WO2024012509A1 - 定位方法及装置、计算机可读存储介质 - Google Patents

定位方法及装置、计算机可读存储介质 Download PDF

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Publication number
WO2024012509A1
WO2024012509A1 PCT/CN2023/107112 CN2023107112W WO2024012509A1 WO 2024012509 A1 WO2024012509 A1 WO 2024012509A1 CN 2023107112 W CN2023107112 W CN 2023107112W WO 2024012509 A1 WO2024012509 A1 WO 2024012509A1
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Prior art keywords
positioning
terminal device
estimation result
reference signal
service quality
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PCT/CN2023/107112
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English (en)
French (fr)
Inventor
范慧芳
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展讯半导体(南京)有限公司
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Publication of WO2024012509A1 publication Critical patent/WO2024012509A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/08—Testing, supervising or monitoring using real traffic
    • 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 invention relates to the field of wireless communication technology, and in particular, to a positioning method and device, and a computer-readable storage medium.
  • positioning methods based on mobile communication networks include Observe Time Difference of Arrival (OTDoA), enhanced positioning technology based on cell ID (Enhanced Cell ID, E-CID), uplink time difference of arrival ( Wireless access network-based positioning methods such as Uplink Time Difference of Arrival (UL-TDoA) and Uplink Angle of Departure (UL-AoD) also include Bluetooth positioning, WIFI positioning, air pressure sensor positioning, and inertial measurement unit positioning. , Global Navigation Satellite System (GNSS) positioning and other positioning methods that are independent of the wireless access network.
  • OTDoA Observe Time Difference of Arrival
  • E-CID Enhanced Cell ID
  • E-CID Enhanced Cell ID
  • Wireless access network-based positioning methods such as Uplink Time Difference of Arrival (UL-TDoA) and Uplink Angle of Departure (UL-AoD) also include Bluetooth positioning, WIFI positioning, air pressure sensor positioning, and inertial measurement unit positioning.
  • GNSS Global Navigation Satellite System
  • the embodiments of the present invention solve the problem of low accuracy of positioning estimation results obtained by using a single positioning method.
  • embodiments of the present invention provide a positioning method, which includes: detecting that a first triggering event is satisfied, triggering the execution of a second positioning; the first triggering event is used to indicate that the demand cannot be met based on the first positioning;
  • the first positioning corresponds to positioning achieved using a first link reference signal, which is a positioning reference signal between the first terminal device and the access network device;
  • the second positioning corresponds to using Positioning achieved by the second link reference signal, which is the positioning reference signal between the first terminal device and the second terminal device; determining the positioning estimation result of the first terminal device, so The positioning estimation result of the first terminal device is determined based on the first positioning and/or the second positioning.
  • determining the positioning estimation result of the first terminal device includes any of the following: determining the first terminal device based on the measurement result obtained from the first positioning and/or the measurement result obtained from the second positioning.
  • the first positioning estimation result of the device is used as the positioning estimation result of the first terminal device; or, the first positioning estimation result obtained based on the first positioning and/or the second positioning is obtained
  • the second positioning estimation result is determined to determine the positioning estimation result of the first terminal device.
  • the first triggering event includes any of the following: detecting that the first positioning estimation result corresponding to the first positioning cannot be obtained; or detecting that the first positioning estimation result cannot meet the preset requirements. Positioning service quality accuracy requirements; or, it is detected that the first positioning estimation result will soon be unable to meet the preset positioning service quality accuracy requirements.
  • the first trigger event considers the channel condition of the first link or the first positioning estimation result, and can accurately determine whether the first positioning cannot meet the demand, and start the second positioning process when the first positioning cannot meet the demand.
  • the detection that the first positioning estimation result corresponding to the first positioning cannot be obtained includes: detecting that the total number of direct sight paths of the first links from different transmission points is less than a first threshold; the third A threshold is a positive integer.
  • the detection that the first positioning estimation result cannot meet the preset positioning service quality accuracy requirements includes: detecting that the last N times of the first positioning estimation results obtained are greater than or equal to the positioning service quality accuracy. Demand, N ⁇ 1.
  • the detection that the first positioning estimation result is about to fail to meet the preset positioning service quality accuracy requirement includes any of the following: detecting that the positioning service quality accuracy requirement is different from the first positioning service quality accuracy requirement obtained for the last N times.
  • the differences between the positioning estimation results are all less than the preset second threshold; it is detected that among the first positioning estimation results obtained for the last N times, the difference between two adjacent positioning estimation results gradually increases; the second threshold is greater than zero, and N ⁇ 1.
  • the first condition considers the current channel condition of the first terminal device and the first positioning estimation result, and can enable the second positioning more accurately, thereby improving positioning accuracy while reducing positioning delay and system overhead.
  • performing the second positioning includes at least one of the following: determining a second terminal device; or performing positioning capability information exchange with the second terminal device; or obtaining positioning reference signal configuration information and measurement configuration information; or Based on the positioning reference signal configuration information and the measurement configuration information, second positioning is performed.
  • the method further includes: detecting that a second triggering event is met, and stopping execution of the second positioning; the second triggering event is used to characterize the positioning based on the first positioning. able to meet needs.
  • adding the second positioning stop condition can reduce unnecessary positioning processes and reduce system overhead.
  • the second triggering event includes: detecting that a first positioning estimation result corresponding to the first positioning can be obtained; or detecting that the first positioning estimation result meets a preset positioning service quality accuracy requirement. ; Or, it is detected that the first positioning estimation results obtained within a period of time can meet the preset positioning service quality accuracy requirements.
  • the second trigger event considers the channel condition of the first link or the first positioning estimation result, and can accurately determine whether the first positioning meets the requirements, and closes the second positioning process when the first positioning meets the requirements.
  • detecting that the first positioning estimation result meets a preset positioning service quality accuracy requirement includes: detecting that the total number of direct sight paths of the first links from different transmission points is greater than a third threshold;
  • the third threshold is a positive integer.
  • the first positioning estimation results obtained within a period of time can all meet the preset positioning service quality accuracy requirements, including: detecting that the first positioning estimation results obtained for the last N times are all smaller than the preset Positioning service quality accuracy requirements; N ⁇ 1.
  • the first positioning estimation results obtained within a period of time can meet the preset positioning service quality accuracy requirements, including any of the following: detecting that the positioning service quality accuracy requirements are The differences between the first positioning estimation results obtained for the last N times are all greater than the preset fourth threshold; or, it is detected that among the first positioning estimation results obtained for the last N times, the difference between two adjacent positioning estimation results gradually decreases;
  • the fourth threshold is greater than zero, and N ⁇ 1.
  • the second condition considers the current channel condition of the first terminal device and the first positioning estimation result, and can turn off the second positioning more accurately, thereby turning off the second positioning when the positioning accuracy of the first positioning can meet the requirements, reducing system overhead.
  • the positioning method further includes: obtaining positioning reference signal configuration information and/or measurement configuration information; and reporting positioning information to the access network device, where the positioning information includes at least one of the following: The total number of direct sight lines of the first link, the first positioning estimation result, the most recent N first positioning estimation results obtained based on the first positioning, whether the first terminal device has a known location information indication, and the geographical location of the first terminal device Information, preset positioning service quality accuracy requirements; N ⁇ 1.
  • the reported positioning information can help the access network device to more accurately obtain the link condition and first positioning situation of the first terminal device, so that the access network device can more accurately determine whether to start the second positioning process.
  • An embodiment of the present invention also provides another positioning method, which includes: triggering the execution of a second positioning when it is detected that the first positioning cannot meet the requirements; the first positioning corresponds to the positioning achieved using the first link reference signal, The first link reference signal is a positioning reference signal between the first terminal device and the access network device; the second positioning corresponds to positioning achieved using a second link reference signal, and the second link reference signal.
  • the signal is a positioning reference signal between the first terminal device and the second terminal device; the positioning estimation result of the first terminal device is determined, and the positioning estimation result of the first terminal device is based on the first positioning and/or Or the second positioning is determined.
  • the positioning estimation result of the first terminal device is jointly determined through the first positioning and the second positioning, thereby improving the positioning accuracy.
  • determining the positioning estimation result of the first terminal device includes any of the following: determining the first positioning result based on the measurement result obtained by the first positioning and/or the measurement result obtained by the second positioning.
  • the first positioning estimation result of the terminal device is used as the positioning estimation result of the first terminal device; or, the first positioning estimation result obtained based on the first positioning and/or the second positioning
  • the obtained second positioning estimation result determines the positioning estimation result of the first terminal device.
  • the positioning method further includes: sending positioning reference signal configuration information and/or measurement configuration information to the first terminal device.
  • positioning reference signal configuration information and/or measurement configuration information is sent to the first terminal device.
  • Receive positioning information of the first terminal device where the positioning information includes at least one of the following: the total number of direct line of sight paths of the first link from different transmission points, the first positioning estimation result, the nearest N obtained based on the first positioning A first positioning estimation result, N ⁇ 1, whether the first terminal device has a known location information indication, the geographical location information of the first terminal device, and a preset positioning service quality accuracy requirement; according to the positioning information, trigger execution of the first positioning estimation result Two positioning.
  • receiving the positioning information can help the access network device to more accurately obtain the link condition and first positioning situation of the first terminal device, so that the access network device can more accurately determine whether to start the second positioning process.
  • triggering the execution of the second positioning further includes: triggering the execution of the second positioning based on at least one of the following: the positioning information, network load status, and network resource usage status.
  • the access network equipment can more accurately enable the second positioning based on its own load status and resource usage status to avoid the situation where the access network equipment is overloaded and has insufficient resources.
  • triggering the execution of the second positioning it also includes: triggering the closing of the second positioning.
  • triggering the shutdown of the second positioning includes: receiving positioning information of the first terminal device, where the positioning information includes at least one of the following: the total number of direct line of sight paths of the first link from different transmission points, The first positioning estimation result, the most recent N first positioning estimation results obtained based on the first positioning, N ⁇ 1, whether the first terminal device has a known position information indication, the geographical location information of the first terminal device, and the preset positioning Service quality accuracy requirements; based on the positioning information, turn off the second positioning.
  • the access network device can trigger the shutdown of the second positioning in combination with the first positioning situation of the first terminal device, which can reduce unnecessary positioning processes and reduce system overhead.
  • the closing of performing the second positioning further includes: triggering the closing of the second positioning based on at least one of the following: the positioning information, network load status, and network resource usage status.
  • the access network equipment can turn off the second positioning more accurately based on its own load status and resource usage status, so as to avoid the situation of overloading the access network equipment and insufficient resources.
  • An embodiment of the present invention also provides a positioning device, including: a first triggering unit, configured to detect that a first triggering event is satisfied and trigger the execution of a second positioning; the first triggering event is used to represent that the first positioning cannot be satisfied based on Requirements; the first positioning corresponds to positioning achieved using a first link reference signal, the first link reference signal is a link between the first terminal device and Positioning reference signals between access network devices; the second positioning corresponds to positioning achieved using a second link reference signal, the second link reference signal being between the first terminal device and the second terminal device.
  • the positioning reference signal between Sure.
  • An embodiment of the present invention also provides another positioning device, including: a second triggering unit, configured to trigger the execution of the second positioning when it detects that the first positioning cannot meet the requirements; the first positioning corresponds to using the first link positioning achieved using a link reference signal, where the first link reference signal is a positioning reference signal between the first terminal device and the access network device; the second positioning corresponds to positioning achieved using the second link reference signal, The second link reference signal is a positioning reference signal between the first terminal device and the second terminal device; a first positioning estimation result information determination unit is used to determine the positioning estimation result information of the first terminal device , the positioning estimation result of the first terminal device is determined based on the first positioning and/or the second positioning.
  • a second triggering unit configured to trigger the execution of the second positioning when it detects that the first positioning cannot meet the requirements
  • the first positioning corresponds to using the first link positioning achieved using a link reference signal, where the first link reference signal is a positioning reference signal between the first terminal device and the access network device
  • the second positioning corresponds to positioning achieved using
  • Embodiments of the present invention also provide a computer-readable storage medium.
  • the computer-readable storage medium is a non-volatile storage medium or a non-transitory storage medium, and a computer program is stored thereon.
  • the computer program is processed by a processor. When running, the steps of any one of the above-mentioned multi-screen display control positioning methods are executed.
  • An embodiment of the present invention also provides another positioning device, including a memory and a processor.
  • the memory stores a computer program that can be run on the processor.
  • the processor runs the computer program, it executes any of the above. The steps of the positioning method.
  • the execution of the second positioning is triggered.
  • the positioning estimation result of the first terminal device is determined. Due to the joint positioning of the first positioning and the second positioning, compared with using only one positioning method, the positioning accuracy can be effectively improved, the second positioning process can be started in advance, the positioning delay can be reduced, and the demand can be met in the first positioning. When, turn off the second positioning to reduce system overhead.
  • Figure 1 is a flow chart of a positioning method in an embodiment of the present invention
  • Figure 2 is a schematic diagram of a communication system architecture in an embodiment of the present invention.
  • Figure 3 is a flow chart of a direct link positioning method in an embodiment of the present invention.
  • Figure 4 is a flow chart of another positioning method in an embodiment of the present invention.
  • Figure 5 is a schematic structural diagram of a positioning device in an embodiment of the present invention.
  • Figure 6 is a schematic structural diagram of another positioning device in an embodiment of the present invention.
