WO2024051759A1 - 卫星定位方法和相关产品 - Google Patents

卫星定位方法和相关产品 Download PDF

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Publication number
WO2024051759A1
WO2024051759A1 PCT/CN2023/117359 CN2023117359W WO2024051759A1 WO 2024051759 A1 WO2024051759 A1 WO 2024051759A1 CN 2023117359 W CN2023117359 W CN 2023117359W WO 2024051759 A1 WO2024051759 A1 WO 2024051759A1
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WO
WIPO (PCT)
Prior art keywords
satellite
access network
message
location
error correction
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PCT/CN2023/117359
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English (en)
French (fr)
Inventor
缪馨
周润泽
王远
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华为技术有限公司
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Publication of WO2024051759A1 publication Critical patent/WO2024051759A1/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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • 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
    • 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
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/12—Messaging; Mailboxes; Announcements
    • 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

  • This application relates to the field of satellite positioning, and in particular to satellite positioning methods and related products.
  • the basic principle of satellite positioning is to measure the distance between a satellite with a known position and the user's receiver, and then combine the data from multiple satellites to know the specific location of the receiver.
  • the satellite's position can be found in the satellite's ephemeris based on the time recorded by the onboard clock.
  • the distance between the user and the satellite is obtained by recording the time it takes for the satellite signal to propagate to the user, and then multiplying it by the speed of light (due to the interference of the ionosphere in the atmosphere, this distance is not the real distance between the user and the satellite, but Pseudorange.
  • the positioning accuracy of satellites depends on the accuracy of satellite observations such as pseudorange and carrier phase. The observations are affected by satellite ephemeris errors, atmospheric errors and receiver errors. Therefore, to obtain high-precision positioning results, it is necessary to Errors in observed quantities are corrected.
  • Network real-time kinematic (RTK)-assisted satellite positioning system achieves high-precision positioning (centimeter level) by correcting errors in observations.
  • Network RTK consists of a base station network, a data processing center and data communication lines.
  • the base station network collects observations in real time, that is, the data obtained by the base station observing satellites, and transmits the observations to the data processing center through the data communication link; the data processing center determines the area where the rover is located based on the approximate coordinates of the rover, and then System error information (or error correction information) is sent to the rover, and the rover corrects the observations based on the received system error information to obtain accurate observations.
  • An urban canyon is an urban environment that resembles a natural canyon.
  • a man-made canyon formed by streets cutting into surrounding dense building blocks, especially skyscrapers.
  • satellite signals are blocked, and the signal quality of the observations received by the terminal equipment is degraded due to the multipath effect. Therefore, it is necessary to study satellite positioning solutions suitable for environments such as urban canyons.
  • Embodiments of the present application disclose satellite positioning methods and related products, which can achieve high performance of the UE in a scenario where the user equipment (UE) cannot determine its own approximate location based on satellite signals or cannot determine its own approximate location more accurately. Precision positioning.
  • embodiments of the present application provide a satellite positioning method, which method is applied to a UE.
  • the method includes: sending a first message to a first access network device that provides services for the UE, and the first The message is used to obtain the satellite error correction information of the location of the UE; in response to the positioning measurement initiated by the first access network device, the positioning measurement initiated by the first access network device is used to determine the third location of the UE.
  • a position receiving a second message from the first access network device, the second message is used to indicate first satellite error correction information, and the first satellite error correction information indicates the first access network device Using the satellite error correction information of the position of the UE obtained from the first position; determining the second position of the UE according to the first satellite error correction information, and the accuracy of the second position is higher than the The accuracy of the first position.
  • the positioning measurement initiated by the first access network device in response to the positioning measurement initiated by the first access network device, is used to determine the first location of the UE. It can be seen that the first access network device determines the approximate location of the UE in a manner that does not rely on the satellite signals received by the UE. Therefore, in a scenario where the UE cannot determine its own approximate location based on satellite signals or cannot determine its own approximate location more accurately, Able to achieve high-precision positioning of UE.
  • embodiments of the present application provide a satellite positioning method, which method is applied to a UE.
  • the method includes: sending a first message to a first access network device that provides services for the UE, and the first The message is used to obtain the position of the UE obtained using the satellite observation measurements of the UE, and the first message includes the satellite observation measurements of the UE; in response to the positioning measurement initiated by the first access network device, the The positioning measurement initiated by the first access network device is used to determine the first location of the UE; receiving a second message from the first access network device, the second message is used to indicate the second location of the UE.
  • Position the accuracy of the second position is higher than the accuracy of the first position, and the second position is obtained by the first access network device using the satellite observation of the UE and the first position.
  • the positioning measurement initiated by the first access network device in response to the positioning measurement initiated by the first access network device, is used to determine the first location of the UE. It can be seen that the first access network device determines the approximate location of the UE in a manner that does not rely on the satellite signals received by the UE. Therefore, In a scenario where the UE cannot determine its own approximate position based on satellite signals or cannot determine its own approximate position more accurately, high-precision positioning of the UE can be achieved.
  • the responding to the positioning measurement initiated by the first access network device includes: performing 5G single-station positioning measurement with the first access network device, and The measurement quantity obtained by the first access network device performing 5G single station positioning measurement is used to determine the first location.
  • 5G single-station positioning measurement is performed with the first access network device to quickly and accurately determine the approximate location of the UE.
  • embodiments of the present application provide another satellite positioning method, which method is applied to a first access network device.
  • the method includes: receiving a first message from a UE, where the first message is used to obtain the Satellite error correction information of the location of the UE; obtaining the first location of the UE; and determining multiple second access network devices adjacent to the first access network device based on the first location of the UE. ; According to the satellite observation quantity of the first access network device, the satellite observation quantity of the plurality of second access network devices and the first position, the first satellite error correction information is obtained, and the first satellite error The correction information indicates satellite error correction information of the location of the UE; and a second message is sent to the UE, where the second message is used to indicate the first satellite error correction information.
  • obtaining the first position of the UE may be: determining the approximate position of the UE, that is, the first position, in a manner that does not rely on satellite signals received by the UE. In other words, the UE does not need to determine its own probabilistic position through received satellite information.
  • the first access network device determines the approximate location of the UE in a manner that does not rely on the satellite signals received by the UE. Therefore, when the UE cannot determine its own approximate location based on satellite signals or cannot compare In a scenario where the approximate position of the UE is accurately determined, high-precision positioning of the UE can be achieved.
  • the first satellite error correction information includes: generating a satellite error correction model based on satellite observations of the first access network device and satellite observations of the plurality of second access network devices; generating a satellite error correction model based on the satellite error correction model and the first position to obtain the first satellite error correction information.
  • the satellite error correction model can be generated more accurately based on the satellite observations of the first access network device and the satellite observations of the plurality of second access network devices. Since the first position is more accurate, the first satellite error correction information obtained based on the satellite error correction model and the first position is also more accurate.
  • embodiments of the present application provide another satellite positioning method, which method is applied to a first access network device.
  • the method includes: receiving a first message from a UE, where the first message is used to obtain and utilize The position of the UE obtained from the satellite observation measurement of the UE, and the first message includes the satellite observation measurement of the UE; obtaining the first position of the UE; and determining, based on the first position of the UE, the location of the UE.
  • the second message is used to indicate the second location.
  • obtaining the first position of the UE may be: determining the approximate position of the UE, that is, the first position, in a manner that does not rely on satellite signals received by the UE. In other words, the UE does not need to determine its own probabilistic position through received satellite information.
  • the first access network device determines the approximate location of the UE in a manner that does not rely on the satellite signals received by the UE. Therefore, when the UE cannot determine its own approximate location based on satellite signals or cannot compare In a scenario where the approximate position of the UE is accurately determined, high-precision positioning of the UE can be achieved.
  • the satellite observations based on the first access network device, the satellite observations obtained from the plurality of second access network devices, the first position and the satellite observation quantity of the UE, determining the second position of the UE includes: generating a satellite according to the satellite observation quantity of the first access network device and the satellite observation quantity of the plurality of second access network devices.
  • Error correction model determine the second position of the UE according to the satellite error correction model, the first position and satellite observations of the UE.
  • the satellite error correction model can be generated more accurately based on the satellite observations of the first access network device and the satellite observations of the plurality of second access network devices. Since the first position is more accurate, the second position of the UE determined by the satellite error correction model, the first position and the satellite observations of the UE is also more accurate.
  • determining the second position of the UE according to the satellite error correction model, the first position and satellite observations of the UE includes: according to the satellite The error correction model and the first position are used to obtain first satellite error correction information, which indicates the satellite error correction information of the position of the UE; according to the first satellite error correction information, the correction information is Satellite observations of the UE; determining the second position using the corrected satellite observations of the UE.
  • the second position can be accurately determined.
  • determining a plurality of second access network devices adjacent to the first access network device according to the first location of the UE includes: According to the first location of the UE, select a third access network device adjacent to the first access network device.
  • a plurality of second access network devices that meet the first condition among the second access network devices adjacent to the first access network device are selected to obtain a more effective Satellite observations.
  • the obtaining the first location of the UE includes: performing 5G single-station positioning measurement with the UE to obtain a positioning measurement result; according to the positioning measurement result , obtain the first location of the UE.
  • the first position of the UE can be obtained quickly and accurately, and this method does not rely on the satellite signal received by the UE, and is suitable for environments such as urban canyons.
  • the present application provides another satellite positioning method, which method includes: a first access network device receiving a first message from a UE, where the first message is used to obtain satellite error correction of the location of the UE. Information; the first access network device obtains the first location of the UE according to the first message, and sends a third message to the first network element, where the third message is used to obtain the location of the UE.
  • the satellite error correction information of the position, the third message includes the first position information, the first position information is used to indicate the first position of the UE; the first network element obtains the position according to the third message.
  • the first position the first network element obtains first satellite error correction information according to the first position and the satellite error correction model, and the first satellite error correction information indicates the satellite error correction of the position of the UE. information; the first network element sends a fourth message to the first access network device, the fourth message is used to indicate the first satellite error correction information; the first access network device sends the The UE sends a second message, where the second message is used to indicate the first satellite error correction information.
  • the first access network device determines the approximate location of the UE in a manner that does not rely on the satellite signals received by the UE. Therefore, when the UE cannot determine its own approximate location based on satellite signals or cannot compare In a scenario where the approximate position of the UE is accurately determined, high-precision positioning of the UE can be achieved.
  • the present application provides another satellite positioning method.
  • the method includes: a first access network device receiving a first message from a UE, where the first message is used to obtain satellite error correction of the location of the UE. information; the first access network device performs positioning measurement on the UE according to the first message to obtain a positioning measurement amount, and the positioning measurement amount is used to determine the first position of the UE; the first The access network device sends a third message to the first network element, where the third message is used to obtain satellite error correction information of the location of the UE, where the third message includes the positioning measurement quantity; The first network element obtains the first position according to the third message; the first network element obtains the first satellite error correction information according to the first position and the satellite error correction model.
  • the first satellite error The correction information indicates the satellite error correction information of the location of the UE; the first network element sends a fourth message to the first access network device, the fourth message is used to indicate the first satellite error correction Information: the first access network device sends a second message to the UE, where the second message is used to indicate the first satellite error correction information.
  • the first access network device determines the approximate location of the UE in a manner that does not rely on the satellite signals received by the UE. Therefore, when the UE cannot determine its own approximate location based on satellite signals or cannot compare In a scenario where the approximate position of the UE is accurately determined, high-precision positioning of the UE can be achieved.
  • the first access network device obtaining the first location of the UE according to the first message includes: the first access network device and The UE performs 5G single-station positioning measurement to obtain a positioning measurement result; and the first access network device obtains the first location of the UE based on the positioning measurement result.
  • the first position of the UE can be determined quickly and accurately without relying on satellite signals received by the UE.
  • the present application provides another satellite positioning method.
  • the method includes: a first access network device receiving a first message from a UE, where the first message is used to obtain satellite observation measurements of the UE.
  • the position of the UE, the first message includes the satellite observation measurement of the UE; the first access network device obtains the first position of the UE according to the first message, and reports the first position of the UE to the first network element.
  • the third message is used to obtain the position of the UE obtained using the satellite observation of the UE, the third message includes the first position information and the satellite observation of the UE, the The first location information is used to indicate the first location of the UE; the first network element obtains the first location according to the third message; the first network element obtains the first location based on the first location, satellite error Correct the model and the satellite observations of the UE to determine the second position of the UE, and the accuracy of the second position is higher than the accuracy of the first position; the first network element provides the first access
  • the network device sends a fourth message, the fourth message is used to indicate the second location; the first access network device sends a second message to the UE, the second message is used to indicate the second location. Location.
  • the first access network device determines the approximate location of the UE in a manner that does not rely on the satellite signals received by the UE. Therefore, when the UE cannot determine its own approximate location based on satellite signals or cannot compare In a scenario where the approximate position of the UE is accurately determined, high-precision positioning of the UE can be achieved.
