication device (such as a smart camera, a WLAN device, a Bluetooth device, a UWB device, etc.), the auxiliary device may obtain the first information in the following manner:
  • Method 1 When the auxiliary device is a smart camera, it can capture image information of the target device and its surrounding environment.
  • the smart camera can obtain the movement information of the target device by processing image information through deep learning technology.
  • the movement information of the target device includes at least one of the second change in the direction of movement of the target device, acceleration, direction of movement, and speed.
  • Information may be absolute or relative.
  • the smart camera can obtain the location information of the target device by processing image information through deep learning technology.
  • Method 2 When the auxiliary device is a WLAN device, a Bluetooth device or a UWB device, the location information of the target device and/or the movement information of the target device may be obtained by using the positioning technology in the auxiliary device system.
  • the auxiliary device needs to send the above-mentioned first information to the positioning device, and the method flow shown in FIG. 5 also includes:
  • the auxiliary device sends first information to the positioning device, or the positioning device receives the first information from the auxiliary device.
  • auxiliary device sends the first information to the positioning device, a communication connection has been established between the auxiliary device and the positioning device, and the method flow described in FIG. 5 further includes:
  • the auxiliary device establishes a connection with the positioning device, and negotiates to determine to locate the target device.
  • auxiliary device establishes a connection with the positioning device and negotiates to determine the positioning of the target device. You can refer to the current connection establishment method of the device that can establish a connection with the positioning device.
  • the auxiliary device may periodically send information to the positioning device.
  • the above period is configured by the positioning device.
  • the method flow shown in Figure 5 also includes:
  • the positioning device sends the second indication information to the auxiliary device, or the auxiliary device receives the second indication information from the positioning device.
  • the first indication information is used to indicate a period for the auxiliary device to periodically send information.
  • the above period is determined by the auxiliary device.
  • the auxiliary device may send the first information to the positioning device when a condition is met.
  • the auxiliary device determines whether the second change in the moving direction is greater than or equal to the second threshold: when the second change in the moving direction is greater than or equal to the second threshold, the first information is sent to the positioning device; when the second change in the moving direction When the amount is less than the second threshold, the first information is not sent to the positioning device.
  • the above-mentioned second threshold is configured for the positioning device.
  • the method flow shown in Figure 5 also includes:
  • the positioning device sends the second threshold to the auxiliary device, or the auxiliary device receives the second threshold from the positioning device.
  • the second threshold is used for comparison with the above-mentioned change amount of the moving direction.
  • the foregoing second threshold is determined by the auxiliary device.
  • the auxiliary device may send second confidence information to the positioning device, where the second confidence information is used to indicate the credibility of the above-mentioned first information, as shown in FIG. 5
  • the method flow shown also includes:
  • the auxiliary device sends the second confidence information to the positioning device, or the positioning device receives the second confidence information from the auxiliary device.
  • the second confidence information may be represented by a confidence interval and a confidence level.
  • the above-mentioned first information and second confidence information may be carried in a message and sent to the positioning device.
  • the positioning method shown in FIG. 5 may be applied to the positioning architecture shown in (a) of FIG. 1 .
  • the method flow shown in Figure 5 also includes:
  • the positioning device receives first positioning information from a third device.
  • the positioning device receives second positioning information from the target device.
  • the auxiliary device and the third device may be the same access network device or different access network devices. It should be noted that, regardless of whether the auxiliary device and the third device are the same access network device, the first information obtained by the auxiliary device is not exactly the same as the first positioning information obtained by the third device.
  • the first positioning information acquired by the third device includes positioning reference signal (positioning reference signal, PRS) information, delay information, etc. required by the above-mentioned OTDOA positioning method, e-CID positioning method, or Network-assisted GNSS positioning method ; while the auxiliary information acquires the location information, movement information, etc. of the target device.
  • positioning reference signal positioning reference signal, PRS
  • PRS positioning reference signal
  • delay information etc. required by the above-mentioned OTDOA positioning method, e-CID positioning method, or Network-assisted GNSS positioning method
  • auxiliary information acquires the location information, movement information, etc. of the target device.
  • the positioning method shown in FIG. 5 can also be applied to the positioning architecture shown in (b) in FIG. 1 , and the positioning architecture of other devices capable of implementing corresponding functions, which will not be repeated here.
  • the positioning device may locate the target device based on the first information, and the method history shown in FIG. 5 also includes:
  • the positioning device performs positioning.
  • the positioning device may, based on the first information and the target device's The first positioning information and/or the second positioning information locates the target device. A more accurate positioning result can be obtained.
  • the positioning device may also receive the first change amount of the moving direction of the target device, and the positioning device may receive the first change amount based on the moving direction , the first information and the positioning information of the target device (the positioning information includes the first positioning information and/or the second positioning information) to locate the target device.
  • the positioning information includes the first positioning information and/or the second positioning information
  • sequence numbers of the above processes do not mean the order of execution, and the execution order of each process should be determined by its functions and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.
  • the positioning device on the premise that the positioning device obtains the first change amount of the moving direction from the target device based on the flow shown in FIG. 3 , it can further obtain auxiliary information from the auxiliary device based on the flow shown in FIG.
  • the first variation of the moving direction is used for positioning in order to obtain more accurate positioning results.
  • the positioning device obtains auxiliary information from the auxiliary device based on the flow shown in FIG. and the first variation of the moving direction for positioning, in order to obtain more accurate positioning results.
  • devices in the existing positioning architecture are used as examples for illustration (such as auxiliary devices, positioning devices, target devices, etc.), and it should be understood that specific forms of devices
  • the embodiment of this application is not limited. For example, devices that can implement the same function in the future are applicable to this embodiment of the application.
  • the methods and operations implemented by devices may also be implemented by components (eg, chips or circuits) that can be used in devices.
  • each device includes a corresponding hardware structure and/or software module for performing each function.
  • the embodiment of the present application can divide the functional modules of the transmitting end device or the receiving end device according to the above method example, for example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module middle.
  • the above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules. It should be noted that the division of modules in the embodiment of the present application is schematic, and is only a logical function division, and there may be other division methods in actual implementation. In the following, description will be made by taking the division of each functional module corresponding to each function as an example.
  • FIG. 6 is a schematic block diagram of an apparatus 600 provided by an embodiment of the present application.
  • the device 600 includes a transceiver unit 610 and a processing unit 620.
  • the transceiver unit 610 can implement a corresponding communication function, and the processing unit 620 is used for data processing.
  • the transceiver unit 610 may also be called a communication interface or a communication unit.
  • the device 600 may further include a storage unit, which may be used to store instructions and/or data, and the processing unit 620 may read the instructions and/or data in the storage unit, so that the device implements the aforementioned method embodiments .
  • a storage unit which may be used to store instructions and/or data
  • the processing unit 620 may read the instructions and/or data in the storage unit, so that the device implements the aforementioned method embodiments .
  • the device 600 can be used to execute the actions performed by the devices (such as auxiliary devices, positioning devices, and target devices) in the above method embodiments.
  • the device 600 can be a device or a component that can be configured in a device
  • a transceiver unit 610 is configured to perform operations related to sending and receiving on the device side in the method embodiments above
  • the processing unit 620 is configured to perform operations related to processing on the device side in the method embodiments above.
  • the apparatus 600 is configured to perform the actions performed by the target device in the above method embodiments.
  • the transceiver unit 610 is configured to send a first change amount of the moving direction to the positioning device, where the first change amount of the moving direction is a difference between the first moving direction and the second moving direction , the first variation of the moving direction is used by the positioning device to locate the target device;
  • a processing unit 620 configured to determine a first moving direction at a first moment
  • the processing unit 620 is further configured to determine a second moving direction at a second moment, where the second moment is different from the first moment.
  • the transceiving unit 610 is further configured to receive first indication information from the positioning device, where the first indication information is used to instruct the target device to periodically send a period of change in the moving direction; and/or,
  • a first threshold value from the positioning device is received, and the first threshold value is used for size comparison with the first change amount of the moving direction.
  • the apparatus 600 may implement steps or processes corresponding to the execution of the target device in the method embodiment according to the embodiment of the present application, and the apparatus 600 may include a unit for executing the method executed by the target device in the method embodiment. Moreover, each unit in the apparatus 600 and the above-mentioned other operations and/or functions are respectively for realizing the corresponding process of the method embodiment in the target device in the method embodiment.
  • the transceiver unit 610 can be used to execute the transceiver steps in the method, such as steps S312, S331, S332, S330 and S333; the processing unit 620 can be used to execute the processing in the method Steps, such as steps S310 and S320.
  • the transceiver unit 610 can be used to execute the transceiver steps in the method, such as step S522.
  • the apparatus 600 is configured to perform the actions performed by the positioning device in the above method embodiments.
  • the transceiver unit 610 is configured to receive a first change amount of the moving direction from the target device, where the first change amount of the moving direction is a difference between the first moving direction and the second moving direction,
  • the first moving direction is the moving direction of the target device determined by the target device at the first moment
  • the second moving direction is the moving direction of the target device determined by the target device at the second moment, and the second moment Unlike that first moment.
  • the processing unit 620 is configured to locate the target device according to the first change amount of the moving direction.
  • the transceiver unit 610 is further configured to receive first information from the auxiliary device, where the first information includes location information of the target device and/or movement information of the target device,
  • the movement information of the target device includes at least one of the second variation of the moving direction of the target device, acceleration, moving direction, and speed;
  • the processing unit 620 is further configured to locate the target device according to the first change amount of the moving direction and the first information.
  • the transceiver unit 610 is further configured to send second indication information to the auxiliary device, where the second indication information is used to indicate a period for the auxiliary device to periodically send information; and/or,
  • a second threshold value is sent to the auxiliary device, and the second threshold value is used for magnitude comparison with a second change amount of the moving direction.
  • the transceiving unit 610 is further configured to send first indication information to the target device, where the first indication information is used to instruct the target device to periodically send a period of change in the moving direction; and/or,
  • the transceiving unit 610 is further configured to receive second confidence level information from the auxiliary device, where the second confidence level information is used to indicate the credibility of the first information.
  • the transceiving unit 610 is further configured to receive first confidence level information from the target device, where the first confidence level information is used to indicate the credibility of the first change amount of the moving direction.
  • the apparatus 600 may implement the steps or procedures corresponding to the execution of the positioning device in the method embodiment according to the embodiment of the present application, and the apparatus 600 may include a unit for executing the method executed by the positioning device in the method embodiment. Moreover, each unit in the apparatus 600 and other operations and/or functions mentioned above are respectively for realizing the corresponding process of the method embodiment in the positioning device in the method embodiment.
  • the transceiver unit 610 can be used to execute the transceiver steps in the method, such as steps S311, S312, S331, S332, S330 and S333; the processing unit 620 can be used to execute the method in The processing steps, such as step S340.