  • Uu interface refers to the air interface between the terminal and the base station
  • positioning technology based on cellular networks cannot achieve positioning functions.
  • the current Uu interface wireless environment is relatively harsh, and the line of sight (LoS) path between the terminal equipment and the access network equipment is too small to realize the positioning function.
  • LoS line of sight
  • positioning technology based only on cellular networks may not be able to meet the accuracy requirements of positioning. For example, the bandwidth of the positioning reference signal is insufficient, the channel environment is poor, etc.
  • the execution of the second positioning is triggered.
  • the positioning estimation result of the first terminal device is determined. Due to the joint positioning of the first positioning and the second positioning, compared with using only one positioning method, the positioning accuracy can be effectively improved, the second positioning process can be started in advance, the positioning delay can be reduced, and the demand can be met in the first positioning. When, turn off the second positioning to reduce system overhead.
  • the user equipment described in the embodiment of the present invention is a device with wireless communication function.
  • equipment which can be called terminal, mobile station (MS), mobile terminal (MT), access terminal equipment, vehicle-mounted terminal equipment, industrial control terminal equipment, UE unit, UE station, mobile station , remote station, remote terminal equipment, mobile equipment, UE terminal equipment, wireless communication equipment, UE agent or UE device, etc.
  • User equipment can be fixed or mobile. It should be noted that the user equipment may support at least one wireless communication technology, such as LTE, new radio (new radio, NR), etc.
  • the user device may be a mobile phone (mobile phone), tablet computer (pad), desktop computer, laptop computer, all-in-one computer, vehicle-mounted terminal, virtual reality (VR) user device, augmented reality (AR) user device Equipment, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical surgery, wireless terminals in smart grid, transportation security Wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, cellular phones, cordless phones, session initiation protocol (SIP) phones, wireless Wireless local loop (WLL) station, personal digital assistant (PDA), handheld device with wireless communication capabilities, computing device or other processing device connected to a wireless modem, wearable device, future mobile communications User equipment in the network or user equipment in the future evolved public land mobile network (PLMN), etc.
  • the user equipment may also be a device with transceiver functions, such as a chip system.
  • the chip system may include chips and may also include other discrete devices.
  • the access network device is a device that provides wireless communication functions for terminal devices, and may also be called a radio access network (radio access network, RAN) device, an access network element, etc.
  • the access network equipment may support at least one wireless communication technology, such as LTE, NR, etc.
  • access network equipment includes but is not limited to: next-generation base station (generation nodeB, gNB), evolved node B (evolved node B, eNB), wireless Network controller (radio network controller, RNC), node B (node B, NB), base station controller (base station controller (BSC), base transceiver station (BTS), home base station (for example, home evolved node B, or home node B, HNB), baseband unit (BBU), transmitting and receiving point , TRP), transmitting point (TP), mobile switching center, etc.
  • the access network device may also be a wireless controller, a centralized unit (CU), and/or a distributed unit (DU) in a cloud radio access network (CRAN) scenario, or an access network device.
  • CRAN cloud radio access network
  • Network access equipment can be relay stations, access points, vehicle-mounted equipment, terminal equipment, wearable equipment, and access network equipment in future mobile communications or access network equipment in future evolved PLMNs, etc.
  • the access network device may also be a device with a wireless communication function for the terminal device, such as a chip system.
  • the chip system may include a chip, and may also include other discrete devices.
  • the access network device can also communicate with an Internet Protocol (Internet Protocol, IP) network, such as the Internet, a private IP network, or other data networks.
  • IP Internet Protocol
  • An embodiment of the present invention provides a positioning method. Referring to Figure 1, detailed description will be given below through specific steps.
  • the positioning method corresponding to the following steps 101 to 102 can be executed by a chip with data processing capabilities in the terminal device, or by a chip module in the terminal device including the above-mentioned chip with data processing capabilities.
  • the following introduction takes the first terminal device as the execution subject as an example.
  • the positioning method provided in the following embodiments of the present invention is used to obtain the location information of the first terminal device.
  • the location information of the first terminal device may include the geographical location information of the first terminal device.
  • the geographical location information of the first terminal device may include longitude and latitude information and altitude information of the first terminal device.
  • Step 101 It is detected that the first triggering event is satisfied, triggering the execution of the second positioning.
  • the first triggering event may be used to indicate that the demand cannot be met based on the first positioning.
  • the first positioning cannot meet the demand, which may mean that the first positioning estimation result corresponding to the first positioning cannot be obtained, or it may mean that the obtained first positioning estimation result cannot meet the preset positioning service quality.
  • the accuracy requirement may also refer to the fact that the first positioning estimation result will soon be unable to meet the preset positioning service quality accuracy requirement.
  • the first positioning estimation result is about to be unable to meet the preset positioning service quality accuracy requirements. This may mean that although the current first positioning estimation result can meet the preset positioning service quality accuracy requirements, it can be judged that the current The first link is continuously deteriorating, or it can be determined that the difference between the first positioning estimation result and the positioning service quality accuracy requirement is less than a certain threshold (such as the second threshold provided in the following embodiments).
  • the preset positioning service quality accuracy requirement refers to the accuracy requirement information in the quality of service (QoS) information carried in the positioning request signaling, which may include horizontal accuracy information and vertical accuracy information.
  • QoS quality of service
  • the horizontal accuracy requirement of QoS is 10m.
  • the first positioning corresponds to positioning achieved using a first link reference signal, which is a positioning reference signal between the first terminal device and the access network device;
  • the second positioning corresponds to using Positioning achieved by the second link reference signal, which is the positioning reference signal between the first terminal device and the second terminal device.
  • the first positioning and the second positioning may be two different types of positioning. Specifically, the first positioning and the second positioning may use different positioning principles and/or different positioning processes to obtain the location information of the terminal device.
  • the first positioning may be the positioning based on the Uu interface
  • the second positioning may be the positioning based on the direct link (Sidelink, SL) interface.
  • the links between traditional terminal equipment and access network equipment include uplink (UL) and downlink (Downlink, DL).
  • UL uplink
  • Downlink Downlink
  • the interface between terminal equipment and access network equipment is called It is the Uu interface.
  • the positioning based on the Uu port may be a positioning method independent of the wireless access network, or may be a positioning method based on the wireless access network.
  • the setting independent of the wireless access network Positioning methods include: Bluetooth positioning, WIFI positioning, air pressure sensor positioning, inertial measurement unit positioning, Global Navigation Satellite System (GNSS) positioning and other positioning methods.
  • Positioning methods based on wireless access networks may include positioning based on uplink sounding reference signal (Sounding Reference Signal, SRS) and positioning based on downlink positioning reference signal (Positioning Reference Signal, PRS).
  • SRS Sounding Reference Signal
  • PRS Positioning Reference Signal
  • the access network device sends PRS to realize positioning of the terminal device.
  • PRS Downlink Time Difference of Arrival
  • DL-AoD Downlink Angle of Departure
  • the terminal device Based on the uplink SRS positioning, the terminal device sends SRS to realize the positioning of the terminal device.
  • Common positioning methods based on the uplink Uu interface include Uplink Time Difference of Arrival (UL-TDoA), Uplink Angle of Departure (UL-AoD), etc.
  • the specific implementation principles and processes of the wireless access network-based positioning method may refer to existing protocols, and will not be described in detail here in the embodiments of the present invention.
  • terminal devices In direct-connect communication between things, terminal devices communicate directly with each other.
  • the link between terminal devices is called a direct link, also called a through link, an edge link, or a side link. , direct link, secondary link or PC5 link, etc.
  • the interface between the access network device and the terminal device 1 is a Uu interface.
  • the interface between terminal device 1 and terminal device 2 is a PC5 interface, that is, terminal device 1 and terminal device 2 communicate through a direct link.
  • the first terminal device may trigger the execution of the second positioning. At this time, the first terminal device can perform the first positioning and the second positioning at the same time.
  • the estimation result may refer to the detection that the total number of direct sight paths of the first link from different transmission points (Transmission/Reception Point, TRP) is less than the first threshold.
  • TRP Transmission/Reception Point
  • different TRPs may be TRPs corresponding to different access network devices, or may be different TRPs corresponding to the same access network device.
  • the first threshold can be a positive integer.
  • the specific value of the first threshold can be set according to the actual application scenario. For example, set the first threshold to 3. For another example, set the first threshold to 5.
  • the first terminal device may not be able to achieve positioning. Function. At this time, the first terminal device can enable the second positioning.
  • LoS line of sight
  • detecting that the first positioning estimation result cannot meet the preset positioning service quality accuracy requirements may mean: detecting that the last N times of the first positioning estimation results obtained are greater than or equal to the preset positioning service quality. Quality accuracy requirements; N ⁇ 1.
  • the preset positioning service quality accuracy requirement is: positioning accuracy is 10 meters.
  • the positioning accuracy corresponding to the first positioning estimation result is 12 meters. It can be seen that the first positioning estimation result cannot meet the positioning service quality accuracy requirements.
  • the last N first positioning estimation results cannot meet the preset positioning service quality accuracy requirements, which may mean that the accuracy corresponding to the last N first positioning estimation results is lower than the positioning service quality accuracy requirements.
  • the purpose of setting this condition is to reduce the possibility of accidentally opening the second positioning.
  • an error event may occur in the positioning system in a short period of time, which may result in a certain first positioning estimation result having poor accuracy.
  • this error event may trigger Start the second positioning process. Therefore, in order to avoid the occurrence of the above misjudgment, a judgment condition of judging the first positioning estimation results obtained for the last N times is added.
  • the positioning accuracy corresponding to the first positioning estimation result is 12 meters, 11 meters and 13 meters. It can be seen that the recent three first positioning estimation results cannot meet the positioning service quality accuracy requirements.
  • detecting that the first positioning estimation result is about to fail to meet the preset positioning service quality accuracy requirement may refer to: the difference between the detected positioning service quality accuracy requirement and the first positioning estimation results obtained for the last N times are all less than the second threshold, the second threshold is greater than zero, and N ⁇ 1.
  • the difference between the positioning service quality accuracy requirement and the first positioning estimation result is less than the second threshold, which may mean that although the accuracy corresponding to the first positioning estimation result is higher than the positioning service quality accuracy requirement, the first positioning estimation result The corresponding accuracy is relatively close to the positioning service quality accuracy requirement.
  • the first positioning estimation result may become unable to meet the positioning service quality accuracy requirement in a short period of time (that is, the first positioning estimation result will soon be unable to meet the positioning service quality accuracy requirement).
  • the purpose of setting this condition is to enable the second positioning before the first positioning estimation result cannot meet the positioning service quality accuracy requirements, without waiting until the first positioning estimation result cannot meet the positioning service quality accuracy requirements before starting the second positioning. .
  • This approach can enable the second positioning in advance, which improves positioning accuracy while reducing the possibility of positioning service interruption.
  • the preset positioning service quality accuracy requirement is: positioning accuracy is 10 meters.
  • the positioning accuracy corresponding to the first positioning estimation result is 8 meters.
  • the second threshold is 2.5 meters. At this time, it can be determined that the first positioning estimation result may become unable to meet the positioning service quality accuracy requirement in a short period of time. That is to say, the first terminal device can determine that the first condition is met.
  • the difference between the positioning service quality accuracy requirement and the first positioning estimation results obtained for the last N times is less than the second threshold, which may refer to: the difference between the first positioning estimation result obtained through the first positioning for the last N times and the positioning service quality accuracy requirement.
  • the differences are all less than the second threshold. The purpose of setting this condition is to reduce the possibility of accidentally opening the second positioning.
  • an error event may occur in the positioning system in a short period of time, which may result in a certain first positioning estimation result having poor accuracy.
  • this error event may trigger Start the second positioning process. Therefore, in order to avoid the above-mentioned misjudgment situation, the "positioning service quality accuracy requirements and the optimal The difference between the first positioning estimation results obtained nearly N times is less than the second threshold" is the judgment condition.
  • the corresponding accuracies of the first positioning estimation results obtained in the last three times are 8 meters, 9 meters, and 8 meters respectively.
  • the first terminal device can determine that the first condition is met.
  • detecting that the first positioning estimation result is about to be unable to meet the preset positioning service quality accuracy requirements may also refer to: among the last N first positioning estimation results obtained, two adjacent positioning estimation results The difference gradually increases.
  • N 3.
  • the accuracy of the first positioning estimation result obtained for the first time is 7 meters
  • the accuracy of the first positioning estimation result obtained for the second time is 8 meters
  • the accuracy of the first positioning estimation result obtained for the third time (that is, the most recent time) is 10 meters.
  • the difference between the accuracy of the first positioning estimation result obtained for the third time and the accuracy of the first positioning estimation result obtained for the second time is greater than the accuracy of the first positioning estimation result obtained for the second time and the accuracy of the first positioning estimation result obtained for the first time.
  • the difference in accuracy of certain positioning estimation results Therefore, among the first positioning estimation results obtained in the last three times, the difference between two adjacent positioning estimation results gradually increases. At this time, it can be determined that the first positioning estimation result will soon be unable to meet the preset positioning service quality accuracy requirements.
  • the purpose of setting this condition is to be able to determine whether the first positioning estimation result is continuously deteriorating.
