WO2024017098A1 - 通信方法和通信装置 - Google Patents

通信方法和通信装置 Download PDF

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Publication number
WO2024017098A1
WO2024017098A1 PCT/CN2023/106841 CN2023106841W WO2024017098A1 WO 2024017098 A1 WO2024017098 A1 WO 2024017098A1 CN 2023106841 W CN2023106841 W CN 2023106841W WO 2024017098 A1 WO2024017098 A1 WO 2024017098A1
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WIPO (PCT)
Prior art keywords
time
communication device
time difference
reference signal
difference
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PCT/CN2023/106841
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English (en)
French (fr)
Inventor
李俊
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN202210970274.8A external-priority patent/CN117479097A/zh
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Publication of WO2024017098A1 publication Critical patent/WO2024017098A1/zh

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information

Definitions

  • Embodiments of the present application relate to the field of communication, and in particular to communication devices and communication devices.
  • time difference between the time of flight (TOF) of the signal from communication device A to communication device P and the TOF of the signal from communication device B to communication device P.
  • TOF time of flight
  • TDOA time difference of arrival
  • one method of obtaining the time difference between the TOF of the signal from communication device A to communication device P and the TOF of the signal from communication device B to communication device P is as follows: Communication device A sends a first signal to communication device P , communication device B sends a second signal to communication device P, communication device P receives the first signal and receives the second signal, communication device P is based on the sending time of the first signal, the receiving time of the first signal, and the sending time of the second signal. and the second signal reception time determine TDOA.
  • the above method requires very high clock synchronization between communication device A, communication device B and communication device P.
  • the accuracy of the TOF time difference is limited to the time difference between communication device A, communication device B and communication device P. clock synchronicity.
  • this application proposes a new communication method, communication device, communication system, computer-readable storage medium and computer program product to avoid The impact of clock synchronization between communication devices on the TOF time difference between communication devices.
  • this application provides a communication method.
  • the first communication device obtains first time information.
  • the first time information is used to determine the first time difference between the first time and the second time.
  • the first time is the time when the second communication device sends the first reference signal.
  • the second time is the time when the second communication device receives the second reference signal sent by the third communication device;
  • the first communication device receives the second time information from the third communication device, and the second time information is used to determine the difference between the third time and
  • the second time difference between the fourth time the third time is the time when the third communication device receives the first reference signal
  • the fourth time is the time when the third communication device sends the second reference signal; the first communication device receives the second time difference from the fourth time.
  • the third time information of the communication device is used to determine the third time difference between the fifth time and the sixth time.
  • the fifth time is the time when the fourth communication device receives the first reference signal
  • the sixth time is the time when the fourth communication device receives the first reference signal.
  • the time difference is that the first flight time is the flight time of the signal between the second communication device and the fourth communication device, and the second flight time is the flight time of the signal between the third communication device and the fourth communication device.
  • the first time difference, the second time difference and the third time difference are respectively relative time differences on the same communication device, they have nothing to do with the clock synchronization between the communication devices.
  • the first communication device may be a management device or a control device deployed independently from the second communication device, the third communication device and the fourth communication device, or may be the same device as the second communication device.
  • the first time information may indicate the first time difference by directly carrying the first time and the second time, or it may Instead of directly carrying the first time difference to indicate the first time difference, the first time difference may also be indicated in a form similar to "UE-RxTxTimeDiff" in existing communication standards.
  • the first communication device needs to calculate the first time difference based on the first time and the second time.
  • the manner in which the second time information indicates the second time difference and the third time information indicates the third time difference may refer to the above-mentioned manner in which the first time information indicates the first time difference, which will not be described again here.
  • the following relationship is satisfied among the first time difference, the second time difference, the third time difference and the first flight time difference:
  • t AB represents the first time difference
  • t B represents the second time difference
  • t RSTD represents the third time difference
  • t1 represents the first flight time difference
  • the first time difference, the second time difference and the third time difference can be substituted into the above expression to obtain the first flight time difference.
  • the first communication device when it determines the first flight time difference based on the first time difference, the second time difference and the third time difference, it may also introduce other information to improve the accuracy of the first flight time difference.
  • the clock drift information in each communication device related to the time difference can be obtained, and the corresponding time difference can be optimized based on the clock drift information to obtain a higher-precision time difference, thereby obtaining a higher-precision flight time difference.
  • the method further includes: the first communication device obtains fourth time information, the fourth time information is used to determine a fourth time difference between the seventh time and the eighth time, and the seventh time is the second time.
  • the eighth time is when the second communication device receives the fourth reference signal sent by the third communication device;
  • the first communication device receives the fifth time information from the third communication device, and the fifth time is when the second communication device receives the fourth reference signal sent by the third communication device.
  • the time information is used to determine the fifth time difference between the ninth time and the tenth time.
  • the ninth time is the time when the third communication device receives the third reference signal, and the tenth time is when the third communication device sends the fourth reference signal.
  • the first communication device receives the sixth time information from the fourth communication device, the sixth time information is used to determine the sixth time difference between the eleventh time and the twelfth time, and the eleventh time is the fourth communication
  • the twelfth time is the time when the device receives the third reference signal
  • the twelfth time is the time when the fourth communication device receives the fourth reference signal.
  • the first communication device determines the first flight time difference based on the first time difference, the second time difference, and the third time difference, including: the first communication device determines the first flight time difference based on the first time difference, the second time difference, the third time difference, the fourth time difference, and the fifth time difference.
  • the time difference and the sixth time difference determine the first flight time difference.
  • more time difference information of signals from the second communication device to the third communication device is obtained, more time difference information of the signals from the third communication device to the second communication device is obtained, and the second communication device and the third communication device are obtained.
  • the communication device sends more time difference information to the signal of the fourth communication device respectively, and determines the time-of-flight difference based on the more time difference information.
  • the clock crystal oscillator errors between the communication devices can be aligned, thereby improving the accuracy of the time-of-flight difference.
  • the first communication device determines the time according to the first time difference and the second time difference.
  • the third time difference, the fourth time difference, the fifth time difference and the sixth time difference determine the first flight time difference.
  • the first time difference, the second time difference, the third time difference, the fourth time difference and the fifth time difference , the sixth time difference and the first flight time difference satisfy the following relationship:
  • t 1 represents the first time difference
  • t 2 represents the second time difference
  • t RSTD,1 represents the third time difference
  • t 3 represents the fourth time difference
  • t 4 represents the fifth time difference
  • t RSTD,2 represents the sixth time difference
  • t represents First flight time difference.
  • the first time difference, the second time difference, the third time difference, the fourth time difference, the fifth time difference and the sixth time difference can be substituted into the above expression, so that the first flight time difference can be obtained.
  • the first communication device determines the time difference according to the first time difference, the second time difference, the third time difference, the fourth time difference, the fifth time difference and the sixth time difference.
  • the fourth reference signal is the second reference signal.
  • the eighth time is the second time
  • the tenth time is the fourth time
  • the twelfth time is the sixth time.
  • the second reference signal is multiplexed, and the second moment, the fourth moment and the sixth moment are multiplexed.
  • the delay in measuring the time difference can be reduced, on the other hand, the efficiency of determining the first flight time difference can be improved, and on the other hand, the second reference signal can be multiplexed. aspects can improve resource utilization.
  • the third reference signal is the first reference signal.
  • the first communication device obtains a second flight time difference, the second flight time difference is the time difference between the first flight time and the third flight time, and the third flight time is The flight time of the signal between the fifth communication device and the fourth communication device; the first communication device is based on the first flight time difference, the second flight time difference, the position of the second communication device, the position of the third communication device and the fifth communication device The position of the fourth communication device is determined by the time difference of arrival TDOA positioning method.
  • the method of obtaining the second flight time difference may refer to the method of obtaining the first flight time difference, which will not be described again here.
  • the accuracy of the first flight time difference and the second flight time difference is relatively high, therefore, based on the first flight time difference
  • the position accuracy obtained by positioning the fourth communication device based on the difference between the second flight time and the second flight time will also be relatively high.
  • the first communication device obtains The first time information includes: the first communication device receives the first time information from the second communication device.
  • the first communication device obtains the first time information by receiving the first time information sent by the second communication device.
  • the first communication device may communicate with the second communication device, the third communication device and the fourth communication device.
  • the communication device sends configuration information of the reference signal so that each communication device can receive the reference signal based on the configuration information.
  • the first communication device may send the first configuration information to the second communication device, and the first configuration information may be used to indicate the time-frequency resource of the first reference signal, so that the second communication device knows on what frequency domain resource When to send the first reference signal.
  • the first communication device may send second configuration information to the third communication device, and the second configuration information may be used to indicate the time-frequency resource of the second reference signal, so that the third communication device knows on what frequency domain resource When to send the second reference signal.
  • the first communication device may indicate the frequency domain resource and/or time domain resource of the second reference signal to the second communication device, so that the second communication device knows on what frequency domain resource and/or time domain resource it is received. second reference signal.
  • blind detection of the second reference signal relative to the second communication device can avoid resource waste of the second communication device.
  • the first communication device may send the second configuration information to the second communication device.
  • the first communication device may indicate the frequency domain resource and/or time domain resource of the first reference signal to the third communication device, so that the third communication device knows on what frequency domain resource and/or time domain resource it is received.
  • first reference signal may indicate blind detection of the first reference signal with respect to the third communication device.
  • blind detection of the first reference signal with respect to the third communication device can avoid resource waste of the third communication device.
  • the first communication device may send the first configuration information to the third communication device.
  • the first communication device may indicate the frequency domain resource and/or time domain resource of the first reference signal to the fourth communication device, so that the fourth communication device knows on what frequency domain resource and/or time domain resource it is received.
  • first reference signal may indicate the frequency domain resource and/or time domain resource of the first reference signal to the fourth communication device.
  • blind detection of the first reference signal with respect to the fourth communication device can avoid resource waste of the fourth communication device.
  • the first communication device may send the first configuration information to the fourth communication device.
  • the first communication device may indicate the frequency domain resource and/or time domain resource of the second reference signal to the fourth communication device, so that the fourth communication device knows on what frequency domain resource and/or time domain resource it is received. second reference signal.
  • blind detection of the second reference signal with respect to the fourth communication device can avoid resource waste of the fourth communication device.
  • the first communication device may send the second configuration information to the fourth communication device.
  • the first configuration information may also include information indicating that the second communication device is the reference anchor device, and the second configuration information may also include information indicating that the third communication device Information for other anchor devices.
  • the time difference between the reference anchor point device receiving the signal and sending the signal can be used as a reference value.
  • the method may also include: the first communication device sends a first reference signal, the first communication device The device receives the second reference signal.
  • the first communication device records the first time of sending the first reference signal and the second time of receiving the second reference signal,
  • the first time information can be obtained based on the first time and the second time.
  • the first communication device can send the configuration information of the reference signal to the third communication device and the fourth communication device, so that each communication device can receive the reference signal based on the configuration information.
  • the first communication device may send second configuration information to the third communication device, and the second configuration information may be used to indicate the time-frequency resource of the second reference signal, so that the third communication device knows on what frequency domain resource When to send the second reference signal.
  • the first communication device may indicate the frequency domain resource and/or time domain resource of the first reference signal to the third communication device, so that the third communication device knows on what frequency domain resource and/or time domain resource it is received.
  • first reference signal may be used to avoid resource waste of the third communication device.
  • the first communication device may send first configuration information to the third communication device, where the first configuration information is used to indicate frequency domain resources and/or time domain resources of the first reference signal.
  • the first communication device may indicate the frequency domain resource and/or time domain resource of the first reference signal to the fourth communication device, so that the fourth communication device knows on what frequency domain resource and/or time domain resource it is received.
  • first reference signal may indicate the frequency domain resource and/or time domain resource of the first reference signal to the fourth communication device.
  • blind detection of the first reference signal with respect to the fourth communication device can avoid resource waste of the fourth communication device.