  • this application provides another satellite positioning method, which method includes: the first access network device receives the first message from the UE, The first message is used to obtain the position of the UE obtained using the satellite observation measurement of the UE, and the first message includes the satellite observation measurement of the UE; the first access network device is based on the first A message is sent to perform positioning measurement on the UE to obtain a positioning measurement quantity. The positioning measurement quantity is used to determine the first position of the UE; the first access network device sends a message to the UE according to the first message. The first network element sends a third message. The third message is used to obtain the position of the UE obtained using the satellite observation measurement of the UE. The third message includes the positioning measurement and the satellite of the UE.
  • the first network element obtains the first position and the satellite observation quantity of the UE according to the third message; the first network element obtains the first position, the satellite error correction model and the UE's satellite observation quantity according to the first position, the satellite error correction model and the The satellite observations of the UE are used to determine the second position of the UE, and the accuracy of the second position is higher than the accuracy of the first position; the first network element sends a second position to the first access network device.
  • the fourth message is used to indicate the second location; the first access network device sends a second message to the UE, the second message is used to indicate the second location.
  • the first access network device determines the approximate location of the UE in a manner that does not rely on the satellite signals received by the UE. Therefore, when the UE cannot determine its own approximate location based on satellite signals or cannot compare In a scenario where the approximate position of the UE is accurately determined, high-precision positioning of the UE can be achieved.
  • the first network element determines the second location of the UE based on the first location, a satellite error correction model, and satellite observations of the UE.
  • the method includes: the first network element obtains first satellite error correction information according to the satellite error correction model and the first location, and the first satellite error correction information indicates satellite error correction information of the location of the UE. ;
  • the first network element corrects the satellite observation quantity of the UE according to the first satellite error correction information; the first network element uses the corrected satellite observation quantity of the UE to determine the second position .
  • the second position can be accurately determined.
  • this application provides another satellite positioning method, which method is applied to a first access network device.
  • the method includes: receiving a first message from a UE, the first message being used to obtain the Satellite error correction information of the location; according to the first message, obtain the first location of the UE, and send a third message to the first network element, the third message is used to obtain the location of the UE satellite error correction information, the third message includes first location information, the first location information is used to indicate the first location of the UE; receiving the fourth message from the first network element, the third The fourth message is used to indicate the first satellite error correction information.
  • the first satellite error correction information indicates the satellite error correction information of the position of the UE obtained by the first network element using the first position; to the The UE sends a second message, where the second message is used to indicate the first satellite error correction information.
  • obtaining the first position of the UE may be: determining the approximate position of the UE, that is, the first position, in a manner that does not rely on satellite signals received by the UE. In other words, the UE does not need to determine its own probabilistic position through received satellite information.
  • the first access network device determines the approximate location of the UE in a manner that does not rely on the satellite signals received by the UE. Therefore, when the UE cannot determine its own approximate location based on satellite signals or cannot compare In a scenario where the approximate position of the UE is accurately determined, high-precision positioning of the UE can be achieved.
  • obtaining the first location of the UE according to the first message includes: performing 5G single-station positioning measurement with the UE according to the first message, and obtaining Positioning measurement results; according to the positioning measurement results, obtain the first position of the UE.
  • the first position of the UE can be determined quickly and accurately without relying on satellite signals received by the UE.
  • this application provides another satellite positioning method, which method is applied to a first access network device.
  • the method includes: receiving a first message from a UE, the first message being used to obtain the Satellite error correction information of the location; perform positioning measurement on the UE according to the first message to obtain a positioning measurement quantity, and the positioning measurement quantity is used to determine the first position of the UE; to the first
  • the network element sends a third message, the third message is used to obtain the satellite error correction information of the location of the UE, the third message includes the positioning measurement amount; and receives a fourth message from the first network element.
  • the fourth message is used to indicate the first satellite error correction information
  • the first satellite error correction information indicates the satellite error correction of the position of the UE obtained by the first network element using the first position.
  • Information sending a second message to the UE, where the second message is used to indicate the first satellite error correction information.
  • positioning measurement is performed on the UE, the positioning measurement quantity is obtained, and the third message is sent to the first network element. Since the first access network device determines the approximate location of the UE in a manner that does not rely on satellite signals received by the UE, in a scenario where the UE cannot determine its own approximate location based on satellite signals or cannot determine its own approximate location more accurately, it can Achieve high-precision positioning of UE.
  • embodiments of the present application provide another satellite positioning method, which method is applied to the first network element.
  • the method includes: receiving a third message from the first access network device, the third message For obtaining satellite error correction information of the location of the UE, the third message includes first location information, and the first location information is used to indicate the first location of the UE; according to the third message, Obtaining the first position; based on satellite observations of the first access network device, satellite observations of a plurality of second access network devices adjacent to the first access network device, and the first position to obtain the first satellite error correction information, the first satellite error correction information indicates the Satellite error correction information for the location of the UE; sending a fourth message to the first access network device, where the fourth message is used to indicate the first satellite error correction information.
  • the first location of the UE is obtained according to the third message from the first access network device.
  • the method by which the first network element obtains the approximate position of the UE does not rely on the satellite signal received by the UE. Therefore, in a scenario where the UE cannot determine its own approximate position based on the satellite signal or cannot determine its own approximate position more accurately, it can achieve high performance of the UE. Precision positioning.
  • embodiments of the present application provide another satellite positioning method, which method is applied to the first network element.
  • the method includes: receiving a third message from the first access network device, the third message For obtaining the satellite error correction information of the location of the UE, the third message includes a positioning measurement quantity, and the positioning measurement quantity is used to determine the first position of the UE; according to the third message, the The first position; based on the satellite observations of the first access network device, the satellite observations of a plurality of second access network devices adjacent to the first access network device, and the first position, Obtain first satellite error correction information, the first satellite error correction information indicates satellite error correction information of the location of the UE; send a fourth message to the first access network device, the fourth message is used to Indicate the first satellite error correction information.
  • the first location of the UE is obtained according to the third message from the first access network device.
  • the method by which the first network element obtains the approximate position of the UE does not rely on the satellite signal received by the UE. Therefore, in a scenario where the UE cannot determine its own approximate position based on the satellite signal or cannot determine its own approximate position more accurately, it can achieve high performance of the UE. Precision positioning.
  • a plurality of second access network devices adjacent to the first access network device Obtaining the first satellite error correction information based on the satellite observation quantity of the access network device and the first position includes: based on the satellite observation quantity of the first access network device and the satellite values of the plurality of second access network devices. Observations are made to generate a satellite error correction model; based on the satellite error correction model and the first position, the first satellite error correction information is obtained.
  • the satellite error correction model can be generated more accurately based on the satellite observations of the first access network device and the satellite observations of the plurality of second access network devices. Since the first position is more accurate, the first satellite error correction information obtained based on the satellite error correction model and the first position is also more accurate.
  • the present application provides another satellite positioning method, which method is applied to a first access network device.
  • the method includes: receiving a first message from a UE, where the first message is used to obtain the The position of the UE obtained from the satellite observation measurement of the UE, and the first message includes the satellite observation measurement of the UE; according to the first message, the first position of the UE is obtained and sent to the first network element Send a third message, the third message is used to obtain the position of the UE obtained using the satellite observation of the UE, the third message includes the first position information and the satellite observation of the UE, the The first location information is used to indicate the first location of the UE; receiving a fourth message from the first network element, the fourth message being used to indicate the second location of the UE; sending a third message to the UE. Two messages, the second message is used to indicate the second location.
  • the first access network device determines the approximate location of the UE in a manner that does not rely on the satellite signals received by the UE. Therefore, when the UE cannot determine its own approximate location based on satellite signals or cannot compare In a scenario where the approximate location of the UE is accurately determined, high-precision positioning of the UE can be achieved.
  • obtaining the first location of the UE according to the first message includes: performing 5G single-station positioning measurement with the UE according to the first message, Obtain a positioning measurement result; and obtain the first position of the UE according to the positioning measurement result.
  • the first position of the UE can be determined quickly and accurately without relying on satellite signals received by the UE.
  • the present application provides another satellite positioning method, which method is applied to a first access network device.
  • the method includes: receiving a first message from a UE, the first message being used to obtain the The position of the UE is obtained from the satellite observation measurement of the UE, and the first message includes the satellite observation measurement of the UE; according to the first message, positioning measurement is performed on the UE to obtain the positioning measurement amount, and the positioning measurement amount is obtained.
  • Positioning measurements are used to determine the first position of the UE; sending a third message to the first network element, where the third message is used to obtain the position of the UE obtained using satellite observations of the UE, The third message includes the positioning measurement amount and the satellite observation amount of the UE; receiving a fourth message from the first network element, the fourth message being used to indicate the second location of the UE; The UE sends a second message, where the second message is used to indicate the second location.
  • positioning measurement is performed on the UE, the positioning measurement quantity is obtained, and the third message is sent to the first network element. Since the first access network device determines the approximate location of the UE in a manner that does not rely on satellite signals received by the UE, in a scenario where the UE cannot determine its own approximate location based on satellite signals or cannot determine its own approximate location more accurately, it can Achieve high-precision positioning of UE.
  • embodiments of the present application provide another satellite positioning method, which method is applied to the first network element.
  • the method includes: receiving a third message from the first access network device, the third message
  • the third message is used to obtain the position of the UE obtained using the satellite observation of the UE.
  • the third message includes first position information and the satellite observation of the UE.
  • the first position information is used to indicate the third position of the UE.
  • the third message obtain the first position and the satellite observation quantity of the UE; according to the first position, the satellite error correction model and the satellite observation quantity of the UE, determine the third position of the UE Two positions, the accuracy of the second position is higher than the accuracy of the first position; sending a fourth message to the first access network device, the fourth message being used to indicate the second position.
  • the first location of the UE is obtained according to the third message from the first access network device.
  • the method by which the first network element obtains the approximate position of the UE does not rely on the satellite signal received by the UE. Therefore, in a scenario where the UE cannot determine its own approximate position based on the satellite signal or cannot determine its own approximate position more accurately, it can achieve high performance of the UE. Precision positioning.
  • embodiments of the present application provide another satellite positioning method, which method is applied to the first network element.
  • the method includes: receiving a third message from the first access network device, the third message Used to obtain the position of the UE obtained using the satellite observation amount of the UE, the third message includes the positioning measurement amount and the satellite observation amount of the UE, and the positioning measurement amount is used to determine the first position of the UE ;
  • the third message obtain the first position and the satellite observation amount of the UE; according to the first position, the satellite error correction model and the satellite observation amount of the UE, determine the second position of the UE position, the accuracy of the second position is higher than the accuracy of the first position; sending a fourth message to the first access network device, where the fourth message is used to indicate the second position.
  • the first location of the UE is obtained according to the third message from the first access network device.
  • the method by which the first network element obtains the approximate position of the UE does not rely on the satellite signal received by the UE. Therefore, in a scenario where the UE cannot determine its own approximate position based on the satellite signal or cannot determine its own approximate position more accurately, it can achieve high performance of the UE. Precision positioning.
  • the satellite observation amount based on the first access network device, the satellite observation amount of the plurality of second access network devices, the The first position and the satellite observation amount of the UE, determining the second position of the UE includes: based on the satellite observation amount of the first access network device and the satellite observation of the plurality of second access network devices. quantity, generate a satellite error correction model; determine the second position of the UE according to the satellite error correction model, the first position and the satellite observation of the UE.
  • the satellite error correction model can be generated more accurately based on the satellite observations of the first access network device and the satellite observations of the plurality of second access network devices. Since the first position is more accurate, the second position of the UE determined by the satellite error correction model, the first position and the satellite observations of the UE is also more accurate.
  • the second position of the UE is determined based on the satellite error correction model, the first position and satellite observations of the UE.
  • the method includes: obtaining first satellite error correction information according to the satellite error correction model and the first position, and the first satellite error correction information indicates satellite error correction information of the position of the UE; according to the first Satellite error correction information is used to correct the satellite observation quantity of the UE; and the second position is determined using the corrected satellite observation quantity of the UE.
  • the second position can be accurately determined.
  • an embodiment of the present application provides a communication device, which has the function of implementing the behavior in the method embodiment of the first aspect.
  • the communication device may be a communication device, a component of the communication device (such as a processor, a chip, or a chip system, etc.), or a logic module or software that can realize all or part of the functions of the communication device.
  • the functions of the communication device can be implemented by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules or units corresponding to the above functions.
  • the communication device includes a processing module and a transceiver module, wherein: the transceiver module is configured to send a first access network device that provides services to the UE.
  • the processing module is used to respond to the positioning measurement initiated by the first access network device, the first access network The positioning measurement initiated by the device is used to determine the first position of the UE; the transceiver module is also used to receive a second message from the first access network device, the second message is used to indicate the first satellite Error correction information, the first satellite error correction information indicates the satellite error correction information of the position of the UE obtained by the first access network device using the first position; the processing module is also configured to The first satellite error correction information determines the second position of the UE, and the accuracy of the second position is higher than the accuracy of the first position.
  • an embodiment of the present application provides a communication device, which has the function of implementing the behavior in the method embodiment of the second aspect.