  • the second positioning is turned on. This approach may lead to the fact that although the current first positioning estimation result can still meet the positioning service quality accuracy requirements, the second positioning is started when the first positioning result continues to deteriorate. This approach can enable the second positioning in advance, which improves positioning accuracy while reducing the possibility of positioning service interruption.
  • the specific values of the first threshold and the second threshold may be configured by the access network device, or may be pre-configured, or may be determined in a protocol-specified manner. In the embodiment of the present invention, the specific value ranges of the first threshold and the second threshold and the size relationship between them are not limited.
  • Step 102 Determine the positioning estimation result of the first terminal device.
  • the first terminal device may determine the positioning estimation result of the first terminal device based on the first positioning and/or the second positioning.
  • the first terminal device may determine the positioning estimation result of the first terminal device based on the measurement result obtained from the first positioning and the measurement result obtained from the second positioning.
  • the first terminal device may also determine the positioning estimation result of the first terminal device based on the first positioning estimation result obtained from the first positioning and the second positioning estimation result obtained from the second positioning.
  • the terminal device can implement joint positioning based on the first positioning and the second positioning, and jointly determine the final positioning estimation result.
  • the joint positioning method can effectively improve the positioning accuracy of the terminal device.
  • the first terminal device may obtain the first positioning estimation result based on the measurement result obtained from the first positioning, and use the first positioning estimation result as the positioning estimation result of the first terminal device.
  • the second positioning is the direct link positioning as an example.
  • a flow chart of a direct link positioning method in an embodiment of the present invention is provided.
  • Step 301 The first terminal device determines the second terminal device.
  • the first terminal device may perform a discovery process to discover whether there is a suitable terminal device around.
  • a suitable terminal device may refer to a terminal device that can assist the first terminal device in positioning.
  • a suitable terminal device can also be called an anchor device.
  • a suitable terminal device is referred to below as a second terminal device.
  • Step 302 The first terminal device exchanges positioning capability information with the second terminal device.
  • the first terminal device can exchange positioning capability information with the second terminal device.
  • the positioning capability information may include positioning methods supported by the terminal device.
  • the first terminal device and the second terminal device may respectively support multiple positioning methods, but the positioning methods supported by the two may overlap.
  • both the first terminal device and the second terminal device support Uu interface positioning and SL interface positioning.
  • Step 303 The first terminal device sends positioning reference signal configuration information to the second terminal device.
  • the first terminal device and/or the second terminal device need to send a positioning reference signal (PRS) to achieve positioning.
  • PRS positioning reference signal
  • the positioning reference signal between the first terminal device and the second terminal device may be called SL-PRS, SPRS or SL PRS.
  • the configuration information of the positioning reference signal may be configured by the first terminal device itself. Confirm, or it can be configured and delivered by the access network device.
  • the first terminal device may send the acquired positioning reference signal configuration to the second terminal device.
  • Step 304 The first terminal device sends measurement configuration information to the second terminal device.
  • both the first terminal device and the second terminal device may send positioning reference signals to perform the second positioning
  • the first terminal device and the second terminal device may both send measurement configuration information, and the measurement configuration information is required for the terminal device to perform measurements. required configuration information.
  • Step 305 The second terminal device performs a measurement operation based on the positioning reference signal configuration information and measurement configuration information.
  • the second terminal device can perform SL positioning measurement based on positioning reference signal configuration information and measurement configuration information, perform a positioning settlement process, and obtain a measurement result.
  • Step 306 The second terminal device sends the measurement result to the first terminal device.
  • Step 307 The first terminal device performs positioning result settlement based on the measurement results sent by the second terminal device.
  • the first terminal device can perform positioning result settlement based on the direct link measurement results performed by itself and the measurement results sent by the second terminal device.
  • joint positioning can effectively improve the positioning accuracy of the terminal device, joint positioning will correspondingly increase the power consumption of the terminal device. In some scenarios, the second positioning may not be necessary.
  • execution of the second positioning may also be stopped.
  • the second triggering event may be used to indicate that the demand can be met based on the first positioning.
  • the first terminal device may stop performing the second positioning. At this time, the first terminal device may only perform the first positioning. Alternatively, if there is no positioning requirement, the first terminal device may also stop performing the first positioning.
  • the first positioning can meet the requirements, which may mean that the first positioning estimation result corresponding to the first positioning can be obtained; or the obtained first positioning estimation result can meet the preset positioning service quality accuracy requirements. ; Or, obtain the first positioning estimation result within a period of time.
  • the first terminal device detects that it can obtain the first positioning estimation result corresponding to the first positioning, which may mean that it detects that the total number of direct line of sight paths of the first links from different TRPs is greater than the third threshold. .
  • the first positioning as Uu interface positioning as an example, when the total number of Line of Sight (LoS) paths between the first terminal device and different access network devices is greater than the third threshold, it can indicate that the first terminal device can Implement positioning function. At this time, the first terminal device can turn off the second positioning.
  • LoS Line of Sight
  • the first threshold is 3 and the third threshold is 5. If it is detected that the total number of LOS paths of Uu links from different TRPs is 4, the total number of LOS paths of Uu links from different TRPs is greater than the first threshold and less than the third threshold. Therefore, it is determined that the first terminal device still cannot satisfy the second triggering event.
  • the third threshold may be a positive integer.
  • the specific value of the third threshold can be set according to the actual application scenario.
  • the third threshold may be greater than or equal to the first threshold.
  • detecting that the first positioning estimation result meets the preset positioning service quality accuracy requirement may mean: detecting that the last N times of the first positioning estimation results obtained are less than the preset positioning service quality accuracy requirement. ;N ⁇ 1.
  • the preset positioning service quality accuracy requirement is: positioning accuracy is 10 meters.
  • the positioning accuracy corresponding to the first positioning estimation result is 5 meters.
  • the fourth threshold is 1.5 meters.
  • the last N first positioning estimation results all meet the preset positioning service quality accuracy requirements, which may mean that the accuracy corresponding to the last N first positioning estimation results are all higher than the positioning service quality accuracy requirements.
  • the purpose of setting this condition is to reduce the possibility of the second positioning being closed by mistake.
  • an error event may occur in the positioning system in a short period of time, which may result in a certain first positioning estimation result being more accurate.
  • this error event may trigger Close the second positioning process. Therefore, in order to avoid the occurrence of the above misjudgment, a judgment condition of judging the first positioning estimation results obtained for the last N times is added.
  • the positioning accuracy corresponding to the first positioning estimation result is 7 meters, 6 meters and 5 meters. It can be seen that the latest three first positioning estimation results all meet the positioning service quality accuracy requirements.
  • detecting that the first positioning estimation result obtained within a preset time period can meet the preset positioning service quality accuracy requirement may mean: detecting that the positioning service quality accuracy requirement is consistent with the positioning service quality accuracy requirement obtained for the last N times.
  • the difference between certain positioning estimation results is greater than the fourth threshold; the fourth threshold is greater than zero, N ⁇ 1.
  • the difference between the positioning service quality accuracy requirement and the first positioning estimation result is greater than the fourth threshold, which may mean that the accuracy corresponding to the first positioning estimation result is higher than the positioning service
  • the service quality accuracy requirements are met, and the first positioning estimation result obtained in a short period of time can still meet the positioning service quality accuracy requirements.
  • the difference between the positioning service quality accuracy requirement and the first positioning estimation results obtained for the last N times is greater than the fourth threshold, which may refer to: the first positioning estimation result obtained through the first positioning for the last N times, and the positioning service quality
  • the differences in accuracy requirements are all greater than the fourth threshold. The purpose of setting this condition is to reduce the possibility of the second positioning being closed by mistake.
  • an error event may occur in the positioning system in a short period of time, which may result in a certain first positioning estimation result being more accurate.
  • this error event may trigger Close the second positioning process. Therefore, in order to avoid the above misjudgment, a judgment condition is added that "the difference between the positioning service quality accuracy requirement and the first positioning estimation results obtained for the last N times is greater than the fourth threshold.”
  • the corresponding accuracies of the first positioning estimation results obtained in the last three times are 3 meters, 4 meters, and 5 meters respectively. At this time, it can be determined that the first positioning estimation results obtained in a short period of time can still meet the positioning service quality accuracy requirements.
  • detecting that the first positioning estimation result is about to be unable to meet the preset positioning service quality accuracy requirements may also refer to: among the last N first positioning estimation results obtained, two adjacent positioning estimation results The difference gradually decreases.
  • N 3.
  • the accuracy of the first positioning estimation result obtained for the first time is 7 meters
  • the accuracy of the first positioning estimation result obtained for the second time is 6 meters
  • the accuracy of the first positioning estimation result obtained for the third time (that is, the most recent time) is 4 meters.
  • the difference between the accuracy of the first positioning estimation result obtained for the third time and the accuracy of the first positioning estimation result obtained for the second time is smaller than the accuracy of the first positioning estimation result obtained for the second time and the accuracy of the first positioning estimation result obtained for the first time.
  • the difference in accuracy of certain positioning estimation results Therefore, among the first three positioning estimation results obtained recently, the difference between two adjacent positioning estimation results gradually decreases. At this time, it can be determined that the first positioning estimation result obtained in a short period of time can still meet the positioning service quality accuracy requirements.
  • the specific values of the above-mentioned third threshold and fourth threshold may be configured by the access network device, or may be pre-configured, or may be determined in a protocol-specified manner. In the embodiment of the present invention, the specific value ranges of the third threshold and the fourth threshold and the size relationship between them are not limited. In addition, in the embodiment of the present invention, the relative relationship between the first threshold, the second threshold, the third threshold, and the fourth threshold is not limited.
  • the access network device may configure reference signal configuration information and/or measurement configuration information corresponding to the first positioning for the first terminal device.
  • the first terminal device may perform corresponding measurement operations and report positioning information to the access network device.
  • the positioning information may include at least one of the following: The total number of direct sight paths of the first links from different transmission points, the first positioning estimation results, the most recent N first positioning estimation results based on the first positioning, whether the first terminal device has a known location information indication, the first The geographical location information of the terminal device and the preset positioning service quality accuracy requirements; N ⁇ 1.
  • joint positioning through the first positioning and the second positioning can effectively improve the positioning accuracy of the terminal device.
  • the second positioning can be turned off, thereby saving the power consumption of the terminal device.
  • the positioning method corresponding to the following steps 401 to 402 may be executed by a chip with data processing capabilities in the access network device, or by a chip module in the access network device including the above-mentioned chip with data processing capabilities. executed by the group.
  • the following introduction takes the first access network device as the execution subject as an example.
  • the positioning method provided in the following embodiments of the present invention is used to obtain the location information of the first access network device.
  • Step 401 Trigger execution of second positioning.
  • the first positioning corresponds to positioning achieved using a first link reference signal.
  • the first link reference signal is a positioning reference signal between the first terminal device and the access network device, which may be the access network device.
  • the issued DL PRS reference signal can also be the first terminal.
  • the first positioning and the second positioning may be two different types of positioning. Specifically, the first positioning and the second positioning may use different positioning principles and/or different positioning processes to obtain the location information of the terminal device.
  • the first positioning may be the positioning based on the Uu interface
  • the second positioning may be the positioning based on the direct link (Sidelink, SL) interface.
  • the links between traditional terminal equipment and access network equipment include uplink (UL) and downlink (Downlink, DL).
  • UL uplink
  • Downlink Downlink
  • the interface between terminal equipment and access network equipment is called It is the Uu interface.
  • the positioning based on the Uu port may be a positioning method independent of the wireless access network, or may be a positioning method based on the wireless access network.
  • positioning methods that are independent of wireless access networks include: Bluetooth positioning, WIFI positioning, air pressure sensor positioning, inertial measurement unit positioning, Global Navigation Satellite System (GNSS) positioning and other positioning methods.
  • GNSS Global Navigation Satellite System
  • Positioning methods based on wireless access networks may include positioning based on uplink sounding reference signal (Sounding Reference Signal, SRS) and positioning based on downlink positioning reference signal (Positioning Reference Signal, PRS).
  • SRS Sounding Reference Signal
  • PRS Positioning Reference Signal
  • the access network device sends PRS to realize positioning of the terminal device.
  • PRS Downlink Time Difference of Arrival
  • DL-AoD Downlink Angle of Departure
  • the terminal device Based on the uplink SRS positioning, the terminal device sends SRS to realize the positioning of the terminal device.
  • Common positioning methods based on the uplink Uu interface include Uplink Time Difference of Arrival (UL-TDoA), Uplink Angle of Departure, UL-AoD), etc.
  • the specific implementation principles and processes of the wireless access network-based positioning method may refer to existing protocols, and will not be described in detail here in the embodiments of the present invention.
  • the access network device may send positioning reference signal configuration information corresponding to the first positioning (hereinafter referred to as the first positioning reference signal) and/or the first positioning to the first terminal device.
  • the first positioning reference signal positioning reference signal configuration information corresponding to the first positioning
  • the first measurement configuration information corresponds to the first measurement configuration information.
  • the access network device may also send positioning reference signal configuration information corresponding to the second positioning (hereinafter referred to as the second positioning reference signal) and/or measurements corresponding to the second positioning to the first terminal device.
  • the second positioning reference signal positioning reference signal configuration information
  • Configuration information hereinafter referred to as the second measurement configuration information
  • the first terminal device may perform a corresponding measurement operation and report positioning information to the access network device.