  • the transceiver unit 610 can be used to execute the transceiver steps in the method, such as steps S521, S522, S512, S513, S514, S511, S520 and S515; the processing unit 620 can be used to execute Processing steps in the method, such as step S530.
  • the apparatus 600 is configured to perform the actions performed by the auxiliary device in the above method embodiments.
  • the processing unit 620 is configured to acquire first information, where the first information includes location information of the target device and/or movement information of the target device,
  • the movement information of the target device includes at least one of a second change in the direction of movement of the target device, acceleration, direction of movement, and speed;
  • the transceiving unit 610 is configured to send the first information to the positioning device, where the first information is used by the positioning device to locate the target device.
  • the transceiver unit 610 is further configured to receive second indication information from the positioning device, where the second indication information is used to indicate a period for the auxiliary device to periodically send information; and/or,
  • a second threshold value from the positioning device is received, and the second threshold value is used for size comparison with a second variation amount of the moving direction.
  • the transceiving unit 610 is further configured to send second confidence level information to the positioning device, where the second confidence level information is used to indicate the degree of credibility of the first information.
  • the apparatus 600 may implement the steps or procedures corresponding to the auxiliary device in the method embodiment according to the embodiment of the present application, and the apparatus 600 may include a unit for executing the method in the method embodiment executed by the auxiliary device. Moreover, each unit in the apparatus 600 and the above-mentioned other operations and/or functions are respectively for realizing the corresponding procedures of the method embodiment in the auxiliary equipment in the method embodiment.
  • the transceiver unit 610 can be used to execute the transceiver steps in the method, such as steps S512, S513, S511, S520 and S514; the processing unit 620 can be used to execute the processing in the method Step, such as step S510.
  • the processing unit 620 in the above embodiments may be implemented by at least one processor or processor-related circuits.
  • the transceiver unit 610 may be implemented by a transceiver or transceiver-related circuits.
  • the storage unit can be realized by at least one memory.
  • the embodiment of the present application further provides an apparatus 700 .
  • the device 700 includes a processor 710, the processor 710 is coupled with a memory 720, the memory 720 is used to store computer programs or instructions and/or data, and the processor 710 is used to execute the computer programs or instructions and/or data stored in the memory 720, so that The methods in the above method embodiments are performed.
  • the apparatus 700 includes one or more processors 710 .
  • the apparatus 700 may further include a memory 720 .
  • the apparatus 700 may include one or more memories 720 .
  • the memory 720 may be integrated with the processor 710, or set separately.
  • the apparatus 700 may further include a transceiver 730, and the transceiver 730 is used for receiving and/or sending signals.
  • the processor 710 is configured to control the transceiver 730 to receive and/or send signals.
  • the apparatus 700 is configured to implement operations performed by devices (eg, auxiliary devices, positioning devices, and target devices) in the above method embodiments.
  • devices eg, auxiliary devices, positioning devices, and target devices
  • the embodiment of the present application also provides an apparatus 800, and the apparatus 800 may be a device or a chip.
  • the apparatus 800 may be used to perform operations performed by devices (eg, auxiliary devices, positioning devices, and target devices) in the foregoing method embodiments.
  • Apparatus 800 includes part 810 and part 820 .
  • Part 810 is mainly used for transmitting and receiving radio frequency signals and conversion between radio frequency signals and baseband signals; part 820 is mainly used for baseband processing and controlling base stations.
  • the part 810 may generally be called a transceiver unit, a transceiver, a transceiver circuit, or a transceiver.
  • the part 820 is generally the control center of the base station, which can generally be referred to as a processing unit, and is used to control the base station to perform processing operations on the receiving end device side in the foregoing method embodiments.
  • the transceiver unit of part 810 may also be referred to as a transceiver or a transceiver, etc., and includes an antenna and a radio frequency circuit, wherein the radio frequency circuit is mainly used for radio frequency processing.
  • the device used to implement the receiving function in part 810 can be regarded as a receiving unit, and the device used to realize the sending function can be regarded as a sending unit, that is, part 810 includes a receiving unit and a sending unit.
  • the receiving unit may also be called a receiver, receiver, or receiving circuit, etc.
  • the sending unit may be called a transmitter, transmitter, or transmitting circuit, etc.
  • Section 820 may include one or more single boards, each of which may include one or more processors and one or more memories.
  • the processor is used to read and execute programs in the memory to realize baseband processing functions and control the base station. If there are multiple single boards, each single board can be interconnected to enhance the processing capability. As an optional implementation, it is also possible that multiple single boards share one or more processors, or that multiple single boards share one or more memories, or that multiple single boards share one or more processors at the same time. device.
  • FIG. 8 is only an example rather than a limitation, and the above-mentioned device including a transceiver unit and a processing unit may not depend on the structure shown in FIG. 8 .
  • the chip When the device 800 is a chip, the chip includes a transceiver unit and a processing unit.
  • the transceiver unit may be an input-output circuit or a communication interface;
  • the processing unit is a processor or a microprocessor or an integrated circuit integrated on the chip.
  • the apparatus 800 may also be a system-on-a-chip or a processing system, so that a device installed with the apparatus 800 can implement the methods and functions of the embodiments of the present application.
  • the processing unit 820 can be a processing circuit in a chip system or a processing system, which realizes the control of the device installed with the chip system or processing system, and can also be coupled to the link storage unit, calling the instructions in the storage unit, so that the device can realize
  • the transceiver unit 810 can be an input and output circuit in a chip system or a processing system, outputting information processed by the chip system, or inputting data or signaling information to be processed into the chip system for processing .
  • the embodiment of the present application also provides a computer-readable storage medium, on which computer instructions for implementing the method executed by the device (eg, target device, positioning device or auxiliary device) in the above method embodiments are stored.
  • the device eg, target device, positioning device or auxiliary device
  • the computer program when executed by a computer, the computer can implement the methods performed by the device (eg, target device, positioning device or auxiliary device) in the above method embodiments.
  • the device eg, target device, positioning device or auxiliary device
  • Embodiments of the present application also provide a computer program product including instructions, which, when executed by a computer, enable the computer to implement the method performed by the device (eg, target device, positioning device, or auxiliary device) in the above method embodiments.
  • the device eg, target device, positioning device, or auxiliary device
  • An embodiment of the present application further provides a positioning system, where the positioning system includes the device (for example, a target device, a positioning device, or an auxiliary device) in the foregoing embodiments.
  • the positioning system includes the device (for example, a target device, a positioning device, or an auxiliary device) in the foregoing embodiments.
  • processors mentioned in the embodiment of the present application may be a central processing unit (central processing unit, CPU), and may also be other general processors, digital signal processors (digital signal processor, DSP), application specific integrated circuits ( application specific integrated circuit (ASIC), off-the-shelf programmable gate array (field programmable gate array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • the memory mentioned in the embodiments of the present application may be a volatile memory and/or a nonvolatile memory.
  • the non-volatile memory can be read-only memory (read-only memory, ROM), programmable read-only memory (programmable ROM, PROM), erasable programmable read-only memory (erasable PROM, EPROM), electrically programmable Erases programmable read-only memory (electrically EPROM, EEPROM) or flash memory.
  • the volatile memory may be random access memory (RAM).
  • RAM random access memory
  • RAM can be used as an external cache.
  • RAM may include the following forms: static random access memory (static RAM, SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous dynamic random access memory (synchronous DRAM, SDRAM) , double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous connection dynamic random access memory (synchlink DRAM, SLDRAM) and Direct memory bus random access memory (direct rambus RAM, DR RAM).
  • static random access memory static random access memory
  • dynamic RAM dynamic random access memory
  • DRAM synchronous dynamic random access memory
  • SDRAM synchronous DRAM
  • double data rate SDRAM double data rate SDRAM
  • DDR SDRAM double data rate SDRAM
  • ESDRAM enhanced synchronous dynamic random access memory
  • SLDRAM synchronous connection dynamic random access memory
  • Direct memory bus random access memory direct rambus RAM, DR RAM
  • the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components
  • the memory storage module may be integrated in the processor.
  • memories described herein are intended to include, but are not limited to, these and any other suitable types of memories.
  • the disclosed devices and methods may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to implement the solutions provided in this application.
  • each functional unit in each embodiment of the present application may be integrated into one unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices.
  • the computer may be a personal computer, a server, or a network device.
  • the computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website, computer, server or data center Transmission to another website site, computer, server, or data center by wired (eg, coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (eg, infrared, wireless, microwave, etc.).
  • the computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center integrated with one or more available media.
  • the available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, DVD), or a semiconductor medium (for example, a solid state disk (solid state disk, SSD) etc.
  • the aforementioned available medium may include But not limited to: U disk, mobile hard disk, read-only memory (read-only memory, ROM), random access memory (random access memory, RAM), magnetic disk or optical disk and other media that can store program codes.