  • the first communication device may send the first configuration information to the fourth communication device.
  • the first communication device may indicate the frequency domain resource and/or time domain resource of the second reference signal to the fourth communication device, so that the fourth communication device knows on what frequency domain resource and/or time domain resource it is received. second reference signal.
  • blind detection of the second reference signal with respect to the fourth communication device can avoid resource waste of the fourth communication device.
  • the first communication device may send the second configuration information to the fourth communication device.
  • the first configuration information may also include information indicating that the second communication device is the reference anchor device, and the second configuration information may also include information indicating that the third communication device Information for other anchor devices.
  • the time difference between the reference anchor point device receiving the signal and sending the signal can be used as a reference value.
  • the present application provides a communication device, which may include various modules for implementing the method in any implementation manner in the first aspect.
  • Each module can be implemented by software and/or hardware.
  • the device may include a communication module and a processing module.
  • the communication module may be used to implement the steps related to the receiving operation and the sending operation in the first aspect.
  • the processing module may be used to implement the steps related to the acquisition, determination and other operations in the first aspect. .
  • the device may include: a processor and a memory.
  • the memory is used to store computer-executable program code, and the program code includes instructions; when the processor executes the instructions, the instructions cause the device to perform the method in the first aspect.
  • the device may be a communication device or a chip applied to the communication device.
  • the present application provides a computer program product containing instructions that, when run on a computer, cause the computer to execute the method in the first aspect.
  • the present application provides a computer-readable storage medium in which instructions are stored, which when run on an electronic device or computer, cause the electronic device or computer to execute the above-mentioned first aspect. method.
  • the present application provides a communication system, which includes the communication device in the second aspect.
  • Figure 1 is a schematic structural diagram of a communication system according to an embodiment of the present application.
  • Figure 2 is a schematic flow chart of a communication method according to an embodiment of the present application.
  • Figure 3 is a schematic diagram of signal transmission according to an embodiment of the present application.
  • Figure 4 is a schematic flow chart of a communication method according to another embodiment of the present application.
  • Figure 5A is a schematic diagram of signal transmission according to another embodiment of the present application.
  • Figure 5B is a schematic diagram of signal transmission according to another embodiment of the present application.
  • Figure 5C is a schematic diagram of signal transmission according to another embodiment of the present application.
  • Figure 5D is a schematic diagram of signal transmission according to another embodiment of the present application.
  • Figure 6A is a schematic diagram of signal transmission according to another embodiment of the present application.
  • Figure 6B is a schematic diagram of signal transmission according to another embodiment of the present application.
  • Figure 7 is a schematic flow chart of a communication method according to another embodiment of the present application.
  • Figure 8 is a schematic flow chart of a communication method according to another embodiment of the present application.
  • Figure 9 is a schematic flow chart of a communication method according to another embodiment of the present application.
  • Figure 10 is a schematic flow chart of a communication method according to another embodiment of the present application.
  • Figure 11 is a schematic structural diagram of a communication device according to an embodiment of the present application.
  • Figure 12 is a schematic structural diagram of a communication device according to another embodiment of the present application.
  • LTE long term evolution
  • FDD frequency division duplex
  • UMTS time division duplex
  • WiMAX microwave access
  • future fifth generation (5th generation, 5G) system or new wireless ( new radio, NR) system vehicle-to-X V2X
  • V2X can include vehicle to Internet (vehicle to network, V2N), vehicle to vehicle (vehicle to-Vehicle, V2V), vehicle to infrastructure Facilities (vehicle to infrastructure, V2I), vehicle to pedestrian (V2P), etc.
  • long-term evolution technology of workshop communication Long Term Evolution-Vehicle, LTE-V
  • MTC machine type communication
  • IoT Internet of Things
  • LTE-M Long Term Evolution-Machine
  • the terminal equipment in the embodiment of this application may also be called user equipment (UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal , wireless communications equipment, user agent or user device.
  • UE user equipment
  • the end device may also be a road side unit (RSU), a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, or a personal digital assistant (personal digital assistant, PDA), handheld devices with wireless communication capabilities, computing devices or other processing devices connected to wireless modems, transportation equipment such as vehicles/ships/aircrafts, vehicle-mounted devices, wearable devices, terminals in future 5G networks equipment or terminal equipment in the future evolved public land mobile communication network (public land mobile network, PLMN), etc.
  • the terminal device is equipped with a wireless transceiver antenna to set and obtain the communication status and complete the communication. It should be understood that this application does not limit the specific form of the terminal device.
  • the network device in the embodiment of this application can be any device with wireless transceiver function.
  • the equipment includes but is not limited to: evolved Node B (eNB), Radio Network Controller (RNC), Node B (Node B, NB), Base Station Controller (BSC) , base transceiver station (Base Transceiver Station, BTS), home base station (for example, Home evolved NodeB, or Home Node B, HNB), baseband unit (BaseBand Unit, BBU), wireless fidelity (Wireless Fidelity, WIFI) system Access Point (AP), wireless relay node, wireless backhaul node, transmission point (TP) or transmission and reception point (TRP), etc.
  • 5G such as NR
  • Figure 1 is a schematic structural diagram of a communication system 100 according to an embodiment of the present application.
  • the communication system 100 may include at least four communication devices, such as communication device 101 , communication device 102 , communication device 103 , communication device 104 and management device 105 .
  • FIG. 1 is only an example, and the communication system of the embodiment of the present application may also include more or less devices. For example, more communication devices may be included, or the management device 105 may not be included.
  • the communication device 103 can access the communication network through the communication device 101, or in other words, the communication device 101 can serve as an access network device or anchor point of the communication device 103 to connect the communication device 103 to the communication network.
  • the communication device 103 can access the communication network through the communication device 102, or in other words, the communication device 102 can serve as an access network device or anchor point of the communication device 103 to connect the communication device 103 to the communication network.
  • the communication device 103 can access the communication network through the communication device 104, or in other words, the communication device 104 can serve as an access network device or anchor point of the communication device 103 to connect the communication device 103 to the communication network.
  • the communication device 103 is a terminal device, and the communication device 101, communication device 102 and communication device 104 are network devices.
  • communication device 101, communication device 102, communication device 103 and communication device 104 are all terminal devices.
  • the communication device 101, the communication device 102, the communication device 104, and the communication device 103 can communicate through a sidelink (SL).
  • SL sidelink
  • the management device 105 can communicate with the communication devices 101 to 104, configure the communication devices 101 to 104, and receive information reported by the communication devices 101 to 104, and implement related functions based on the reported information. , for example, determination of flight time difference, position estimation of communication equipment, etc.
  • the name of the management device is only an example, and this application does not impose restrictions on the name of the device.
  • the device when it has a location estimation function, it can also be called a location management function (LMF) device.
  • LMF location management function
  • communication device 101, communication device 102 and communication device 103 are all terminal devices.
  • Communication device 101 and communication device 102 are anchor points of communication device 103.
  • Communication device 101, communication device 102 and communication device 103 communicate through SL.
  • the processes of several exemplary embodiments of the communication method of the present application are introduced with reference to FIG. 2, FIG. 3, and FIG. 4.
  • the communication method in this embodiment may include S210, S220, S230, S240, S250 and S260.
  • UE A sends the first reference signal.
  • UE P and UE B receive the first reference signal.
  • UE A sends the first reference signal, which can also be understood as: UE A sends the first reference signal to UE P and UE B.
  • UE A and UE B are anchor points of UE P respectively. Further, optionally, UE A may be the reference anchor point of UE P, and UE B may be other anchor points of UE P.
  • the signal name of the first reference signal is only an example.
  • the first reference signal may also have other names.
  • UE A records the first moment when the first reference signal is sent
  • UE P records the fifth moment when the first reference signal is received
  • UE B records the third moment when the first reference signal is received.
  • the first moment is marked as t A,1
  • the third moment is marked as t B,1
  • the fifth moment is marked as t P,1 .
  • UE B sends the second reference signal.
  • UE P and UE A receive the second reference signal.
  • UE B sends the second reference signal, which can also be understood as: UE B sends the second reference signal to UE P and UE A.
  • the signal name of the second reference signal is only an example.
  • the second reference signal may also have other names.
  • UE B records the fourth moment when it sends the second reference signal
  • UE P records the sixth moment when it receives the second reference signal
  • UE A records the second moment when it receives the second reference signal.
  • the second moment is marked as t A,2
  • the fourth moment is marked as t B,2
  • the sixth moment is marked as t P,2 .
  • UE A obtains the first time information.
  • the first time information is used to indicate the first time difference.
  • the first time difference is the difference between the first moment and the second moment.
  • the first moment is the moment when UE A sends the first reference signal.
  • the second time is the time when UE A receives the second reference signal.
  • , t A ,1 represents the first moment
  • t A,2 represents the second moment
  • t A represents the second moment.
  • UE B sends second time information to UE A.
  • the second time information is used to indicate the second time difference.
  • the second time difference is the difference between the third time and the fourth time.
  • the third time is when UE B receives the first reference. signal time
  • the fourth time is the time when UE B sends the second reference signal.
  • UE A receives the second time information.
  • , t B ,1 represents the third moment
  • t B,2 represents the fourth moment
  • t B represents the third moment. Two time differences.
  • t B can be directly carried in the second time information.
  • the second time information may indicate the second time difference in the form of "UE-RxTxTimeDiff" in the existing communication standard.
  • UE P sends third time information to UE A.
  • the third time information is used to indicate the third time difference.
  • the third time difference is the difference between the fifth time and the sixth time.
  • the fifth time is when UE P receives the first reference. signal moment, the sixth moment is the moment when UE P receives the second reference signal.
  • UE A receives the third time information.
  • , t P,1 represents the fifth moment
  • t P,2 represents the sixth moment
  • t RSTD represents the fifth moment.
  • t RSTD can be directly carried in the second time information.
  • the third time information may indicate the third time difference in the form of reference signal time difference (RSTD) in the existing communication standard.
  • RSTD reference signal time difference
  • UE A determines the first flight time difference based on the first time difference, the second time difference and the third time difference, where the first flight time difference is the difference between the first flight time and the second flight time, and the first flight time is UE The flight time of the signal between A and UE P, the second flight time is the flight time of the signal between UE B and UE P.
  • FIG. 3 is a schematic diagram of the flight time of the first reference signal and the second reference signal before UE A, UE B and UE P.
  • TOF UEA_UEP represents the first flight time
  • TOF UEA_UEB represents the flight time of the signal between UE A and UE B
  • the first equation uses the formula listed in the transmission time of the reference signal between the anchor points UE A and UE B
  • the two equations combine the equations listed in the transmission time of the reference signal at UE P, so it can be derived: ⁇
  • UE A can pass the relationship Determine the first flight time difference.
  • the first time difference, the second time difference, and the third time difference are all relative time differences, a high-precision flight time difference can be obtained without requiring clock synchronization between UE A and UE B.
  • this embodiment does not limit the execution order of S210 and S220, nor the execution order of S230, S240 and S250.
  • UE A may configure the time-frequency resource of the first reference signal and the time-frequency resource of the second reference signal. The following describes how to configure the time-frequency resources of the first reference signal and the time-frequency resources of the second reference signal.
  • UE A may indicate the frequency domain resources and/or time domain resources of the first reference signal to UE B, so that UE B knows on what frequency domain resources and/or time domain resources to receive the first reference signal. a reference signal. In this implementation, relative to UE B's blind detection of the first reference signal, UE B's resource waste can be avoided.
  • UE A may indicate the frequency domain resource and/or time domain resource of the first reference signal to UE P, so that UE P knows on what frequency domain resource and/or time domain resource the first reference signal is received.
  • This implementation method can avoid the waste of resources of the UE P compared to the blind detection of the first reference signal by the UE P.
  • UE A may indicate the frequency domain resources and/or time domain resources of the second reference signal to UE P, so that UE P knows on what frequency domain resources and/or time domain resources the second reference signal is received.