  • the communication device may be a communication device, a component of the communication device (such as a processor, a chip, or a chip system, etc.), or a logic module or software that can realize all or part of the functions of the communication device.
  • the functions of the communication device can be implemented by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules or units corresponding to the above functions.
  • the communication device includes a processing module and a transceiver module, wherein: the transceiver module is configured to send a first message to a first access network device that provides services for the UE, and the third A message is used to obtain the position of the UE obtained using the satellite observation measurement of the UE, the first message includes the satellite observation measurement of the UE; the processing module is used to respond to the first access network Device-initiated positioning measurement, the positioning measurement initiated by the first access network device is used to determine the first position of the UE; the transceiver module is also used to receive the second positioning measurement from the first access network device.
  • the second message is used to indicate the second location of the UE, the second location The accuracy is higher than the accuracy of the first position, and the second position is obtained by the first access network device using the satellite observation of the UE and the first position.
  • the processing module is specifically configured to perform 5G single-station positioning measurement with the first access network device, and communicate with the first access network device.
  • the measurement quantity obtained by the device performing 5G single-station positioning measurement is used to determine the first position.
  • an embodiment of the present application provides a communication device, which has the function of implementing the behavior in the method embodiment of the third aspect.
  • the communication device may be a communication device, a component of the communication device (such as a processor, a chip, or a chip system, etc.), or a logic module or software that can realize all or part of the functions of the communication device.
  • the functions of the communication device can be implemented by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules or units corresponding to the above functions.
  • the communication device includes a processing module and a transceiver module, wherein: the transceiver module is used to receive a first message from the UE, and the first message is used to obtain the location of the UE. satellite error correction information; the processing module is used to obtain the first location of the UE; and determine multiple second access points adjacent to the first access network device based on the first location of the UE.
  • the satellite error correction information indicates the satellite error correction information of the location of the UE; the transceiver module is also used to send a second message to the UE, the second message is used to indicate the first satellite error correction information .
  • the processing module is specifically configured to, based on the satellite observation quantity of the first access network device and the satellite observation quantity of the plurality of second access network devices, Generate a satellite error correction model; obtain the first satellite error correction information based on the satellite error correction model and the first position.
  • an embodiment of the present application provides a communication device, which has the function of realizing the behavior in the method embodiment of the fourth aspect.
  • the communication device may be a communication device, a component of the communication device (such as a processor, a chip, or a chip system, etc.), or a logic module or software that can realize all or part of the functions of the communication device.
  • the functions of the communication device can be implemented by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules or units corresponding to the above functions.
  • the communication device includes a processing module and a transceiver module, wherein: the transceiver module is used to receive a first message from the UE, and the first message is used to obtain a satellite using the UE.
  • the position of the UE obtained by observing the measurement, and the first message includes the satellite observation measurement of the UE; the processing module is used to obtain the first position of the UE; and determine according to the first position of the UE.
  • a plurality of second access network devices adjacent to the first access network device according to the satellite observation quantity of the first access network device, the satellite observation quantity of the plurality of second access network devices,
  • the first position and the satellite observation of the UE determine the second position of the UE, and the accuracy of the second position is higher than the accuracy of the first position;
  • the transceiver module is also used to send a signal to the UE.
  • the UE sends a second message, where the second message is used to indicate the second location.
  • the processing module is specifically configured to, based on the satellite observation quantity of the first access network device and the satellite observation quantity of the plurality of second access network devices, Generate a satellite error correction model; determine the second position of the UE according to the satellite error correction model, the first position and the satellite observation of the UE.
  • the processing module is specifically configured to obtain first satellite error correction information based on the satellite error correction model and the first position.
  • the first satellite error correction information The information indicates the satellite error correction information of the location of the UE; correct the satellite observation quantity of the UE according to the first satellite error correction information; use the corrected satellite observation quantity of the UE to determine the second Location.
  • the processing module is specifically configured to select a second access network device adjacent to the first access network device according to the first location of the UE.
  • the processing module is specifically configured to perform 5G single-station positioning measurement with the UE to obtain a positioning measurement result; according to the positioning measurement result, obtain The first location of the UE.
  • an embodiment of the present application provides a communication device, which has the function of implementing the behavior in the method embodiment of the ninth aspect.
  • the communication device may be a communication device, a component of the communication device (such as a processor, a chip, or a chip system, etc.), or a logic module or software that can realize all or part of the functions of the communication device.
  • the functions of the communication device can be implemented by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules or units corresponding to the above functions.
  • the communication device includes a processing module and a transceiver module, wherein: the transceiver module is used to receive a first message from the UE, and the first message is used to obtain the location of the UE. satellite error correction information; the processing module is used to obtain the first position of the UE according to the first message; the transceiver module is also used to send a third message to the first network element, the third The third message is used to obtain the satellite error correction information of the location of the UE.
  • the third message includes first location information, and the first location information is used to indicate the first location of the UE; receiving from the third The fourth message of a network element, the fourth message is used to indicate the first satellite error correction information, the first satellite error correction information indicates the position of the UE obtained by the first network element using the first position. and sending a second message to the UE, where the second message is used to indicate the first satellite error correction information.
  • the processing module is specifically configured to perform 5G single-station positioning measurement with the UE according to the first message to obtain a positioning measurement result; according to the positioning measurement As a result, the first location of the UE is obtained.
  • an embodiment of the present application provides a communication device, which has the function of implementing the behavior in the method embodiment of the tenth aspect.
  • the communication device may be a communication device, a component of the communication device (such as a processor, a chip, or a chip system, etc.), or a logic module or software that can realize all or part of the functions of the communication device.
  • the functions of the communication device can be implemented by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules or units corresponding to the above functions.
  • the communication device includes a processing module and a transceiver module, wherein: the transceiver module is used to receive a first message from the UE, and the first message is used to obtain the location of the UE.
  • the satellite error correction information the processing module is configured to perform positioning measurements on the UE according to the first message to obtain positioning measurements, and the positioning measurements are used to determine the first position of the UE;
  • the transceiver module is further configured to send a third message to the first network element.
  • the third message is used to obtain the satellite error correction information of the location of the UE.
  • the third message includes the positioning measurement quantity.
  • an embodiment of the present application provides a communication device, which has the function of implementing the behavior in the method embodiment of the eleventh aspect.
  • the communication device may be a communication device, a component of the communication device (such as a processor, a chip, or a chip system, etc.), or a logic module or software that can realize all or part of the functions of the communication device.
  • the functions of the communication device can be implemented by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules or units corresponding to the above functions.
  • the communication device includes a processing module and a transceiver module, wherein: the transceiver module is used to receive a third message from the first access network device, and the third message is used to obtain the The satellite error correction information of the location of the UE, the third message includes first location information, and the first location information is used to indicate the first location of the UE; the processing module is configured to perform the processing according to the first location information.
  • the first position based on the satellite observation of the first access network device, the satellite observation of multiple second access network devices adjacent to the first access network device and the The first location is used to obtain first satellite error correction information, which indicates the satellite error correction information of the location of the UE; the transceiver module is also used to send the first satellite error correction information to the first access network.
  • the device sends a fourth message, where the fourth message is used to indicate the first satellite error correction information.
  • an embodiment of the present application provides a communication device, which has the function of implementing the behavior in the method embodiment of the twelfth aspect.
  • the communication device may be a communication device, a component of the communication device (such as a processor, a chip, or a chip system, etc.), or a logic module or software that can realize all or part of the functions of the communication device.
  • the functions of the communication device can be implemented by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules or units corresponding to the above functions.
  • the communication device includes a processing module and a transceiver module, wherein: the transceiver module is used to receive a third message from the first access network device, and the third message is used to obtain the The satellite error correction information of the location of the UE, the third The message includes a positioning measurement quantity, and the positioning measurement quantity is used to determine the first position of the UE; the processing module is used to obtain the first position according to the third message; according to the first access The satellite observation amount of network equipment, the satellite observation amount of multiple second access network equipment adjacent to the first access network equipment and the first position are used to obtain the first satellite error correction information.
  • the satellite error correction information indicates the satellite error correction information of the location of the UE; the transceiver module is also configured to send a fourth message to the first access network device, where the fourth message is used to indicate the third 1. Satellite error correction information.
  • the processing module is specifically configured to use satellite observations based on the first access network device and the plurality of second access network devices.
  • the satellite observation data of the network equipment is used to generate a satellite error correction model; and the first satellite error correction information is obtained based on the satellite error correction model and the first position.
  • an embodiment of the present application provides a communication device, which has the function of realizing the behavior in the method embodiment of the thirteenth aspect.
  • the communication device may be a communication device, a component of the communication device (such as a processor, a chip, or a chip system, etc.), or a logic module or software that can realize all or part of the functions of the communication device.
  • the functions of the communication device can be implemented by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules or units corresponding to the above functions.
  • the communication device includes a processing module and a transceiver module, wherein: the transceiver module is used to receive a first message from the UE, and the first message is used to obtain a satellite using the UE. The position of the UE obtained by observing the measurement, and the first message includes the satellite observation measurement of the UE; the processing module is used to obtain the first position of the UE according to the first message; the sending and receiving Module, further configured to send a third message to the first network element, where the third message is used to obtain the location of the UE obtained using satellite observations of the UE, where the third message includes the first location information and Satellite observations of the UE, the first location information is used to indicate the first location of the UE; receiving a fourth message from the first network element, the fourth message is used to indicate the UE's Second location: Send a second message to the UE, where the second message is used to indicate the second location.
  • the processing module is specifically configured to perform 5G single-station positioning measurement with the UE according to the first message to obtain a positioning measurement result; according to the positioning measurement As a result, the first location of the UE is obtained.
  • an embodiment of the present application provides a communication device, which has the function of implementing the behavior in the method embodiment of the fourteenth aspect.
  • the communication device may be a communication device, a component of the communication device (such as a processor, a chip, or a chip system, etc.), or a logic module or software that can realize all or part of the functions of the communication device.
  • the functions of the communication device can be implemented by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules or units corresponding to the above functions.
  • the communication device includes a processing module and a transceiver module, wherein: the transceiver module is used to receive a first message from the UE, and the first message is used to obtain a satellite using the UE.
  • the position of the UE obtained by the observation measurement, the first message includes the satellite observation measurement of the UE;
  • the processing module is used to perform positioning measurement on the UE according to the first message to obtain the positioning measurement amount , the positioning measurement quantity is used to determine the first position of the UE;
  • the transceiver module is also used to send a third message to the first network element, the third message is used to obtain the UE's
  • the position of the UE obtained by satellite observation measurement, the third message includes the positioning measurement amount and the satellite observation amount of the UE; receiving a fourth message from the first network element, the fourth message is To indicate a second location of the UE; sending a second message to the UE, where the second message is used to indicate the second location.
  • an embodiment of the present application provides a communication device, which has the function of implementing the behavior in the method embodiment of the fifteenth aspect.
  • the communication device may be a communication device, a component of the communication device (such as a processor, a chip, or a chip system, etc.), or a logic module or software that can realize all or part of the functions of the communication device.
  • the functions of the communication device can be implemented by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules or units corresponding to the above functions.
  • the communication device includes a processing module and a transceiver module, wherein: the transceiver module is used to receive a third message from the first access network device, and the third message is used to obtain utilization
  • the processing module is configured to obtain the first position and the satellite observation amount of the UE according to the third message; and determine the first position, the satellite error correction model and the satellite observation amount of the UE according to the first position, the satellite error correction model and the satellite observation amount of the UE.
  • the second position of the UE, the accuracy of the second position is higher than the accuracy of the first position; the transceiver module is also used to send a fourth message to the first access network device, the fourth The message is used to indicate the second location.
  • an embodiment of the present application provides a communication device, which has the function of implementing the behavior in the method embodiment of the sixteenth aspect.
  • the communication device may be a communication device, a component of the communication device (such as a processor, a chip, or a chip system, etc.), or a logic module or software that can realize all or part of the functions of the communication device.
  • the functions of the communication device can be implemented by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules or units corresponding to the above functions.
  • the communication device includes a processing module and a transceiver module, wherein: the transceiver module is used to receive a third message from the first access network device, and the third message is used to obtain utilization
  • the processing A module configured to obtain the first position and the satellite observation amount of the UE according to the third message; and determine the satellite observation amount of the UE according to the first position, the satellite error correction model and the satellite observation amount of the UE.
  • the second position, the accuracy of the second position is higher than the accuracy of the first position; the transceiver module is also used to send a fourth message to the first access network device, the fourth message is to indicate the second position.
  • the processing module is specifically configured to calculate the satellite observation volume of the first access network device and the plurality of second access network devices.
  • the satellite observation quantity of the network device is used to generate a satellite error correction model; and the second position of the UE is determined based on the satellite error correction model, the first position and the satellite observation quantity of the UE.
  • the processing module is specifically configured to obtain the first satellite error correction information according to the satellite error correction model and the first position,
  • the first satellite error correction information indicates the satellite error correction information of the location of the UE; correct the satellite observation of the UE according to the first satellite error correction information; use the corrected satellite observation of the UE quantity to determine the second position.