Abstract

本申请提供了一种定位的方法和装置，该定位的方法包括：目标设备在两个不同的时刻分别确定目标设备的两个移动方向，并向定位设备上报该两个移动方向之间的差值，使得定位设备能够基于该两个移动方向之间的差值对目标设备进行定位。本申请实施例提供的定位方法，由于目标设备上报的是移动方向之间的差值，所以当定位设备和目标设备采用不同的坐标系时，仍然能够使用该移动方向之间的差值进行定位，获得更准确的结果。

Description

定位的方法和装置
本申请要求于2021年07月02日提交中国专利局、申请号为202110752369.8、申请名称为“一种确定用户设备UE的位置的方法”和2021年07月23日提交中国专利局、申请号为202110837645.0、申请名称为“定位的方法和装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及通信技术领域，更具体地，涉及一种定位的方法和装置。
背景技术
终端设备定位的一种场景是同一终端设备连续运动的轨迹跟踪，此时，及时了解终端设备的移动信息有助于提升终端设备的定位精度。通常来说，智能终端设备中会有内部传感器可以用于估计终端的移动信息，这些传感器包括但不限定：加速度计(accelerometers)、陀螺仪(gyros)、磁力计(magnetometers)等。
为此，第三代合作伙伴计划(3rd generation partnership project，3GPP)中介绍了一种定位方法：终端设备向位置管理服务(location management function，LMF)模块传递传感器估计的移动信息(包括方向、时间间隔内的移动距离等)。这些移动信息与其它定位技术结合，构成混合定位方案，可以获得比仅使用其它定位技术更准确的定位结果。但是该定位方法实际运用中在LMF模块和待定位的终端设备采用不同的坐标系时，上述的移动信息并不能直接使用以获得更准确的定位结果。
因此，当LMF模块和待定位的终端设备采用不同的坐标系时，如何获取更准确的定位结果成为亟待解决的问题。
发明内容
本申请提供一种定位的方法，以期获取更准确的定位结果。
第一方面，提供了一种定位的方法，该方法可以由目标设备执行，或者，也可以由目标设备中的芯片、芯片系统或电路执行，本申请对此不作限定。为了便于描述，下面以由目标设备执行为例进行说明。
该方法包括：
目标设备在第一时刻确定第一移动方向；该目标设备在第二时刻确定第二移动方向，该第二时刻与该第一时刻不同；该目标设备向定位设备发送移动方向的第一变化量，该移动方向的第一变化量为该第一移动方向和该第二移动方向之间的差值，该移动方向的第一变化量用于该定位设备对该目标设备进行定位。
基于上述技术方案，目标设备向定位设备发送的用于定位的移动信息为移动方向的变化量，也就是说即使定位设备和目标设备采用不同的坐标系时，目标设备上报的移动信息也能够用于获取更准确的定位结果。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：该目标设备接收来自该定位设备的第一指示信息，该第一指示信息用于指示该目标设备周期性发送移动方向的变化量的周期；和/或，该目标设备接收来自该定位设备的第一阈值，该第一阈值用于与该移动方向的第一变化量进行大小比较。
结合第一方面，在第一方面的某些实现方式中，该目标设备向该定位设备发送该移动方向的第一变化量包括：该目标设备根据该第一指示信息按照该定位设备配置的周期向该定位设备发送该移动方向的第一变化量；或者，在该目标设备向该定位设备发送该移动方向的第一变化量之前，该方法还包括：该目标设备确定该移动方向的第一变化量大于或者等于该第一阈值。
基于上述技术方案，目标设备上报移动方向的第一变化量的方式可以是周期性地或者还可以是移动方向的第一变化量满足某个条件时上报，提供了移动方向的第一变化量的不同的上报方式，增加了方案的灵活性。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：该目标设备向该定位设备发送第一置信度信息，该第一置信度信息用于指示该移动方向的第一变化量的可信程度。
基于上述技术方案，可以通过向定位设备发送用于指示该移动方向的第一变化量的可信程度的第一置信度信息，使得定位设备能够结合置信度混合各种信息及各种定位技术进行定位。一种简单混合方案是加权平均，置信度高的信息权重高、置信度低的信息权重低，从而获得更准确的定位，进而增加整体方案的准确性。
第二方面，提供了一种定位的方法，该方法可以由定位设备执行，或者，也可以由定位设备中的芯片、芯片系统或电路执行，本申请对此不作限定。为了便于描述，下面以由定位设备执行为例进行说明。
该方法包括：
定位设备接收来自目标设备的移动方向的第一变化量，该移动方向的第一变化量为第一移动方向和第二移动方向之间的差值，其中，该第一移动方向为该目标设备在第一时刻确定的该目标设备的移动方向，该第二移动方向为该目标设备在第二时刻确定的该目标设备的移动方向，该第二时刻与该第一时刻不同；该定位设备根据该移动方向的第一变化量对该目标设备进行定位
基于上述技术方案，目标设备向定位设备发送的用于定位的移动信息为移动方向的变化量，也就是说即使定位设备和目标设备采用不同的坐标系时，目标设备上报的移动信息也能够用于获取更准确的定位结果。
结合第二方面，在第二方面的某些实现方式中，该方法还包括：该定位设备接收来自辅助设备的第一信息，该第一信息包括该目标设备的位置信息和/或该目标设备的移动信息，其中，该目标设备的移动信息包括该目标设备的移动方向的第二变化量、加速度、移动方向、速度中的至少一项；该定位设备根据该移动方向的第一变化量和该第一信息对该目标设备进行定位。
基于上述技术方案，定位设备对目标设备进行定位时还可以参考辅助设备上报的目标设备的位置信息和/或该目标设备的移动信息，能够进一步增加定位的准确性。
结合第二方面，在第二方面的某些实现方式中，该方法还包括：该定位设备向该辅助 设备发送第二指示信息，该第二指示信息用于指示该辅助设备周期性发送信息的周期；和/或，该定位设备向该辅助设备发送第二阈值，该第二阈值用于与该移动方向的第二变化量进行大小比较。
结合第二方面，在第二方面的某些实现方式中，该方法还包括：该定位设备接收来自该辅助设备的第二置信度信息，该第二置信度信息用于指示该第一信息的可信程度。
结合第二方面，在第二方面的某些实现方式中，该辅助设备包括以下至少一种设备：接入网设备、终端设备、短距通信设备、或智能摄像头设备。
基于上述技术方案，辅助设备可以有多种可能，增加方案的灵活性。
结合第二方面，在第二方面的某些实现方式中，该方法还包括：该定位设备向该目标设备发送第一指示信息，该第一指示信息用于指示该目标设备周期性发送移动方向的变化量的周期；和/或，该定位设备向该目标设备发送第一阈值，该第一阈值用于与该移动方向的第一变化量进行大小比较。
结合第二方面，在第二方面的某些实现方式中，该方法还包括：该定位设备接收来自该目标设备的第一置信度信息，该第一置信度信息用于指示该移动方向的第一变化量的可信程度。
第三方面，提供了一种定位的方法，该方法可以由定位设备执行，或者，也可以由定位设备中的芯片、芯片系统或电路执行，本申请对此不作限定。为了便于描述，下面以由定位设备执行为例进行说明。
该方法包括：
定位设备接收来自辅助设备的第一信息，该第一信息包括目标设备的位置信息和/或该目标设备的移动信息，其中，该目标设备的移动信息包括该目标设备的移动方向的第二变化量、加速度、移动方向、速度中的至少一项；该定位设备根据该第一信息对该目标设备进行定位。
基于上述技术方案，定位设备可以基于辅助设备上报的信息对目标设备进行定位，也就是说即使目标设备没有上报自身移动信息的能力，定位设备也能够基于辅助设备上报的信息获取目标设备的定位结果。
结合第三方面，在第三方面的某些实现方式中，该方法还包括：该方法还包括：
该定位设备接收来自目标设备的移动方向的第一变化量，该移动方向的第一变化量为第一移动方向和第二移动方向之间的差值，其中，该第一移动方向为该目标设备在第一时刻确定的该目标设备的移动方向，该第二移动方向为该目标设备在第二时刻确定的该目标设备的移动方向，该第二时刻与该第一时刻不同；该定位设备根据该移动方向的第一变化量和该第一信息对该目标设备进行定位。
基于上述技术方案，定位设备对目标设备进行定位时还可以参考目标设备上报的移动信息，能够进一步增加定位的准确性。
结合第三方面，在第三方面的某些实现方式中，该方法还包括：该定位设备向该辅助设备发送第二指示信息，该第二指示信息用于指示该辅助设备周期性发送信息的周期；和/或，该定位设备向该辅助设备发送第二阈值，该第二阈值用于与该移动方向的第二变化量进行大小比较。
结合第三方面，在第三方面的某些实现方式中，该方法还包括：该定位设备接收来自 该辅助设备的第二置信度信息，该第二置信度信息用于指示该第一信息的可信程度。
结合第三方面，在第三方面的某些实现方式中，该辅助设备包括以下至少一种设备：接入网设备、终端设备、短距通信设备、或智能摄像头设备。
基于上述技术方案，辅助设备可以有多种可能，增加方案的灵活性。
结合第三方面，在第三方面的某些实现方式中，该方法还包括：该定位设备向该目标设备发送第一指示信息，该第一指示信息用于指示该目标设备周期性发送移动方向的变化量的周期；和/或，该定位设备向该目标设备发送第一阈值，该第一阈值用于与该移动方向的第一变化量进行大小比较。
结合第三方面，在第三方面的某些实现方式中，该方法还包括：该定位设备接收来自该目标设备的第一置信度信息，该第一置信度信息用于指示该移动方向的第一变化量的可信程度。
第四方面，提供了一种定位的方法，该方法可以由辅助设备执行，或者，也可以由辅助设备中的芯片、芯片系统或电路执行，本申请对此不作限定。为了便于描述，下面以由辅助设备执行为例进行说明。
该方法包括：
辅助设备获取第一信息，该第一信息包括目标设备的位置信息和/或该目标设备的移动信息，该目标设备的移动信息包括该目标设备的移动方向的第二变化量、加速度、移动方向、速度中的至少一项；该辅助设备向定位设备发送该第一信息，该第一信息用于该定位设备对该目标设备进行定位。
基于上述技术方案，定位设备可以基于辅助设备上报的信息对目标设备进行定位，也就是说即使目标设备没有上报自身移动信息的能力，定位设备也能够基于辅助设备上报的信息获取目标设备的定位结果。
结合第四方面，在第四方面的某些实现方式中，该方法还包括：该辅助设备接收来自该定位设备的第二指示信息，该第二指示信息用于指示该辅助设备周期性发送信息的周期；和/或，该辅助设备接收来自该定位设备的第二阈值，该第二阈值用于与该移动方向的第二变化量进行大小比较。
结合第四方面，在第四方面的某些实现方式中，该辅助设备向该定位设备发送第一信息包括：该辅助设备根据该第二指示信息按照该定位设备配置的周期向该定位设备发送第一信息；或者，在该辅助设备向该定位设备发送第一信息之前，该方法还包括：该目标设备确定该移动信息的第二变化量大于或者等于该第二阈值。
基于上述技术方案，辅助设备上报移动方向的第一信息的方式可以是周期性地或者还可以是移动方向的第二变化量满足某个条件时上报，提供了第一信息的不同的上报方式，增加了方案的灵活性。
结合第四方面，在第四方面的某些实现方式中，该辅助设备包括以下至少一种设备：接入网设备、终端设备、短距通信设备、或智能摄像头设备。
基于上述技术方案，辅助设备可以有多种可能，增加方案的灵活性。