  • This implementation method can avoid the waste of resources of the UE P compared to the blind detection of the second reference signal by the UE P.
  • UE A sends first configuration information and second configuration information, where the first configuration information can be used to indicate the time-frequency resource of the first reference signal, and the second configuration information can be used to indicate the time-frequency resource of the first reference signal. 2. Time-frequency resources of the reference signal.
  • UE A sending the first configuration information and the second configuration information can be understood as: UE A sends the first configuration information and the second configuration information to UE B and UEP.
  • UE B can be caused to receive the first reference signal and the second reference signal based on the first configuration information, and UE B can be caused to receive the first reference signal based on the first configuration information and send the second reference signal based on the second configuration information.
  • UE A may send the first configuration information and the second configuration information through multicast or broadcast.
  • UE A can send the first configuration information and the second configuration information to UE B and UE P through the "NR-SL-TDOA-ProvideAssistanceData" message, and request UE B to report the reception of the first reference signal and the reception of the second reference signal.
  • UE A can also inform UE B and UE P that UE A is the reference anchor point of UE P and UE B is the other anchor point of UE P through the "NR-SL-TDOA-ProvideAssistanceData" message.
  • UE A can send the first configuration information and the second configuration information to UE B and UE P through the "NR-Multi-RTT-ProvideAssistanceData" message; and request UE B to report through the "NR-Multi-RTT-RequestLocationInformation” message.
  • Figure 4 is an exemplary flow chart of a communication method according to another embodiment of the present application. As shown in Figure 4, the method includes S401, S402, S403, S404, S405, S406, S407, S408, S409, S410 and S411.
  • S401, S402, S403, S404 and S405 can respectively refer to S210, S220, S230, S240 and S250.
  • t A,1 represents the first time
  • t A,2 represents the second time
  • t A1 represents the first time difference
  • the second time difference is represented by t B1
  • the third time difference is represented by t RSTD1 .
  • UE A sends the third reference signal.
  • UE P and UE B receive the third reference signal. This step may refer to S210, for example, replacing the first reference signal with the third reference signal.
  • UE B sends the fourth reference signal.
  • UE P and UE A receive the fourth reference signal.
  • This step may refer to S220, for example, the second reference signal is replaced with the fourth reference signal.
  • the sending time of the first reference signal and the sending time of the second reference signal are The order between them is called the second order, and the first order and the second order are the same.
  • the first order and the second order are the same and can be understood as: when the first reference signal is sent before the second reference signal, the fourth reference signal is sent before the third reference signal; when the first reference signal is sent after the second reference signal, The fourth reference signal is sent after the third reference signal.
  • FIGS. 5A and 5B are signal transmission schematic diagrams according to the embodiment of the present application.
  • the first sequence and the second sequence in FIGS. 5A and 5B are the same.
  • the second reference signal and the fourth reference signal may be the same reference signal
  • the eighth time is the second time and the tenth time is the fourth time. time
  • the twelfth time is the sixth time.
  • the first sequence is the same as the second sequence.
  • the first reference signal and the third reference signal can be the same reference signal, then the seventh time is the first time and the ninth time is the third time. , the eleventh moment is the fifth moment.
  • the schematic diagram of signal transmission between UE A, UE B and UE P is shown in Figure 5D.
  • the sequence between the sending time of the fourth reference signal and the sending time of the third reference signal is called is the first order
  • the order between the transmission time of the first reference signal and the transmission time of the second reference signal is called the second order
  • the first order and the second order are different.
  • the difference between the first order and the second order can be understood as: when the first reference signal is sent before the second reference signal, the fourth reference signal is sent after the third reference signal; when the first reference signal is sent after the second reference signal , the fourth reference signal is sent before the third reference signal.
  • the third reference signal may be the first reference signal, or the fourth reference signal may be the second reference signal.
  • UE A obtains the fourth time information.
  • the fourth time information is used to indicate the fourth time difference.
  • the fourth time difference is the difference between the seventh time and the eighth time.
  • the seventh time is the time when UE A sends the third reference signal. time
  • the eighth time is the time when UE A receives the fourth reference signal.
  • , t A,4 represents the eighth moment
  • t A,3 represents the seventh moment
  • t A2 represents the seventh moment.
  • UE B sends fifth time information to UE A.
  • the fifth time information is used to indicate the fifth time difference.
  • the fifth time difference is the time difference between the ninth moment and the tenth moment.
  • the ninth moment is when UE B receives the third reference signal.
  • time is when UE B receives the third reference signal.
  • time is when UE B receives the third reference signal.
  • the tenth time is the time when UE B sends the fourth reference signal.
  • UE A receives the fifth time information.
  • This step may refer to S240, for example, replace the third time with the ninth time, replace the fourth time with the tenth time, and replace the second time difference with the fifth time difference.
  • the ninth time is represented by t B,3
  • the tenth time is represented by t B,4
  • t B2 represents the fifth time difference.
  • UE P sends the sixth time information to UE A.
  • the sixth time information is used to indicate the sixth time difference.
  • the sixth time difference is the difference between the eleventh time and the twelfth time.
  • the eleventh time is received by UE P.
  • the time of the third reference signal, the twelfth time is the time when the UE P receives the fourth reference signal.
  • UE A receives the sixth time information.
  • This step may refer to S250, for example, replace the fifth time with the eleventh time, replace the sixth time with the twelfth time, and replace the third time difference with the sixth time difference.
  • the eleventh time is represented by t P,3
  • the twelfth time is represented by t P,4
  • the sixth time difference is represented by t RSTD2 .
  • UE A determines the first flight time difference based on the first time difference, the second time difference, the third time difference, the fourth time difference, the fifth time difference and the sixth time difference, where the first flight time difference is the first flight time and the second flight time.
  • the difference between the first flight time is the flight time of the signal between UE A and UE P
  • the second flight time is the flight time of the signal between UE B and UE P.
  • the following relationship can be satisfied among the first time difference, the second time difference, the third time difference, the fourth time difference, the fifth time difference, the sixth time difference and the first flight time difference:
  • UE A can use the relationship Determine the first flight time difference.
  • UE A can pass the relationship Determine the first flight time difference.
  • the first time difference, the second time difference, the third time difference, the fourth time difference, the fifth time difference can be satisfied between the sixth time difference and the first flight time difference:
  • UE A can use the relationship Determine the first flight time difference.
  • UE A can use the relationship Determine the first flight time difference.
  • one or more of the following transformations may be performed on the above relationship, and then the first flight time difference is determined based on the transformed relationship: interchange t A1 and t B1 and replace t A2 and t B2 Swap, swap t RSTD1 and t RSTD2 .
  • the first time difference, the second time difference, and the third time difference are all relative time differences, a high-precision flight time difference can be obtained without requiring clock synchronization between UE A and UE B.
  • Clock drift means that when the actual frequency of the clock crystal oscillator deviates from the nominal frequency, there will also be a deviation between the time recorded by the communication equipment and the actual time, and the deviation will increase with time.
  • error e 1 in the clock crystal oscillator if time t actually passes, the time recorded by the device is t(1++ 1 ), that is, the deviation will increase as time t increases.
  • this embodiment considers aligning the crystal oscillator errors of different devices.
  • the main change is to add the reference signal transmission and corresponding measurement process of UE A and UE B on the original basis.
  • e A (TOF UEA_UEP -TOF UEB_UEP ), e A is usually on the order of 10 -6 , and the error is very small and can be ignored.
  • UE A may compare the time-frequency resources of the first reference signal, the time-frequency resources of the second reference signal, the time-frequency resources of the third reference signal and the time-frequency resources of the fourth reference signal.
  • Frequency resources are configured, and the configuration method can refer to the relevant content in the embodiment shown in Figure 2, which will not be described again here.
  • Figure 7 is a schematic process diagram of a communication method according to an embodiment of the present application.
  • the communication method in this embodiment may include S710, S720 and S730.
  • the reference signal in this embodiment may also be called a positioning reference signal.
  • UE A obtains the first flight time difference.
  • the first flight time difference is the difference between the first flight time and the second flight time.
  • the first flight time is the flight time of the signal between UE A and UE P.
  • the second flight time difference is the flight time of the signal between UE A and UE P.
  • the flight time is the flight time of the signal between UE B and UE P.
  • UE A can obtain the first flight time difference by referring to the method in the embodiment shown in any of the aforementioned figures 2 to 6.
  • UE A obtains the second flight time difference, the second flight time difference is the difference between the first flight time and the third flight time, and the third flight time is the flight time of the signal between UE C and UE P.
  • UE A can obtain the second flight time difference by referring to the method in the embodiment shown in any of the aforementioned figures from Figures 2 to 6, for example, replacing UE B with UE C.
  • UE A determines the location of UE P based on the first flight time difference, the second flight time difference, the location of UE A, the location of UE B, and the location of UE C.
  • UE A determines the location of UE P based on the first flight time, the second flight time difference, the location of UE A, the location of UE B, and the location of UE C through the TDOA positioning method.
  • the first distance between UE A and UE P can be determined based on the first flight time and signal transmission speed
  • the second distance between UE B and UE P can be determined based on the second flight time and signal transmission speed
  • the second distance between UE B and UE P can be determined based on the third flight time and signal transmission speed.
  • the flight time and the signal transmission speed determine the third distance between UE C and UE P, calculate the first distance difference between the first distance and the second distance, and calculate the second distance difference between the first distance and the third distance.
  • UE P must be located on the hyperbola with UE A and UE B as the focus and the distance difference from these two focus points is always the first distance difference. It is also located on the hyperbola with UE A and UE C as the focus and with these two focus points. The distance difference of the focal point is always on the hyperbola of the second distance difference. Therefore, the estimated position of UE P can be obtained by obtaining the intersection of these two hyperbola.
  • the position estimated for the UE P is also highly accurate.
  • Figure 8 is an exemplary flow chart of a communication method according to an embodiment of the present application.
  • the method shown in Figure 8 may include S810, S820, S830, S840, S850 and S860.
  • S810 and S820 may refer to S210 and S220; S840, S850 and S860 may refer to S240, S250 and S260 respectively.
  • UE A in S240, S250 and S260 is replaced by the management device.
  • UE A sends first time information to the management device.
  • the first time information is used to indicate the first time difference between the first time when UE A sends the first reference signal and the second time when UE A receives the second reference signal. . Accordingly, the management device receives the first time information.
  • UE A may first obtain the first time information and then send the first time information.
  • UE A obtaining the first time information please refer to S230.
  • t A can be directly carried in the first time information.
  • the first time information may indicate the first time difference in the form of "UE-RxTxTimeDiff" in the existing communication standard.
  • Figure 9 is an exemplary flow chart of a communication method according to an embodiment of the present application. As shown in Figure 9, the method includes S901, S902, S903, S904, S905, S906, S907, S908, S909, S910 and S911.
  • S901, S902, S904, S905, S906, and S907 may refer to S210, S220, S840, S850, S406, and S407 respectively;
  • S903 may refer to S830;
  • S909, S910, and S911 may refer to S409, S410, and S411 respectively.
  • the UE A is replaced by the management device.
  • UE A sends the fourth time information to the management device.
  • the fourth time information is used to indicate the fourth time difference.
  • the fourth time difference is the difference between the seventh time and the eighth time.
  • the seventh time is when UE A sends the third time information.
  • the time of the reference signal, the eighth time is the time when UE A receives the fourth reference signal.
  • the management device receives the fourth time information.
  • UE A may first obtain the fourth time information and then send the fourth time information.
  • UE A obtaining the fourth time information please refer to S230.
  • the fourth time difference t A2 may be directly carried in the fourth time information.
  • the fourth time information may indicate the fourth time difference in the form of "UE-RxTxTimeDiff" in the existing communication standard.
  • the management device may configure time domain resources and/or frequency domain resources of the reference signal for the terminal device.
  • the way in which the management device configures time domain resources and/or frequency domain resources can refer to the aforementioned way in which UE A configures time domain resources and/or frequency domain resources. For example, UE A is replaced with the management device.