  • an embodiment of the present application provides another communication device.
  • the communication device includes a processor.
  • the processor is coupled to a memory.
  • the memory is used to store programs or instructions.
  • the communication device is caused to perform the method shown in any one of the above-mentioned first aspect to the above-mentioned fourth aspect, or when the program or instruction is executed by the processor, the communication device is caused to execute the above-mentioned ninth aspect to The method shown in any of the sixteenth aspects above.
  • the process of sending information (or signals) in the above method can be understood as a process of outputting information based on instructions of the processor.
  • the processor In outputting information, the processor outputs the information to the transceiver for transmission by the transceiver. After the information is output by the processor, it may also need to undergo other processing before reaching the transceiver.
  • the processor receives incoming information
  • the transceiver receives the information and feeds it into the processor. Furthermore, after the transceiver receives the information, the information may need to undergo other processing before being input to the processor.
  • the above-mentioned processor may be a processor specifically designed to perform these methods, or may be a processor that executes computer instructions in a memory to perform these methods, such as a general-purpose processor.
  • the processor may also be configured to execute a program stored in the memory.
  • the communication device performs the method shown in the above-mentioned first aspect or any possible implementation of the first aspect.
  • the memory is located outside the communication device. In a possible implementation, the memory is located within the above communication device.
  • the processor and the memory may be integrated into one device, that is, the processor and the memory may be integrated together.
  • the communication device further includes a transceiver, which is used to receive signals or send signals, etc.
  • the present application provides another communication device.
  • the communication device includes a processing circuit and an interface circuit.
  • the interface circuit is used to obtain data or output data; the processing circuit is used to perform the above-mentioned first aspect to the above-mentioned fourth aspect.
  • the method shown in any one of the aspects, or the processing circuit is used to perform the method shown in any one of the above-mentioned ninth aspect to the above-mentioned sixteenth aspect.
  • the present application provides a computer-readable storage medium.
  • a computer program is stored in the computer-readable storage medium.
  • the computer program includes program instructions. When executed, the program instructions cause the computer to perform the above-mentioned first aspect. to the method shown in any one of the above-mentioned fourth aspects, or when the program instructions are executed, the computer performs the method shown in any one of the above-mentioned ninth aspect to the above-sixteenth aspect.
  • the present application provides a computer program product.
  • the computer program product includes a computer program.
  • the computer program includes program instructions. When executed, the program instructions cause the computer to perform the above-mentioned first aspect to the above-mentioned fourth aspect.
  • the method shown in any aspect, or when the program instructions are executed, the computer performs the method shown in any one of the above-mentioned ninth aspect to the above-mentioned sixteenth aspect. method.
  • the present application provides a communication system, including the communication device described in the above-mentioned seventeenth aspect or any possible implementation of the seventeenth aspect, the above-mentioned nineteenth aspect or any possible implementation of the nineteenth aspect.
  • the present application provides a communication system, including the communication device described in the eighteenth aspect or any possible implementation of the eighteenth aspect, the twentieth aspect or any possible implementation of the twentieth aspect.
  • the present application provides a communication system, including the communication device described in the twenty-first aspect or any possible implementation of the twenty-first aspect, the twenty-third aspect or the twenty-third aspect.
  • the communication system further includes the communication device described in any possible implementation manner of the seventeenth aspect above or the communication device described in any possible implementation manner of the eighteenth aspect above.
  • the present application provides a communication system, including the communication device described in the twenty-second aspect or any possible implementation of the twenty-second aspect, the twenty-fourth aspect or the twenty-fourth aspect.
  • the communication system further includes the communication device described in any possible implementation manner of the seventeenth aspect above or the communication device described in any possible implementation manner of the eighteenth aspect above.
  • the present application provides a communication system, including the communication device described in the twenty-fifth aspect or any possible implementation of the twenty-fifth aspect, the twenty-seventh aspect or the twenty-seventh aspect.
  • the communication system further includes the communication device described in any possible implementation manner of the seventeenth aspect above or the communication device described in any possible implementation manner of the eighteenth aspect above.
  • the present application provides a communication system, including the communication device described in the twenty-sixth aspect or any possible implementation of the twenty-sixth aspect, the twenty-eighth aspect or the twenty-eighth aspect.
  • the communication system further includes the communication device described in any possible implementation manner of the seventeenth aspect above or the communication device described in any possible implementation manner of the eighteenth aspect above.
  • the present application provides a chip, including a processor and a communication interface.
  • the processor reads instructions stored in the memory through the communication interface and executes the above-mentioned first aspect to the above-mentioned fourth aspect.
  • Figure 1 is a schematic diagram of the basic principles of satellite positioning
  • FIG. 2 is a schematic diagram of the working principle of network RTK
  • Figure 3 is an example of a satellite positioning system provided by this application.
  • Figure 4 is an interactive flow chart of a satellite positioning method provided by an embodiment of the present application.
  • Figure 5 is an interactive flow chart of another satellite positioning method provided by an embodiment of the present application.
  • Figure 6 is an interactive flow chart of another satellite positioning method provided by an embodiment of the present application.
  • Figure 7 is an interactive flow chart of another satellite positioning method provided by an embodiment of the present application.
  • Figure 8 is a schematic structural diagram of a communication device 800 provided by an embodiment of the present application.
  • Figure 9 is a schematic structural diagram of another communication device 90 provided by an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of another communication device 100 provided by an embodiment of the present application.
  • an embodiment means that a particular feature, structure or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application.
  • the appearances of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those skilled in the art will understand, both explicitly and implicitly, that the embodiments described herein may be used with Other embodiments are combined.
  • a corresponds to B means that A and B have a corresponding relationship, and B can be determined based on A.
  • determining (or generating) B according to (or based on) A does not mean only determining (or generating) B according to (or based on) A. It can also be determined according to (or based on) A and/or other information. or generate)B.
  • the basic principle of satellite positioning is to measure the distance between multiple satellites with known positions and the user's receiver (such as a mobile phone), and then combine the data from multiple satellites to know the specific location of the receiver.
  • Figure 1 is a schematic diagram of the basic principles of satellite positioning. Specifically, the specific location of the receiver is determined based on the distance between multiple satellites (for example, the four satellites in Figure 1) and the user's receiver (for example, a mobile phone). To achieve this, the satellite's position can be found in the satellite's ephemeris based on the time recorded by the onboard clock.
  • the distance between the user and the satellite is obtained by recording the time it takes for the satellite signal to propagate to the user, and then multiplying it by the speed of light (due to the interference of the ionosphere in the atmosphere, this distance is not the real distance between the user and the satellite, but Pseudorange.
  • pseudocodes pseudo-random codes
  • the navigation messages include satellite ephemeris, working conditions, clock corrections, and ionospheric delays. Correction, atmospheric refraction correction and other information.
  • the user When the user receives the navigation message, he can extract the satellite time and compare it with his own clock to know the distance between the satellite and the user, and then use the satellite ephemeris data in the navigation message to calculate The user's position, speed and other information in the WGS-84 geodetic coordinate system can be known from the location of the satellite when it transmits the message.
  • the positioning accuracy of satellites depends on the accuracy of satellite observations (hereinafter referred to as observations) such as pseudorange and carrier phase. Satellite observations are affected by satellite ephemeris errors, atmospheric errors and receiver errors. Therefore, high accuracy is required. The positioning results need to be corrected for errors in satellite observations.
  • observations such as pseudorange and carrier phase.
  • Network RTK technology is an error correction technology based on carrier phase observations.
  • the use of network RTK technology can provide the three-dimensional positioning results of the measuring point in the specified coordinate system in real time, and achieve centimeter-level accuracy.
  • RTK measurement requires at least two instruments, namely a base station and a rover (at least one); the base station observes the satellite and transmits the data to the rover through a data link in real time, and the rover combines the data from the base station Perform calculations to obtain centimeter-level positioning coordinates.
  • Its basic principle is to sparsely and evenly distribute multiple base stations in a larger area to form a base station network, so that it can learn from the wide-area differential global positioning system (GPS) and multiple base stations.
  • GPS global positioning system
  • the basic principles and methods in the local differential GPS of a base station are used to try to eliminate or weaken the influence of various system errors, thereby obtaining high-precision positioning results.
  • FIG 2 is a schematic diagram of the working principle of network RTK.
  • network RTK includes a base station network, data processing center and data communication links.
  • the base station network consists of multiple base stations.
  • the base station network collects satellite observation data in real time and transmits the satellite observation data (or satellite observation volume) to the data processing center through the data communication link; the data processing center determines the area where the rover is located based on the approximate coordinates of the rover (i.e. the user).
  • the system error information is then sent to the rover, and the rover corrects the satellite observation data based on the received system error information to obtain accurate satellite observation data.
  • the rover can be regarded as a user.
  • An urban canyon is an urban environment that resembles a natural canyon.
  • a man-made canyon formed by streets cutting through the surrounding dense built blocks, especially skyscrapers.
  • the observations received by the terminal (such as a mobile phone) deteriorate the signal quality due to the multipath effect.
  • the initial summary obtained by the terminal based on the observations of multiple satellites The position accuracy is poor, and the network RTK correction effect is limited.
  • the number of satellites that the terminal can search is even less than 4. Since it cannot determine its approximate position, it directly leads to the failure of network RTK, the position cannot be calculated, and the positioning fails.
  • this application provides a satellite positioning method.
  • the satellite positioning solution provided by this application based on network RTK established by access network equipment does not require the UE to provide its own rough position determined based on satellite signals. It is suitable for situations where the UE cannot determine its own rough position based on satellite signals or cannot determine its own rough position more accurately.
  • a scene that determines its approximate location That is to say, in a scenario where the UE cannot determine its own approximate position based on satellite signals or cannot determine its own approximate position more accurately, the satellite positioning solution provided by this application can achieve high-precision positioning of the UE.
  • Figure 3 is an example of a satellite positioning system provided by this application.
  • the satellite positioning system includes: multiple satellites (only two are shown, namely satellite 1 and satellite 2), a UE, and a first access network device that provides services to the UE (or manages the UE).
  • the access network equipment of the currently accessed cell multiple access network equipment adjacent to the first access network equipment (only two are shown in Figure 3, namely the second access network equipment 1 and the second access network equipment Network equipment 2).
  • the satellite positioning system also includes a first network element, such as a location management function (LMF).
  • the first network element can communicate with the first access network device.
  • LMF location management function
  • the satellite positioning system may include multiple UEs, and FIG. 3 only shows one UE as an example.
  • the UE can receive satellite signals and obtain satellite observations based on the received satellite signals.
  • the UE may also report its own satellite observation volume to the first access network device.
  • the first access network device can provide satellite positioning services for the UE.
  • the first access network device and multiple access network devices adjacent to the first access network device can receive satellite signals and obtain satellite observations based on the received satellite signals.
  • Multiple access network devices adjacent to the first access network device may send satellite observation measurements to the first access network device.
  • the first access network device can obtain satellite observation measurements from its adjacent access network device.
  • the first access network device and multiple access network devices adjacent to the first access network device may all support the RTK base station capability, that is, they may serve as base stations in the RTK network.
  • UE is a device with wireless transceiver function.
  • the UE can communicate with one or more core network (CN) devices (or core devices) via access network equipment (or access equipment) in the radio access network (RAN).
  • CN core network
  • RAN radio access network
  • UE can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; it can also be deployed on water (such as ships, etc.); it can also be deployed in the air (such as aircraft, balloons, satellites, etc.).
  • the UE can also be called a terminal device or terminal, and can be a mobile phone (mobile phone), mobile station (MS), tablet computer (pad), computer with wireless transceiver function, virtual reality (virtual reality) reality (VR) terminal equipment, augmented reality (AR) terminal equipment, wireless terminal equipment in industrial control (industrial control), wireless terminal equipment in self-driving (self driving), remote medical (remote medical) Wireless terminal equipment, wireless terminal equipment in smart grid, wireless terminal equipment in transportation safety, wireless terminal equipment in smart city, and wireless terminal in smart home , subscriber unit, cellular phone, wireless data card, personal digital assistant (PDA) computer, tablet computer, laptop computer, machine type communication communication, MTC) terminal, etc.
  • PDA personal digital assistant
  • MTC machine type communication communication
  • UEs may include various handheld devices, vehicle-mounted devices, wearable devices, computing devices, or other processing devices connected to wireless modems with wireless communication capabilities.
  • the UE can be a handheld device (handset) with wireless communication function, a vehicle-mounted device, a wearable device or a terminal in the Internet of Things, the Internet of Vehicles, any form of terminal in 5G and communication systems evolved after 5G, etc. This application is not limited to this.
  • the access network device can be any device that has wireless transceiver functions and can communicate with the terminal, such as a radio access network (RAN) node that connects the terminal to the wireless network.
  • RAN nodes include: macro base stations, micro base stations (also called small stations), relay stations, access points, gNBs, transmission reception points (TRP), evolved Node B, eNB), wireless network controller (radio network controller, RNC), home base station (e.g., home evolved NodeB, or home Node B, HNB), base band unit (base band unit, BBU), WiFi access point (access point, AP), integrated access and backhaul (IAB), etc.