结合第四方面，在第四方面的某些实现方式中，该方法还包括：该辅助设备向该定位设备发送第一置信度信息，该第一置信度信息用于指示该第一信息的可信程度。
基于上述技术方案，可以通过向定位设备发送用于指示该第一信息的可信程度的第二 置信度信息，使得定位设备能够结合置信度混合各种信息及各种定位技术进行定位。一种简单混合方案是加权平均，置信度高的信息权重高、置信度低的信息权重低，从而获得更准确的定位，进而增加整体方案的准确性。
第五方面，提供了一种目标设备，包括用于执行上述第一方面的任一项可能的实现方式中所述的方法的模块。
第六方面，提供了一种定位设备，包括用于执行上述第二方面和第三方面的任一项可能的实现方式中所述的方法的模块。
第七方面，提供了一种辅助设备，包括用于执行上述第四方面的任一项可能的实现方式中所述的方法的模块。
第八面，提供一种目标设备，该目标设备包括处理器，用于实现上述第一方面描述的方法中目标设备的功能。
在一种可能的实现方式中，该用于目标设备还可以包括存储器，该存储器用于存储程序指令和数据。该存储器与该处理器耦合，该处理器用于实现上述第一方面描述的方法中目标设备的功能。
在一种可能的实现方式中，该目标设备还可以包括通信接口，该通信接口用于该目标设备与其它设备进行通信。该通信接口可以为收发器、输入/输出接口、或电路等。
第九面，提供一种定位设备，该定位设备包括处理器，用于实现上述第二方面和第三方面描述的方法中定位设备的功能。
在一种可能的实现方式中，该用于目标设备还可以包括存储器，该存储器用于存储程序指令和数据。该存储器与该处理器耦合，该处理器用于实现上述第二方面和第三方面描述的方法中定位设备的功能。
在一种可能的实现方式中，该定位设备还可以包括通信接口，该通信接口用于该定位设备与其它设备进行通信。该通信接口可以为收发器、输入/输出接口、或电路等。
第十面，提供一种辅助设备，该辅助设备包括处理器，用于实现上述第四方面描述的方法中辅助设备的功能。
在一种可能的实现方式中，该用于辅助设备还可以包括存储器，该存储器用于存储程序指令和数据。该存储器与该处理器耦合，该处理器用于实现上述第四方面描述的方法中辅助设备的功能。
在一种可能的实现方式中，该用于辅助设备还可以包括通信接口，该通信接口用于该定位设备与其它设备进行通信。该通信接口可以为收发器、输入/输出接口、或电路等。
第十一方面，本申请提供一种计算机可读存储介质，该计算机可读存储介质中存储有指令，当其在计算机上运行时，使得计算机执行上述各方面该的方法。
第十二方面，本申请提供一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行上述各方面该的方法。
第十三方面，提供了一种定位的系统，包括第五方面所示的目标设备和第六方面所示的定位设备。
结合第十三方面，在第十三方面的某些实现方式中，该定位系统还包括第七方面所示的辅助设备。
附图说明
图1中的(a)和(b)是本申请实施例适用的定位架构。
图2中的(a)是一种定位架构的示意图；图2中的(b)是一种定位的方法的示意性流程图。
图3是本申请实施例提供的一种定位的方法的示意性流程图。
图4是移动方向的第一变化量的示意图。
图5是本申请实施例提供的另一种定位的方法。
图6是本申请实施例提供的装置的示意性框图。
图7是本申请实施例提供的装置的另一示意性框图。
图8是本申请实施例提供的一种装置的结构示意图。
具体实施方式
下面将结合附图，对本申请中的技术方案进行描述。
本申请实施例的技术方案可以应用于各种通信系统，例如：第五代(5th generation，5G)系统或新无线(new radio，NR)、长期演进(long term evolution，LTE)系统、LTE频分双工(frequency division duplex，FDD)系统、LTE时分双工(time division duplex，TDD)、未来的第六代(6th generation，6G)系统等。本申请实施例的技术方案还可以应用于设备到设备(device to device，D2D)通信，车辆外联(vehicle-to-everything，V2X)通信，机器到机器(machine to machine，M2M)通信，机器类型通信(machine type communication，MTC)，以及物联网(internet of things，IoT)通信系统或者其他通信系统。
为便于理解本申请实施例，首先结合图1简单介绍本申请实施例适用的定位架构。
图1中的(a)所示的架构为3GPP提出的一种基于Uu接口的定位架构。如图1中的(a)所示，该定位架构可以包括但不限于以下设备(或者称为功能网元、功能实体、节点等)：
定位设备、目标设备和第三设备。
下面对图1中的(a)示出的各设备进行简单介绍：
1、定位设备(还可以称为定位服务器(location server))：可以用于实现目标设备的位置估计。定位设备可以部署于核心网内部，即定位设备也属于一种核心网网元。示例性地，定位设备可以通过移动性管理功能(access and mobility management function，AMF)网元(图中未示出)与第三设备进行通信。
定位设备还可以与目标设备通信。例如，定位设备可以通过LTE定位协议(LTE positioning protocol，LPP)与目标设备进行通信。
在一些实施例中，定位设备的部分功能，例如定位管理组件(location management component，LMC)，可以集成在第三设备中。集成在第三设备内的LMC向第三设备发送信息也可以认为是定位设备向第三设备发送信息。
示例性地，图1中的(a)示出的定位设备可以是定位管理功能(location management function，LMF)网元。
2、目标设备：需要被定位的设备，包括但不限于终端设备(terminal equipment)。 具体地，终端设备可以包括各种具有无线通信功能的手持设备、车载设备、可穿戴设备、计算设备或连接到无线调制解调器的其它处理设备，以及各种形式的终端、移动台(mobile station，MS)、终端(terminal)或软终端等等。例如，水表、电表、传感器等。
此外，在本申请实施例中，终端设备还可以是物联网(internet of Things，IoT)系统中的用户设备，IoT是未来信息技术发展的重要组成部分，其主要技术特点是将物品通过通信技术与网络连接，从而实现人机互连，物物互连的智能化网络。
3、第三设备：用于向定位设备提供目标设备的第一定位信息，以便于定位设备实现目标设备的定位或者定位增强。第三设备包括但不限于无线接入网设备(radio access network，RAN)。具体地，无线接入网设备用于为特定区域的授权终端设备提供入网功能，并能够根据终端设备的级别，业务的需求等使用不同服务质量的传输隧道。
RAN能够管理无线资源，为终端设备提供接入服务，进而完成控制信号和终端设备数据在终端设备和核心网之间的转发，RAN也可以理解为传统网络中的基站。
示例性地，本申请实施例中的接入网设备可以是用于与终端设备通信的任意一种具有无线收发功能的通信设备。该接入网设备包括但不限于：演进型节点B(evolved Node B，eNB)、无线网络控制器(radio network controller，RNC)、节点B(Node B，NB)、基站控制器(base station controller，BSC)、基站收发台(base transceiver station，BTS)、家庭基站(home evolved Node B，HeNB，或home Node B，HNB)、基带单元(baseBand unit，BBU)，无线保真(wireless fidelity，WIFI)系统中的接入点(access point，AP)、无线中继节点、无线回传节点、传输点(transmission point，TP)或者发送接收点(transmission and reception point，TRP)等，还可以为5G，如，NR，系统中的gNB，或，传输点(TRP或TP)，5G系统中的基站的一个或一组(包括多个天线面板)天线面板，或者，还可以为构成gNB或传输点的网络节点，如基带单元(BBU)，或，分布式单元(distributed unit，DU)等。
第三设备可以与定位设备通信。例如，第三设备可以通过NR定位协议A(NR positioning protocol A，NRPPa)与定位设备进行通信。
图1中的(a)所示的架构中的第三设备可能有多个。
图1中的(b)所示的定位架构为3GPP提出的一种基于PC5接口的定位架构。如图1中的(b)所示，该定位架构可以包括但不限于以下设备(或者称为功能网元、功能实体、节点等)：
定位设备和目标设备。
下面对图1中的(b)示出的各设备进行简单介绍：
1、定位设备：可以用于实现目标设备的位置估计。包括但不限于终端设备，具体地终端设备的形式可以参考上述描述，这里不再赘述。
2、目标设备：需要被定位的设备，包括但不限于终端设备，具体地终端设备的形式可以参考上述描述，这里不再赘述。
可选地，图1中的(a)和图1中的(b)示出定位架构还可以包括辅助设备，该辅助设备用于感知目标设备的位置信息和移动信息，目标设备的移动信息包括但不限于：移动方向、移动方向的变化量、速度、加速度中的至少一项。辅助设备可以将目标设备的位置信息和移动信息传递给定位设备，用于定位设备对目标设备的高精度定位。辅助设备包括 但不限于：接入网设备、终端设备、短距通信设备、或智能摄像头设备。示例性地，图1中的(a)所示的定位架构中的第三设备可以充当辅助设备的角色。
图1中的(a)和图1中的(b)所示的架构中的辅助设备可能有多个。
目前针对图2中的(a)所示的定位架构，提供一种定位的方法能够获取更准确的定位结果，下面结合图2中的(b)简单介绍该定位方法，图2中的(b)是一种定位的方法的示意性流程图。包括以下步骤：
S210，定位设备从第三设备获取第一定位信息。
基于蜂窝网络的终端设备定位是5G及其未来演进重点关注的技术方向之一，3GPP已对到达时间差(observed time difference of arrival，OTDOA)定位法、增强小区ID(enhanced Cell-ID，e-CID)定位法、网络协助全球定位卫星系统(network-assisted global navigation satellite system，Network-assisted GNSS)定位法等多种定位方法进行了研究，并制定了相应的、用于终端设备定位的系统框架和交互协议。
示例性地，上述的各种定位方法所需的目标设备的定位信息包括从第三设备获取的第一定位信息，和/或从目标设备获取的第二定位信息。当需要从目标设备获取第二定位信息的情况下需要执行下述的步骤S220。
进一步地，目标设备(例如，智能终端)中会有内部传感器可以用于估计目标设备的移动信息，这些传感器包括：加速度计(accelerometers)、陀螺仪(gyros)、磁力计(magnetometers)。为此，3GPP同样定义了目标设备向定位设备传递根据这些传感器获得的信息估计得到目标设备的移动信息，目标设备的移动信息包括方向、时间间隔内的移动距离等，这些移动信息与其它定位技术(例如，上述的OTDOA定位法、e-CID定位法或Network-assisted GNSS定位法等)结合，构成混合定位方案，可以获得比仅使用其它定位技术进行定位更准确的定位结果。