  • the management device may also configure the time-frequency resources of the first reference signal and/or the third reference signal for UE A, and configure the time-domain resources and/or frequency domain of the second reference signal and/or the fourth reference signal for UE A. resource.
  • Figure 10 is a schematic flow chart of a communication method according to an embodiment of the present application. As shown in Figure 10, the method may include S1010, S1020 and S1030.
  • the management device may obtain the first flight time difference through the method shown in Figure 8 or Figure 9; in S1020, the management device may obtain the second flight time difference through the method shown in Figure 8 or Figure 9; S1030 Refer to S730, for example, replace UE A with a management device.
  • FIG 11 is a schematic structural diagram of a communication device provided by an embodiment of the present application. As shown in Figure 11, the device 1100 includes: a transceiver module 1101 and a processing module 1102.
  • the communication device 1100 can be applied in a terminal device.
  • the communication device 1100 can be used to implement the method shown in any of Figures 2 to 7.
  • the transceiver module 1101 can be used to implement receiving operations and sending operations
  • the processing module 1102 can be used to implement operations such as acquisition, determination, and configuration.
  • the transceiver module 1101 can be used to implement S210, S220, S240, and S250, and the processing module 1102 can be used to implement S230 and S260.
  • the transceiver module 1101 can be used to implement S401, S402, S404, S405, S406, S407, S409 and S410, and the processing module 1102 can be used to implement S403, S408 and S411.
  • processing module 1102 can be used to implement S730.
  • the communication device 1100 can be applied in a management device.
  • the communication device 1100 can be used to implement the method shown in any of the figures in FIGS. 8 to 10 .
  • the transceiver module 1101 can be used to implement receiving operations and sending operations
  • the processing module 1102 can be used to implement operations such as acquisition, determination, and configuration.
  • the transceiver module 1101 can be used to implement S830, S840 and S850, and the processing module 1102 can be used to implement S860.
  • the transceiver module 1101 can be used to implement S903, S904, S905, S908, S909 and S910, and the processing module 1102 can be used to implement S911.
  • processing module 1102 can be used to implement S1030.
  • Figure 12 is a schematic structural diagram of a communication device provided by another embodiment of the present application.
  • the device 1200 shown in Figure 12 can be used to perform the method performed by UE A in the embodiment shown in any of Figures 2 to 7 or to perform the method performed by the management device in the embodiment shown in any of Figures 8 to 10 method of execution.
  • the device 1200 in this embodiment includes: a memory 1201, a processor 1202, a communication interface 1203 and a bus 1204.
  • the memory 1201, the processor 1202, and the communication interface 1203 implement communication connections between each other through the bus 1204.
  • the memory 1201 may be a read only memory (ROM), a static storage device, a dynamic storage device or a random access memory (RAM).
  • the memory 1201 can store a program.
  • the processor 1202 is used to execute the various steps performed by UE A in the methods shown in Figures 2 to 7, or the processor 1202 is used to execute The methods shown in Figures 8 to 10 are various steps performed by the management device.
  • the processor 1202 may be a general central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits for executing related programs.
  • CPU central processing unit
  • ASIC application specific integrated circuit
  • the processor 1202 may also be an integrated circuit chip with signal processing capabilities. During the implementation process, each relevant step in the embodiment of the present application can be completed through the integrated logic circuit of hardware in the processor 1202 or instructions in the form of software.
  • the above-mentioned processor 1202 can also be a general-purpose processor, a digital signal processor (digital signal processing, DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (field programmable gate array, FPGA) or other programmable logic devices, Discrete gate or transistor logic devices, discrete hardware components.
  • DSP digital signal processor
  • ASIC application-specific integrated circuit
  • FPGA field programmable gate array
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • the steps of the method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field.
  • the storage medium is located in the memory 1201.
  • the processor 1202 reads the information in the memory 1201 and completes the functions required by the units included in the device of the present application in combination with its hardware.
  • the communication interface 1203 may use, but is not limited to, a transceiver device such as a transceiver to implement communication between the device 1200 and other devices or communication networks.
  • Bus 1204 may include a path that carries information between various components of device 1200 (eg, memory 1201, processor 1202, communication interface 1203).
  • the device 1200 shown in the embodiment of this application may be a terminal device, or may also be a chip configured in the terminal device.
  • the device 1200 shown in the embodiment of this application may be a management device, or may be a chip configured in the management device.
  • Some embodiments of the present application also provide a computer program product, such as a video playback application. When the computer program product is run on a processor, it can implement the method implemented by the electronic device in any of the above embodiments. Some embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium contains computer instructions. When the computer instructions are run on a processor, the method implemented by the electronic device in any of the above embodiments can be implemented.
  • a communication system is also provided. The communication system includes UE A in the embodiment shown in any of the figures in Figures 2 to 7 and/or the management device in the embodiment shown in any of the figures in Figures 8 to 10 .