  • Figure 4 is an interactive flow chart of a satellite positioning method provided by an embodiment of the present application. As shown in Figure 4, the method includes:
  • the UE sends the first message to the first access network device that provides services for the UE.
  • the first access network device receives the first message from the UE.
  • the first message is used to obtain satellite error correction information of the location of the UE.
  • the above-mentioned first message may be called a satellite error correction information request.
  • the satellite error correction information is used to correct the UE's own satellite observations, that is, the satellite observations obtained by the UE based on the received satellite signals.
  • the first message may be a radio resource control (RRC) message.
  • the first message includes an identification of the UE and a cause value of 1, which indicates that the purpose of the UE sending the first message is to obtain satellite error correction information for the location of the UE.
  • the first message includes the identity of the UE and indication information 1.
  • the indication information 1 is used to instruct the UE to request satellite error correction information for the location of the UE.
  • the first access network device initiates positioning measurement to the UE.
  • the UE responds to the positioning measurement initiated by the first access network device.
  • the positioning measurement initiated by the first access network device is used to determine the first location of the above-mentioned UE, that is, the approximate location of the UE.
  • a possible implementation method in which the first access network device initiates positioning measurement to the UE is as follows: the first access network device initiates 5G single-station positioning measurement to the UE.
  • a possible implementation method for the UE to respond to the positioning measurement initiated by the first access network device is as follows: performing 5G single-station positioning measurement with the first access network device. After initiating positioning measurement to the UE, the first access network device may perform positioning measurement with the UE.
  • the first access network device initiating positioning measurement to the UE is: the first access network device initiates a round-trip time (RTT) measurement and an angle of arrival (AoA) measurement to the UE.
  • RTT round-trip time
  • a possible process of RTT measurement is as follows: the first access network device sends downlink positioning reference signals (PRS) to the UE; after receiving this signal, the UE sends a channel sounding reference signal (sounding) to the first access network device. reference signal, SRS).
  • PRS downlink positioning reference signals
  • SRS channel sounding reference signal
  • the first access network device can calculate the time difference between the UE and the first access network device by measuring the time difference between the UE sending the uplink SRS and receiving the downlink PRS, and the time difference between the first access network device receiving the uplink SRS and sending the downlink PRS.
  • the round trip time is used to determine the distance between the UE and the first access network device.
  • a possible process of AoA measurement is as follows: the UE sends an uplink SRS according to the instruction of the first access network device, and the first access network device measures the AoA of the SRS. The first access network device calculates the location of the UE based on the measured RTT and AoA, and uses the calculated location (ie, the first location) as the approximate location of the UE.
  • Step 402 can be regarded as a possible way for the first access network device to determine the approximate location of the UE.
  • the first access network device may also determine the approximate location of the UE through other methods that do not rely on satellite signals received by the UE. For example, the first access network device uses its own location as the approximate location of the UE. For another example, the first access network device queries the LMF network element for the approximate location of the UE. For another example, the first access network device determines the probabilistic location of the UE through multi-station positioning. Step 402 is optional but not required.
  • the first access network device obtains the first location of the UE.
  • the first location of the UE is the approximate location of the UE.
  • a possible implementation of step 403 is as follows: the first access network device performs 5G single-station positioning measurement with the UE to obtain a positioning measurement result; and obtains the first location of the UE based on the positioning measurement result.
  • the first access network device uses its own location as the approximate location of the UE, that is, the first location.
  • the first access network device obtains the first location of the UE by querying the LMF network element for the approximate location of the UE.
  • the first access network device determines that it needs to obtain the approximate location of the UE.
  • the first access network device determines whether it needs to obtain the approximate location of the UE based on whether the first message contains the location information reported by the UE. If the first message of the UE already contains the UE's own location, the first access network device does not need to actively obtain its approximate location. If the first message of the UE does not include the UE's own location, the first access network device needs to actively obtain its approximate location. It should be understood that after the first access network device determines that it needs to obtain the approximate location of the UE, it executes step 402 and step 403. In an implementation manner, the operation of actively obtaining the approximate location of the UE can be reduced.
  • the first access network device determines multiple second access network devices adjacent to the first access network device according to the first location of the UE.
  • a possible implementation of step 404 is as follows: according to the first location of the UE, select a plurality of second access network devices that meet the first condition among the second access network devices adjacent to the first access network device.
  • the above-mentioned first condition includes one or more of the following: the distance to the above-mentioned first access network device is less than the first threshold, the distance to the UE is less than the second threshold, the coverage range includes the location of the UE, and the distance to the first access network device is less than the second threshold.
  • the topology formed by an access network device covers the UE. Both the first threshold and the second threshold can be configured according to actual needs, and are not limited here.
  • the technical purpose of step 404 can be understood as selecting an appropriate second access network device to form a network RTK based on the first location of the UE. It should be understood that other implementation methods that can achieve the same technical purpose also fall within the protection scope of this application.
  • the first access network device forms a network RTK system with the multiple second access network devices.
  • multiple second access network devices can serve as base stations to receive satellite signals to obtain respective satellite observations and send satellite observations to the first access network device; the first access network device serves as a data center Based on the satellite observations and positions reported by each base station, a satellite error correction model within the coverage area of the network RTK system is generated. How the first access network equipment uses the satellite error correction model can be found below.
  • the first access network device obtains the first satellite error correction information based on the satellite observations of the first access network device, the satellite observations of the plurality of second access network devices, and the first position.
  • the first satellite error correction information indicates the satellite error correction information of the location of the UE.
  • the first satellite error correction information may be used to correct satellite observations of the UE.
  • the first access network device may perform the following operations: receive satellite signals and obtain satellite observations based on the received satellite signals, that is, satellite observations of the first access network device; obtain multiple second access network devices. Satellite observations of the network access equipment (that is, the second access network equipment 1, the second access network equipment 2, ..., the second access network equipment K in Figure 4).
  • the first access network device acquires satellite observations of multiple second access network devices that meet the first condition.
  • the first access network device sends requests for obtaining satellite observation quantities to multiple second access network devices that meet the first condition; each second access network device receives a request from the first access network device.
  • Request to obtain satellite observations Afterwards, the satellite observation measurements of the second access network device are sent to the first access network device.
  • Each second access network device receives a satellite signal, and obtains a satellite observation quantity based on the received satellite signal, that is, the satellite observation quantity of the second access network device.
  • step 405 is as follows: generate a satellite error correction model based on the satellite observations of the first access network device and the satellite observations of the plurality of second access network devices; generate a satellite error correction model based on the satellite error correction model and At the above-mentioned first position, the above-mentioned first satellite error correction information is obtained.
  • the first access network device generates satellite observations within the coverage area of the access network device based on the satellite observations (pseudo range, carrier phase, etc.) of itself and multiple second access network devices within a period of time.
  • the approximate position of the UE i.e., the first position
  • the satellite error correction information of the UE's location is calculated, that is, the first satellite error correction information.
  • Satellite error correction information can be called satellite observation error correction or satellite error correction.
  • the access network device coverage area may be the coverage area of the first access network and multiple second access network devices.
  • the first access network device can generate a satellite error correction model within the coverage area of the access network device based on the satellite observations (pseudo range, carrier phase, etc.) of itself and multiple second access network devices over a period of time.
  • the first access network device generates a satellite error correction model within the coverage area of the access network device based on satellite observations of itself and multiple second access network devices, as well as the locations of the multiple second access network devices.
  • a variety of existing network RTK technologies can be used to generate satellite error correction models, which will not be described again here.
  • the first access network device sends the second message to the UE.
  • the UE receives the second message from the first access network device.
  • the above-mentioned second message is used to indicate the above-mentioned first satellite error correction information.
  • the first satellite error correction information indicates the satellite error correction information of the location of the UE obtained by the first access network device using the first location.
  • the second message may be an RRC message.
  • the UE determines the second position of the UE based on the first satellite error correction information.
  • the accuracy of the second position is higher than the accuracy of the first position.
  • the second position can be regarded as a high-precision position obtained by correcting the first position (rough position).
  • step 407 is as follows: the UE corrects the UE's satellite observations according to the first satellite error correction information; and uses the corrected satellite observations of the UE to determine the second position.
  • the second position can be accurately determined.
  • the first access network device determines the approximate location of the UE in a manner that does not rely on satellite signals received by the UE, for example, through 5G single-station positioning measurement; when the UE cannot determine the approximate location based on satellite signals, High-precision positioning of the UE can be achieved in scenarios where the user's own approximate position cannot be determined relatively accurately.
  • Figure 5 is an interactive flow chart of another satellite positioning method provided by an embodiment of the present application. Compared with the method in Figure 4, the method in Figure 5 is that the first access network device outputs the corrected UE position to the UE instead of the satellite error correction information of the UE's position. As shown in Figure 5, the method includes:
  • the UE sends the first message to the first access network device that provides services for the UE.
  • the first access network device receives the first message from the UE.
  • the first message is used to obtain the position of the UE obtained using satellite observations of the UE.
  • the above-mentioned first message is used to request the location of the UE for satellite positioning.
  • the above-mentioned first message includes the satellite observation quantity of the above-mentioned UE.
  • the satellite observation amount of the UE refers to the satellite observation amount obtained by the UE based on the received satellite signal.
  • the first message may be an RRC message.
  • the first message includes an identification of the UE and a reason value 2, which indicates that the purpose of the UE sending the first message is to obtain the location of the UE using satellite observations of the UE.
  • the first message includes the identity of the UE and indication information 2.
  • the indication information 2 is used to instruct the UE to request the location of the UE obtained by using satellite observation measurements of the UE, that is, the location after the rough location of the UE has been modified.
  • the first access network device initiates positioning measurement to the UE.
  • Step 502 is optional but not required.
  • the UE responds to the positioning measurement initiated by the first access network device.
  • the positioning measurement initiated by the first access network device is used to determine the first location of the above-mentioned UE.
  • the first access network device obtains the first location of the UE.
  • step 503 please refer to step 403.
  • the first access network device determines multiple second access network devices adjacent to the first access network device based on the first location of the UE.
  • step 504 please refer to step 404.
  • the first access network device determines the second location of the UE based on the satellite observation quantity of the first access network device, the satellite observation quantity of the plurality of second access network devices, the first position, and the satellite observation quantity of the UE.
  • the accuracy of the second position is higher than the accuracy of the first position.
  • the second position can be regarded as a position with higher accuracy obtained by correcting the first position.
  • the first access network device may perform the following operations: receive satellite signals and obtain satellite observations based on the received satellite signals, that is, satellite observations of the first access network device; obtain multiple second access network devices. Satellite observations of network-connected devices. Optional, first pick The network access device acquires satellite observations of multiple second access network devices that meet the first condition.
  • a possible implementation of step 505 is as follows: generate a satellite error correction model based on the satellite observation values of the first access network device and the satellite observation values of multiple second access network devices; generate a satellite error correction model based on the satellite error correction model, the first position and the UE's satellite observations to determine the second position of the UE.
  • the satellite error correction model is an expression of satellite error correction information at each location within the coverage of multiple access network devices (such as base stations) established by multiple time satellite observation data. When a rough position (such as the first position) is input into the satellite error correction information expression, the correction information at this position can be obtained.
  • This model is a specific model in the field of satellite positioning and will not be described in detail here.
  • the second position of the UE can be accurately determined based on the satellite error correction model, the first position and the satellite observations of the UE.
  • the possible implementation method of determining the second position of the UE is as follows: according to the satellite error correction model and the first position, the first satellite error correction information is obtained, and the first satellite The error correction information indicates the satellite error correction information of the position of the UE; the satellite observation quantity of the UE is corrected according to the first satellite error correction information; and the second position of the UE is determined using the corrected satellite observation quantity of the UE.
  • the first position is a more accurate approximate position
  • the first satellite error correction information obtained according to the satellite error correction model and the first position is more accurate, and thus a second position with higher accuracy is obtained.
  • the first access network device sends the second message to the UE.
  • the UE receives the second message from the first access network device.
  • the above-mentioned second message is used to indicate the above-mentioned second location.
  • the UE can obtain the second location of the UE according to the second message.
  • the second message may be an RRC message.
  • the first access network device determines the approximate location of the UE in a manner that does not rely on satellite signals received by the UE, for example, through 5G single-station positioning measurement; when the UE cannot determine the approximate location based on satellite signals, High-precision positioning of the UE can be achieved in scenarios where the user's own approximate position cannot be determined relatively accurately.
  • Figure 6 is an interactive flow chart of another satellite positioning method provided by an embodiment of the present application.
  • the method in Figure 6 is compared with the method in Figure 4.
  • the first network element calculates the satellite error correction information and sends it to the first access network device.
  • the method includes:
  • the first network element and the access network equipment group build a network RTK system.
  • the network RTK system constructed by the first network element and the access network equipment group can be understood as: the first network element and the access network equipment group are configured as a network RTK system.