  • the positioning information may include at least one of the following: from The total number of direct sight paths of the first links at different transmission points, the first positioning estimation results, the latest N first positioning estimation results based on the first positioning, whether the first terminal device has a known location information indication, the first terminal The geographical location information of the device and the preset positioning service quality accuracy requirements; N ⁇ 1.
  • whether the first terminal device has known location information indication may be indicated through a dedicated bit field.
  • the length of the dedicated bit field may be 1 bit. For example, the value of the dedicated bit field is "0", indicating that the first terminal device has known location information; the value of the dedicated bit field is "1", indicating that the first terminal device does not have known location information.
  • the location information of the first terminal device may be the specific location of the first terminal device represented by longitude and latitude coordinates and/or altitude information.
  • the preset positioning service quality accuracy requirement refers to the accuracy requirement information in the quality of service (QoS) information carried in the positioning request signaling, and may include horizontal accuracy information and vertical accuracy information.
  • QoS quality of service
  • the horizontal accuracy requirement of QoS is 10m.
  • the access network device may The positioning information of a terminal device determines whether to enable the second positioning. Alternatively, the access network device may determine whether to trigger execution of the second positioning based on its own network load status, network resource usage status, and/or positioning information of the first terminal device.
  • Step 402 Determine the positioning estimation result of the first terminal device.
  • the positioning function network element is responsible for positioning the terminal device, and can also be described as a positioning management network element, positioning management device, positioning device, location server, etc.
  • the positioning function network element can be the location management function (LMF) in the 5G core network, or it can be a network element with the same function as the LMF in the future communication system, such as a network element with the same function as the LMF in the 6G system .
  • LMF location management function
  • the access network equipment can transmit DL PRS or measure UL SRS, and feed the measurement results back to the LMF, which then calculates the position.
  • the access network device reports the first positioning measurement result and/or the second positioning measurement result to the LMF, and the LMF performs calculation to obtain the positioning estimation result of the first terminal device.
  • the positioning estimation result of the first terminal device may be determined based on the measurement result obtained from the first positioning, and the first positioning estimation result may be used as the positioning estimation result of the first terminal device. That is to say, the positioning estimation result of the first terminal device can be determined only from the first positioning.
  • the first terminal device and/or the LMF may also determine the second positioning estimation result of the first terminal device based on the measurement result obtained from the second positioning, and use the second positioning estimation result as the positioning estimation result of the first terminal device. That is to say, the positioning estimation result of the first terminal device can be determined only from the second positioning.
  • the first terminal device and/or the LMF may also determine the positioning estimation result of the first terminal device based on the determined first positioning estimation result and the second positioning estimation result. That is that is, the positioning estimation result of the first terminal device can be jointly determined based on the first positioning and the second positioning.
  • the positioning estimation results obtained by the joint positioning method are more accurate, that is, the positioning accuracy is higher.
  • the joint positioning when the access network equipment performs joint positioning, although the joint positioning can effectively improve the positioning accuracy of the terminal equipment, the joint positioning will correspondingly increase the power consumption of the access network equipment. In some scenarios, if the positioning accuracy of the first positioning can meet the requirements after a period of time, the second positioning may not be necessary at this time.
  • the access network device may also determine whether to stop performing the second positioning.
  • the access network device may send the first reference signal configuration information and/or the first measurement configuration information to the first terminal device.
  • the first terminal device may perform a corresponding measurement operation and report positioning information to the access network device.
  • the positioning information may include at least one of the following: from The total number of direct sight paths of the first links at different transmission points, the first positioning estimation results, the latest N first positioning estimation results based on the first positioning, whether the first terminal device has a known location information indication, the first terminal The geographical location information of the device and the preset positioning service quality accuracy requirements; N ⁇ 1.
  • the access network device may determine whether to turn off the second positioning based only on the positioning information of the first terminal device. Alternatively, the access network device may determine whether to turn on or off the second positioning based on its own network load status, network resource usage status, and positioning information of the first terminal device.
  • the access network device can determine whether to enable the second positioning based on at least one of its own network load status, network resource usage status, positioning information of the first terminal device, etc. During the joint positioning process, it may be determined whether to turn off the second positioning based on at least one of its own network load status, network resource usage status, positioning information of the first terminal device, etc.
  • the access network device may only perform the first positioning. Alternatively, if there is no positioning requirement, the access network device may also stop performing the first positioning.
  • joint positioning through the first positioning and the second positioning can effectively improve the positioning accuracy of the terminal device.
  • the second positioning can be turned off, thereby saving power consumption of the access network equipment.
  • a positioning device 50 in an embodiment of the present invention including: a first trigger unit 501 and a first positioning estimation result determination unit 502, wherein:
  • the first triggering unit 501 is used to detect that the first triggering event is met and trigger the execution of the second positioning; the first triggering event is used to represent that the demand cannot be met based on the first positioning; the first positioning corresponds to using the first link positioning achieved using a link reference signal, where the first link reference signal is a positioning reference signal between the first terminal device and the access network device; the second positioning corresponds to positioning achieved using the second link reference signal, The second link reference signal is a positioning reference signal between the first terminal device and the second terminal device;
  • the first positioning estimation result determination unit 502 is configured to determine the positioning estimation result of the first terminal device, and the positioning estimation result of the first terminal device is determined based on the first positioning and/or the second positioning.
  • the specific execution process of the above-mentioned first trigger unit 501 and the first positioning estimation result determination unit 502 may refer to steps 101 to 102, which will not be described again here.
  • the above-mentioned positioning device 50 may correspond to a chip with a data processing function in the terminal device; or correspond to a chip module in the terminal device including a chip with a data processing function, or correspond to the terminal device.
  • FIG. 6 another positioning device 60 in the embodiment of the present invention is shown, including: a second triggering unit 601 and a first positioning estimation result information determining unit 602, wherein:
  • the second trigger unit 601 is used to trigger the execution of the second positioning when it detects that the demand cannot be met based on the first positioning;
  • the first positioning corresponds to the use of the first link reference signal to achieve positioning,
  • the first link reference signal is a positioning reference signal between the first terminal device and the access network device;
  • the second positioning corresponds to positioning achieved using the second link reference signal, and
  • the second The link reference signal is a positioning reference signal between the first terminal device and the second terminal device;
  • the first positioning estimation result information determining unit 602 is configured to determine positioning estimation result information of the first terminal device, where the positioning estimation result of the first terminal device is determined based on the first positioning and/or the second positioning.
  • the above-mentioned positioning device 60 may correspond to a chip with a data processing function in the access network equipment; or correspond to a chip module including a chip with a data processing function in the access network equipment; or correspond to the access network equipment. network equipment.
  • each module/unit included in each device and product described in the above embodiments may be a software module/unit or a hardware module/unit, or it may be partly a software module/unit and partly is a hardware module/unit.
  • each module/unit included therein can be implemented in the form of hardware such as circuits, or at least some of the modules/units can be implemented in the form of a software program.
  • the software program Running on the processor integrated inside the chip, the remaining (if any) modules/units can be implemented using circuits and other hardware methods; for various devices and products applied to or integrated into the chip module, each module/unit included in it can They are all implemented in the form of hardware such as circuits.
  • Different modules/units can be located in the same component of the chip module (such as chips, circuit modules, etc.) or in different components. Alternatively, at least some modules/units can be implemented in the form of software programs.
  • the software program runs on the processor integrated inside the chip module, and the remaining (if any) modules/units can be implemented using circuits and other hardware methods; for each device or product that is applied to or integrated into the terminal, each module it contains /Units can all be implemented in the form of hardware such as circuits, and different modules/units can be located in the same component (for example, chip, circuit module, etc.) or in different components within the terminal, or at least some of the modules/units can be implemented in the form of software programs.
  • the software program runs on the processor integrated inside the terminal, and the remaining (if any) modules/units can be implemented using circuits and other hardware methods.
  • Embodiments of the present invention also provide a computer-readable storage medium.
  • the computer-readable storage medium is a non-volatile storage medium or a non-transitory storage medium, and a computer program is stored thereon.
  • the computer program is processed by a processor. During runtime, the steps of the positioning method provided in steps 101 to 102 are executed, or the steps of the positioning method provided in steps 401 to 402 are executed.
  • An embodiment of the present invention also provides a positioning device, which includes a memory and a processor.
  • the memory stores a computer program that can be run on the processor.
  • the processor runs the computer program, it executes steps 101 to 101.
  • the program can be stored in a computer-readable storage medium.
  • the storage medium can include: ROM, RAM, magnetic disk or CD, etc.

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Abstract

一种定位方法及装置、计算机可读存储介质，所述定位方法包括：检测到满足第一触发事件，触发执行第二定位；所述第一触发事件用于表征基于第一定位无法满足需求；所述第一定位对应于使用第一链路参考信号实现的定位，所述第一链路参考信号为第一终端设备与接入网设备之间的定位参考信号；所述第二定位对应于使用第二链路参考信号实现的定位，所述第二链路参考信号为所述第一终端设备与第二终端设备之间的定位参考信号；确定所述第一终端设备的定位估计结果，所述第一终端设备的定位估计结果基于所述第一定位和/或第二定位确定。采用上述方案，能够提高定位估计结果的精度。

Description

定位方法及装置、计算机可读存储介质
本申请要求于2022年7月15日提交中国专利局、申请号为202210833755.4、发明名称为“定位方法及装置、计算机可读存储介质”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
本发明涉及无线通信技术领域，尤其涉及一种定位方法及装置、计算机可读存储介质。
背景技术
现有技术中，基于移动通信网络进行定位的方法，既包括观察到达时间差(Observe Time Difference of Arrival，OTDoA)、基于小区ID的增强定位技术(Enhanced Cell ID，E-CID)、上行到达时间差(Uplink Time Difference of Arrival，UL-TDoA)、上行深度角(Uplink Angle of Departure，UL-AoD)等基于无线接入网的定位方法，也包括蓝牙定位、WIFI定位、气压传感器定位、惯性测量单元定位、全球导航卫星系统(Global Navigation Satellite System，GNSS)定位等独立于无线接入网的定位方法。
然而，在对终端设备进行定位时，通常仅使用某一种定位方法，得到的终端设备的定位估计结果的精度较低。
发明内容
本发明实施例解决的是采用单一的定位方法得到的定位估计结果的精度较低的问题。
为解决上述技术问题，本发明实施例提供一种定位方法，包括：检测到满足第一触发事件，触发执行第二定位；所述第一触发事件用于表征基于第一定位无法满足需求；所述第一定位对应于使用第一链路参考信号实现的定位，所述第一链路参考信号为第一终端设备与接入网设备之间的定位参考信号；所述第二定位对应于使用第二链路参考信号实现的定位，所述第二链路参考信号为所述第一终端设备与第二终端设备之间的定位参考信号；确定所述第一终端设备的定位估计结果，所述第一终端设备的定位估计结果基于所述第一定位和/或第二定位确定。
可见，在检测到满足第一触发事件时，触发执行第二定位，能够更加精确的开启第二定位，从而在提高定位精度的同时降低定位时延和系统开销。
可选的，确定所述第一终端设备的定位估计结果包括以下任一种：基于所述第一定位得到的测量结果和/或所述第二定位得到的测量结果，确定所述第一终端设备的第一定位估计结果，将所述第一定位估计结果作为第一终端设备的定位估计结果；或者，基于所述第一定位得到的第一定位估计结果和/或所述第二定位得到的第二定位估计结果，确定所述第一终端设备的定位估计结果。
可见，综合第一定位和第二定位确定第一终端设备的定位估计结果，能够提高第一终端设备的定位精度。
可选的，所述第一触发事件包括以下任一种：检测到无法获取到所述第一定位对应的第一定位估计结果；或，检测到所述第一定位估计结果无法满足预设的定位服务质量精度需求；或，检测到所述第一定位估计结果即将无法满足预设的定位服务质量精度需求。
可见，第一触发事件考虑第一链路的信道条件或第一定位估计结果，能够精准的判断第一定位无法是否满足需求，并在第一定位无法满足需求时开启第二定位过程。
可选的，所述检测到无法获取到所述第一定位对应的第一定位估计结果，包括：检测到来自不同传输点的第一链路的直视径总数小于第一阈值；所述第一阈值为正整数。
可选的，所述检测到所述第一定位估计结果无法满足预设的定位服务质量精度需求，包括：检测到最近N次得到的第一定位估计结果均大于或等于所述定位服务质量精度需求，N≥1。
可选的，所述检测到所述第一定位估计结果即将无法满足预设的定位服务质量精度需求，包括以下任一种：检测到所述定位服务质量精度需求与最近N次得到的第一定位估计结果之差均小于预设的第二阈值；检测到最近N次得到的第一定位估计结果中，相邻两个定位估计结果之差逐渐增大；所述第二阈值大于零，且N≥1。
可见，第一条件考虑第一终端设备的当前信道条件和第一定位估计结果，能够更加精确的开启第二定位，从而在提高定位精度的同时降低定位时延和系统开销。
可选的，所述执行第二定位，包括以下至少一项：确定第二终端设备；或与所述第二终端设备进行定位能力信息交互；或获取定位参考信号配置信息以及测量配置信息；或基于所述定位参考信号配置信息以及所述测量配置信息，执行第二定位。