  • modules or components described in the above embodiments may be one or more integrated circuits configured to implement the above methods, such as: one or more application specific integrated circuits (ASICs), or , one or more microprocessors (digital signal processor, DSP), or one or more field programmable gate arrays (field programmable gate array, FPGA), etc.
  • ASICs application specific integrated circuits
  • DSP digital signal processor
  • FPGA field programmable gate array
  • the processing element can be a general processor, such as a central processing unit (CPU) or other processors that can call the program code such as a control device.
  • these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).
  • SOC system-on-a-chip
  • a computer program product includes one or more computer instructions.
  • Computer program instructions When computer program instructions are loaded and executed on a computer, processes or functions according to embodiments of the present application are generated in whole or in part.
  • the computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device.
  • Computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, e.g., computer instructions may be transmitted from a website, computer, server or data center via a wired link (e.g.
  • Coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless means to transmit to another website site, computer, server or data center.
  • Computer-readable storage media can be any available media that can be accessed by a computer or a data storage device such as a server, data center, or other integrated media that contains one or more available media. Available media may be magnetic media (eg, floppy disk, hard disk, tape), optical media (eg, DVD), or semiconductor media (eg, Solid State Disk (SSD)), etc.
  • the term "plurality” as used herein means two or more.
  • the term “and/or” in this article is just an association relationship that describes related objects, indicating that three relationships can exist. For example, A and/or B can mean: A exists alone, A and B exist simultaneously, and they exist alone. B these three situations.
  • the character "/" in this article generally indicates that the related objects before and after are an “or” relationship; in the formula, the character "/” indicates that the related objects before and after are a “division” relationship.
  • words such as “first” and “second” are only used for the purpose of distinguishing the description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating. Or suggestive order.
  • the size of the sequence numbers of the above-mentioned processes does not mean the order of execution.
  • the execution order of each process should be determined by its functions and internal logic, and should not be used in the implementation of the present application.
  • the implementation of the examples does not constitute any limitations.

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Abstract

本申请提供通信领域的通信方法、通信装置、计算机可读存储介质和计算机程序产品。其中，第一通信设备获取第二通信设备发送参考信号的时刻与第二通信设备接收到来自第三通信设备的参考信号的时刻之间的差、获取第三通信设备发送参考信号的时刻与第三通信设备接收到来自第二通信设备的参考信号的之间的差，获取第四通信设备接收到来自第二通信设备的参考信号的时刻和接收到来自第三通信设备的参考信号的时刻之间的差，基于时间差确定第二通信设备和第四通信设备的信号飞行之间与第三通信设备和第四通信设备的信号飞行时间之间的飞行时间差。因为飞行时间差是基于时间差确定的，不会受到通信设备间的时钟同步性影响，所以可以提高飞行时间差的精度。

Description

通信方法和通信装置
本申请要求于2022年07月20日提交中国专利局、申请号为202210861159.7、申请名称为“一种侧行链路定位方法”的中国专利申请的优先权，以及要求于2022年08月12日提交中国专利局、申请号为202210970274.8、申请名称为“通信方法和通信装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及通信领域，尤其涉及通信装置和通信装置。
背景技术
通信领域中，很多场景下需要获取通信设备A至通信设备P的信号的飞行时间(time of flight，TOF)与通信设备B至通信设备P的信号的TOF之间的时间差。例如，通过到达时间差(time difference of arrival，TDOA)方式来对通信设备P进行定位时，需要获取通信设备A至通信设备P的信号的TOF与通信设备B至通信设备P的信号的TOF之间的时间差(即TDOA)。
现有技术中，获取通信设备A至通信设备P的信号的TOF与通信设备B至通信设备P的信号的TOF之间的时间差的一种方法如下：通信设备A向通信设备P发送第一信号，通信设备B向通信设备P发送第二信号，通信设备P接收第一信号和接收第二信号，通信设备P基于第一信号的发送时间、第一信号的接收时间、第二信号的发送时间和第二信号接收时间确定TDOA。
但是上述方法对通信设备A、通信设备B和通信设备P之间的时钟同步性要求非常高，或者说，TOF的时间差的精准度受限于通信设备A、通信设备B和通信设备P之间的时钟同步性。
发明内容
针对前述TOF的时间差的精准度受限于通信设备之间的时钟同步性的技术问题，本申请提出了新的通信方法、通信装置、通信系统、计算机可读存储介质和计算机程序产品，以避免通信设备之间的时钟同步性对通信设备之间的TOF的时间差的影响。
第一方面，本申请提供了一种通信方法。该方法中，第一通信设备获取第一时间信息，第一时间信息用于确定第一时刻与第二时刻之间的第一时间差，第一时刻为第二通信设备发送第一参考信号的时刻，第二时刻为第二通信设备接收第三通信设备发送的第二参考信号的时刻；第一通信设备接收来自第三通信设备的第二时间信息，第二时间信息用于确定第三时刻与第四时刻之间的第二时间差，第三时刻为第三通信设备接收第一参考信号的时刻，第四时刻为第三通信设备发送第二参考信号的时刻；第一通信设备接收来自第四通信设备的第三时间信息，第三时间信息用于确定第五时刻与第六时刻之间的第三时间差，第五时刻为第四通信设备接收第一参考信号的时刻，第六时刻为第四通信设备接收第二参考信号的时刻；第一通信设备根据第一时间差、第二时间差和第三时间差确定第一飞行时间差，第一飞行时间差为第一飞行时间与第二飞行时间之间的时间差，第一飞行时间为信号在第二通信设备至第四通信设备之间的飞行时间，第二飞行时间为信号在第三通信设备至第四通信设备之间的飞行时间。
本方法中，因为第一时间差、第二时间差和第三时间差分别是同一个通信设备上的相对时间差值，因此与通信设备之间的时钟同步性无关。这使得基于第一时间差、第二时间差和第三时间差获取的第一飞行时间差也就与通信设备之间的时钟同步性无关，从而使得第一飞行时间差的精准度不受通信设备之间的时钟同步性的影响。
换个角度说，即使通信设备之间的时钟不同步或者同步性较差，使用本申请的技术方案仍然能够获得高精准度的第一飞行时间差。
本申请的方法中，第一通信设备可以是独立于第二通信设备、第三通信设备和第四通信设备单独部署的管理设备或者控制设备，也可以与第二通信设备是同一个设备。
该方法中，可选地，第一时间信息可以通过直接携带第一时刻和第二时刻来指示第一时间差，也可 以通过直接携带第一时间差来指示第一时间差，还可以通过类似已有通信标准中的“UE-RxTxTimeDiff”的形式来指示第一时间差。
其中，第一时间信息通过直接携带第一时刻和第二时刻来指示第一时间差的情况下，第一通信设备需要基于第一时刻和第二时刻计算得到第一时间差。
第二时间信息指示第二时间差和第三时间信息指示第三时间差的方式可以参考第一时间信息指示第一时间差的上述方式，此处不再赘述。
在一些可能的实现方式中，第一时间差、第二时间差、第三时间差和第一飞行时间差之间满足如下关系式：
其中，tAB表示第一时间差，tB表示第二时间差，tRSTD,AB表示第三时间差，t1表示第一飞行时间差。
例如，可以将第一时间差、第二时间差和第三时间差代入上述表达式中，以得到第一飞行时间差。
可以理解的是，上述关系式仅是一种示例，任何对上述关系式的合理变形所得的关系式，或者对上述关系式进行合理优化所得的关系式，都应纳入本申请的保护范围。
可选地，在一些实现方式中，第一通信设备根据第一时间差、第二时间差和第三时间差确定第一飞行时间差时，还可以引入其他的信息，以提高第一飞行时间差的精度。例如，可以获取涉及时间差的各个通信设备中的时钟漂移信息，基于该时钟漂移信息来对对应的时间差进行优化，以得到更高精度的时间差，从而得到更高精度的飞行时间差。
在一些可能的实现方式中，该方法还包括：第一通信设备获取第四时间信息，第四时间信息用于确定第七时刻与第八时刻之间的第四时间差，第七时刻为第二通信设备发送第三参考信号的时刻，第八时刻为第二通信设备接收第三通信设备发送的第四参考信号的时刻；第一通信设备接收来自第三通信设备的第五时间信息，第五时间信息用于确定第九时刻与第十时刻之间的第五时间差，第九时刻为第三通信设备接收第三参考信号的时刻，第十时刻为第三通信设备发送所述第四参考信号的时刻；第一通信设备接收来自第四通信设备的第六时间信息，第六时间信息用于确定第十一时刻与第十二时刻之间的第六时间差，第十一时刻为第四通信设备接收第三参考信号的时刻，第十二时刻为第四通信设备接收第四参考信号的时刻。
相应地，第一通信设备根据第一时间差、第二时间差和第三时间差确定第一飞行时间差，包括：第一通信设备根据第一时间差、第二时间差、第三时间差、第四时间差、第五时间差和第六时间差确定第一飞行时间差。
该实现方式中，获取第二通信设备至第三通信设备的信号的更多时间差信息、获取第三通信设备至第二通信设备的信号的更多时间差信息，以及获取第二通信设备和第三通信设备分别至第四通信设备的信号的更多时间差信息，并根据这些更多的时间差信息确定飞行时间差，可以对齐通信设备之间的时钟晶振误差，从而可以提高飞行时间差的精度。
若第一时刻早于第四时刻、第十时刻早于第七时刻，或第一时刻晚于第四时刻、第十时刻晚于第七时刻，第一通信设备根据第一时间差、第二时间差、第三时间差、第四时间差、第五时间差和第六时间差确定第一飞行时间差时，在一些可能的实现方式中，第一时间差、第二时间差、第三时间差、第四时间差、第五时间差、第六时间差与第一飞行时间差之间满足如下关系式：
其中，t1表示第一时间差，t2表示第二时间差，tRSTD,1表示第三时间差，t3表示第四时间差，t4表示第五时间差，tRSTD,2表示第六时间差，t表示第一飞行时间差。
例如，可以将第一时间差、第二时间差、第三时间差、第四时间差、第五时间差和第六时间差代入上述表达式，从而可以得到第一飞行时间差。
可以理解的是，上述关系式仅是一种示例，任何对上述关系式的合理变形所得的关系式，或者对上述关系式进行合理优化所得的关系式，都应纳入本申请的保护范围。
第一通信设备根据第一时间差、第二时间差、第三时间差、第四时间差、第五时间差和第六时间差 确定第一飞行时间差时，可选地，第四参考信号为第二参考信号，相应地，第八时刻为第二时刻，第十时刻为第四时刻，第十二时刻为第六时刻。
这种实现方式中，复用第二参考信号，复用第二时刻、第四时刻和第六时刻，一方面可以降低测量时间差的时延，一方面提高第一飞行时间差的确定效率，另一方面可以提高资源利用率。