  • the access network equipment group includes multiple access network equipment, that is, the second access network equipment 1, the second access network equipment 2, ..., and the second access network equipment K in Figure 6. K is an integer greater than 2.
  • the first network element may be an LMF network element or other network elements having similar functions to the LMF network element.
  • Step 600 is optional but not required. Step 600 can be understood as a pre-configuration operation and does not need to be performed every time. That is to say, after the first network element and the access network equipment group build the network RTK system, the network RTK system can be directly used for satellite positioning for a long period of time. There is no need to adjust the satellite positioning of each UE. Build a network RTK system.
  • the UE sends the first message to the first access network device that provides services for the UE.
  • the first access network device receives the first message from the UE.
  • the first access network device is any access network device in the access network device group.
  • the first message is used to obtain satellite error correction information of the location of the UE.
  • step 601 please refer to step 401.
  • the first access network device obtains the first location of the UE according to the first message.
  • Obtaining the first location of the UE according to the first message by the first access network device may be understood as: acquiring the first location of the UE after receiving the first message.
  • the first access network device determines that it needs to obtain the first location of the UE according to the first message.
  • the first message is not required for the first access network device to obtain the first location of the UE.
  • the first access network device obtains the first location of the UE refer to step 403.
  • the first access network device sends the third message to the first network element.
  • the first network element receives the third message from the first access network device.
  • the third message is used to obtain (or request) satellite error correction information for the location of the above-mentioned UE.
  • the above third message may be called a satellite error correction information request.
  • the third message includes first location information, and the first location information is used to indicate the first location of the UE.
  • the third message may be an NR positioning Protocol A (NRRPPa) message.
  • NRPPa is the transmission protocol between the base station and LMF, and its role is to support the positioning function.
  • the third message includes the identification of the UE and a reason value 3.
  • the reason value 3 indicates that the purpose of the first access network device sending the third message is to obtain satellite error correction information for the location of the UE.
  • the third message includes the identification of the UE and indication information 3.
  • the indication information 3 is used to instruct the first access network device to request satellite error correction information for the location of the UE.
  • step 602 is replaced with: the first access network device performs positioning measurement on the UE according to the first message to obtain a positioning measurement amount, and the positioning measurement amount is used to determine the first location of the UE.
  • the third message includes the positioning measurement Measure.
  • the first access network device after receiving the first message, performs RTT measurement and AoA measurement on the UE to obtain positioning measurement quantities (including RTT and AoA).
  • the first network element may determine the first location of the UE based on the positioning measurement quantity.
  • the first access network device to provide the location information of the UE to the first network element: one is to carry the first location information indicating the first location of the UE in the third message, and the other is to The third message carries the positioning measurement quantity used to determine the first location of the UE.
  • the first network element obtains the first location of the UE according to the third message.
  • the first network element obtains the first satellite error correction information based on the first position of the UE and the satellite error correction model.
  • the satellite error correction model may be the satellite error correction model generated by the first network element in step 600.
  • a possible implementation of step 605 is as follows: the first network element uses the approximate location of the UE (i.e., the first location) as the input of the satellite error correction model, and calculates the satellite error correction information for the location of the UE, i.e., the first satellite error correction. information.
  • the first network element sends the fourth message to the first access network device.
  • the fourth message is used to indicate the first satellite error correction information.
  • the above-mentioned fourth message may be an NRPPa message.
  • the first access network device sends the second message to the UE.
  • the above-mentioned second message is used to indicate the above-mentioned first satellite error correction information.
  • the UE determines the second position of the UE based on the first satellite error correction information.
  • step 608 please refer to step 407.
  • the first access network device determines the approximate location of the UE in a manner that does not rely on satellite signals received by the UE, for example, through 5G single-station positioning measurement; when the UE cannot determine the approximate location based on satellite signals, High-precision positioning of the UE can be achieved in scenarios where the user's own approximate position cannot be determined relatively accurately.
  • Figure 7 is an interactive flow chart of another satellite positioning method provided by an embodiment of the present application. Compared with the method in Figure 6, the method in Figure 7 is that the first network element sends the corrected UE position to the first access network device instead of the satellite error correction information of the UE's position. As shown in Figure 7, the method includes:
  • the first network element and the access network equipment group build a network RTK system.
  • step 700 please refer to step 600.
  • Step 700 is optional.
  • the UE sends the first message to the first access network device that provides services for the UE.
  • the first access network device receives the first message from the UE.
  • step 701 please refer to step 501.
  • the first access network device obtains the first location of the UE according to the first message.
  • step 702 please refer to step 602.
  • the first access network device sends the third message to the first network element.
  • the first network element receives the third message from the first access network device.
  • the above-mentioned third message is used to obtain the position of the above-mentioned UE obtained by using the satellite observation measurement of the above-mentioned UE.
  • the above-mentioned first message is used to request the location of the UE for satellite positioning.
  • the third message includes first location information and satellite observation values of the UE, and the first location information is used to indicate the first location of the UE.
  • the above third message may be an NRPPa message.
  • step 702 is replaced with: the first access network device performs positioning measurement on the UE according to the first message to obtain a positioning measurement amount, and the positioning measurement amount is used to determine the first location of the UE.
  • the third message includes positioning measurements.
  • the first access network device after receiving the first message, performs RTT measurement and AoA measurement on the UE to obtain positioning measurement quantities (including RTT and AoA).
  • the first network element may determine the first location of the UE based on the positioning measurement quantity.
  • the first access network device to provide the location information of the UE to the first network element: one is to carry the first location information indicating the first location of the UE in the third message, and the other is to The third message carries the positioning measurement quantity used to determine the first location of the UE.
  • the first network element obtains the first position according to the third message.
  • the first network element determines the second position of the UE based on the first position, the satellite error correction model, and the UE's satellite observations.
  • the accuracy of the second position is higher than the accuracy of the first position.
  • step 705 please refer to step 505.
  • the first network element sends the fourth message to the first access network device.
  • the above-mentioned fourth message is used to indicate the above-mentioned second location.
  • the first access network device sends the second message to the UE.
  • the UE receives the second message from the first access network device.
  • the above-mentioned second message is used to indicate the above-mentioned second location.
  • the UE can obtain the second location of the UE according to the second message.
  • the first access network device determines the approximate location of the UE in a manner that does not rely on the satellite signals received by the UE, and provides the location information of the UE to the first network element; when the UE cannot determine its own approximate location based on satellite signals In scenarios where the UE cannot accurately determine its approximate location, high-precision positioning of the UE can be achieved.
  • FIG. 8 is a schematic structural diagram of a communication device 800 provided by an embodiment of the present application.
  • the communication device 800 can implement the functions or steps implemented by the UE in each of the above method embodiments, and can also implement the functions or steps implemented by the first access network device in each of the above method embodiments. It can also implement the second access network device in each of the above method embodiments.
  • the communication device may include a processing module 810 and a transceiver module 820.
  • a storage unit may also be included, which may be used to store instructions (code or programs) and/or data.
  • the processing module 810 and the transceiver module 820 can be coupled with the storage unit.
  • the processing module 810 can read the instructions (code or program) and/or data in the storage unit to implement the corresponding method.
  • the transceiver module 820 may include a sending module and a receiving module.
  • the sending module can be a transmitter
  • the receiving module can be a receiver.
  • the entity corresponding to the transceiver module 820 may be a transceiver or a communication interface.
  • the communication device 800 can correspondingly implement the behaviors and functions of the UE in the above method embodiments.
  • the communication device 800 may be a UE, or may be a component (such as a chip or circuit) applied in the UE.
  • the transceiver module 820 may, for example, be used to perform all receiving or sending operations performed by the UE in the embodiments shown in FIGS. 4 to 7 , such as steps 401, 402, and 406 in the embodiment shown in FIG. 5 . Steps 501, 502, and 506 in the embodiment shown in FIG. 6, steps 601 and 607 in the embodiment shown in FIG. 6, and steps 701 and 707 in the embodiment shown in FIG.
  • the processing module 810 is configured to perform all operations performed by the UE in the embodiments of FIG. 4 to FIG. 7 except for the transceiver operation, such as step 407 in the embodiment shown in FIG. 4, and step 407 in the embodiment shown in FIG. 6. Step 608.
  • the communication device 800 can correspondingly implement the behaviors and functions of the first access network device in the above method embodiment.
  • the communication device 800 may be a first access network device, or may be a component (such as a chip or a circuit) used in the first access network device.
  • the transceiver module 820 may, for example, be used to perform all receiving or sending operations performed by the first access network device in the embodiments shown in FIG. 4 to FIG.
  • the processing module 810 is configured to perform all operations except for the sending and receiving operations performed by the first access network device, such as steps 403, 404, and 405 in the embodiment shown in Figure 4, and the implementation shown in Figure 5 Steps 503, 504, and 505 in the example, step 602 in the embodiment shown in Figure 6, and step 702 in the embodiment shown in Figure 7.
  • the communication device 800 can correspondingly implement the behaviors and functions of the first network element in the above method embodiment.
  • the communication device 800 may be the first network element, or may be a component (such as a chip or circuit) applied in the first network element.
  • the transceiver module 820 may, for example, be used to perform all receiving or sending operations performed by the first network element in the embodiment shown in FIG. 6 or 7 , such as steps 603 and 606 in the embodiment shown in FIG. 6 , and steps 606 in the embodiment shown in FIG. 7 . Step 703, step 706 in the illustrated embodiment, and/or other processes used to support the techniques described herein.
  • the processing module 810 is configured to perform all operations performed by the first network element except for the sending and receiving operations, such as steps 600, 604, and 605 in the embodiment shown in Figure 6, and in the embodiment shown in Figure 7 Step 700, Step 704, and Step 705.
  • FIG. 9 is a schematic structural diagram of another communication device 90 provided by an embodiment of the present application.
  • the communication device in Figure 9 may be the above-mentioned UE, the above-mentioned first access network device, or the above-mentioned first network element.
  • the communication device 90 includes at least one processor 910 and a transceiver 920 .
  • the processor 910 and the transceiver 920 may be used to perform functions or operations performed by the UE, etc.
  • the transceiver 920 performs, for example, all receiving or transmitting operations performed by the UE in the embodiments of FIGS. 4 to 7 .
  • the processor 910 is, for example, configured to perform all operations performed by the UE in the embodiments of FIGS. 4 to 7 except for the transceiver operations.
  • the processor 910 and the transceiver 920 may be used to perform functions or operations performed by the first access network device, and the like.
  • the transceiver 920 performs, for example, all receiving or transmitting operations performed by the first access network device in the embodiments of FIGS. 4 to 7 .
  • the processor 910 is, for example, configured to perform all operations performed by the first access network device in the embodiments of FIGS. 4 to 7 except for the transceiver operation.
  • the processor 910 and the transceiver 920 may be used to perform functions or operations performed by the first network element, etc.
  • the transceiver 920 performs, for example, all receiving or transmitting operations performed by the first network element in the embodiments of FIGS. 4 to 7 .
  • the processor 910 is, for example, configured to perform all operations performed by the first network element in the embodiments of FIGS. 4 to 7 except for the transceiver operation.
  • Transceiver 920 is used to communicate with other devices/devices over transmission media.
  • the processor 910 uses the transceiver 920 to send and receive data and/or signaling, and is used to implement the method in the above method embodiment.
  • the processor 910 can implement the function of the processing module 810, and the transceiver 920 can implement the function of the transceiver module 820.
  • the transceiver 920 may include a radio frequency circuit and an antenna.
  • the radio frequency circuit is mainly used for conversion of baseband signals and radio frequency signals and processing of radio frequency signals.
  • Antennas are mainly used to send and receive radio frequency signals in the form of electromagnetic waves.
  • Input and output devices, such as touch screens, displays, keyboards etc. are mainly used to receive data input by users and output data to users.
  • the communication device 90 may also include at least one memory 930 for storing program instructions and/or data.
  • Memory 930 and processor 910 are coupled.
  • the coupling in the embodiment of this application is an indirect coupling or communication connection between devices, units or modules, which may be in electrical, mechanical or other forms, and is used for information interaction between devices, units or modules.
  • the processor 910 may cooperate with the memory 930.
  • Processor 910 may execute program instructions stored in memory 930 . At least one of the at least one memory may be included in the processor.
  • the processor 910 can read the software program in the memory 930, interpret and execute the instructions of the software program, and process the data of the software program.
  • the processor 910 performs baseband processing on the data to be sent, and then outputs the baseband signal to the radio frequency circuit.
  • the radio frequency circuit performs radio frequency processing on the baseband signal and then sends the radio frequency signal out in the form of electromagnetic waves through the antenna.
  • the radio frequency circuit receives the radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor 910.
  • the processor 910 converts the baseband signal into data and performs processing on the data. deal with.
  • the above-mentioned radio frequency circuit and antenna can be arranged independently of the processor that performs baseband processing.
  • the radio frequency circuit and antenna can be arranged remotely and independently of the communication device.
  • connection medium between the above-mentioned transceiver 920, processor 910 and memory 930 is not limited in the embodiment of the present application.
  • the memory 930, the processor 910 and the transceiver 920 are connected through a bus 940 in Figure 9.