图2所示的方法流程还包括：
S220，定位设备从目标设备获取第二定位信息和/或移动信息。
具体地，定位设备基于从第三设备处获得的第一定位信息以及从目标设备处获得的第二定位信息和/或移动信息进行定位或者定位增强。
其中，定位设备从第三设备处获得的第一定位信息和定位设备从目标设备处获得的第二定位信息可以相同或者不同，定位设备从目标设备处获得的第二定位信息的方式可以参考目前协议(3GPP 37.355，LPP协议)中的描述，本申请不进行赘述。
需要说明的是，在定位设备从目标设备获取到定位所需的第二定位信息和移动信息的情况下，可以无需从第三设备获取第一定位信息。
图2所示的方法流程还包括：
S230，定位设备进行定位或者定位增强。
作为一种可能的实现方式，定位设备进行定位或者定位增强包括：定位设备根据定位信息，定位信息包括上述的第一定位信息和/或第二定位信息。(例如，为定位设备获取的、其它定位技术需要用到的信息)，获取独立的位置序列位置；之后再通过卡尔曼滤波(Kalman filtering，KF)或深度学习(deep learning，DL)结合移动信息(例如，为定位设备获取的、目标设备估计出的移动信息)对位置序列进一步优化，获得更为准确的定位结果；
作为另一种可能的实现方式，定位设备进行定位或者定位增强包括：定位设备根据定位信息，定位信息包括上述的第一定位信息和/或第二定位信息(例如，为定位设备获取的、其它定位技术需要用到的信息)和移动信息(例如，为定位设备获取的、目标设备估计出的移动信息)直接获取位置。
由上述描述可知，图2中的(b)所示的定位的方法流程存在以下问题：
1、目标设备向定位设备传递根据内部传感器估计的移动信息，包括方向、移动距离等，需要目标设备和定位设备采用相同的坐标系，例如，目标设备和定位设备分别采用的坐标系的北极均为，地理位置的北极；还例如，目标设备和定位设备分别采用的坐标系的北极均为，磁极的北极；又例如，目标设备和定位设备分别维护的坐标系相同。
在目标设备和定位设备采用不同的坐标系的情况下，图2中的(b)能够获得更为准确的定位结果的一种方式是：对齐目标设备和定位设备分别采用的坐标系，使得目标设备和定位设备采用相同的坐标系。
在目标设备和定位设备采用不同的坐标系的情况下，图2中的(b)能够获得更为准确的定位结果的另一种方式是：由定位设备对连续两个时刻目标设备的移动方向相减获得目标设备移动方向的变化量，这个过程在定位启动时会带来额外的时延。
需要说明的是，在目标设备与定位设备采用不同的坐标系的情况下，对于定位精度提升更有价值的信息可能不是方向，而是目标设备方向的变化量；同时，这也意味着，在方向没有发生变化的情况下，并不需要向定位设备反馈。
2、并不是所有的目标设备都具有内部传感器，数据卡或低成本目标设备都很可能没有内部传感器。此时，定位设备无法获取目标设备的移动信息，也就无法使用混合定位技术，无法获得更为准确的定位结果。
3、在目标设备具有内部传感器，并且可以向定位设备传递移动信息的情况下，如何能通过其它独立感知技术获取目标设备的移动信息，进一步提升定位精度。
为了解决上述的定位的方法中存在的问题，本申请提供一种定位的方法，通过重新定义目标设备反馈的信息类型，使得目标设备与定位设备采用不同的坐标系时也能获取更准确的定位结果。
应理解，本申请实施例提供的方法可以应用于已有的定位架构中，例如，图1中的(a)所示的定位架构。但是，本申请实施例中并不限定该方法能够应用的场景，例如，其他包括能够实现相应功能的设备的定位架构中同样适用。
上文结合图1介绍了本申请实施例能够应用的场景，并且结合图2简单介绍了目前的定位的方法存在的问题，下文中将结合附图详细介绍本申请提供的定位的方法。
为便于理解本申请实施例，首先对本申请实施例中涉及的短距通信做简单说明。
通常情况下，通信收发两方利用无线电波传输信息，且能够在短距离范围内传输，皆可叫做短距离无线通信，也可称为短距离通信技术。短距离通信技术具备多种共性，即对等性、成本低以及功耗低等。短距离通信技术实质指一般意义上的无线个人网络技术，主要有以下几种标准：
蓝牙、超宽带(ultra wide band，UWB)、无线保真(wireless fidelity，WIFI)、无线个域网(ZigBee)、红外数据通讯(infrared data association，IrDA)和无线射频识别(radio frequency identification devices，RFID)等。
此外，短距离通信技术有各种不同接人技术，如无线局域网技术等。
短距离通信技术功耗、成本均相对比较低，网络铺设简单，便于操作。目前使用较广泛的短距无线通信技术是蓝牙(Bluetooth)，Wi-Fi和IrDA。同时还有一些具有发展潜力的近距无线技术标准，例如，ZigBee、超宽带(ultra wide band，UWB)、近场通信(near-field communication，NFC)、无线多媒体(WiMedia)、数位加强式无线通讯系统(digital enhanced cordless telecommunications，DECT)和专用无线系统等。
本申请实施例中涉及的短距通信设备包括但不限于WLAN设备、蓝牙设备、UWB设备等。
下文示出的实施例并未对本申请实施例提供的方法的执行主体的具体结构特别限定，只要能够通过运行记录有本申请实施例的提供的方法的代码的程序，以根据本申请实施例提供的方法进行通信即可，例如，本申请实施例提供的方法的执行主体可以是定位设备，或者是定位设备中能够调用程序并执行程序的功能模块。
为了便于理解本申请实施例，做出以下几点说明。
第一，在本申请中，“用于指示”可以理解为“使能”，“使能”可以包括直接使能和间接使能。当描述某一信息用于使能A时，可以包括该信息直接使能A或间接使能A，而并不代表该信息中一定携带有A。
将信息所使能的信息称为待使能信息，则具体实现过程中，对待使能信息进行使能的方式有很多种，例如但不限于，可以直接使能待使能信息，如待使能信息本身或者该待使能信息的索引等。也可以通过使能其他信息来间接使能待使能信息，其中该其他信息与待使能信息之间存在关联关系。还可以仅仅使能待使能信息的一部分，而待使能信息的其他部分则是已知的或者提前约定的。例如，还可以借助预先约定(例如协议规定)的各个信息的排列顺序来实现对特定信息的使能，从而在一定程度上降低使能开销。同时，还可以识别各个信息的通用部分并统一使能，以降低单独使能同样的信息而带来的使能开销。
第二，在本申请中示出的第一、第二以及各种数字编号(例如，“#1”、“#2”等)仅为描述方便，用于区分的对象，并不用来限制本申请实施例的范围。例如，区分不同消息等。而不是用于描述特定的顺序或先后次序。应该理解这样描述的对象在适当情况下可以互换，以便能够描述本申请的实施例以外的方案。
第三，在本申请中，“预设”可包括预先定义，例如，协议定义。其中，“预先定义”可以通过在设备中预先保存相应的代码、表格或其他可用于指示相关信息的方式来实现，本申请对于其具体的实现方式不做限定。
第四，本申请实施例中涉及的“保存”，可以指的是保存在一个或者多个存储器中。所述一个或者多个存储器，可以是单独的设置，也可以是集成在编码器或者译码器，处理器、或通信装置中。所述一个或者多个存储器，也可以是一部分单独设置，一部分集成在译码器、处理器、或通信装置中。存储器的类型可以是任意形式的存储介质，本申请并不对此限定。
以下，不失一般性，以设备之间的交互为例详细说明本申请实施例提供的定位的方法。
图3是本申请实施例提供的一种定位的方法的示意性流程图。包括以下步骤：
S310，目标设备在第一时刻确定第一移动方向。
作为一种可能的实现方式，目标设备可以根据自身配置的内部传感器(如，陀螺仪) 在第一时刻感知目标设备的第一移动方向；
作为另一种可能的实现方式，目标设备可以在第一时刻从内部存储器中读取传感器输入的目标设备的第一移动方向；
作为又一种可能的实现方式，目标设备可以在第一时刻从其他设备处(如，附属于目标设备的设备，或者目标设备附属的设备)获知目标设备的第一移动方向。
例如，智能手机为目标设备，与该手机连接的智能手表为附属于目标设备的设备。
本申请实施例中对于目标设备在第一时刻确定第一移动方向的具体方式不做限定，目标设备能够在第一时刻获取到目标设备的一个移动方向即可。
S320，目标设备在第二时刻确定第二移动方向。
其中，第二时刻与第一时刻不同。
具体地，目标设备在第二时刻确定第二移动方向的方式，与目标设备在第一时刻确定第一移动方向的方式类似，这里不再赘述。
S330，目标设备向定位设备发送移动方向的第一变化量，或者说定位设备接收来自目标设备的移动方向的第一变化量。
该移动方向的第一变化量为上述的第一移动方向和上述的第二移动方向之间的差值，该移动方向的第一变化量用于辅助定位设备对该目标设备进行定位。
为了便于理解，确定移动方向的第一变化量可能的方式下面将结合图4进行说明，这里不详细说明。
可选地，目标设备可以周期性地向定位设备发送移动方向的变化量。
例如，目标设备发送移动信息的周期为ΔT，目标设备在T时刻向定位设备发送移动方向的变化量，在T+ΔT时刻也会向定位设备发送移动方向的变化量，在T+2ΔT时刻也会向定位设备发送移动方向的变化量……。
作为一种可能的实现方式，上述的周期为定位设备配置的。在该方式下，图3所示的方法流程还包括：
S331，定位设备向目标设备发送第一指示信息，或者说目标设备接收来自定位设备的第一指示信息。
第一指示信息用于指示所述目标设备周期性发送移动信息的周期。
作为另一种可能的实现方式，上述的周期为目标设备确定的。
可选地，目标设备可以在满足条件的时候向定位设备发送移动信息。
例如，目标设备确定移动方向的第一变化量是否大于或者等于第一阈值：当移动方向的第一变化量大于或者等于第一阈值时向定位设备发送移动方向的第一变化量；当移动方向的第一变化量小于第一阈值时不向定位设备发送移动方向的第一变化量。
作为一种可能的实现方式，上述的第一阈值为定位设备配置的。在该方式下，图3所示的方法流程还包括：
S332，定位设备向目标设备发送第一阈值，或者说目标设备接收来自定位设备的第一阈值。
第一阈值用于与上述的移动方向的变化量进行大小比较。
作为另一种可能的实现方式，上述的第一阈值为目标设备确定的。
可选地，为了标识上述的移动方向的第一变化量的可信度，目标设备可以向定位设备 发送第一置信度信息，第一置信度信息用于指示上述的移动方向的第一变化量的可信程度，图3所示的方法流程还包括：
S333，目标设备向定位设备发送第一置信度信息，或者说定位设备接收来自目标设备的第一置信度信息。
示例性地，第一置信度信息可以用置信区间和置信水平表征。
可选地，上述的移动方向的第一变化量和第一置信度信息可以携带在一条消息中发送给定位设备。
示例性地，可以将图3所示的定位方法应用于图1中的(a)所示的定位架构中。定位设备在对目标设备进行定位时，除了基于目标设备上报的移动方向的第一变化量之外还需要基于第三设备发送的目标设备的第一定位信息，和/或目标设备发送的目标设备的第二定位信息，图3所示的方法流程还包括：
S311，定位设备接收来自第三设备的第一定位信息。
可以参考上述S210的描述，这里不再赘述。
S312，定位设备接收来自目标设备的第二定位信息。
可以参考上述S220的描述，这里不再赘述。
图3所示的定位方法还可以应用于图1中的(b)所示的定位架构，以及其他包括能够实现相应功能的设备的定位架构中，这里不再赘述。