可选地，第三参考信号为第一参考信号。
本方法的一些实现方式中，可选地，还可以包括：第一通信设备获取第二飞行时间差，第二飞行时间差为第一飞行时间与第三飞行时间之间的时间差，第三飞行时间为信号在第五通信设备至第四通信设备之间的飞行时间；第一通信设备根据第一飞行时间差、第二飞行时间差、第二通信设备的位置、第三通信设备的位置和第五通信设备的位置通过到达时间差TDOA定位方法确定第四通信设备的位置。
该实现方式中，第二飞行时间差的获取方式可以参考第一飞行时间差的获取方式，此处不再赘述。
该实现方式中，因为第一飞行时间差和第二飞行时间差不受通信设备之间的时钟同步性的影响，即第一飞行时间差和第二飞行时间差的精度较高，因此，基于第一飞行时间差和第二飞行时间差对第四通信设备进行定位所得的位置的精度也会比较高。
本方法由额外部署的通信设备来实现时，即第一通信设备是不同于第二通信设备、第三通信设备和第四通信设备等通信设备的设备时，可选地，第一通信设备获取第一时间信息，包括：第一通信设备接收来自第二通信设备的第一时间信息。
也就是说，第一通信设备通过接收第二通信设备发送的第一时间信息来获取第一时间信息。
第一通信设备是不同于第二通信设备、第三通信设备和第四通信设备等通信设备的设备时，可选地，第一通信设备可以向第二通信设备、第三通信设备和第四通信设备发送参考信号的配置信息，以便于各个通信设备可以基于该配置信息接收参考信号。
可选地，第一通信设备可以向第二通信设备发送第一配置信息，第一配置信息可以用于指示第一参考信号的时频资源，以使得第二通信设备知道在什么频域资源上何时发送第一参考信号。
可选地，第一通信设备可以向第三通信设备发送第二配置信息，第二配置信息可以用于指示第二参考信号的时频资源，以使得第三通信设备知道在什么频域资源上何时发送第二参考信号。
可选地，第一通信设备可以向第二通信设备指示第二参考信号的频域资源和/或时域资源，以使得第二通信设备知道在什么频域资源和/或时域资源上接收第二参考信号。该实现方式，相对于第二通信设备盲检测第二参考信号，可以避免第二通信设备的资源浪费。例如，第一通信设备可以向第二通信设备发送第二配置信息。
可选地，第一通信设备可以向第三通信设备指示第一参考信号的频域资源和/或时域资源，以使得第三通信设备知道在什么频域资源和/或时域资源上接收第一参考信号。该实现方式，相对于第三通信设备盲检测第一参考信号，可以避免第三通信设备的资源浪费。例如，第一通信设备可以向第三通信设备发送第一配置信息。
可选地，第一通信设备可以向第四通信设备指示第一参考信号的频域资源和/或时域资源，以使得第四通信设备知道在什么频域资源和/或时域资源上接收第一参考信号。该实现方式，相对于第四通信设备盲检测第一参考信号，可以避免第四通信设备的资源浪费。例如，第一通信设备可以向第四通信设备发送第一配置信息。
可选地，第一通信设备可以向第四通信设备指示第二参考信号的频域资源和/或时域资源，以使得第四通信设备知道在什么频域资源和/或时域资源上接收第二参考信号。该实现方式，相对于第四通信设备盲检测第二参考信号，可以避免第四通信设备的资源浪费。例如，第一通信设备可以向第四通信设备发送第二配置信息。
本方法由第二通信设备来实现时，可选地，第一配置信息还可以包括用于指示第二通信设备为参考锚点设备的信息，第二配置信息还包括用于指示第三通信设备为其他锚点设备的信息。
本申请的实施例中，在确定飞行时间差时，可选地，可以以参考锚点设备接收信号和发送信号的时间差作为参考值。
本方法由第二通信设备来实现时，即第一通信设备与第二通信设备是同一个设备时，可选地，该方法还可以包括：第一通信设备发送第一参考信号，第一通信设备接收第二参考信号。
该实现方式中，第一通信设备记录发送第一参考信号的第一时刻和接收第二参考信号的第二时刻， 基于第一时刻和第二时刻可以获取到第一时间信息。
本方法由第二通信设备来实现时，可选地，第一通信设备可以向第三通信设备和第四通信设备发送参考信号的配置信息，以便于各个通信设备可以基于该配置信息接收参考信号。
可选地，第一通信设备可以向第三通信设备发送第二配置信息，第二配置信息可以用于指示第二参考信号的时频资源，以使得第三通信设备知道在什么频域资源上何时发送第二参考信号。
可选地，第一通信设备可以向第三通信设备指示第一参考信号的频域资源和/或时域资源，以使得第三通信设备知道在什么频域资源和/或时域资源上接收第一参考信号。该实现方式，相对于第三通信设备盲检测第一参考信号，可以避免第三通信设备的资源浪费。例如，第一通信设备可以向第三通信设备发送第一配置信息，第一配置信息用于指示第一参考信号的频域资源和/或时域资源。
可选地，第一通信设备可以向第四通信设备指示第一参考信号的频域资源和/或时域资源，以使得第四通信设备知道在什么频域资源和/或时域资源上接收第一参考信号。该实现方式，相对于第四通信设备盲检测第一参考信号，可以避免第四通信设备的资源浪费。例如，第一通信设备可以向第四通信设备发送第一配置信息。
可选地，第一通信设备可以向第四通信设备指示第二参考信号的频域资源和/或时域资源，以使得第四通信设备知道在什么频域资源和/或时域资源上接收第二参考信号。该实现方式，相对于第四通信设备盲检测第二参考信号，可以避免第四通信设备的资源浪费。例如，第一通信设备可以向第四通信设备发送第二配置信息。
本方法由第二通信设备来实现时，可选地，第一配置信息还可以包括用于指示第二通信设备为参考锚点设备的信息，第二配置信息还包括用于指示第三通信设备为其他锚点设备的信息。
本申请的实施例中，在确定飞行时间差时，可选地，可以以参考锚点设备接收信号和发送信号的时间差作为参考值。
第二方面，本申请提供一通信装置，该装置可以包括用于实现第一方面中任意一种实现方式中的方法的各个模块。其中，每个模块可以通过软件和/或硬件的方式实现。
在一些可能的实现方式中。该装置可以包括通信模块和处理模块，该通信模块可以用于实现第一方面中接收操作和发送操作相关的步骤，该处理模块可以用于实现第一方面中与获取、确定等操作相关的步骤。
在一些可能的实现方式中，该装置可以包括：处理器、存储器。存储器用于存储计算机可执行程序代码，程序代码包括指令；当处理器执行指令时，指令使所述装置执行如第一方面中的方法。
该实现方式中，该装置可以是通信设备，也可以是应用于通信设备的芯片。
第三方面，本申请提供一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行上述第一方面中的方法。
第四方面，本申请提供一种计算机可读存储介质，所述计算机可读存储介质中存储有指令，当其在电子设备或计算机上运行时，使得电子设备或计算机执行上述第一方面中的方法。
第五方面，本申请提供一种通信系统，该通信系统包含第二方面中的通信装置。
上述第二方面至第五方面的各可能的实现方式，其有益效果可以参见上述第一方面所带来的有益效果，在此不加赘述。
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具体实施方式
本申请实施例的技术方案可以应用于各种通信系统，例如：长期演进(long term evolution，LTE)系统、LTE频分双工(frequency division duplex，FDD)系统、LTE时分双工(time division duplex，TDD)、通用移动通信系统(universal mobile telecommunication system，UMTS)、全球互联微波接入(worldwide interoperability for microwave access，WiMAX)通信系统、未来的第五代(5th generation，5G)系统或新无线(new radio，NR)系统，车到其它设备(Vehicle-to-X V2X)，其中V2X可以包括车到互联网(vehicle to network，V2N)、车到车(vehicle to-Vehicle，V2V)、车到基础设施(vehicle to infrastructure，V2I)、车到行人(vehicle to pedestrian，V2P)等、车间通信长期演进技术(Long Term Evolution-Vehicle，LTE-V)、车联网、机器类通信(machine type communication，MTC)、物联网(Internet of Things，IoT)、机器间通信长期演进技术(Long Term Evolution-Machine，LTE-M)，机器到机器(Machine to Machine，M2M)，非地面通信(non-terrestrial network，NTN)系统，NTN系统也可以称为卫星通信系统，或者未来演进的其它通信系统等。
本申请实施例中的终端设备也可以称为用户设备(user equipment，UE)、接入终端、用户单元、用户站、移动站、移动台、远方站、远程终端、移动设备、用户终端、终端、无线通信设备、用户代理或用户装置。
终端设备还可以是路边单元(road side unit，RSU)、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、车辆/船/飞机等交通设备、车载设备、可穿戴设备，未来5G网络中的终端设备或者未来演进的公用陆地移动通信网络(public land mobile network，PLMN)中的终端设备等。终端设备通过安装有无线收发天线实现对通信状态的设置、获取，完成通信。应理解，本申请对于终端设备的具体形式不作限定。
本申请实施例中的网络设备可以是任意一种具有无线收发功能的设备。该设备包括但不限于：演进型节点B(evolved Node B，eNB)、无线网络控制器(Radio Network Controller，RNC)、节点B(Node B，NB)、基站控制器(Base Station Controller，BSC)、基站收发台(Base Transceiver Station，BTS)、家庭基站(例如，Home evolved NodeB，或Home Node B，HNB)、基带单元(BaseBand Unit，BBU)，无线保真(Wireless Fidelity，WIFI)系统中的接入点(Access Point，AP)、无线中继节点、无线回传节点、传输点(transmission point，TP)或者发送接收点(transmission and reception point，TRP)等，还可以为5G(如NR)系统中的gNB或传输点(TRP或TP)，或者，5G系统中的基站的一个或一组(包括多个天线面板)天线面板，或者，还可以为构成gNB或传输点的网络节点，如基带单元(BBU)，或，分布式单元(distributed unit，DU)等。
图1是本申请一个实施例的通信系统100的示意结构图。如图1所示，该通信系统100可以包括至少四个通信设备，如通信设备101、通信设备102、通信设备103、通信设备104和管理设备105。
可以理解的是，图1仅是示例，本申请实施例的通信系统还可以包括更多或更少的设备。例如，可以包括更多的通信设备，或者可以不包含管理设备105。
其中，通信设备103可以通过通信设备101接入到通信网络中，或者说，通信设备101可以作为通信设备103的接入网设备或锚点将通信设备103接入到通信网络中。
同样地，通信设备103可以通过通信设备102接入到通信网络中，或者说，通信设备102可以作为通信设备103的接入网设备或锚点将通信设备103接入到通信网络中。
通信设备103可以通过通信设备104接入到通信网络中，或者说，通信设备104可以作为通信设备103的接入网设备或锚点将通信设备103接入到通信网络中。
作为一个示例，通信设备103为终端设备，通信设备101、通信设备102和通信设备104为网络设备，。
作为另一个示例，通信设备101、通信设备102、通信设备103和通信设备104均为终端设备。该示例中，通信设备101、通信设备102和通信设备104与通信设备103之间可以通过侧行链路(sidelink，SL)进行通信。
管理设备105与通信设备101至通信设备104之间可以通信，可以对通信设备101至通信设备104进行配置，也可以接收通信设备101至通信设备104上报的信息，并基于上报的信息实现相关功能，例如，飞行时间差的确定，通信设备的位置估计等。
可以理解的是，管理设备这个名称仅是示例，本申请对该设备的名称并做限制。例如，该设备具有位置估计功能时，也可以称为位置管理功能(location management function，LMF)设备。
下面以通信设备101、通信设备102和通信设备103均为终端设备，通信设备101和通信设备102为通信设备103的锚点，通信设备101、通信设备102和通信设备103之间通过SL进行通信为例，结合图2、图3和图4，分别介绍本申请的通信方法的几个示例性实施例的流程。如图2所示，本实施例中的通信方法可以包括S210、S220、S230、S240、S250和S260。
S210，UE A发送第一参考信号。相应地，UE P和UE B接收第一参考信号。
UE A发送第一参考信号，也可以理解为：UE A向UE P和UE B发送第一参考信号。
作为一个示例，UE A和UE B分别为UE P的锚点。进一步地，可选地，UE A可以是UE P的参考锚点，UE B为UE P的其他锚点。
可以理解的是，第一参考信号这个信号名称仅是示例，本实施例中，第一参考信号还可以有其他名称。
UE A记录发送第一参考信号的第一时刻，UE P记录接收到第一参考信号的第五时刻，UE B记录接收到第一参考信号的第三时刻。
其中，第一时刻记为tA,1，第三时刻记为tB,1，第五时刻记为tP,1。
S220，UE B发送第二参考信号。相应地，UE P和UE A接收第二参考信号。
UE B发送第二参考信号，也可以理解为：UE B向UE P和UE A发送第二参考信号。
可以理解的是，第二参考信号这个信号名称仅是示例，本实施例中，第二参考信号还可以有其他名称。
UE B记录发送第二参考信号的第四时刻，UE P记录接收到第二参考信号的第六时刻，UE A记录接收到第二参考信号的第二时刻。
其中，第二时刻记为tA,2，第四时刻记为tB,2，第六时刻记为tP,2。
S230，UE A获取第一时间信息，第一时间信息用于指示第一时间差，第一时间差为第一时刻与第二时刻的差值，第一时刻为UE A发送第一参考信号的时刻，第二时刻为UE A接收到第二参考信号的时刻。
作为一个示例，UE A通过关系式tA＝|tA,2-tA,1|计算得到tA，tA,1表示第一时刻，tA,2表示第二时刻，tA表示第一时间差。
S240，UE B向UE A发送第二时间信息，第二时间信息用于指示第二时间差，第二时间差为第三时刻与第四时刻的差值，第三时刻为UE B接收到第一参考信号的时刻，第四时刻为UE B发送第二参考信号的时刻。相应地，UE A接收第二时间信息。
作为一个示例，UE B通过关系式tB＝|tB,2-tB,1|计算得到tB，tB,1表示第三时刻，tB,2表示第四时刻，tB表示第二时间差。
作为第二时间信息的一个示例，第二时间信息中可以直接携带tB。
作为第二时间信息的另一个示例，第二时间信息中可以携带tB,1和tB,2，以便于UE A基于tB,1、tB,2以及关系式tB＝|tB,2-tB,1|确定tB。