可选的，在确定所述第一终端设备的定位估计结果之后，还包括：检测到满足第二触发事件，停止执行所述第二定位；所述第二触发事件用于表征基于第一定位能够满足需求。
可见，增加第二定位停止条件，能够减少不必要的定位过程，降低系统开销。
可选的，所述第二触发事件包括：检测到能够获取到所述第一定位对应的第一定位估计结果；或，检测到所述第一定位估计结果满足预设的定位服务质量精度需求；或，检测到一段时长之内获取到的所述第一定位估计结果均能够满足预设的定位服务质量精度需求。
可见，第二触发事件考虑第一链路的信道条件或第一定位估计结果，能够精准的判断第一定位是否满足需求，并在第一定位满足需求时关闭第二定位过程。
可选的，所述检测到所述第一定位估计结果满足预设的定位服务质量精度需求，包括：检测到来自不同传输点的第一链路的直视径总数大于第三阈值；所述第三阈值为正整数。
可选的，检测到一段时长之内获取到的所述第一定位估计结果均能够满足预设的定位服务质量精度需求，包括：检测到最近N次得到的第一定位估计结果均小于预设的定位服务质量精度需求；N≥1。
可选的，所述检测到一段时长之内获取到的所述第一定位估计结果均能够满足预设的定位服务质量精度需求，包括以下任一种：检测到所述定位服务质量精度需求与最近N次得到的第一定位估计结果之差均大于预设的第四阈值；或，检测到最近N次得到的第一定位估计结果中，相邻两个定位估计结果之差逐渐减小；所述第四阈值大于零，且N≥1。
可见，第二条件考虑第一终端设备当前信道条件和第一定位估计结果，能够更加精确的关闭第二定位，从而在第一定位的定位精度能够满足需求时关闭第二定位，降低系统开销。
可选的，所述定位方法还包括：获取定位参考信号配置信息和/或测量配置信息；向所述接入网设备上报定位信息，所述定位信息包括以下至少一种：来自不同传输点的第一链路的直视径总数、第一定位估计结果、基于第一定位得到的最近N个第一定位估计结果、第一终端设备是否具有已知位置信息指示、第一终端设备的地理位置信息、预设的定位服务质量精度需求；N≥1。
可见，所述上报定位信息能够帮助接入网设备更加准确的获取到第一终端设备的链路条件、第一定位情况，以便接入网设备能够更加准确的判断是否开启第二定位过程。
本发明实施例还提供了另一种定位方法，包括：检测到基于第一定位无法满足需求时，触发执行第二定位；所述第一定位对应于使用第一链路参考信号实现的定位，所述第一链路参考信号为第一终端设备与接入网设备之间的定位参考信号；所述第二定位对应于使用第二链路参考信号实现的定位，所述第二链路参考信号为所述第一终端设备与第二终端设备之间的定位参考信号；确定所述第一终端设备的定位估计结果，所述第一终端设备的定位估计结果基于所述第一定位和/或第二定位确定。
可见，通过触发第二定位，实现通过第一定位和第二定位共同确定第一终端设备的定位估计结果，从而提高定位精度。
可选的，所述确定第一终端设备的定位估计结果，包括以下任一种：基于所述第一定位得到的测量结果和/或所述第二定位得到的测量结果，确定所述第一终端设备的第一定位估计结果，将所述第一定位估计结果作为第一终端设备的定位估计结果；或者，基于所述第一定位得到的第一定位估计结果和/或所述第二定位得到的第二定位估计结果，确定所述第一终端设备的定位估计结果。
可见，综合第一定位和第二定位确定第一终端设备的定位估计结果，能够提高第一终端设备的定位精度。
可选的，所述定位方法还包括：向所述第一终端设备发送定位参考信号配置信息和/或测量配置信息。
可选的，向所述第一终端设备发送定位参考信号配置信息和/或测量配置信息。接收所述第一终端设备的定位信息，所述定位信息包括以下至少一种：来自不同传输点的第一链路的直视径总数、第一定位估计结果、基于第一定位得到的最近N个第一定位估计结果，N≥1、第一终端设备是否具有已知位置信息指示、第一终端设备的地理位置信息、预设的定位服务质量精度需求；根据所述定位信息，触发执行第二定位。
可见，接收所述定位信息能够帮助接入网设备更加准确的获取到第一终端设备的链路条件、第一定位情况，以便接入网设备能够更加准确的判断是否开启第二定位过程。
可选的，所述触发执行第二定位，还包括：根据以下至少一种触发执行第二定位：所述定位信息、网络负载状态、网络资源使用状态。
可见，接入网设备可以结合自身负载状况、资源使用状况，更加准确的开启第二定位，避免接入网设备负载过重、资源不足的情况出现。
可选的，触发执行第二定位之后，还包括：触发关闭第二定位。
可选的，所述触发关闭第二定位，包括：接收所述第一终端设备的定位信息，所述定位信息包括以下至少一种：来自不同传输点的第一链路的直视径总数、第一定位估计结果、基于第一定位得到的最近N个第一定位估计结果，N≥1、第一终端设备是否具有已知位置信息指示、第一终端设备的地理位置信息、预设的定位服务质量精度需求；根据所述定位信息，关闭第二定位。
可见，通过接收所述定位信息，接入网设备能够结合第一终端设备的第一定位情况触发关闭第二定位，能够减少不必要的定位过程，降低系统开销。
可选的，所述关闭执行第二定位，还包括：根据以下至少一种触发关闭第二定位：所述定位信息、网络负载状态、网络资源使用状态。
可见，接入网设备可以结合自身负载状况、资源使用状况，更加准确的关闭第二定位，避免接入网设备负载过重、资源不足的情况出现。
本发明实施例还提供了一种定位装置，包括：第一触发单元，用于检测到满足第一触发事件，触发执行第二定位；所述第一触发事件用于表征基于第一定位无法满足需求；所述第一定位对应于使用第一链路参考信号实现的定位，所述第一链路参考信号为第一终端设备与 接入网设备之间的定位参考信号；所述第二定位对应于使用第二链路参考信号实现的定位，所述第二链路参考信号为所述第一终端设备与第二终端设备之间的定位参考信号；第一定位估计结果确定单元，用于确定所述第一终端设备的定位估计结果，所述第一终端设备的定位估计结果基于所述第一定位和/或第二定位确定。
本发明实施例还提供了另一种定位装置，包括：第二触发单元，用于检测到基于第一定位无法满足需求时，触发执行第二定位；所述第一定位对应于使用第一链路参考信号实现的定位，所述第一链路参考信号为第一终端设备与接入网设备之间的定位参考信号；所述第二定位对应于使用第二链路参考信号实现的定位，所述第二链路参考信号为所述第一终端设备与第二终端设备之间的定位参考信号；第一定位估计结果信息确定单元，用于确定所述第一终端设备的定位估计结果信息，所述第一终端设备的定位估计结果基于所述第一定位和/或第二定位确定。
本发明实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质为非易失性存储介质或非瞬态存储介质，其上存储有计算机程序，所述计算机程序被处理器运行时执行上述任一种所述的多屏显示控制定位方法的步骤。
本发明实施例还提供了另一种定位装置，包括存储器和处理器，所述存储器上存储有可在所述处理器上运行的计算机程序，所述处理器运行所述计算机程序时执行上述任一种所述的定位方法的步骤。
与现有技术相比，本发明实施例的技术方案具有以下有益效果：
在检测到满足第一触发事件时，确定基于第一定位无法满足预设的定位需求，此时，触发执行第二定位。根据第一定位以及第二定位，确定第一终端设备的定位估计结果。由于采用第一定位以及第二定位的联合定位，相对于只采用一种定位方法，能够有效提高定位精度的同时，提前开启第二定位过程，降低定位时延，并且能够在第一定位满足需求的时候，关闭第二定位，降低系统开销。
附图说明
图1是本发明实施例中的一种定位方法的流程图；
图2是本发明实施例中的一种通信系统架构示意图；
图3是本发明实施例中的一种直连链路定位方法的流程图；
图4是本发明实施例中的另一种定位方法的流程图；
图5是本发明实施例中的一种定位装置的结构示意图；
图6是本发明实施例中的另一种定位装置的结构示意图。
具体实施方式
现有技术中，以Uu接口(Uu接口指的是位于终端和基站之间的空中接口)定位为例。在很多场景下，基于蜂窝网络的定位技术无法实现定位功能。例如，当前Uu接口无线环境较为恶劣，终端设备与接入网设备之间的直视(Line of Sight，LoS)径太少，无法实现定位功能。另外，在具体应用中，仅基于蜂窝网络的定位技术还可能存在无法满足定位的精度需求的情况，例如，定位参考信号的带宽不足，信道环境较差等。
在本发明实施例中，在检测到满足第一触发事件时，确定基于第一定位无法满足预设的定位需求，此时，触发执行第二定位。根据第一定位以及第二定位，确定第一终端设备的定位估计结果。由于采用第一定位以及第二定位的联合定位，相对于只采用一种定位方法，能够有效提高定位精度的同时，提前开启第二定位过程，降低定位时延，并且能够在第一定位满足需求的时候，关闭第二定位，降低系统开销。
为使本发明的上述目的、特征和有益效果能够更为明显易懂，下面结合附图对本发明的具体实施例做详细的说明。
本发明实施例中所述的用户设备是一种具有无线通信功能的设 备，可以称为终端(terminal)、移动台(mobile station，MS)、移动终端(mobile terminal，MT)、接入终端设备、车载终端设备、工业控制终端设备、UE单元、UE站、移动站、远方站、远程终端设备、移动设备、UE终端设备、无线通信设备、UE代理或UE装置等。用户设备可以是固定的或者移动的。需要说明的是，用户设备可以支持至少一种无线通信技术，例如LTE、新空口(new radio，NR)等。例如，用户设备可以是手机(mobile phone)、平板电脑(pad)、台式机、笔记本电脑、一体机、车载终端、虚拟现实(virtual reality，VR)用户设备、增强现实(augmented reality，AR)用户设备、工业控制(industrial control)中的无线终端、无人驾驶(self driving)中的无线终端、远程手术(remote medical surgery)中的无线终端、智能电网(smart grid)中的无线终端、运输安全(transportation safety)中的无线终端、智慧城市(smart city)中的无线终端、智慧家庭(smart home)中的无线终端、蜂窝电话、无绳电话、会话启动协议(session initiation protocol，SIP)电话、无线本地环路(wireless local loop，WLL)站、个人数字助理(personal digital assistant，PDA)、具有无线通信功能的手持设备、计算设备或连接到无线调制解调器的其它处理设备、可穿戴设备、未来移动通信网络中的用户设备或者未来演进的公共移动陆地网络(public land mobile network，PLMN)中的用户设备等。在本申请的一些实施例中，用户设备还可以是具有收发功能的装置，例如芯片系统。其中，芯片系统可以包括芯片，还可以包括其它分立器件。
在本发明实施例中，接入网设备是一种为终端设备提供无线通信功能的设备，也可称之为无线接入网(radio access network，RAN)设备、或接入网网元等。其中，接入网设备可以支持至少一种无线通信技术，例如LTE、NR等。示例的，接入网设备包括但不限于：第五代移动通信系统(5th-generation，5G)中的下一代基站(generation nodeB，gNB)、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(例如，home evolved node B、或home node B，HNB)、基带单元(baseband unit，BBU)、收发点(transmitting and receiving point，TRP)、发射点(transmitting point，TP)、移动交换中心等。接入网设备还可以是云无线接入网络(cloud radio access network，CRAN)场景下的无线控制器、集中单元(centralized unit，CU)、和/或分布单元(distributed unit，DU)，或者接入网设备可以为中继站、接入点、车载设备、终端设备、可穿戴设备以及未来移动通信中的接入网设备或者未来演进的PLMN中的接入网设备等。在一些实施例中，接入网设备还可以为具有为终端设备提供无线通信功能的装置，例如芯片系统。示例的，芯片系统可以包括芯片，还可以包括其它分立器件。
在一些实施例中，接入网设备还可以与互联网协议(Internet Protocol，IP)网络进行通信，例如因特网(internet)，私有的IP网，或其他数据网等。
本发明实施例提供了一种定位方法，参照图1，以下通过具体步骤进行详细说明。
在具体实施中，下述步骤101～步骤102对应的定位方法可以由终端设备中具有数据处理能力的芯片所执行，或者由终端设备中包括上述具有数据处理能力的芯片的芯片模组所执行。以下以第一终端设备为执行主体为例进行介绍。本发明下述实施例中所提供的定位方法，用于获取第一终端设备的位置信息。
第一终端设备的位置信息可以包括第一终端设备的地理位置信息，第一终端设备的地理位置信息具体可以包括第一终端设备的经纬度信息、高度信息。
步骤101，检测到满足第一触发事件，触发执行第二定位。
在具体实施中，第一触发事件可以用于表征基于第一定位无法满足需求。
在本发明实施例中，第一定位无法满足需求，可以是指无法获取到第一定位对应的第一定位估计结果，也可以是指得到的第一定位估计结果无法满足预设的定位服务质量精度需求，还可以是指第一定位估计结果即将无法满足预设的定位服务质量精度需求。
在本发明实施例中，第一定位估计结果即将无法满足预设的定位服务质量精度需求可以是指：当前第一定位估计结果虽然能够满足预设的定位服务质量精度需求，但能够判断出当前第一链路在不断恶化，或者能够判断出第一定位估计结果与定位服务质量精度需求之差小于某一阈值(如下述实施例中所提供的第二阈值)。
在具体实施中，预设的定位服务质量精度需求指的是在定位请求信令中携带的服务质量(Quality of Service,QoS)信息中的精度要求信息，可能包括水平精度信息和垂直精度信息。例如，QoS的水平精度要求为10m。
在具体实施中，第一定位对应于使用第一链路参考信号实现的定位，第一链路参考信号为第一终端设备与接入网设备之间的定位参考信号；第二定位对应于使用第二链路参考信号实现的定位，第二链路参考信号为第一终端设备与第二终端设备之间的定位参考信号。
在本发明实施例中，第一定位与第二定位可以是不同类型的两种定位。具体地，第一定位与第二定位可以采用不同的定位原理和/或不同的定位过程，来获取终端设备的位置信息。
在本发明实施例中，第一定位可以为基于Uu接口的定位，第二定位可以为直连链路(Sidelink，SL)接口的定位。
在具体应用中，传统的终端设备与接入网设备之间的链路包括上行链路(Uplink，UL)以及下行链路(Downlink，DL)，终端设备与接入网设备之间的接口称之为Uu接口。
具体的，基于Uu口的定位可以为独立于无线接入网的定位方法，也可以是基于无线接入网的定位方法。其中，独立于无线接入网的定 位方法包括：蓝牙定位、WIFI定位、气压传感器定位、惯性测量单元定位、全球导航卫星系统(Global Navigation Satellite System，GNSS)定位等定位方法。
基于无线接入网的定位方法可以包括基于上行探测参考信号(Sounding Reference Signal，SRS)定位以及基于下行定位参考信号(Positioning Reference Signal，PRS)定位等。
现有技术中，基于下行PRS定位，接入网设备发送PRS来实现对终端设备的定位。常见的基于下行PRS定位方法包括下行到达时间差(Downlink Time Difference of Arrival，DL-TDoA)、下行深度角(Downlink Angle of Departure，DL-AoD)等。
基于上行SRS定位，终端设备发送SRS来实现对终端设备的定位。常见的基于上行Uu接口定位方法包括上行到达时间差(Uplink Time Difference of Arrival，UL-TDoA)、上行深度角(Uplink Angle of Departure，UL-AoD)等。
具体的，基于无线接入网的定位方法的具体实现原理及过程可以参照现有协议，本发明实施例此处不做赘述。
物物直连通信中，终端设备与终端设备之间直接进行通信，终端设备与终端设备之间的链路称之为直连链路，也叫做直通链路、边链路、侧行链路、直接链路、辅链路或PC5链路等。
如图2所示，给出了本发明实施例中的一种通信系统架构图。接入网设备与终端设备1之间的接口为Uu接口。终端设备1与终端设备2之间的接口为PC5接口，也即终端设备1与终端设备2通过直连链路进行通信。
在本发明实施例中，若检测到满足第一触发事件，则第一终端设备可以触发执行第二定位。此时，第一终端设备可以同时执行第一定位以及第二定位。
在具体实施中，检测到无法获取到所述第一定位对应的第一定位 估计结果，可以是指检测到来自不同传输点(Transmission/Reception Point，TRP)的第一链路的直视径总数小于第一阈值。
在本发明实施例中，不同的TRP可以为不同的接入网设备对应的TRP，或者可以为同一接入网设备对应的不同TRP。第一阈值可以为正整数。第一阈值的具体数值可以根据实际的应用场景设置。例如，设置第一阈值为3。又如，设置第一阈值为5。
以第一定位为Uu接口定位为例，当第一终端设备与不同的接入网设备之间的直视(Line of Sight，LoS)径小于第一阈值时，第一终端设备可能无法实现定位功能。此时，第一终端设备可以开启第二定位。
在本发明实施例中，检测到第一定位估计结果无法满足预设的定位服务质量精度需求，可以是指：检测到最近N次得到的第一定位估计结果均大于或等于预设的定位服务质量精度需求；N≥1。