具体地，定位设备获取到上述的移动方向的第一变化量之后，可以基于该移动方向的第一变化量对目标设备进行定位，图3所示的方法流程还包括：
S340，定位设备进行定位。
当定位设备有接收到来自第三设备的关于目标设备的第一定位信息，和/或接收来自目标设备的关于目标设备的第二定位信息时，定位设备可以基于该移动方向的第一变化量和目标设备的第一定位信息和/或第二定位信息对目标设备进行定位。能够获取更准确的定位结果。
图4是移动方向的第一变化量的示意图。从图4中可以看出，第一时刻在第二时刻之前，第一时刻确定的目标设备的移动方向为第一移动方向，第二时刻确定的目标设备的移动方向为第二移动方向。
作为一种可能的实现方式，第一时刻为确定上报给定位设备的移动方向的第三变化量的时刻，该移动方向的第三变化量也是由两个移动方向的差值确定，该两个移动方向中的减数为第一移动方向，被减数为第一时刻之前目标设备确定的移动方向；第二时刻为确定上报给定位设备的移动方向的第一变化量的时刻。
该方式下，可以理解为移动方向的变化量为目标设备确定本次需要上报的移动方向的变化量时的移动方向，与上一次确定需要上报的移动方向的变化量时的移动方向之间的差值。
例如，目标设备在T时刻确定上报给定位设备的移动方向的第三变化量，目标设备在T时刻的移动方向为第一移动方向；在T+ΔT时刻确定上报给定位设备的移动方向的第一变化量，目标设备在T+ΔT时刻的第二移动方向相比于T时刻的第一移动方向顺时针移动了30度，假设顺时针移动表示为(+)，逆时针移动表示为(-)，且在T至T+ΔT之间目标设备未向定位设备发送移动方向的变化量，则上述的移动方向的第一变化量为+30 度。
作为另一种可能的实现方式，第一时刻为目标设备被配置需要上报移动方向的变化量的时刻；第二时刻为确定上报给定位设备的移动方向的第一变化量的时刻。
该方式下，可以理解为移动方向的变化量为目标设备确定本次需要上报的移动方向的变化量时的移动方向，与目标设备被配置需要上报移动方向的变化量时的移动方向之间的差值。
例如，目标设备在T时刻被配置需要上报移动方向的变化量，且T时刻目标设备的移动方向为第一移动方向，定位设备可以获取该第一移动方向(如，通过方向感知模块感知到该第一移动方向)；在T+ΔT时刻移动方向发生突变，目标设备确定上报移动方向的变化量，第二移动方向相比于第一移动方向逆时针移动了30度，则上述的移动方向的第一变化量为-30度。
应理解，图4只是举例说明移动方向的第一变化量的可能形式，对本申请的保护范围不构成任何限定，第一时刻和第二时刻还可以有其他的定义方式，例如，第二时刻为第一时刻之前的时刻，这里不再赘述。
图3所示的定位方法中，上述的移动方向的第一变化量可以由目标设备的内部设置的传感器获取的信息确定，在目标设备的内部未设置有传感器的情况下，可以引出辅助设备，借助辅助设备提供的辅助信息对目标设备进行定位，下面结合图5详细说明基于辅助设备提供的辅助信息进行定位的方法。
图5是本申请实施例提供的另一种定位的方法。包括以下步骤：
S510，辅助设备获取第一信息。
该第一信息包括目标设备的位置信息和/或所述目标设备的移动信息。
其中，该目标设备的位置信息包括相对位置信息或者绝对位置信息，该相对位置信息包括该目标设备相对于该辅助设备的位置信息，或者该目标设备相对于预设锚点的位置信息。
当相对位置信息为该目标设备相对于该辅助设备的位置信息时，定位设备需要获知辅助设备的位置，例如，定位设备通过信令交互获知辅助设备的位置；
当相对位置信息为该目标设备相对于预设锚点的位置信息时，定位设备需要获知预设锚点的位置，例如，定位设备感知预设锚点的位置，该预设锚点为预先标定的锚点。
上述的目标设备的移动信息包括目标设备的移动方向的第二变化量、加速度、移动方向、速度中的至少一项。
作为一种可能的实现方式，当辅助设备为接入网设备时，辅助设备可以通过以下方式获取第一信息：
方式一：基于雷达感知技术。
例如，辅助设备基于调频连续波(frequency-modulated continuous-wave，FMCW)技术可以获取目标设备的位置信息和移动信息。
应理解，上述的FMCW技术只是举例，对本申请的保护范围不构成任何的限定，本申请实施例中对于辅助设备通过何种雷达感知技术获取目标设备的移动信息不做限定。
辅助设备通过方式一可以感知获取目标设备的移动信息，目标设备的移动信息包括移动方向的第二变化量、加速度、移动方向、速度中的至少一项，目标设备的移动信息可能 是绝对数值也可能是相对数值。
辅助设备通过方式一可以感知获取目标设备的相对位置信息，这种情况下，要求定位设备知道辅助设备的位置。
示例性地，辅助设备使用基于雷达感知技术的情况下，还可以把雷达反射信号信息直接反馈给定位设备，由定位设备进行后续处理，用于目标设备的定位精度提升。
方式二：辅助设备附属摄像头获取图像信息。
辅助设备可通过深度学习技术处理得到目标设备的移动信息，目标设备的移动信息包括目标设备的移动方向的第二变化量、加速度、移动方向、速度中的至少一项，目标设备的移动信息可能是绝对数值也可能是相对数值。
对应于上述的方式二如果使用辅助设备附属摄像头获取图像信息，则辅助设备可能获取目标设备的相对位置信息(如，目标设备相对于某个事先标定的锚点的位置)或绝对位置信息。如果是相对位置信息的情况，则要求定位设备知道锚点的位置。
作为另一种可能的实现方式，当辅助设备为短距通信设备(如，智能摄像头、WLAN设备、蓝牙设备、UWB设备等)时，辅助设备可以通过以下方式获取第一信息：
方式一：当辅助设备为智能摄像头时，可摄制目标设备及其周边环境的图像信息。
智能摄像头通过深度学习技术处理图像信息可以获取目标设备的移动信息，目标设备的移动信息包括目标设备的移动方向的第二变化量、加速度、移动方向、速度中的至少一项，目标设备的移动信息可能是绝对数值也可能是相对数值。
另外，可选地智能摄像头通过深度学习技术处理图像信息可以获取目标设备的位置信息。
方式二：当辅助设备为WLAN设备、蓝牙设备或UWB设备时，可采用辅助设备系统内的定位技术，获取目标设备的位置信息和/或所述目标设备的移动信息。
为了使得定位设备在对目标设备进行定位时参考上述的第一信息，辅助设备需要将上述的第一信息发送给定位设备，图5所示的方法流程还包括：
S520，辅助设备向定位设备发送第一信息，或者说定位设备接收来自辅助设备的第一信息。
应理解，辅助设备向定位设备发送第一信息之前，辅助设备和定位设备之间已建立通信连接，图5所述的方法流程还包括：
S511，辅助设备与定位设备建立连接，并协商确定对目标设备进行定位。
本申请实施例中对于辅助设备如何与定位设备建立连接，并协商确定对目标设备进行定位不做限定，可以参考目前能够与定位设备建立连接的设备的建立连接的方式。
可选地，辅助设备可以周期性地向定位设备发送信息。
作为一种可能的实现方式，上述的周期为定位设备配置的。在该方式下，图5所示的方法流程还包括：
S512，定位设备向辅助设备发送第二指示信息，或者说辅助设备接收来自定位设备的第二指示信息。
第一指示信息用于指示所述辅助设备周期性发送信息的周期。
作为另一种可能的实现方式，上述的周期为辅助设备确定的。
可选地，辅助设备可以在满足条件的时候向定位设备发送第一信息。
例如，辅助设备确定移动方向的第二变化量是否大于或者等于第二阈值：当移动方向的第二变化量大于或者等于第二阈值时向定位设备发送第一信息；当移动方向的第二变化量小于第二阈值时不向定位设备发送第一信息。
作为一种可能的实现方式，上述的第二阈值为定位设备配置的。在该方式下，图5所示的方法流程还包括：
S513，定位设备向辅助设备发送第二阈值，或者说辅助设备接收来自定位设备的第二阈值。
第二阈值用于与上述的移动方向的变化量进行大小比较。
作为另一种可能的实现方式，上述的第二阈值为辅助设备确定的。
可选地，为了标识上述的第一信息的可信度，辅助设备可以向定位设备发送第二置信度信息，第二置信度信息用于指示上述的第一信息的可信程度，图5所示的方法流程还包括：
S514，辅助设备向定位设备发送第二置信度信息，或者说定位设备接收来自辅助设备的第二置信度信息。
示例性地，第二置信度信息可以用置信区间和置信水平表征。
可选地，上述的第一信息和第二置信度信息可以携带在一条消息中发送给定位设备。
示例性地，可以将图5所示的定位方法应用于图1中的(a)所示的定位架构中。
即图5所示的方法流程还包括：
S521，定位设备接收来自第三设备的第一定位信息。
可以参考上述S210的描述，这里不再赘述。
S522，定位设备接收来自目标设备的第二定位信息。
可以参考上述S220的描述，这里不再赘述。
该实施例中，辅助信息为接入网设备，第三设备也为接入网设备的情况下，辅助设备和第三设备可以为同一个接入网设备也可以为不同的接入网设备。需要说明的是，无论辅助设备和第三设备是否为同一个接入网设备，辅助设备获取的第一信息和第三设备获取的第一定位信息不完全相同。
例如，第三设备获取的第一定位信息包括上述的OTDOA定位法、e-CID定位法或Network-assisted GNSS定位法等所需的定位参考信号(positioning reference signal，PRS)信息、时延信息等；而辅助信息获取的是目标设备的位置信息、移动信息等。
图5所示的定位方法还可以应用于图1中的(b)所示的定位架构，以及其他能够实现相应功能的设备的定位架构中，这里不再赘述。
具体地，定位设备获取到上述的第一信息之后，可以基于该第一信息对目标设备进行定位，图5所示的方法历程还包括：
S530，定位设备进行定位。
当定位设备有接收到来自第三设备的关于目标设备的第一定位信息，和/或接收来自目标设备的关于目标设备的第二定位信息时，定位设备可以基于该第一信息和目标设备的第一定位信息和/或第二定位信息对目标设备进行定位。能够获取更准确的定位结果。
可选地，图3所示的方法和图5所示的方法能够结合，即定位设备还可以接收到目标设备的移动方向的第一变化量，定位设备可以基于该移动方向的第一变化量、第一信息和 目标设备的定位信息(定位信息包括第一定位信息和/或第二定位信息)对目标设备进行定位。能够获取更准确的定位结果。
应理解，本申请实施例中的图3和图5所示的具体的例子只是为了帮助本领域技术人员更好地理解本申请实施例，而非限制本申请实施例的范围。
还应理解，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
还应理解，在本申请的各个实施例中，如果没有特殊说明以及逻辑冲突，不同的实施例之间的术语和/或描述具有一致性、且可以相互引用，不同的实施例中的技术特征根据其内在的逻辑关系可以组合形成新的实施例。
例如，图3所示的实施例和图5所示的实施例可以结合得到：
一种实施例，定位设基于图3所示的流程从目标设备获得移动方向的第一变化量的前提下，还可以基于图5所示的流程从辅助设备进一步获得辅助信息，基于辅助信息和移动方向的第一变化量进行定位，以期获得更精准的定位结果。
另一种实施例，定位设基于图5所示的流程从辅助设备获得辅助信息的前提下，还可以基于图3所示的流程从目标设备进一步获得移动方向的第一变化量，基于辅助信息和移动方向的第一变化量进行定位，以期获得更精准的定位结果。
还应理解，在上述一些实施例中，主要以现有的定位架构中的设备为例进行了示例性说明(如，辅助设备、定位设备、目标设备等)，应理解，对于设备的具体形式本申请实施例不作限定。例如，在未来可以实现同样功能的设备都适用于本申请实施例。