  • the bus is represented by a thick line in Figure 9.
  • the connection between other components is only schematically explained. , is not limited.
  • the bus can be divided into address bus, data bus, control bus, etc. For ease of presentation, only one thick line is used in Figure 9, but it does not mean that there is only one bus or one type of bus.
  • the processor may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, which may implement or Execute each method, step and logical block diagram disclosed in the embodiment of this application.
  • a general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware processor for execution, or can be executed by a combination of hardware and software modules in the processor.
  • FIG. 10 is a schematic structural diagram of another communication device 100 provided by an embodiment of the present application.
  • the communication device shown in FIG. 10 includes a logic circuit 1001 and an interface 1002 .
  • the processing module 810 in Figure 10 can be implemented by the logic circuit 1001, and the transceiver module 820 in Figure 10 can be implemented by the interface 1002.
  • the logic circuit 1001 can be a chip, a processing circuit, an integrated circuit or a system on chip (SoC) chip, etc.
  • the interface 1002 can be a communication interface, an input-output interface, etc.
  • the logic circuit and the interface may also be coupled to each other.
  • the embodiments of this application do not limit the specific connection methods of the logic circuits and interfaces.
  • the logic circuit and interface may be used to perform the above-mentioned functions or operations performed by the UE, etc.
  • the logic circuit and interface may be used to perform the functions or operations performed by the first access network device, etc.
  • the logic circuit and interface may be used to perform the functions or operations performed by the first network element, etc.
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more available media integrated.
  • the available media may be magnetic media (eg, floppy disk, hard disk, magnetic tape), optical media (eg, DVD), or semiconductor media (eg, solid state disk (SSD)), etc.
  • the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.
  • Computer-readable storage media include read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory Memory (erasable programmable read only memory, EPROM), one-time programmable read-only memory (OTPROM), electronically erasable programmable read-only memory (EEPROM) ), Compact Disc read-only memory (CD-ROM) or other optical disk storage, magnetic disk storage, tape storage, or any other computer-readable medium that can be used to carry or store data.
  • ROM read-only memory
  • RAM random access memory
  • PROM programmable read-only memory
  • EPROM erasable programmable read only memory
  • OTPROM one-time programmable read-only memory
  • EEPROM electronically erasable programmable read-only memory
  • CD-ROM Compact Disc read-only memory
  • CD-ROM Compact Disc read-only memory
  • the computer program product includes instructions or computer programs. When the instructions or computer programs are run on a computer, the methods in the above embodiments are executed.
  • the computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part.
  • the above embodiments may be implemented in whole or in part by software, hardware, firmware, or any combination thereof.
  • software When implemented using software, it may be implemented in whole or in part in the form of a computer program product.
  • This application also provides a communication system, including the above-mentioned UE and the above-mentioned first access network device.
  • This application also provides another communication system, including the above-mentioned first access network device and the above-mentioned first network element.
  • the communication system also includes the above-mentioned UE.
  • This application also provides a chip, which includes a processor and a communication interface.
  • the processor reads instructions stored in the memory through the communication interface and executes the method of the above embodiment.
  • the technical solution of the present application is essentially or contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product.
  • the computer program product is stored in a storage medium and includes a number of instructions. So that a device (which can be a terminal device, network device, vehicle-mounted device, router, server, robot, chip, robot, etc.) executes all or part of the steps of the method described in various embodiments of this application.

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Abstract

本申请公开了卫星定位方法和相关产品，该方法应用于卫星定位场景，该方法包括：向为UE提供服务的第一接入网设备发送第一消息；响应该第一接入网设备发起的定位测量，该第一接入网设备发起的定位测量用于确定该UE的第一位置；接收来自该第一接入网设备的第二消息，该第二消息用于指示第一卫星误差改正信息，该第一卫星误差改正信息指示该第一接入网设备利用该第一位置得到的该UE所处位置的卫星误差改正信息；根据该第一卫星误差改正信息，确定该UE的第二位置，该第二位置的精度高于该第一位置的精度；在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景(例如城市峡谷)中，能够实现UE的高精度定位。

Description

卫星定位方法和相关产品
本申请要求于2022年9月09日提交中国专利局、申请号为202211105865.5、申请名称为“卫星定位方法和相关产品”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及卫星定位领域，尤其涉及卫星定位方法和相关产品。
背景技术
卫星定位的基本原理是测量出已知位置的卫星到用户的接收机之间的距离，然后综合多颗卫星的数据就可知道接收机的具体位置。要达到这一目的，卫星的位置可以根据星载时钟所记录的时间在卫星星历中查出。而用户到卫星的距离则通过纪录卫星信号传播到用户所经历的时间，再将其乘以光速得到(由于大气层电离层的干扰，这一距离并不是用户与卫星之间的真实距离，而是伪距。卫星的定位精度依赖于伪距、载波相位等卫星观测量的准确性，而观测量受到卫星星历误差、大气误差和接收机误差的影响，因此要获得高精度的定位结果需要对观测量的误差进行修正。
网络实时动态定位(real-time kinematic，RTK)辅助实现卫星定位的系统通过对观测量的误差进行修正来实现高精度定位(厘米级)。网络RTK由基准站网、数据处理中心和数据通信线路组成。基准站网实时采集观测量，即基准站对卫星进行观测得到的数据，并通过数据通信链将观测量传送给数据处理中心；数据处理中心根据流动站的近似坐标判断流动站所在区域，然后将系统误差信息(或者称误差修正信息)发给流动站，流动站根据收到的系统误差信息修正观测量，从而得到精确的观测量。目前已有的网络辅助实现卫星定位的方案存在城市峡谷等环境下，对观测量的误差修正效果较差甚至无法实现定位的问题。城市峡谷是一种类似自然峡谷的都市环境。以街道切割周围稠密的建筑街区，特别是摩天大楼，而形成的人造峡谷。在城市峡谷环境中，由于建筑物高大而密集，卫星信号受遮挡，终端设备接收到的观测量由于多径效应导致信号质量劣化。因此需要研究适用于城市峡谷等环境下的卫星定位方案。
发明内容
本申请实施例公开了卫星定位方法和相关产品，在用户设备(user equipment，UE)无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
第一方面，本申请实施例提供一种卫星定位方法，该方法应用于UE之中，该方法包括：向为所述UE提供服务的第一接入网设备发送第一消息，所述第一消息用于获取所述UE所处位置的卫星误差改正信息；响应所述第一接入网设备发起的定位测量，所述第一接入网设备发起的定位测量用于确定所述UE的第一位置；接收来自所述第一接入网设备的第二消息，所述第二消息用于指示第一卫星误差改正信息，所述第一卫星误差改正信息指示所述第一接入网设备利用所述第一位置得到的所述UE所处位置的卫星误差改正信息；根据所述第一卫星误差改正信息，确定所述UE的第二位置，所述第二位置的精度高于所述第一位置的精度。
本申请实施例中，响应第一接入网设备发起的定位测量，该第一接入网设备发起的定位测量用于确定UE的第一位置。可见，第一接入网设备通过不依赖UE接收的卫星信号的方式确定UE的概略位置，因此在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
第二方面，本申请实施例提供一种卫星定位方法，该方法应用于UE之中，该方法包括：向为所述UE提供服务的第一接入网设备发送第一消息，所述第一消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第一消息包括所述UE的卫星观测量；响应所述第一接入网设备发起的定位测量，所述第一接入网设备发起的定位测量用于确定所述UE的第一位置；接收来自所述第一接入网设备的第二消息，所述第二消息用于指示所述UE的第二位置，所述第二位置的精度高于所述第一位置的精度，所述第二位置由所述第一接入网设备利用所述UE的卫星观测量和所述第一位置得到。
本申请实施例中，响应第一接入网设备发起的定位测量，该第一接入网设备发起的定位测量用于确定UE的第一位置。可见，第一接入网设备通过不依赖UE接收的卫星信号的方式确定UE的概略位置，因此 在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
在第一方面或第二方面一种可能的实现方式中，所述响应所述第一接入网设备发起的定位测量包括：与所述第一接入网设备进行5G单站定位测量，与所述第一接入网设备进行5G单站定位测量得到的测量量用于确定所述第一位置。
在该实现方式中，与第一接入网设备进行5G单站定位测量，可快速、准确地确定UE的概略位置。
第三方面，本申请实施例提供另一种卫星定位方法，该方法应用于第一接入网设备之中，该方法包括：接收来自UE的第一消息，所述第一消息用于获取所述UE所处位置的卫星误差改正信息；获取所述UE的第一位置；根据所述UE的第一位置，确定与所述第一接入网设备相邻的多个第二接入网设备；根据所述第一接入网设备的卫星观测量、所述多个第二接入网设备的卫星观测量以及所述第一位置，得到第一卫星误差改正信息，所述第一卫星误差改正信息指示所述UE所处位置的卫星误差改正信息；向所述UE发送第二消息，所述第二消息用于指示所述第一卫星误差改正信息。可选的，获取所述UE的第一位置可以是：通过不依赖UE接收的卫星信号的方式确定UE的概略位置，即第一位置。也就是说，UE不需要通过接收的卫星信息确定自身的概率位置。
本申请实施例中，获取UE的第一位置，第一接入网设备通过不依赖UE接收的卫星信号的方式确定UE的概略位置，因此在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
在第三方面一种可能的实现方式中，所述根据所述第一接入网设备的卫星观测量、所述多个第二接入网设备的卫星观测量以及所述第一位置，得到第一卫星误差改正信息包括：根据所述第一接入网设备的卫星观测量和所述多个第二接入网设备的卫星观测量，生成卫星误差改正模型；根据所述卫星误差改正模型和所述第一位置，得到所述第一卫星误差改正信息。