例如，预设的定位服务质量精度需求为：定位精度为10米。第一定位估计结果对应的定位精度为12米。可见，第一定位估计结果无法满足定位服务质量精度需求。
在具体实施中，最近N次第一定位估计结果均无法满足预设的定位服务质量精度需求，可以是指最近N次的第一定位估计结果对应的精度均低于定位服务质量精度需求。设置该条件的目的是为了降低第二定位误开启的可能性。
例如，可能由于定位系统短时间内发生了差错事件，可能导致某一次的第一定位估计结果精度较差，而根据本发明实施例中提供的第二定位开启条件，这次差错事件可能会触发开启第二定位过程。因此，为了避免上述误判情况的出现，增加了判断最近N次得到的第一定位估计结果这一判断条件。
如下述示例，预设的定位服务质量精度需求为：定位精度为10米，N＝3。第一定位估计结果对应的定位精度为12米，11米和13米。 可见，最近3次的第一定位估计结果均无法满足定位服务质量精度需求。
在本发明实施例中，检测到第一定位估计结果即将无法满足预设的定位服务质量精度需求，可以是指：检测到定位服务质量精度需求与最近N次得到的第一定位估计结果之差均小于第二阈值，第二阈值大于零，N≥1。
在具体实施中，定位服务质量精度需求与第一定位估计结果之差小于第二阈值，可以是指：第一定位估计结果对应的精度虽然高于定位服务质量精度需求，但是第一定位估计结果对应的精度与定位服务质量精度需求较为接近，第一定位估计结果可能在短时间内就变得无法满足定位服务质量精度需求(也即第一定位估计结果即将无法满足定位服务质量精度需求)，设置该条件的目的是为了在第一定位估计结果无法满足定位服务质量精度需求之前，就开启第二定位，而不需要等到第一定位估计结果无法满足定位服务质量精度需求时才开启第二定位。这种做法能够提前开启第二定位，在提高定位精度的同时，降低了定位业务中断的可能性。
例如，预设的定位服务质量精度需求为：定位精度为10米。第一定位估计结果对应的定位精度为8米。第二阈值为2.5米。此时，可以确定第一定位估计结果可能在短时间内就变得无法满足定位服务质量精度需求。也就是说，第一终端设备可以确定满足第一条件。
定位服务质量精度需求与最近N次得到的第一定位估计结果之差均小于第二阈值，可以是指：最近N次通过第一定位得到的第一定位估计结果，与定位服务质量精度需求之差均小于第二阈值。设置该条件的目的是为了降低第二定位误开启的可能性。
例如，可能由于定位系统短时间内发生了差错事件，可能导致某一次的第一定位估计结果精度较差，而根据本发明实施例中提供的第二定位开启条件，这次差错事件可能会触发开启第二定位过程。因此，为了避免上述误判情况的出现，增加了“定位服务质量精度需求与最 近N次得到的第一定位估计结果之差均小于第二阈值”这一判断条件。
例如，预设的定位服务质量精度需求为：定位精度为10米，N＝3。最近3次获得的第一定位估计结果对应的精度分别为8米、9米、8米，此时，可以确定第一定位估计结果可能在短时间内就变得无法满足定位服务质量精度需求。也就是说，第一终端设备可以确定满足第一条件。
在本发明实施例中，检测到第一定位估计结果即将无法满足预设的定位服务质量精度需求，也可以是指：最近N次得到的第一定位估计结果中，相邻两个定位估计结果之差逐渐增大。
例如，N＝3。第一次获得的第一定位估计结果的精度为7米，第二次获得的第一定位估计结果的精度为8米，第三次(也即最近一次)获得的第一定位估计结果的精度为10米。可见，第三次获得的第一定位估计结果的精度与第二次获得的第一定位估计结果的精度之差，大于第二次获得的第一定位估计结果的精度与第一次获得的第一定位估计结果的精度之差。由此，最近3次得到的第一定位估计结果中，相邻两个定位估计结果之差逐渐增大。此时，可以判定第一定位估计结果即将无法满足预设的定位服务质量精度需求。
设置该条件的目的是为了能够判断出来第一定位估计结果是否在不断恶化。在连续判断N次第一定位估计结果都是不断恶化的情况，开启第二定位。这种做法可能导致当前的第一定位估计结果虽然仍能满足定位服务质量精度需求，但第一定位结果在不断恶化的情况下就开启第二定位。这种做法能够提前开启第二定位，在提高定位精度的同时，降低了定位业务中断的可能性。
在具体实施中，第一阈值、第二阈值的具体取值，可以由接入网设备配置，或者为预配置的，或者由协议规定方式确定。本发明实施例中，并不限制第一阈值和第二阈值的具体取值范围以及两者之间的大小关系。
步骤102，确定第一终端设备的定位估计结果。
在本发明实施例中，第一终端设备在触发执行第二定位后，可以基于第一定位和/或第二定位，确定第一终端设备的定位估计结果。
在本发明实施例中，第一终端设备可以基于第一定位得到的测量结果以及第二定位得到的测量结果，确定第一终端设备的定位估计结果。或者，第一终端设备也可以基于第一定位得到的第一定位估计结果以及第二定位得到的第二定位估计结果，确定第一终端设备的定位估计结果。
也就是说，终端设备可以根据第一定位以及第二定位实现联合定位，共同确定最终的定位估计结果。相比于采用单一的定位方法，联合定位方法能够有效提高终端设备的定位精度。
在具体实施中，在开启第二定位之前，第一终端设备可以基于第一定位得到的测量结果，得到第一定位估计结果，并将第一定位估计结果作为第一终端设备的定位估计结果。
在本发明实施例中，以第二定位为直连链路定位为例。参照图3，给出了本发明实施例中的一种直连链路定位方法的流程图。
步骤301，第一终端设备确定第二终端设备。
在具体实施中，第一终端设备可以执行发现过程，来发现周围是否存在合适的终端设备。合适的终端设备可以是指：能够辅助第一终端设备进行定位的终端设备。合适的终端设备又可以称之为锚点(anchor)设备。以下将合适的终端设备简称为第二终端设备。
步骤302，第一终端设备与第二终端设备进行定位能力信息交互。
在本发明实施例中，第一终端设备可以与第二终端设备进行定位能力信息交互。定位能力信息可以包括终端设备所支持的定位方法。
在具体实施中，第一终端设备与第二终端设备可以分别支持多种定位方法，但是二者所支持的定位方法可以存在交集。
也就是说，第一终端设备与第二终端设备至少存在一种同时支持的定位方法。
例如，第一终端设备与第二终端设备均支持Uu接口定位以及SL接口定位。
步骤303，第一终端设备向第二终端设备发送定位参考信号配置信息。
在具体实施中，第一终端设备和/或第二终端设备需要发送定位参考信号(PRS)来实现定位。其中，第一终端设备与第二终端设备之间的定位参考信号可以称为SL-PRS、SPRS或SL PRS等对于第一终端设备而言，定位参考信号的配置信息可以由第一终端设备自行确定，或者，也可以由接入网设备配置并下发。第一终端设备可以将获取到的定位参考信号配置发送给第二终端设备。
步骤304，第一终端设备向第二终端设备发送测量配置信息。
由于第一终端设备与第二终端设备均可能会发送定位参考信号，执行第二定位，因此，第一终端设备与第二终端设备均可以发送测量配置信息，测量配置信息为终端设备执行测量所需的配置信息。
步骤305，第二终端设备基于定位参考信号配置信息以及测量配置信息，执行测量操作。
在具体实施中，第二终端设备可以基于定位参考信号配置信息以及测量配置信息，执行SL定位测量，执行定位结算过程，得到测量结果。
步骤306，第二终端设备将测量结果发送给第一终端设备。
步骤307，第一终端设备根据第二终端设备发送的测量结果执行定位结果结算。
在本发明实施例中，第一终端设备可以基于自身所执行的直连链路测量结果，以及第二终端设备发送的测量结果，执行定位结果结算。
在具体实施中，虽然联合定位能够有效提高终端设备的定位精度，但是，联合定位会相应地增加终端设备的功耗。在某些场景下，第二定位可能并不是必须的。
为了降低第一终端设备的功耗，在确定了第一终端设备的定位估计结果之后，若检测到满足第二触发事件，还可以停止执行第二定位。在本发明实施例中，第二触发事件可以用于表征基于第一定位能够满足需求。
也就是说，在检测到基于第一定位能够满足需求后，第一终端设备可以停止执行第二定位。此时，第一终端设备可以仅执行第一定位。或者，若不存在定位需求，则第一终端设备还可以停止执行第一定位。
在本发明实施例中，第一定位能够满足需求，可以是指能够获取到第一定位对应的第一定位估计结果；或者，得到的第一定位估计结果能够满足预设的定位服务质量精度需求；或者，在一段时间之内得到第一定位估计结果。
在具体实施中，第一终端设备检测到能够获取到所述第一定位对应的第一定位估计结果，可以是指：检测到来自不同TRP的第一链路的直视径总数大于第三阈值。
以第一定位为Uu接口定位为例，当第一终端设备与不同的接入网设备之间的直视(Line of Sight，LoS)径总数大于第三阈值时，可以表征第一终端设备能够实现定位功能。此时，第一终端设备可以关闭第二定位。
例如，第一阈值为3，第三阈值为5。若检测到来自不同TRP的Uu链路的LOS径总数为4，来自不同TRP的Uu链路的LOS径总数大于第一阈值，小于第三阈值。因此，确定第一终端设备仍旧无法满足第二触发事件。
也就是说，第一终端设备在执行第一定位以及第二定位的过程中，是否关闭第二定位，以第二触发事件对应的条件为准。
在具体实施中，第三阈值可以为正整数。第三阈值的具体数值可以根据实际的应用场景设置。第三阈值可以大于或等于第一阈值。
在本发明实施例中，检测到第一定位估计结果满足预设的定位服务质量精度需求，可以是指：检测到最近N次得到的第一定位估计结果均小于预设的定位服务质量精度需求；N≥1。
例如，预设的定位服务质量精度需求为：定位精度为10米。第一定位估计结果对应的定位精度为5米。第四阈值为1.5米。此时，可以确定第一定位估计结果在短时间内仍能够继续满足定位服务质量精度需求。也就是说，第一终端设备可以确定满足第二条件。
在具体实施中，最近N次第一定位估计结果均满足预设的定位服务质量精度需求，可以是指最近N次的第一定位估计结果对应的精度均高于定位服务质量精度需求。设置该条件的目的是为了降低第二定位误关闭的可能性。
例如，可能由于定位系统短时间内发生了差错事件，可能导致某一次的第一定位估计结果精度较好，而根据本发明实施例中提供的第二定位关闭条件，这次差错事件可能会触发关闭第二定位过程。因此，为了避免上述误判情况的出现，增加了判断最近N次得到的第一定位估计结果这一判断条件。
如下述示例，预设的定位服务质量精度需求为：定位精度为10米，N＝3。第一定位估计结果对应的定位精度为7米，6米和5米。可见，最近3次的第一定位估计结果均满足定位服务质量精度需求。
在本发明实施例中，检测到预设时长内获取到的第一定位估计结果能够满足预设的定位服务质量精度需求，可以是指：检测到定位服务质量精度需求与最近N次得到的第一定位估计结果之差均大于第四阈值；第四阈值大于零，N≥1。
在具体实施中，定位服务质量精度需求与第一定位估计结果之差大于第四阈值，可以是指：第一定位估计结果对应的精度高于定位服 务质量精度需求，且在短时间内获取到的第一定位估计结果仍能够继续满足定位服务质量精度需求。
相应地，定位服务质量精度需求与最近N次得到的第一定位估计结果之差均大于第四阈值，可以是指：最近N次通过第一定位得到的第一定位估计结果，与定位服务质量精度需求之差均大于第四阈值。设置该条件的目的是为了降低第二定位误关闭的可能性。
例如，可能由于定位系统短时间内发生了差错事件，可能导致某一次的第一定位估计结果精度较好，而根据本发明实施例中提供的第二定位关闭条件，这次差错事件可能会触发关闭第二定位过程。因此，为了避免上述误判情况的出现，增加了“定位服务质量精度需求与最近N次得到的第一定位估计结果之差均大于第四阈值”这一判断条件。
例如，预设的定位服务质量精度需求为：定位精度为10米，第四阈值为2.5米，N＝3。最近3次获得的第一定位估计结果对应的精度分别为3米、4米、5米，此时，可以确定在短时间内获取到的第一定位估计结果仍能够满足定位服务质量精度需求。
在本发明实施例中，检测到第一定位估计结果即将无法满足预设的定位服务质量精度需求，也可以是指：最近N次得到的第一定位估计结果中，相邻两个定位估计结果之差逐渐减小。
例如，N＝3。第一次获得的第一定位估计结果的精度为7米，第二次获得的第一定位估计结果的精度为6米，第三次(也即最近一次)获得的第一定位估计结果的精度为4米。可见，第三次获得的第一定位估计结果的精度与第二次获得的第一定位估计结果的精度之差，小于第二次获得的第一定位估计结果的精度与第一次获得的第一定位估计结果的精度之差。由此，最近3次得到的第一定位估计结果中，相邻两个定位估计结果之差逐渐减小。此时，可以判定在短时间内获取到的第一定位估计结果仍能够继续满足定位服务质量精度需求。
上述第三阈值、第四阈值的具体取值，可以由接入网设备配置，或者为预配置的，或者由协议规定方式确定。本发明实施例中，并不限制第三阈值和第四阈值的具体取值范围以及两者之间的大小关系。另外，本发明实施例中，也不限制第一阈值、第二阈值、第三阈值、第四阈值大小的相对关系。
在具体实施中，接入网设备可以为第一终端设备配置第一定位对应的参考信号配置信息和/或测量配置信息。第一终端设备在接收到第一定位对应的参考信号配置信息和/或测量配置信息之后，可以执行相应的测量操作，并向接入网设备上报定位信息，定位信息可以包括如下至少一种：来自不同传输点的第一链路的直视径总数、第一定位估计结果、基于第一定位得到的最近N个第一定位估计结果、第一终端设备是否具有已知位置信息指示、第一终端设备的地理位置信息、预设的定位服务质量精度需求；N≥1。
由此可见，通过第一定位与第二定位进行联合定位，可以有效提高终端设备的定位精度。在联合定位的过程中，若第一定位能够满足需求，则可以关闭第二定位，从而节省终端设备的功耗。
参照图4，给出了本发明实施例中的另一种定位方法，以下通过具体步骤进行详细说明。
在具体实施中，下述步骤401～步骤402对应的定位方法可以由接入网设备中具有数据处理能力的芯片所执行，或者由接入网设备中包括上述具有数据处理能力的芯片的芯片模组所执行。以下以第一接入网设备为执行主体为例进行介绍。本发明下述实施例中所提供的定位方法，用于获取第一接入网设备的位置信息。
步骤401，触发执行第二定位。
在具体实施中，第一定位对应于使用第一链路参考信号实现的定位，第一链路参考信号为第一终端设备与接入网设备之间的定位参考信号，可以是接入网设备下发的DL PRS参考信号，也可以是第一终 端设备发送的UL SRS参考信号；第二定位对应于使用第二链路参考信号实现的定位，第二链路参考信号为第一终端设备与第二终端设备之间的定位参考信号。
在本发明实施例中，第一定位与第二定位可以是不同类型的两种定位。具体地，第一定位与第二定位可以采用不同的定位原理和/或不同的定位过程，来获取终端设备的位置信息。
在本发明实施例中，
第一定位可以为基于Uu接口的定位，第二定位可以为直连链路(Sidelink，SL)接口的定位。
在具体应用中，传统的终端设备与接入网设备之间的链路包括上行链路(Uplink，UL)以及下行链路(Downlink，DL)，终端设备与接入网设备之间的接口称之为Uu接口。
具体的，基于Uu口的定位可以为独立于无线接入网的定位方法，也可以是基于无线接入网的定位方法。其中，独立于无线接入网的定位方法包括：蓝牙定位、WIFI定位、气压传感器定位、惯性测量单元定位、全球导航卫星系统(Global Navigation Satellite System，GNSS)定位等定位方法。
基于无线接入网的定位方法可以包括基于上行探测参考信号(Sounding Reference Signal，SRS)定位以及基于下行定位参考信号(Positioning Reference Signal，PRS)定位等。
现有技术中，基于下行PRS定位，接入网设备发送PRS来实现对终端设备的定位。常见的基于下行PRS定位方法包括下行到达时间差(Downlink Time Difference of Arrival，DL-TDoA)、下行深度角(Downlink Angle of Departure，DL-AoD)等。
基于上行SRS定位，终端设备发送SRS来实现对终端设备的定位。常见的基于上行Uu接口定位方法包括上行到达时间差(Uplink Time Difference of Arrival，UL-TDoA)、上行深度角(Uplink Angle of  Departure，UL-AoD)等。
具体的，基于无线接入网的定位方法的具体实现原理及过程可以参照现有协议，本发明实施例此处不做赘述。
在本发明实施例中，接入网设备在执行第一定位之前，可以向第一终端设备发送第一定位对应的定位参考信号配置信息(以下简称第一定位参考信号)和/或第一定位对应的测量配置信息(以下简称第一测量配置信息)。
相应地，接入网设备在执行第二定位之前，也可以向第一终端设备发送第二定位对应的定位参考信号配置信息(以下简称第二定位参考信号)和/或第二定位对应的测量配置信息(以下简称第二测量配置信息)。
第一终端设备在接收到第一参考信号配置信息和/或第一测量配置信息之后，可以执行相应的测量操作，并向接入网设备上报定位信息，定位信息可以包括如下至少一种：来自不同传输点的第一链路的直视径总数、第一定位估计结果、基于第一定位得到的最近N个第一定位估计结果、第一终端设备是否具有已知位置信息指示、第一终端设备的地理位置信息、预设的定位服务质量精度需求；N≥1。
其中，第一终端设备是否具有已知位置信息指示可以通过专用比特域来指示。专用比特域的长度可以为1比特。例如，专用比特域的取值为“0”，表示第一终端设备具有已知位置信息；专用比特域的取值为“1”，表示第一终端设备没有已知位置信息。
第一终端设备的位置信息可以是用经纬度坐标和/或高度信息表示的第一终端设备的具体位置。
预设的定位服务质量精度需求指的是在定位请求信令中携带的服务质量(Quality of Service,QoS)信息中的精度要求信息，可能包括水平精度信息和垂直精度信息。例如，QoS的水平精度要求为10m。