作为第二时间信息的又一个示例，第二时间信息可以通过现有通信标准中“UE-RxTxTimeDiff”的形式指示第二时间差。
S250，UE P向UE A发送第三时间信息，第三时间信息用于指示第三时间差，第三时间差为第五时刻与第六时刻的差值，第五时刻为UE P接收到第一参考信号的时刻，第六时刻为UE P接收到第二参考信号的时刻。相应地，UE A接收第三时间信息。
作为一个示例，UE P通过关系式tRSTD＝|tP,2-tP,1|计算得到tRSTD，tP,1表示第五时刻，tP,2表示第六时刻，tRSTD表示第三时间差。
作为第三时间信息的一个示例，第二时间信息中可以直接携带tRSTD。
作为第三时间信息的另一个示例，第二时间信息中可以携带tP,1和tP,2，以便于UE A基于tP,1、tP,2以及关系式tRSTD＝|tP,2-tP,1|确定tRSTD。
作为第三时间信息的再一个示例，第三时间信息可以通过现有通信标准中参考信号时差(reference signal time difference，RSTD)的形式指示第三时间差。
S260，UE A基于第一时间差、第二时间差和第三时间差确定第一飞行时间差，其中，第一飞行时间差为第一飞行时间与第二飞行时间之间的差值，第一飞行时间为UE A和UE P之间的信号的飞行时间，第二飞行时间为UE B和UE P之间的信号的飞行时间。
图3为第一参考信号和第二参考信号在UE A、UE B和UE P之前的飞行时间示意图。如图3所示，其中，TOFUEA_UEP表示第一飞行时间，表示第二飞行时间，TOFUEA_UEB表示UE A与UE B之间的信号的飞行时间，第一个等式利用了参考信号在锚点UE A和UE B间的传输时间所列的式子，第二个等式则结合了参考信号在UE P的传输时间所列的式子，所以可以推出：}
因此，UE A可以通过关系式确定第一飞行时间差。
本实施例中，因为第一时间差、第二时间差和第三时间差都是相对时间差，因此无需要求UE A和UE B间的时钟同步，即可得到高精度的飞行时间差。
可以理解的是，虽然图中示出的UE A发送第一参考信号的时间位于UE B发送第二参考信号的时间之前，但是，这仅是一种示例，本申请对UE A发送第一参考信号以及UE B发送第二参考信号的先后顺序不做限制。
可以理解的是，虽然图中示出的UE P接收到第一参考信号的时间位于UE P接收到第二参考信号的时间之前，但是，这仅是一种示例，本申请对UE P接收到第一参考信号以及UE P接收到第二参考信号的先后顺序不做限制。
也就是说，本实施例中不限制S210和S220的执行顺序，也不限制S230、S240和S250的执行顺序。
本实施例中，可选地，在S210之前，UE A可以对第一参考信号的时频资源和第二参考信号的时频资源进行配置。下面对第一参考信号的时频资源和第二参考信号的时频资源的配置方式进行介绍。
本实施例中，可选地，UE A可以向UE B指示第一参考信号的频域资源和/或时域资源，以使得UE B知道在什么频域资源和/或时域资源上接收第一参考信号。该实现方式，相对于UE B盲检测第一参考信号，可以避免UE B的资源浪费。
可选地，UE A可以向UE P指示第一参考信号的频域资源和/或时域资源，以使得UE P知道在什么频域资源和/或时域资源上接收第一参考信号。该实现方式，相对于UE P盲检测第一参考信号，可以避免UE P的资源浪费。
可选地，UE A可以向UE P指示第二参考信号的频域资源和/或时域资源，以使得UE P知道在什么频域资源和/或时域资源上接收第二参考信号。该实现方式，相对于UE P盲检测第二参考信号，可以避免UE P的资源浪费。
本实施例中，可选地，UE A发送第一配置信息和第二配置信息，其中，第一配置信息可以用于指示第一参考信号的时频资源，第二配置信息可以用于指示第二参考信号的时频资源。
本实施例中，UE A发送第一配置信息和第二配置信息可以理解为：UE A向UE B和UEP发送第一配置信息和第二配置信息。这样，可以使得UE B基于第一配置信息接收第一参考信号和第二参考信号，且使得UE B基于第一配置信息接收第一参考信号和基于第二配置信息发送第二参考信号。
作为一个示例，UE A可以通过组播方式或广播方式发送第一配置信息和第二配置信息。
例如，UE A可以通过“NR-SL-TDOA-ProvideAssistanceData”消息向UE B和UE P发送第一配置信息和第二配置信息，并请求UE B上报接收第一参考信号和接收第二参考信号的时间差，以及请求UE P上报接收第一参考信号和发送第二参考信号的时间差。
可选地，UE A还可以通过“NR-SL-TDOA-ProvideAssistanceData”消息向UE B和UE P告知UE A为UE P的参考锚点，UE B为UE P的其他锚点。
又如，UE A可以通过“NR-Multi-RTT-ProvideAssistanceData”消息向UE B和UE P发送第一配置信息和第二配置信息；并通过“NR-Multi-RTT-RequestLocationInformation”消息请求UE B上报接收第一参考信号和接收第二参考信号的时间差，以及请求UE P上报接收第一参考信号和发送第二参考信号的时间差。
图4为本申请另一个实施例的通信方法的示例性流程图。如图4所示，该方法包括S401、S402、S403、S404、S405、S406、S407、S408、S409、S410和S411。
其中，S401、S402、S403、S404和S405可以分别参考S210、S220、S230、S240和S250。需要说明的是，本实施例中，tA,1表示第一时刻，tA,2表示第二时刻，tA1表示第一时间差，第二时间差通过tB1表示，第三时间差通过tRSTD1表示。
下面重点介绍图4所示实施例中不同于实施例2中的步骤。
S406，UE A发送第三参考信号。相应地，UE P和UE B接收第三参考信号。该步骤可以参考S210，例如将其中的第一参考信号替换第三参考信号。
S407，UE B发送第四参考信号。相应地，UE P和UE A接收第四参考信号。
该步骤可以参考S220，例如，将其中的第二参考信号替换第四参考信号。
可以理解的是，本实施例中不限制S301至S703的执行顺序。
在一些实现方式中，若将第四参考信号的发送时间和第三参考信号的发送时间之间的先后顺序称为第一顺序，将第一参考信号的发送时间和第二参考信号的发送时间之间的先后顺序称为第二顺序，则第一顺序和第二顺序相同。
第一顺序与第二顺序相同可以理解为：第一参考信号在第二参考信号之前发送时，第四参考信号在第三参考信号之前发送；第一参考信号在第二参考信号之后发送时，第四参考信号在第三参考信号之后发送。
图5A和图5B为本申请实施例的信号传输示意图。图5A和图5B中的第一顺序和第二顺序相同。
本实施例中，第一顺序与第二顺序相同时，可选地，第二参考信号与第四参考信号可以是同一个参考信号，则第八时刻为第二时刻，第十时刻为第四时刻，第十二时刻为第六时刻。第二参考信号与第四参考信号为同一个参考信号时，UE A、UE B和UE P之间的信号传输示意图如图5C所示。
本实施例中，第一顺序与第二顺序相同，可选地，第一参考信号与第三参考信号可以是同一个参考信号，则第七时刻为第一时刻，第九时刻为第三时刻，第十一时刻为第五时刻。第一参考信号与第三参考信号为同一个参考信号时，UE A、UE B和UE P之间的信号传输示意图如图5D所示。
在另一些实现方式中，若将第四参考信号的发送时间和第三参考信号的发送时间之间的先后顺序称 为第一顺序，将第一参考信号的发送时间和第二参考信号的发送时间之间的先后顺序称为第二顺序，则第一顺序和第二顺序不相同。
第一顺序与第二顺序不相同可以理解为：第一参考信号在第二参考信号之前发送时，第四参考信号在第三参考信号之后发送；第一参考信号在第二参考信号之后发送时，第四参考信号在第三参考信号之前发送。
第一顺序与第二顺序不相同时，可选地，第三参考信号可以是第一参考信号，或者，第四参考信号可以是第二参考信号。
第一顺序与第二顺序不同，且第四参考信号为第二参考信号时，UE A、UE B和UE P之间的信号传输示意图如图6A所示。
第一顺序与第二顺序不同，且第三参考信号为第一参考信号时，UE A、UE B和UE P之间的信号传输示意图如图6B所示。
由图5C、图5D、图6A和图6B即可得知，第二参考信号与第四参考信号为同一个参考信号时，或，第一参考信号与第三参考信号为同一个参考信号时，可以节省传输资源以及降低整个流程的用时。
S408，UE A获取第四时间信息，第四时间信息用于指示第四时间差，第四时间差为第七时刻与第八时刻之间的差值，第七时刻为UE A发送第三参考信号的时刻，第八时刻为UE A接收到第四参考信号的时刻。
作为一个示例，UE A通过关系式tA2＝|tA,4-tA,3|计算得到tA2，tA,4表示第八时刻，tA,3表示第七时刻，tA2表示第四时间差。
S409，UE B向UE A发送第五时间信息，第五时间信息用于指示第五时间差，第五时间差为第九时刻与第十时刻的时间差，第九时刻为UE B接收到第三参考信号的时刻，第十时刻为UE B发送第四参考信号的时刻。相应地，UE A接收第五时间信息。
该步骤可以参考S240，例如，将第三时刻替换为第九时刻，将第四时刻替换为第十时刻，将第二时间差替换为第五时间差。
需要说明的是，第九时刻通过tB,3表示，第十时刻通过tB,4表示，tB2表示第五时间差。
S410，UE P向UE A发送第六时间信息，第六时间信息用于指示第六时间差，第六时间差为第十一时刻与第十二时刻的差值，第十一时刻为UE P接收到第三参考信号的时刻，第十二时刻为UE P接收到第四参考信号的时刻。相应地，UE A接收第六时间信息。
该步骤可以参考S250，例如，将第五时刻替换为第十一时刻，将第六时刻替换为第十二时刻，将第三时间差替换为第六时间差。
需要说明的是，第十一时刻通过tP,3表示，第十二时刻通过tP,4表示，第六时间差通过tRSTD2表示。
S411，UE A基于第一时间差、第二时间差、第三时间差、第四时间差、第五时间差和第六时间差确定第一飞行时间差，其中，第一飞行时间差为第一飞行时间与第二飞行时间之间的差值，第一飞行时间为UE A和UE P之间的信号的飞行时间，第二飞行时间为UE B和UE P之间的信号的飞行时间。
本实施例的一些实现方式中，第一时间差、第二时间差、第三时间差、第四时间差、第五时间差、第六时间差和第一飞行时间差之间可以满足如下关系式：
该实现方式中，UE A可以通过关系式确定第一飞行时间差。
例如，图5A、图5B、图5C和图5D中示意的信号传输方式下，UE A可以通过关系式 确定第一飞行时间差。
本实施例的另一些实现方式中，第一时间差、第二时间差、第三时间差、第四时间差、第五时间差、 第六时间差和第一飞行时间差之间可以满足如下关系式：
该实现方式中，UE A可以通过关系式确定第一飞行时间差。
例如，图6A和图6B中示意的信号传输方式下，UE A可以通过关系式 确定第一飞行时间差。
在另一些实现方式中，可以对上述关系式进行以下一项或多项变换，然后基于变换所得的关系式确定第一飞行时间差：将tA1和tB1互换以及将将tA2和tB2互换，将tRSTD1和tRSTD2互换。
本实施例中，因为第一时间差、第二时间差和第三时间差都是相对时间差，因此无需要求UE A和UE B间的时钟同步，即可得到高精度的飞行时间差。
并且，本实施例的方法可以解决时钟漂移问题。时钟漂移是指当时钟晶振的实际频率与标称频率存在偏差时，通信设备记录的时间与实际时间之间也会存在偏差，且偏差会随着时间的增大而增大。当时钟晶振存在误差e1时，如果实际经过了时间t，那么设备记录的时间为t(1++1)，也就是偏差会随时间t的增大而增大。
由于不同的设备存在的误差不同，因而本实施例考虑对齐不同设备的晶振误差，主要的改变是在原来的基础上，增加了UE A和UE B的参考信号发送及对应测量过程。
本实施例中，
因此，最终引入的误差为eA(TOFUEA_UEP-TOFUEB_UEP)，eA通常为10-6量级，误差非常小，可忽略。
本实施例中，可选地，在S301之前，UE A可以对第一参考信号的时频资源、第二参考信号的时频资源、第三参考信号的时频资源和第四参考信号的时频资源进行配置，配置方式可以参考图2所示实施例中相关内容，此处不在赘述。
图7为本申请一个实施例的通信方法的示意性历程图。如图7所示，本实施例中的通信方法可以包括S710、S720和S730。可以理解的是，本实施例中的参考信号也可以称为定位参考信号。
S710，UE A获取第一飞行时间差，第一飞行时间差为第一飞行时间与第二飞行时间之间的差值，第一飞行时间为UE A和UE P之间的信号的飞行时间，第二飞行时间为UE B和UE P之间的信号的飞行时间。
可以理解的是，UE A可以参考前述图2至图6中任意图所示实施例中的方法来获得第一飞行时间差。
S720，UE A获取第二飞行时间差，第二飞行时间差为第一飞行时间与第三飞行时间之间的差值，第三飞行时间为UE C和UE P之间的信号的飞行时间。
可以理解的是，UE A可以参考前述图2至图6中任意图所示实施例中的方法来获得第二飞行时间差，例如，将其中的UE B替换为UE C。
S730，UE A基于第一飞行时间差、第二飞行时间差、UE A的位置、UE B的位置和UE C的位置确定UE P的位置。
作为示例，UE A通过TDOA定位方法基于第一飞行时间、第二飞行时间差、UE A的位置、UE B的位置和UE C的位置确定UE P的位置。
其中，可以基于第一飞行时间和信号传输速度确定UE A至UE P之间的第一距离，基于第二飞行时间和信号传输速度确定UE B至UE P之间的第二距离，基于第三飞行时间和信号传输速度确定UE C至UE P之间的第三距离，计算第一距离和第二距离之间的第一距离差，计算第一距离和第三距离之间的第二距离差。
因为UE P必定位于以UE A和UE B为焦点、且与这两个焦点的距离差恒为第一距离差的双曲线上，也位于以UE A和UE C为焦点、且与这两个焦点的距离差恒为第二距离差的双曲线上，因此获取这两个双曲线的交点即可以得到为UE P估计的位置。
本实施例中，因为第一飞行时间差和第二飞行时间差精度高，所以为UE P估计的位置的精度也高。
图8为本申请一个实施例的通信方法的示例性流程图。图8所示的方法可以包含S810、S820、S830、S840、S850和S860。
本实施例中，S810和S820可以参考S210和S220；S840、S850和S860可以分别参考S240、S250和S260，例如，将S240、S250和S260中的UE A替换为管理设备。
下面介绍图8所示方法中不同于图2所示方法中的操作。
S830，UE A向管理设备发送第一时间信息，第一时间信息用于指示UE A发送第一参考信号的第一时刻与UE A接收到第二参考信号的第二时刻之间的第一时间差。相应地，管理设备接收第一时间信息。
该步骤中，UE A可以先获取第一时间信息，再发送第一时间信息，其中，UE A获取第一时间信息的操作可以参考S230。
作为第一时间信息的一个示例，第一时间信息中可以直接携带tA。
作为第一时间信息的另一个示例，第一时间信息中可以携带tA,1和tA,2，以便于管理设备基于tA,1、tA,2以及关系式tA＝|tA,2-tA,1|确定tA。