可以理解的是，上述各个方法实施例中，由设备(如，辅助设备、定位设备、目标设备)实现的方法和操作，也可以由可用于设备的部件(例如芯片或者电路)实现。
以上，结合图3和图5详细说明了本申请实施例提供的定位的方法。上述定位的方法主要从各个设备之间交互的角度进行了介绍。可以理解的是，各个设备，为了实现上述功能，其包含了执行各个功能相应的硬件结构和/或软件模块。
本领域技术人员应该可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，本申请能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
以下，结合图6至图8详细说明本申请实施例提供的定位的装置。应理解，装置实施例的描述与方法实施例的描述相互对应，因此，未详细描述的内容可以参见上文方法实施例，为了简洁，部分内容不再赘述。
本申请实施例可以根据上述方法示例对发射端设备或者接收端设备进行功能模块的划分，例如，可以对应各个功能划分各个功能模块，也可以将两个或两个以上的功能集成在一个处理模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。需要说明的是，本申请实施例中对模块的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。下面以采用对应各个功能划分各个功能模块为例进行说明。
图6是本申请实施例提供的装置600的示意性框图。该装置600包括收发单元610和 处理单元620。收发单元610可以实现相应的通信功能，处理单元620用于进行数据处理。收发单元610还可以称为通信接口或通信单元。
可选地，该装置600还可以包括存储单元，该存储单元可以用于存储指令和/或数据，处理单元620可以读取存储单元中的指令和/或数据，以使得装置实现前述方法实施例。
该装置600可以用于执行上文方法实施例中设备(如，辅助设备、定位设备、目标设备)所执行的动作，这时，该装置600可以为设备或者可配置于设备的部件，收发单元610用于执行上文方法实施例中设备侧的收发相关的操作，处理单元620用于执行上文方法实施例中设备侧的处理相关的操作。
作为一种设计，该装置600用于执行上文方法实施例中目标设备所执行的动作。
一种可能的实现方式，收发单元610，用于向定位设备发送移动方向的第一变化量，该移动方向的第一变化量为该第一移动方向和该第二移动方向之间的差值，该移动方向的第一变化量用于该定位设备对该目标设备进行定位；
处理单元620，用于在第一时刻确定第一移动方向；
处理单元620，还用于在第二时刻确定第二移动方向，该第二时刻与该第一时刻不同。
可选地，收发单元610，还用于接收来自该定位设备的第一指示信息，该第一指示信息用于指示该目标设备周期性发送移动方向的变化量的周期；和/或，
接收来自该定位设备的第一阈值，该第一阈值用于与该移动方向的第一变化量进行大小比较。
该装置600可实现对应于根据本申请实施例的方法实施例中的目标设备执行的步骤或者流程，该装置600可以包括用于执行方法实施例中的目标设备执行的方法的单元。并且，该装置600中的各单元和上述其他操作和/或功能分别为了实现方法实施例中的目标设备中的方法实施例的相应流程。
其中，当该装置600用于执行图3中的方法时，收发单元610可用于执行方法中的收发步骤，如步骤S312、S331、S332、S330和S333；处理单元620可用于执行方法中的处理步骤，如步骤S310和S320。
当该装置600用于执行图5中的方法时，收发单元610可用于执行方法中的收发步骤，如步骤S522。
应理解，各单元执行上述相应步骤的具体过程在上述方法实施例中已经详细说明，为了简洁，在此不再赘述。
作为另一种设计，该装置600用于执行上文方法实施例中定位设备所执行的动作。
一种可能的实现方式，收发单元610，用于接收来自目标设备的移动方向的第一变化量，该移动方向的第一变化量为第一移动方向和第二移动方向之间的差值，
其中，该第一移动方向为该目标设备在第一时刻确定的该目标设备的移动方向，该第二移动方向为该目标设备在第二时刻确定的该目标设备的移动方向，该第二时刻与该第一时刻不同。
处理单元620，用于根据该移动方向的第一变化量对该目标设备进行定位。
可选地，收发单元610，还用于接收来自辅助设备的第一信息，该第一信息包括该目标设备的位置信息和/或该目标设备的移动信息，
其中，该目标设备的移动信息包括该目标设备的移动方向的第二变化量、加速度、移 动方向、速度中的至少一项；
处理单元620，还用于根据移动方向的第一变化量和该第一信息对该目标设备进行定位。
可选地，收发单元610，还用于向该辅助设备发送第二指示信息，该第二指示信息用于指示该辅助设备周期性发送信息的周期；和/或，
向该辅助设备发送第二阈值，该第二阈值用于与该移动方向的第二变化量进行大小比较。
可选地，收发单元610，还用于向目标设备发送第一指示信息，该第一指示信息用于指示该目标设备周期性发送移动方向的变化量的周期；和/或，
向该目标设备发送第一阈值，该第一阈值用于与该移动方向的第一变化量进行大小比较。
可选地，收发单元610，还用于接收来自该辅助设备的第二置信度信息，该第二置信度信息用于指示该第一信息的可信程度。
可选地，收发单元610，还用于接收来自该目标设备的第一置信度信息，该第一置信度信息用于指示该移动方向的第一变化量的可信程度。
该装置600可实现对应于根据本申请实施例的方法实施例中的定位设备执行的步骤或者流程，该装置600可以包括用于执行方法实施例中的定位设备执行的方法的单元。并且，该装置600中的各单元和上述其他操作和/或功能分别为了实现方法实施例中的定位设备中的方法实施例的相应流程。
其中，当该装置600用于执行图3中的方法时，收发单元610可用于执行方法中的收发步骤，如步骤S311、S312、S331、S332、S330和S333；处理单元620可用于执行方法中的处理步骤，如步骤S340。
当该装置600用于执行图5中的方法时，收发单元610可用于执行方法中的收发步骤，如步骤S521、S522、S512、S513、S514、S511、S520和S515；处理单元620可用于执行方法中的处理步骤，如步骤S530。
应理解，各单元执行上述相应步骤的具体过程在上述方法实施例中已经详细说明，为了简洁，在此不再赘述。
作为另一种设计，该装置600用于执行上文方法实施例中辅助设备所执行的动作。
一种可能的实现方式，处理单元620，用于获取第一信息，该第一信息包括目标设备的位置信息和/或该目标设备的移动信息，
该目标设备的移动信息包括该目标设备的移动方向的第二变化量、加速度、移动方向、速度中的至少一项；
收发单元610，用于向定位设备发送该第一信息，该第一信息用于该定位设备对该目标设备进行定位。
可选地，收发单元610，还用于接收来自该定位设备的第二指示信息，该第二指示信息用于指示该辅助设备周期性发送信息的周期；和/或，
接收来自该定位设备的第二阈值，该第二阈值用于与该移动方向的第二变化量进行大小比较。
可选地，收发单元610，还用于向该定位设备发送第二置信度信息，该第二置信度信 息用于指示该第一信息的可信程度。
该装置600可实现对应于根据本申请实施例的方法实施例中的辅助设备执行的步骤或者流程，该装置600可以包括用于执行方法实施例中的辅助设备执行的方法的单元。并且，该装置600中的各单元和上述其他操作和/或功能分别为了实现方法实施例中的辅助设备中的方法实施例的相应流程。
其中，当该装置600用于执行图5中的方法时，收发单元610可用于执行方法中的收发步骤，如步骤S512、S513、S511、S520和S514；处理单元620可用于执行方法中的处理步骤，如步骤S510。
应理解，各单元执行上述相应步骤的具体过程在上述方法实施例中已经详细说明，为了简洁，在此不再赘述。
上文实施例中的处理单元620可以由至少一个处理器或处理器相关电路实现。收发单元610可以由收发器或收发器相关电路实现。存储单元可以通过至少一个存储器实现。
如图7所示，本申请实施例还提供一种装置700。该装置700包括处理器710，处理器710与存储器720耦合，存储器720用于存储计算机程序或指令和/或数据，处理器710用于执行存储器720存储的计算机程序或指令和/或数据，使得上文方法实施例中的方法被执行。
可选地，该装置700包括的处理器710为一个或多个。
可选地，如图7所示，该装置700还可以包括存储器720。
可选地，该装置700包括的存储器720可以为一个或多个。
可选地，该存储器720可以与该处理器710集成在一起，或者分离设置。
可选地，如图7所示，该装置700还可以包括收发器730，收发器730用于信号的接收和/或发送。例如，处理器710用于控制收发器730进行信号的接收和/或发送。
作为一种方案，该装置700用于实现上文方法实施例中由设备(如，辅助设备、定位设备、目标设备)执行的操作。
本申请实施例还提供一种装置800，该装置800可以是设备也可以是芯片。该装置800可以用于执行上述方法实施例中由设备(如，辅助设备、定位设备、目标设备)所执行的操作。
图8示出了一种简化的结构示意图。装置800包括810部分以及820部分。810部分主要用于射频信号的收发以及射频信号与基带信号的转换；820部分主要用于基带处理，对基站进行控制等。810部分通常可以称为收发单元、收发机、收发电路、或者收发器等。820部分通常是基站的控制中心，通常可以称为处理单元，用于控制基站执行上述方法实施例中接收端设备侧的处理操作。
810部分的收发单元，也可以称为收发机或收发器等，其包括天线和射频电路，其中射频电路主要用于进行射频处理。可选地，可以将810部分中用于实现接收功能的器件视为接收单元，将用于实现发送功能的器件视为发送单元，即810部分包括接收单元和发送单元。接收单元也可以称为接收机、接收器、或接收电路等，发送单元可以称为发射机、发射器或者发射电路等。
820部分可以包括一个或多个单板，每个单板可以包括一个或多个处理器和一个或多个存储器。处理器用于读取和执行存储器中的程序以实现基带处理功能以及对基站的控制。 若存在多个单板，各个单板之间可以互联以增强处理能力。作为一种可选的实施方式，也可以是多个单板共用一个或多个处理器，或者是多个单板共用一个或多个存储器，或者是多个单板同时共用一个或多个处理器。
应理解，图8仅为示例而非限定，上述包括收发单元和处理单元的设备可以不依赖于图8所示的结构。
当该装置800为芯片时，该芯片包括收发单元和处理单元。其中，收发单元可以是输入输出电路、通信接口；处理单元为该芯片上集成的处理器或者微处理器或者集成电路。当然装置800还可以为一个芯片系统或处理系统，使得安装该装置800的设备可以实现本申请实施例的方法和功能。例如，处理单元820可以为芯片系统或处理系统中的处理电路，实现对安装了该芯片系统或处理系统的设备的控制，还可以耦合链接存储单元，调用存储单元中的指令，使得设备可以实现本申请实施例的方法和功能，收发单元810，可以为芯片系统或处理系统中的输入输出电路，将芯片系统处理好的信息输出，或将待处理的数据或信令信息输入芯片系统进行处理。
本申请实施例还提供一种计算机可读存储介质，其上存储有用于实现上述方法实施例中由设备(如，目标设备、定位设备或辅助设备)执行的方法的计算机指令。
例如，该计算机程序被计算机执行时，使得该计算机可以实现上述方法实施例中由设备(如，目标设备、定位设备或辅助设备)执行的方法。