接入网设备在接收到第一终端设备的定位信息后，可以仅根据第 一终端设备的定位信息，确定是否开启第二定位。或者，接入网设备可以根据自身的网络负载状态、网络资源使用状态和/或第一终端设备的定位信息等，确定是否开启触发执行第二定位。
步骤402，确定第一终端设备的定位估计结果。
在本发明实施例中，确定第一终端设备的定位估计结果有两个节点，一个是终端设备，一个是定位功能网元。定位功能网元负责对终端设备进行定位，也可以描述为定位管理网元、定位管理设备、定位设备、位置服务器等。定位功能网元可以是5G核心网中的定位管理功能(location management function，LMF)，也可以是未来通信系统中与LMF具有相同功能的网元，例如6G系统中与LMF具有相同功能的网元。
接入网设备可以进行DL PRS的发送或UL SRS的测量，并将测量结果反馈给LMF，由LMF进行位置的解算。本发明实施例中，确定第一终端设备的定位估计结果可能由两种情况：一种是第一终端设备进行解算获取到第一终端设备的定位估计结果，另一种是第一终端设备和接入网设备将第一定位测量结果和/或第二定位测量结果上报给LMF，由LMF进行解算获取到第一终端设备的定位估计结果。
此时，第一终端设备的定位估计结果可以基于第一定位得到的测量结果，确定第一终端设备的第一定位估计结果，并将第一定位估计结果作为第一终端设备的定位估计结果。也就是说，可以仅由第一定位确定第一终端设备的定位估计结果。
第一终端设备和/或LMF也可以基于第二定位得到的测量结果，确定第一终端设备的第二定位估计结果，并将第二定位估计结果作为第一终端设备的定位估计结果。也就是说，可以仅由第二定位确定第一终端设备的定位估计结果。
第一终端设备和/或LMF还可以基于所确定的第一定位估计结果以及第二定位估计结果，确定第一终端设备的定位估计结果。也就是 说，可以由第一定位以及第二定位，联合确定第一终端设备的定位估计结果。
相对于采用单一定位方法得到的定位估计结果，联合定位方法得到的定位估计结果更加精确，也即定位精度更高。
在具体实施中，在由接入网设备进行联合定位时，虽然联合定位能够有效提高终端设备的定位精度，但是，联合定位会相应地增加接入网设备的功耗。在某些场景下，如在一段时间之后第一定位的定位精度能够满足需求，则此时第二定位可能并不是必须的。
为了降低接入网设备的功耗，在确定了第一终端设备的定位估计结果之后，接入网设备还可以确定是否停止执行第二定位。
接入网设备在执行联合定位的过程中，可以向第一终端设备发送第一参考信号配置信息和/或第一测量配置信息。第一终端设备在接收到第一参考信号配置信息和/或第一测量配置信息之后，可以执行相应的测量操作，并向接入网设备上报定位信息，定位信息可以包括如下至少一种：来自不同传输点的第一链路的直视径总数、第一定位估计结果、基于第一定位得到的最近N个第一定位估计结果、第一终端设备是否具有已知位置信息指示、第一终端设备的地理位置信息、预设的定位服务质量精度需求；N≥1。
接入网设备在接收到第一终端设备的定位信息后，可以仅根据第一终端设备的定位信息，确定是否关闭第二定位。或者，接入网设备可以根据自身的网络负载状态、网络资源使用状态以及第一终端设备的定位信息等，确定是否开启关闭第二定位。
也就是说，接入网设备可以根据自身的网络负载状态、网络资源使用状态、第一终端设备的定位信息等中的至少一项来确定是否开启第二定位。在进行联合定位的过程中，可以根据自身的网络负载状态、网络资源使用状态、第一终端设备的定位信息等中的至少一项来确定是否关闭第二定位。
若接入网设备确定停止执行第二定位，则接入网设备可以仅执行第一定位。或者，若不存在定位需求，则接入网设备还可以停止执行第一定位。
由此可见，通过第一定位与第二定位进行联合定位，可以有效提高终端设备的定位精度。在联合定位的过程中，若第一定位能够满足需求，则可以关闭第二定位，从而节省接入网设备的功耗。
参照图5，给出了本发明实施例中的一种定位装置50，包括：第一触发单元501以及第一定位估计结果确定单元502，其中：
第一触发单元501，用于检测到满足第一触发事件，触发执行第二定位；所述第一触发事件用于表征基于第一定位无法满足需求；所述第一定位对应于使用第一链路参考信号实现的定位，所述第一链路参考信号为第一终端设备与接入网设备之间的定位参考信号；所述第二定位对应于使用第二链路参考信号实现的定位，所述第二链路参考信号为所述第一终端设备与第二终端设备之间的定位参考信号；
第一定位估计结果确定单元502，用于确定所述第一终端设备的定位估计结果，所述第一终端设备的定位估计结果基于所述第一定位和/或第二定位确定。
在具体实施中，上述第一触发单元501以及第一定位估计结果确定单元502的具体执行过程可以对应参照步骤101～步骤102，此处不做赘述。
在具体实施中，上述的定位装置50可以对应于终端设备中具有数据处理功能的芯片；或者对应于终端设备中包括具有数据处理功能的芯片的芯片模组，或者对应于终端设备。
参照图6，给出了本发明实施例中的另一种定位装置60，包括：第二触发单元601以及第一定位估计结果信息确定单元602，其中：
第二触发单元601，用于检测到基于第一定位无法满足需求时，触发执行第二定位；所述第一定位对应于使用第一链路参考信号实现 的定位，所述第一链路参考信号为第一终端设备与接入网设备之间的定位参考信号；所述第二定位对应于使用第二链路参考信号实现的定位，所述第二链路参考信号为所述第一终端设备与第二终端设备之间的定位参考信号；
第一定位估计结果信息确定单元602，用于确定所述第一终端设备的定位估计结果信息，所述第一终端设备的定位估计结果基于所述第一定位和/或第二定位确定。
在具体实施中，上述的定位装置60可以对应于接入网设备中具有数据处理功能的芯片；或者对应于接入网设备中包括具有数据处理功能的芯片的芯片模组，或者对应于接入网设备。
在具体实施中，关于上述实施例中描述的各个装置、产品包含的各个模块/单元，其可以是软件模块/单元，也可以是硬件模块/单元，或者也可以部分是软件模块/单元，部分是硬件模块/单元。
例如，对于应用于或集成于芯片的各个装置、产品，其包含的各个模块/单元可以都采用电路等硬件的方式实现，或者，至少部分模块/单元可以采用软件程序的方式实现，该软件程序运行于芯片内部集成的处理器，剩余的(如果有)部分模块/单元可以采用电路等硬件方式实现；对于应用于或集成于芯片模组的各个装置、产品，其包含的各个模块/单元可以都采用电路等硬件的方式实现，不同的模块/单元可以位于芯片模组的同一组件(例如芯片、电路模块等)或者不同组件中，或者，至少部分模块/单元可以采用软件程序的方式实现，该软件程序运行于芯片模组内部集成的处理器，剩余的(如果有)部分模块/单元可以采用电路等硬件方式实现；对于应用于或集成于终端的各个装置、产品，其包含的各个模块/单元可以都采用电路等硬件的方式实现，不同的模块/单元可以位于终端内同一组件(例如，芯片、电路模块等)或者不同组件中，或者，至少部分模块/单元可以采用软件程序的方式实现，该软件程序运行于终端内部集成的处理器，剩余的(如果有)部分模块/单元可以采用电路等硬件方式实现。
本发明实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质为非易失性存储介质或非瞬态存储介质，其上存储有计算机程序，所述计算机程序被处理器运行时执行步骤101～步骤102所提供的定位方法的步骤，或者执行步骤401～步骤402所提供的定位方法的步骤。
本发明实施例还提供了一种定位装置，包括存储器和处理器，所述存储器上存储有可在所述处理器上运行的计算机程序，所述处理器运行所述计算机程序时执行步骤101～步骤102所提供的定位方法的步骤，或者执行步骤401～步骤402所提供的定位方法的步骤。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指示相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：ROM、RAM、磁盘或光盘等。
虽然本发明披露如上，但本发明并非限定于此。任何本领域技术人员，在不脱离本发明的精神和范围内，均可作各种更动与修改，因此本发明的保护范围应当以权利要求所限定的范围为准。

Claims (25)

  1. 一种定位方法，其特征在于，包括：
    检测到满足第一触发事件，触发执行第二定位；所述第一触发事件用于表征基于第一定位无法满足需求；所述第一定位对应于使用第一链路参考信号实现的定位，所述第一链路参考信号为第一终端设备与接入网设备之间的定位参考信号；所述第二定位对应于使用第二链路参考信号实现的定位，所述第二链路参考信号为所述第一终端设备与第二终端设备之间的定位参考信号；
    确定所述第一终端设备的定位估计结果，所述第一终端设备的定位估计结果基于所述第一定位和/或第二定位确定。
  2. 如权利要求1所述的定位方法，其特征在于，确定所述第一终端设备的定位估计结果包括以下任一种：
    基于所述第一定位得到的测量结果和/或所述第二定位得到的测量结果，确定所述第一终端设备的第一定位估计结果，将所述第一定位估计结果作为第一终端设备的定位估计结果；或者，
    基于所述第一定位得到的第一定位估计结果和/或所述第二定位得到的第二定位估计结果，确定所述第一终端设备的定位估计结果。
  3. 如权利要求1或2所述的定位方法，其特征在于，所述第一触发事件包括以下任一种：
    检测到无法获取到所述第一定位对应的第一定位估计结果；或，
    检测到所述第一定位估计结果无法满足预设的定位服务质量精度需求；或，
    检测到所述第一定位估计结果即将无法满足预设的定位服务质量精度需求。
  4. 如权利要求3所述的定位方法，其特征在于，所述检测到无法获取到所述第一定位对应的第一定位估计结果，包括： 检测到来自不同传输点的第一链路的直视径总数小于第一阈值；所述第一阈值为正整数。
  5. 如权利要求3所述的定位方法，其特征在于，所述检测到所述第一定位估计结果无法满足预设的定位服务质量精度需求，包括：
    检测到最近N次得到的第一定位估计结果均大于或等于所述定位服务质量精度需求，N≥1。
  6. 如权利要求3所述的定位方法，其特征在于，所述检测到所述第一定位估计结果即将无法满足预设的定位服务质量精度需求，包括以下任一种：
    检测到所述定位服务质量精度需求与最近N次得到的第一定位估计结果之差均小于预设的第二阈值；
    检测到最近N次得到的第一定位估计结果中，相邻两个定位估计结果之差逐渐增大；所述第二阈值大于零，且N≥1。
  7. 如权利要求1所述的定位方法，其特征在于，所述执行第二定位，包括以下至少一项：
    确定第二终端设备；或
    与所述第二终端设备进行定位能力信息交互；或
    获取定位参考信号配置信息以及测量配置信息；或
    基于所述定位参考信号配置信息以及所述测量配置信息，执行第二定位。
  8. 如权利要求1所述的定位方法，其特征在于，在确定所述第一终端设备的定位估计结果之后，还包括：
    检测到满足第二触发事件，停止执行所述第二定位；所述第二触发事件用于表征基于第一定位能够满足需求。
  9. 如权利要求8所述的定位方法，其特征在于，所述第二触发事件 包括以下任一种：
    检测到能够获取到所述第一定位对应的第一定位估计结果；或，
    检测到所述第一定位估计结果满足预设的定位服务质量精度需求；或，
    检测到一段时长之内获取到的所述第一定位估计结果均能够满足预设的定位服务质量精度需求。
  10. 如权利要求9所述的定位方法，其特征在于，所述检测到能够获取到所述第一定位对应的第一定位估计结果，包括：
    检测到来自不同传输点的第一链路的直视径总数大于第三阈值；所述第三阈值为正整数。
  11. 如权利要求9所述的定位方法，其特征在于，所述检测到所述第一定位估计结果满足预设的定位服务质量精度需求，包括：
    检测到最近N次得到的第一定位估计结果均小于预设的定位服务质量精度需求；N≥1。
  12. 如权利要求9所述的定位方法，其特征在于，所述检测到一段时长之内获取到的所述第一定位估计结果均能够满足预设的定位服务质量精度需求，包括：
    检测到所述定位服务质量精度需求与最近N次得到的第一定位估计结果之差均大于预设的第四阈值；或，
    检测到最近N次得到的第一定位估计结果中，相邻两个定位估计结果之差逐渐减小；
    所述第四阈值大于零，且N≥1。
  13. 如权利要求1所述的定位方法，其特征在于，还包括：
    获取定位参考信号配置信息和/或测量配置信息；
    向所述接入网设备上报定位信息，所述定位信息包括以下至少一种： 来自不同传输点的第一链路的直视径总数、第一定位估计结果、基于第一定位得到的最近N个第一定位估计结果、第一终端设备是否具有已知位置信息指示、第一终端设备的地理位置信息、预设的定位服务质量精度需求；N≥1。
  14. 一种定位方法，其特征在于，包括：
    检测到基于第一定位无法满足需求时，触发执行第二定位；所述第一定位对应于使用第一链路参考信号实现的定位，所述第一链路参考信号为第一终端设备与接入网设备之间的定位参考信号；所述第二定位对应于使用第二链路参考信号实现的定位，所述第二链路参考信号为所述第一终端设备与第二终端设备之间的定位参考信号；
    确定所述第一终端设备的定位估计结果，所述第一终端设备的定位估计结果基于所述第一定位和/或第二定位确定。
  15. 如权利要求14所述的定位方法，其特征在于，所述确定第一终端设备的定位估计结果，包括以下任一种：
    基于所述第一定位得到的测量结果和/或所述第二定位得到的测量结果，确定所述第一终端设备的第一定位估计结果，将所述第一定位估计结果作为第一终端设备的定位估计结果；或者，
    基于所述第一定位得到的第一定位估计结果和/或所述第二定位得到的第二定位估计结果，确定所述第一终端设备的定位估计结果。
  16. 如权利要求14所述的定位方法，其特征在于，还包括：
    向所述第一终端设备发送定位参考信号配置信息和/或测量配置信息。
  17. 如权利要求14所述的定位方法，其特征在于，所述触发执行第二定位，包括：
    接收所述第一终端设备的定位信息，所述定位信息包括以下至少一种：来自不同传输点的第一链路的直视径总数、第一定位估计结果、 基于第一定位得到的最近N个第一定位估计结果，N≥1、第一终端设备是否具有已知位置信息指示、第一终端设备的地理位置信息、预设的定位服务质量精度需求；
    根据所述定位信息，触发执行第二定位。
  18. 如权利要求17所述的定位方法，其特征在于，所述触发执行第二定位，还包括：
    根据以下至少一种触发执行第二定位：所述定位信息、网络负载状态、网络资源使用状态。
  19. 如权利要求14所述的定位方法，其特征在于，触发执行第二定位之后，还包括：
    触发关闭第二定位。
  20. 如权利要求19所述的定位方法，其特征在于，所述触发关闭第二定位，包括：
    接收所述第一终端设备的定位信息，所述定位信息包括以下至少一种：来自不同传输点的第一链路的直视径总数、第一定位估计结果、基于第一定位得到的最近N个第一定位估计结果，N≥1、第一终端设备是否具有已知位置信息指示、第一终端设备的地理位置信息、预设的定位服务质量精度需求；
    根据所述定位信息，关闭第二定位。
  21. 如权利要求20所述的定位方法，其特征在于，所述关闭第二定位，还包括：
    根据以下至少一种触发关闭第二定位：所述定位信息、网络负载状态、网络资源使用状态。
  22. 一种定位装置，其特征在于，包括：
    第一触发单元，用于检测到满足第一触发事件，触发执行第二定位； 所述第一触发事件用于表征基于第一定位无法满足需求；所述第一定位对应于使用第一链路参考信号实现的定位，所述第一链路参考信号为第一终端设备与接入网设备之间的定位参考信号；所述第二定位对应于使用第二链路参考信号实现的定位，所述第二链路参考信号为所述第一终端设备与第二终端设备之间的定位参考信号；
    第一定位估计结果确定单元，用于确定所述第一终端设备的定位估计结果，所述第一终端设备的定位估计结果基于所述第一定位和/或第二定位确定。
  23. 一种定位装置，其特征在于，包括：
    第二触发单元，用于检测到基于第一定位无法满足需求时，触发执行第二定位；所述第一定位对应于使用第一链路参考信号实现的定位，所述第一链路参考信号为第一终端设备与接入网设备之间的定位参考信号；所述第二定位对应于使用第二链路参考信号实现的定位，所述第二链路参考信号为所述第一终端设备与第二终端设备之间的定位参考信号；
    第一定位估计结果信息确定单元，用于确定所述第一终端设备的定位估计结果信息，所述第一终端设备的定位估计结果基于所述第一定位和/或第二定位确定。
  24. 一种计算机可读存储介质，所述计算机可读存储介质为非易失性存储介质或非瞬态存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器运行时执行权利要求1～13任一项所述的方法的步骤；或者，执行权利要求14～21任一项所述的方法的步骤。
  25. 一种定位装置，包括存储器和处理器，所述存储器上存储有可在所述处理器上运行的计算机程序，其特征在于，所述处理器运行所述计算机程序时执行权利要求1～13任一项所述的方法的步骤；或者，执行权利要求14～21任一项所述的方法的步骤。
PCT/CN2023/107112 2022-07-15 2023-07-13 定位方法及装置、计算机可读存储介质 WO2024012509A1 (zh)

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