作为第一时间信息的又一个示例，第一时间信息可以通过现有通信标准中“UE-RxTxTimeDiff”的形式指示第一时间差。
图9为本申请一个实施例的通信方法的示例性流程图。如图9所示，该方法包括S901、S902、S903、S904、S905、S906、S907、S908、S909、S910和S911。
其中，S901、S902、S904、S905、S906、S907可以分别参考S210、S220、S840、S850、S406和S407；S903可以参考S830；S909、S910和S911可以分别参考S409、S410和S411，例如将其中的UE A替换为管理设备。
S908，UE A向管理设备发送第四时间信息，第四时间信息用于指示第四时间差，第四时间差为第七时刻与第八时刻之间的差值，第七时刻为UE A发送第三参考信号的时刻，第八时刻为UE A接收到第四参考信号的时刻。相应地，管理设备接收第四时间信息。
该步骤中，UE A可以先获取第四时间信息，再发送第四时间信息，其中，UE A获取第四时间信息的操作可以参考S230。
作为第四时间信息的一个示例，第四时间信息中可以直接携带第四时间差tA2。
作为第四时间信息的另一个示例，第四时间信息中可以携带第七时刻tA,3和第八时刻tA,4，以便于管理设备基于tA,3、tA,4以及关系式tA2＝|tA,4-tA,3|确定tA2。
作为第四时间信息的又一个示例，第四时间信息可以通过现有通信标准中“UE-RxTxTimeDiff”的形式指示第四时间差。
本申请图8或图9所示的方法中，可选地，在S810或S901之前，管理设备可以为终端设备配置参考信号的时域资源和/或频域资源。管理设备配置时域资源和/或频域资源的方式可以参考前述UE A配置时域资源和/或频域资源的方式，例如，将其中的UE A替换为管理设备。
此外，管理设备还可以为UE A配置第一参考信号和/或第三参考信号的时频资源，为UE A配置第二参考信号和/或第四参考信号的时域资源和/或频域资源。
图10为本申请一个实施例的通信方法的示意性流程图。如图10所示，该方法可以包括S1010、S1020和S1030。
在S1010中，管理设备可以通过图8或图9所示的方法来获取第一飞行时间差；在S1020中，管理设备可以通过图8或图9所示的方法来获取第二飞行时间差；S1030可以参考S730，例如将其中的UE A替换为管理设备。
上文中结合图2至图10，介绍了本申请实施例的通信方法，下面将结合图11至图12介绍本申请实施例的通信装置。
图11为本申请一个实施例提供的通信装置的结构性示意图。如图11所示，该装置1100包括：收发模块1101和处理模块1102。
在一个示例中，该通信装置1100可以应用于终端设备中。该示例中，通信装置1100可以用于实现图2至图7中任意图所示的方法。其中，收发模块1101可以用于实现接收操作和发送操作，处理模块1102可以用于实现获取、确定和配置等操作。
例如，收发模块1101可以用于实现S210、S220、S240和S250，处理模块1102可以用于实现S230和S260。
又如，收发模块1101可以用于实现S401、S402、S404、S405、S406、S407、S409和S410，处理模块1102可以用于实现S403、S408和S411。
再如，处理模块1102可以用于实现S730。
在另一个示例中，该通信装置1100可以应用于管理设备中。该示例中，通信装置1100可以用于实现图8至图10中任意图所示的方法。其中，收发模块1101可以用于实现接收操作和发送操作，处理模块1102可以用于实现获取、确定和配置等操作。
例如，收发模块1101可以用于实现S830、S840和S850，处理模块1102可以用于实现S860。
又如，收发模块1101可以用于实现S903、S904、S905、S908、S909和S910，处理模块1102可以用于实现S911。
再如，处理模块1102可以用于实现S1030。
图12为本申请另一个实施例提供的通信装置的结构性示意图。图12所示的装置1200可以用于执行图2至图7中任意图所示实施例中由UE A执行的方法或用于执行图8至图10中任意图所示实施例中由管理设备执行的方法。
如图12所示，本实施例的装置1200包括：存储器1201、处理器1202、通信接口1203以及总线1204。其中，存储器1201、处理器1202、通信接口1203通过总线1204实现彼此之间的通信连接。
存储器1201可以是只读存储器(read only memory，ROM)，静态存储设备，动态存储设备或者随机存取存储器(random access memory，RAM)。存储器1201可以存储程序，当存储器1201中存储的程序被处理器1202执行时，处理器1202用于执行图2至图7所示的方法由UE A执行的各个步骤，或处理器1202用于执行图8至图10所示的方法由管理设备执行的各个步骤。
处理器1202可以采用通用的中央处理器(central processing unit，CPU)，微处理器，应用专用集成电路(application specific integrated circuit，ASIC)，或者一个或多个集成电路，用于执行相关程序。
处理器1202还可以是一种集成电路芯片，具有信号的处理能力。在实现过程中，本申请实施例中的各个相关步骤可以通过处理器1202中的硬件的集成逻辑电路或者软件形式的指令完成。
上述处理器1202还可以是通用处理器、数字信号处理器(digital signal processing，DSP)、专用集成电路(ASIC)、现成可编程门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器1201，处理器1202读取存储器1201中的信息，结合其硬件完成本申请装置包括的单元所需执行的功能。
通信接口1203可以使用但不限于收发器一类的收发装置，来实现装置1200与其他设备或通信网络之间的通信。
总线1204可以包括在装置1200各个部件(例如，存储器1201、处理器1202、通信接口1203)之间传送信息的通路。
应理解，本申请实施例所示的装置1200可以是终端设备，或者，也可以是配置于终端设备中的芯片。
或者，本申请实施例所示的装置1200可以是管理设备，或者，也可以是配置于管理设备中的芯片。
本申请一些实施例中还提供计算机程序产品，例如提供视频播放应用，该计算机程序产品在处理器上运行时，可以实现上述任意实施例中由电子设备实现的方法。本申请一些实施例中还提供计算机可读存储介质，该计算机可读存储介质中包含计算机指令，该计算机指令在处理器上运行时，可以实现上述任意实施例中由电子设备实现的方法。本申请一些实施例中，还提供通信系统，该通信系统包含图2至图7中任意图所示实施例中的UE A和/或图8至图10任意图所示实施例中的管理设备。
需要说明的是，上述实施例中所述的模块或部件可以是被配置成实施以上方法的一个或多个集成电路，例如：一个或多个专用集成电路(application specific integrated circuit，ASIC)，或，一个或多个微处理器(digital signal processor，DSP)，或，一个或者多个现场可编程门阵列(field programmable gate array，FPGA)等。再如，当以上某个模块通过处理元件调度程序代码的形式实现时，该处理元件可以是通用处理器，例如中央处理器(central processing unit，CPU)或其它可以调用程序代码的处理器如控制器。再如，这些模块可以集成在一起，以片上系统(system-on-a-chip，SOC)的形式实现。
在上述实施例中，可以全部或部分地通过软件、硬件、固件、软件模块或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行计算机程序指令时，全部或部分地产生按照本申请实施例的流程或功能。计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质(例如固态硬盘Solid State Disk(SSD))等。
本文中的术语“多个”是指两个或两个以上。本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系；在公式中，字符“/”，表示前后关联对象是一种“相除”的关系。另外，需要理解的是，在本申请的描述中，“第一”、“第二”等词汇，仅用于区分描述的目的，而不能理解为指示或暗示相对重要性，也不能理解为指示或暗示顺序。
可以理解的是，在本申请的实施例中涉及的各种数字编号仅为描述方便进行的区分，并不用来限制本申请的实施例的范围。
可以理解的是，在本申请的实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请的实施例的实施过程构成任何限定。

Claims (15)

  1. 一种通信方法，其特征在于，所述方法包括：
    第一通信设备获取第一时间信息，所述第一时间信息用于确定第一时刻与第二时刻之间的第一时间差，所述第一时刻为第二通信设备发送第一参考信号的时刻，所述第二时刻为所述第二通信设备接收第三通信设备发送的第二参考信号的时刻；
    所述第一通信设备接收来自所述第三通信设备的第二时间信息，所述第二时间信息用于确定第三时刻与第四时刻之间的第二时间差，所述第三时刻为所述第三通信设备接收所述第一参考信号的时刻，所述第四时刻为所述第三通信设备发送所述第二参考信号的时刻；
    所述第一通信设备接收来自第四通信设备的第三时间信息，所述第三时间信息用于确定第五时刻与第六时刻之间的第三时间差，所述第五时刻为所述第四通信设备接收所述第一参考信号的时刻，所述第六时刻为所述第四通信设备接收所述第二参考信号的时刻；
    所述第一通信设备根据所述第一时间差、所述第二时间差和所述第三时间差确定第一飞行时间差，所述第一飞行时间差为第一飞行时间与第二飞行时间之间的时间差，所述第一飞行时间为信号在所述第二通信设备至所述第四通信设备之间的飞行时间，所述第二飞行时间为信号在所述第三通信设备至所述第四通信设备之间的飞行时间。
  2. 根据权利要求1所述的方法，其特征在于，所述第一时间差、所述第二时间差、所述第三时间差和第一飞行时间差之间满足如下关系式：
    其中，tAB表示所述第一时间差，tB表示所述第二时间差，tRSTD,AB表示所述第三时间差，t1表示所述第一飞行时间差。
  3. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    所述第一通信设备获取第四时间信息，所述第四时间信息用于确定第七时刻与第八时刻之间的第四时间差，所述第七时刻为所述第二通信设备发送第三参考信号的时刻，所述第八时刻为所述第二通信设备接收所述第三通信设备发送的第四参考信号的时刻；
    所述第一通信设备接收来自所述第三通信设备的第五时间信息，所述第五时间信息用于确定第九时刻与第十时刻之间的第五时间差，所述第九时刻为所述第三通信设备接收所述第三参考信号的时刻，所述第十时刻为所述第三通信设备发送所述第四参考信号的时刻；
    所述第一通信设备接收来自所述第四通信设备的第六时间信息，所述第六时间信息用于确定第十一时刻与第十二时刻之间的第六时间差，所述第十一时刻为所述第四通信设备接收所述第三参考信号的时刻，所述第十二时刻为所述第四通信设备接收所述第四参考信号的时刻；
    其中，所述第一通信设备根据所述第一时间差、所述第二时间差和所述第三时间差确定第一飞行时间差，包括：
    所述第一通信设备根据所述第一时间差、所述第二时间差、所述第三时间差、所述第四时间差、所述第五时间差和所述第六时间差确定所述第一飞行时间差。
  4. 根据权利要求3所述的方法，其特征在于，所述第一时刻早于所述第四时刻、所述第十时刻早于所述第七时刻，或者所述第一时刻晚于所述第四时刻、所述第十时刻晚于所述第七时刻；
    其中，所述第一时间差、所述第二时间差、所述第三时间差、所述第四时间差、所述第五时间差、所述第六时间差与第一飞行时间差之间满足如下关系式：
    其中，t1表示所述第一时间差，t2表示所述第二时间差，tRSTD,1表示所述第三时间差，t3表示所述第四时间差，t4表示所述第五时间差，tRSTD,2表示所述第六时间差，t表示所述第一飞行时间差。
  5. 根据权利要求3或4所述的方法，其特征在于，所述第四参考信号为所述第二参考信号，或，所述第三参考信号为所述第一参考信号。
  6. 根据权利要求1至5中任一项所述的方法，其特征在于，所述方法还包括：
    所述第一通信设备获取第二飞行时间差，所述第二飞行时间差为所述第一飞行时间与第三飞行时间之间的时间差，所述第三飞行时间为信号在第五通信设备至所述第四通信设备之间的飞行时间；
    所述第一通信设备根据所述第一飞行时间差、所述第二飞行时间差、所述第二通信设备的位置、所述第三通信设备的位置和所述第五通信设备的位置基于到达时间差TDOA定位方法确定所述第四通信设备的位置。
  7. 根据权利要求1至6中任一项所述的方法，其特征在于，所述第一通信设备获取第一时间信息，包括：
    所述第一通信设备接收来自所述第二通信设备的所述第一时间信息。
  8. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    所述第一通信设备向所述第二通信设备、所述第三通信设备和所述第四通信设备发送第一配置信息和第二配置信息，所述第一配置信息包含所述第一参考信号的时频资源信息，所述第二配置信息包含所述第二参考信号的时频资源信息。
  9. 根据权利要求1至6中任一项所述的方法，其特征在于，所述第一通信设备和所述第二通信设备为同一个通信设备。
  10. 根据权利要求9所述的方法，其特征在于，所述方法还包括：
    所述第一通信设备向所述第三通信设备和所述第四通信设备发送第一配置信息和第二配置信息，所述第一配置信息包含所述第一参考信号的时频资源信息，所述第二配置信息包含所述第二参考信号的时频资源信息。
  11. 根据权利要求8或10所述的方法，其特征在于，所述第一配置信息还包括用于指示所述第二通信设备为参考锚点设备的信息，所述第二配置信息还包括用于指示所述第三通信设备为其他锚点设备的信息。
  12. 一种通信装置，其特征在于，包括：处理器和存储器；
    所述存储器存储计算机指令；
    所述处理器执行所述存储器存储的计算机指令，使得所述通信装置执行如权利要求1至11中任一项所述的方法。
  13. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机程序或指令，当所述计算机程序或指令被运行时，实现如权利要求1至11中任一项所述的方法。
  14. 一种计算机程序产品，其特征在于，包括计算机程序或指令，所述计算机程序或指令被处理器执行时，实现权利要求1至11中任一项所述的方法。
  15. 一种程序产品，其特征在于，所述程序产品包括计算机程序，所述计算机程序存储在可读存储介质中，通信装置的至少一个处理器可以从所述可读存储介质读取所述计算机程序，所述至少一个处理器执行所述计算机程序使得通信装置实施如权利要求1-11任意一项所述的方法。
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