本申请实施例还提供一种包含指令的计算机程序产品，该指令被计算机执行时使得该计算机实现上述方法实施例中由设备(如，目标设备、定位设备或辅助设备)执行的方法。
本申请实施例还提供一种定位的系统，该定位的系统包括上文实施例中的设备(如，目标设备、定位设备或辅助设备)。
上述提供的任一种装置中相关内容的解释及有益效果均可参考上文提供的对应的方法实施例，此处不再赘述。
应理解，本申请实施例中提及的处理器可以是中央处理单元(central processing unit，CPU)，还可以是其他通用处理器、数字信号处理器(digital signal processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现成可编程门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
还应理解，本申请实施例中提及的存储器可以是易失性存储器和/或非易失性存储器。其中，非易失性存储器可以是只读存储器(read-only memory，ROM)、可编程只读存储器(programmable ROM，PROM)、可擦除可编程只读存储器(erasable PROM，EPROM)、电可擦除可编程只读存储器(electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(random access memory，RAM)。例如，RAM可以用作外部高速缓存。作为示例而非限定，RAM可以包括如下多种形式：静态随机存取存储器(static RAM，SRAM)、动态随机存取存储器(dynamic RAM，DRAM)、同步动态随机存取存储器(synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(double data rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(direct rambus RAM，DR RAM)。
需要说明的是，当处理器为通用处理器、DSP、ASIC、FPGA或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件时，存储器(存储模块)可以集成在处理器中。
还需要说明的是，本文描述的存储器旨在包括但不限于这些和任意其它适合类型的存储器。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的保护范围。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。此外，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元实现本申请提供的方案。
另外，在本申请各个实施例中的各功能单元可以集成在一个单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。例如，所述计算机可以是个人计算机，服务器，或者网络设备等。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质(例如固态硬盘(solid state disk，SSD)等。例如，前述的可用介质可以包括但不限于：U盘、移动硬盘、只读存储器(read-only memory，ROM)、随机存取存储器(random access memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (25)

  1. 一种定位的方法，其特征在于，包括：
    目标设备在第一时刻确定第一移动方向；
    所述目标设备在第二时刻确定第二移动方向，所述第二时刻与所述第一时刻不同；
    所述目标设备向定位设备发送移动方向的第一变化量，所述移动方向的第一变化量为所述第一移动方向和所述第二移动方向之间的差值，所述移动方向的第一变化量用于所述定位设备对所述目标设备进行定位。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    所述目标设备接收来自所述定位设备的第一指示信息，所述第一指示信息用于指示所述目标设备周期性发送移动方向的变化量的周期；和/或，
    所述目标设备接收来自所述定位设备的第一阈值，所述第一阈值用于与所述移动方向的第一变化量进行大小比较。
  3. 根据权利要求2所述的方法，其特征在于，所述目标设备向所述定位设备发送所述移动方向的第一变化量包括：
    所述目标设备根据所述第一指示信息按照所述定位设备配置的周期向所述定位设备发送所述移动方向的第一变化量；或者，
    在所述目标设备向所述定位设备发送所述移动方向的第一变化量之前，所述方法还包括：
    所述目标设备确定所述移动方向的第一变化量大于或者等于所述第一阈值。
  4. 根据权利要求1至3中任一项所述的方法，其特征在于，所述方法还包括：
    所述目标设备向所述定位设备发送第一置信度信息，所述第一置信度信息用于指示所述移动方向的第一变化量的可信程度。
  5. 一种定位的方法，其特征在于，包括：
    定位设备接收来自目标设备的移动方向的第一变化量，所述移动方向的第一变化量为第一移动方向和第二移动方向之间的差值，
    其中，所述第一移动方向为所述目标设备在第一时刻确定的所述目标设备的移动方向，所述第二移动方向为所述目标设备在第二时刻确定的所述目标设备的移动方向，所述第二时刻与所述第一时刻不同；
    所述定位设备根据所述移动方向的第一变化量对所述目标设备进行定位。
  6. 根据权利要求5所述的方法，其特征在于，所述方法还包括：
    所述定位设备接收来自辅助设备的第一信息，所述第一信息包括所述目标设备的位置信息和/或所述目标设备的移动信息，
    其中，所述目标设备的移动信息包括所述目标设备的移动方向的第二变化量、加速度、移动方向、速度中的至少一项；
    所述定位设备根据所述移动方向的第一变化量和所述第一信息对所述目标设备进行定位。
  7. 一种定位的方法，其特征在于，包括：
    定位设备接收来自辅助设备的第一信息，所述第一信息包括目标设备的位置信息和/或所述目标设备的移动信息，
    其中，所述目标设备的移动信息包括所述目标设备的移动方向的第二变化量、加速度、移动方向、速度中的至少一项；
    所述定位设备根据所述第一信息对所述目标设备进行定位。
  8. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    所述定位设备接收来自目标设备的移动方向的第一变化量，所述移动方向的第一变化量为第一移动方向和第二移动方向之间的差值，
    其中，所述第一移动方向为所述目标设备在第一时刻确定的所述目标设备的移动方向，所述第二移动方向为所述目标设备在第二时刻确定的所述目标设备的移动方向，所述第二时刻与所述第一时刻不同；
    所述定位设备根据所述移动方向的第一变化量和所述第一信息对所述目标设备进行定位。
  9. 根据权利要求6至8中任一项所述的方法，其特征在于，所述方法还包括：
    所述定位设备向所述辅助设备发送第二指示信息，所述第二指示信息用于指示所述辅助设备周期性发送信息的周期；和/或，
    所述定位设备向所述辅助设备发送第二阈值，所述第二阈值用于与所述移动方向的第二变化量进行大小比较。
  10. 根据权利要求6至9中任一项所述的方法，其特征在于，所述方法还包括：
    所述定位设备接收来自所述辅助设备的第二置信度信息，所述第二置信度信息用于指示所述第一信息的可信程度。
  11. 根据权利要求6至10中任一项所述的方法，其特征在于，所述辅助设备包括以下至少一种设备：
    接入网设备、终端设备、短距通信设备、或智能摄像头设备。
  12. 根据权利要求5或6或8所述的方法，其特征在于，所述方法还包括：
    所述定位设备向所述目标设备发送第一指示信息，所述第一指示信息用于指示所述目标设备周期性发送移动方向的变化量的周期；和/或，
    所述定位设备向所述目标设备发送第一阈值，所述第一阈值用于与所述移动方向的第一变化量进行大小比较。
  13. 根据权利要求5或6或8或12所述的方法，其特征在于，所述方法还包括：
    所述定位设备接收来自所述目标设备的第一置信度信息，所述第一置信度信息用于指示所述移动方向的第一变化量的可信程度。
  14. 一种定位的方法，其特征在于，包括：
    辅助设备获取第一信息，所述第一信息包括目标设备的位置信息和/或所述目标设备的移动信息，
    所述目标设备的移动信息包括所述目标设备的移动方向的第二变化量、加速度、移动方向、速度中的至少一项；
    所述辅助设备向定位设备发送所述第一信息，所述第一信息用于所述定位设备对所述目标设备进行定位。
  15. 根据权利要求14所述的方法，其特征在于，所述方法还包括：
    所述辅助设备接收来自所述定位设备的第二指示信息，所述第二指示信息用于指示所述辅助设备周期性发送信息的周期；和/或，
    所述辅助设备接收来自所述定位设备的第二阈值，所述第二阈值用于与所述移动方向的第二变化量进行大小比较。
  16. 根据权利要求15所述的方法，其特征在于，所述辅助设备向所述定位设备发送第一信息包括：
    所述辅助设备根据所述第二指示信息按照所述定位设备配置的周期向所述定位设备发送第一信息；或者，
    在所述辅助设备向所述定位设备发送第一信息之前，所述方法还包括：
    辅助设备获取的所述移动方向的第二变化量大于或者等于所述第二阈值。
  17. 根据权利要求14至16中任一项所述的方法，其特征在于，所述辅助设备包括以下至少一种设备：
    接入网设备、终端设备、短距通信设备、或智能摄像头设备。
  18. 根据权利要求14至17中任一项所述的方法，其特征在于，所述方法还包括：
    所述辅助设备向所述定位设备发送第二置信度信息，所述第二置信度信息用于指示所述第一信息的可信程度。
  19. 一种目标设备，其特征在于，包括：
    存储器，用于存储计算机程序；
    处理器，用于执行所述存储器中存储的计算机程序，以使得所述目标设备执行权利要求1至4中任一项所述的方法。
  20. 一种定位设备，其特征在于，包括：
    存储器，用于存储计算机程序；
    处理器，用于执行所述存储器中存储的计算机程序，以使得所述定位设备执行权利要求5至13中任一项所述的方法。
  21. 一种辅助设备，其特征在于，包括：
    存储器，用于存储计算机程序；
    处理器，用于执行所述存储器中存储的计算机程序，以使得所述辅助设备执行权利要求14至18中任一项所述的方法。
  22. 一种定位的系统，包括如权利要求19所示的目标设备和如权利要求20所示的定位设备。
  23. 根据权利要求22所述的系统，其特征在于，所述系统还包括如权利要求21所示的辅助设备。
  24. 一种计算机存储介质，其特征在于，包括计算机指令，当所述计算机指令在电子设备上运行时，使得所述电子设备执行如权利要求1至18中任一项所述的方法。
  25. 一种计算机程序产品，其特征在于，当所述计算机程序产品在计算机上运行时，使得所述计算机执行如权利要求1至18中任一项所述的方法。
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