在该实现方式中，根据第一接入网设备的卫星观测量和多个第二接入网设备的卫星观测量，能够较准确的生成卫星误差改正模型。由于第一位置较准确，因此根据卫星误差改正模型和第一位置得到的第一卫星误差改正信息也较准确。
第四方面，本申请实施例提供另一种卫星定位方法，该方法应用于第一接入网设备之中，该方法包括：接收来自UE的第一消息，所述第一消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第一消息包括所述UE的卫星观测量；获取所述UE的第一位置；根据所述UE的第一位置，确定与所述第一接入网设备相邻的多个第二接入网设备；根据所述第一接入网设备的卫星观测量、所述多个第二接入网设备的卫星观测量、所述第一位置以及所述UE的卫星观测量，确定所述UE的第二位置，所述第二位置的精度高于所述第一位置的精度；向所述UE发送第二消息，所述第二消息用于指示所述第二位置。可选的，获取所述UE的第一位置可以是：通过不依赖UE接收的卫星信号的方式确定UE的概略位置，即第一位置。也就是说，UE不需要通过接收的卫星信息确定自身的概率位置。
本申请实施例中，获取UE的第一位置，第一接入网设备通过不依赖UE接收的卫星信号的方式确定UE的概略位置，因此在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
在第四方面一种可能的实现方式中，所述根据所述第一接入网设备的卫星观测量、从所述多个第二接入网设备获取的卫星观测量、所述第一位置以及所述UE的卫星观测量，确定所述UE的第二位置包括：根据所述第一接入网设备的卫星观测量和所述多个第二接入网设备的卫星观测量，生成卫星误差改正模型；根据所述卫星误差改正模型、所述第一位置以及所述UE的卫星观测量，确定所述UE的第二位置。
在该实现方式中，根据第一接入网设备的卫星观测量和多个第二接入网设备的卫星观测量，能够较准确的生成卫星误差改正模型。由于第一位置较准确，因此卫星误差改正模型、第一位置以及UE的卫星观测量确定的UE的第二位置也较准确。
在第四方面一种可能的实现方式中，所述根据所述卫星误差改正模型、所述第一位置以及所述UE的卫星观测量，确定所述UE的第二位置包括：根据所述卫星误差改正模型和所述第一位置，得到第一卫星误差改正信息，所述第一卫星误差改正信息指示所述UE所处位置的卫星误差改正信息；根据所述第一卫星误差改正信息，修正所述UE的卫星观测量；利用修正后的所述UE的卫星观测量，确定所述第二位置。
在该实现方式中，由于第一位置较准确，因此可准确地确定第二位置。
在第三方面或第四方面一种可能的实现方式中，所述根据所述UE的第一位置，确定与所述第一接入网设备相邻的多个第二接入网设备包括：根据所述UE的第一位置，选择与所述第一接入网设备相邻的第 二接入网设备中符合第一条件的多个第二接入网设备；所述第一条件包括以下一项或多项：与所述第一接入网设备之间的距离小于第一阈值，与所述UE之间的距离小于第二阈值，覆盖范围内包含所述UE的位置，与所述第一接入网设备形成的拓扑结构覆盖所述UE。
在该实现方式中，根据UE的第一位置，选择与第一接入网设备相邻的第二接入网设备中符合第一条件的多个第二接入网设备，以便获得更有效地卫星观测量。
在第三方面或第四方面一种可能的实现方式中，所述获取所述UE的第一位置包括：与所述UE进行5G单站定位测量，得到定位测量结果；根据所述定位测量结果，获取所述UE的第一位置。
在该实现方式中，可快速、准确地获取UE的第一位置，并且这种方式不依赖UE接收的卫星信号，适用于城市峡谷等环境。
第五方面，本申请提供另一种卫星定位方法，该方法包括：第一接入网设备接收来自UE的第一消息，所述第一消息用于获取所述UE所处位置的卫星误差改正信息；所述第一接入网设备根据所述第一消息，获取所述UE的第一位置，并向第一网元发送第三消息，所述第三消息用于获取所述UE所处位置的卫星误差改正信息，所述第三消息包括第一位置信息，所述第一位置信息用于指示所述UE的第一位置；所述第一网元根据所述第三消息，获取所述第一位置；所述第一网元根据所述第一位置和卫星误差改正模型，得到第一卫星误差改正信息，所述第一卫星误差改正信息指示所述UE所处位置的卫星误差改正信息；所述第一网元向所述第一接入网设备发送第四消息，所述第四消息用于指示所述第一卫星误差改正信息；所述第一接入网设备向所述UE发送第二消息，所述第二消息用于指示所述第一卫星误差改正信息。
本申请实施例中，获取UE的第一位置，第一接入网设备通过不依赖UE接收的卫星信号的方式确定UE的概略位置，因此在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
第六方面，本申请提供另一种卫星定位方法，该方法包括：第一接入网设备接收来自UE的第一消息，所述第一消息用于获取所述UE所处位置的卫星误差改正信息；所述第一接入网设备根据所述第一消息，对所述UE进行定位测量，得到定位测量量，所述定位测量量用于确定所述UE的第一位置；所述第一接入网设备向所述第一网元发送第三消息，所述第三消息用于获取所述UE所处位置的卫星误差改正信息，所述第三消息包括所述定位测量量；所述第一网元根据所述第三消息，获取所述第一位置；所述第一网元根据所述第一位置和卫星误差改正模型，得到第一卫星误差改正信息，所述第一卫星误差改正信息指示所述UE所处位置的卫星误差改正信息；所述第一网元向所述第一接入网设备发送第四消息，所述第四消息用于指示所述第一卫星误差改正信息；所述第一接入网设备向所述UE发送第二消息，所述第二消息用于指示所述第一卫星误差改正信息。
本申请实施例中，获取UE的第一位置，第一接入网设备通过不依赖UE接收的卫星信号的方式确定UE的概略位置，因此在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
在第五方面或第六方面一种可能的实现方式中，所述第一接入网设备根据所述第一消息，获取所述UE的第一位置包括：所述第一接入网设备与所述UE进行5G单站定位测量，得到定位测量结果；所述第一接入网设备根据所述定位测量结果，获取所述UE的第一位置。
在该实现方式中，可快速、准确地确定UE的第一位置，并且不依赖UE接收的卫星信号。
第七方面，本申请提供另一种卫星定位方法，该方法包括：第一接入网设备接收来自UE的第一消息，所述第一消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第一消息包括所述UE的卫星观测量；所述第一接入网设备根据所述第一消息，获取所述UE的第一位置，并向第一网元发送第三消息，所述第三消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第三消息包括第一位置信息和所述UE的卫星观测量，所述第一位置信息用于指示所述UE的第一位置；所述第一网元根据所述第三消息，获取所述第一位置；所述第一网元根据所述第一位置、卫星误差改正模型以及所述UE的卫星观测量，确定所述UE的第二位置，所述第二位置的精度高于所述第一位置的精度；所述第一网元向所述第一接入网设备发送第四消息，所述第四消息用于指示所述第二位置；所述第一接入网设备向所述UE发送第二消息，所述第二消息用于指示所述第二位置。
本申请实施例中，获取UE的第一位置，第一接入网设备通过不依赖UE接收的卫星信号的方式确定UE的概略位置，因此在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
第八方面，本申请提供另一种卫星定位方法，该方法包括：第一接入网设备接收来自UE的第一消息， 所述第一消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第一消息包括所述UE的卫星观测量；所述第一接入网设备根据所述第一消息，对所述UE进行定位测量，得到定位测量量，所述定位测量量用于确定所述UE的第一位置；所述第一接入网设备根据所述第一消息，向所述第一网元发送第三消息，所述第三消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第三消息包括所述定位测量量和所述UE的卫星观测量；所述第一网元根据所述第三消息，获取所述第一位置以及所述UE的卫星观测量；所述第一网元根据所述第一位置、卫星误差改正模型以及所述UE的卫星观测量，确定所述UE的第二位置，所述第二位置的精度高于所述第一位置的精度；所述第一网元向所述第一接入网设备发送第四消息，所述第四消息用于指示所述第二位置；所述第一接入网设备向所述UE发送第二消息，所述第二消息用于指示所述第二位置。
本申请实施例中，获取UE的第一位置，第一接入网设备通过不依赖UE接收的卫星信号的方式确定UE的概略位置，因此在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
在第七方面或第八方面一种可能的实现方式中，所述第一网元根据所述第一位置、卫星误差改正模型以及所述UE的卫星观测量，确定所述UE的第二位置包括：所述第一网元根据所述卫星误差改正模型和所述第一位置，得到第一卫星误差改正信息，所述第一卫星误差改正信息指示所述UE所处位置的卫星误差改正信息；所述第一网元根据所述第一卫星误差改正信息，修正所述UE的卫星观测量；所述第一网元利用修正后的所述UE的卫星观测量，确定所述第二位置。
在该实现方式中，由于第一位置较准确，因此可准确地确定第二位置。
第九方面，本申请提供另一种卫星定位方法，该方法应用于第一接入网设备之中，该方法包括：接收来自UE的第一消息，所述第一消息用于获取所述UE所处位置的卫星误差改正信息；根据所述第一消息，获取所述UE的第一位置，并向第一网元发送第三消息，所述第三消息用于获取所述UE所处位置的卫星误差改正信息，所述第三消息包括第一位置信息，所述第一位置信息用于指示所述UE的第一位置；接收来自所述第一网元的第四消息，所述第四消息用于指示第一卫星误差改正信息，所述第一卫星误差改正信息指示所述第一网元利用所述第一位置得到的所述UE所处位置的卫星误差改正信息；向所述UE发送第二消息，所述第二消息用于指示所述第一卫星误差改正信息。可选的，获取所述UE的第一位置可以是：通过不依赖UE接收的卫星信号的方式确定UE的概略位置，即第一位置。也就是说，UE不需要通过接收的卫星信息确定自身的概率位置。
本申请实施例中，获取UE的第一位置，第一接入网设备通过不依赖UE接收的卫星信号的方式确定UE的概略位置，因此在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
在第九方面一种可能的实现方式中，所述根据所述第一消息，获取所述UE的第一位置包括：根据所述第一消息，与所述UE进行5G单站定位测量，得到定位测量结果；根据所述定位测量结果，获取所述UE的第一位置。
在该实现方式中，可快速、准确地确定UE的第一位置，并且不依赖UE接收的卫星信号。
第十方面，本申请提供另一种卫星定位方法，该方法应用于第一接入网设备之中，该方法包括：接收来自UE的第一消息，所述第一消息用于获取所述UE所处位置的卫星误差改正信息；根据所述第一消息，对所述UE进行定位测量，得到定位测量量，所述定位测量量用于确定所述UE的第一位置；向所述第一网元发送第三消息，所述第三消息用于获取所述UE所处位置的卫星误差改正信息，所述第三消息包括所述定位测量量；接收来自所述第一网元的第四消息，所述第四消息用于指示第一卫星误差改正信息，所述第一卫星误差改正信息指示所述第一网元利用所述第一位置得到的所述UE所处位置的卫星误差改正信息；向所述UE发送第二消息，所述第二消息用于指示所述第一卫星误差改正信息。
本申请实施例中，对UE进行定位测量，得到定位测量量，并向第一网元发送第三消息。由于第一接入网设备通过不依赖UE接收的卫星信号的方式确定UE的概略位置，因此在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
第十一方面，本申请实施例提供另一种卫星定位方法，该方法应用于第一网元之中，该方法包括：接收来自第一接入网设备的第三消息，所述第三消息用于获取所述UE所处位置的卫星误差改正信息，所述第三消息包括第一位置信息，所述第一位置信息用于指示所述UE的第一位置；根据所述第三消息，获取所述第一位置；根据所述第一接入网设备的卫星观测量、与所述第一接入网设备相邻的多个第二接入网设备的卫星观测量以及所述第一位置，得到第一卫星误差改正信息，所述第一卫星误差改正信息指示所述 UE所处位置的卫星误差改正信息；向所述第一接入网设备发送第四消息，所述第四消息用于指示所述第一卫星误差改正信息。
本申请实施例中，根据来自第一接入网设备的第三消息，获取UE的第一位置。第一网元获取UE的概略位置的方式不依赖UE接收的卫星信号，因此在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
第十二方面，本申请实施例提供另一种卫星定位方法，该方法应用于第一网元之中，该方法包括：接收来自第一接入网设备的第三消息，所述第三消息用于获取所述UE所处位置的卫星误差改正信息，所述第三消息包括定位测量量，所述定位测量量用于确定所述UE的第一位置；根据所述第三消息，获取所述第一位置；根据所述第一接入网设备的卫星观测量、与所述第一接入网设备相邻的多个第二接入网设备的卫星观测量以及所述第一位置，得到第一卫星误差改正信息，所述第一卫星误差改正信息指示所述UE所处位置的卫星误差改正信息；向所述第一接入网设备发送第四消息，所述第四消息用于指示所述第一卫星误差改正信息。
本申请实施例中，根据来自第一接入网设备的第三消息，获取UE的第一位置。第一网元获取UE的概略位置的方式不依赖UE接收的卫星信号，因此在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
在第十一方面或第十二方面一种可能的实现方式中，所述根据所述第一接入网设备的卫星观测量、与所述第一接入网设备相邻的多个第二接入网设备的卫星观测量以及所述第一位置，得到第一卫星误差改正信息包括：根据所述第一接入网设备的卫星观测量和所述多个第二接入网设备的卫星观测量，生成卫星误差改正模型；根据所述卫星误差改正模型和所述第一位置，得到所述第一卫星误差改正信息。
在该实现方式中，根据第一接入网设备的卫星观测量和多个第二接入网设备的卫星观测量，能够较准确的生成卫星误差改正模型。由于第一位置较准确，因此根据卫星误差改正模型和第一位置得到的第一卫星误差改正信息也较准确。
第十三方面，本申请提供另一种卫星定位方法，该方法应用于第一接入网设备之中，该方法包括：接收来自UE的第一消息，所述第一消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第一消息包括所述UE的卫星观测量；根据所述第一消息，获取所述UE的第一位置，并向第一网元发送第三消息，所述第三消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第三消息包括第一位置信息和所述UE的卫星观测量，所述第一位置信息用于指示所述UE的第一位置；接收来自所述第一网元的第四消息，所述第四消息用于指示所述UE的第二位置；向所述UE发送第二消息，所述第二消息用于指示所述第二位置。
本申请实施例中，获取UE的第一位置，第一接入网设备通过不依赖UE接收的卫星信号的方式确定UE的概略位置，因此在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
在第十三方面一种可能的实现方式中，所述根据所述第一消息，获取所述UE的第一位置包括：根据所述第一消息，与所述UE进行5G单站定位测量，得到定位测量结果；根据所述定位测量结果，获取所述UE的第一位置。
在该实现方式中，可快速、准确地确定UE的第一位置，并且不依赖UE接收的卫星信号。
第十四方面，本申请提供另一种卫星定位方法，该方法应用于第一接入网设备之中，该方法包括：接收来自UE的第一消息，所述第一消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第一消息包括所述UE的卫星观测量；根据所述第一消息，对所述UE进行定位测量，得到定位测量量，所述定位测量量用于确定所述UE的第一位置；向所述第一网元发送第三消息，所述第三消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第三消息包括所述定位测量量和所述UE的卫星观测量；接收来自所述第一网元的第四消息，所述第四消息用于指示所述UE的第二位置；向所述UE发送第二消息，所述第二消息用于指示所述第二位置。
本申请实施例中，对UE进行定位测量，得到定位测量量，并向第一网元发送第三消息。由于第一接入网设备通过不依赖UE接收的卫星信号的方式确定UE的概略位置，因此在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
第十五方面，本申请实施例提供另一种卫星定位方法，该方法应用于第一网元之中，该方法包括：接收来自第一接入网设备的第三消息，所述第三消息用于获取利用所述UE的卫星观测量得到的UE的位置，所述第三消息包括第一位置信息和所述UE的卫星观测量，所述第一位置信息用于指示所述UE的第一位 置；根据所述第三消息，获取所述第一位置以及所述UE的卫星观测量；根据所述第一位置、卫星误差改正模型以及所述UE的卫星观测量，确定所述UE的第二位置，所述第二位置的精度高于所述第一位置的精度；向所述第一接入网设备发送第四消息，所述第四消息用于指示所述第二位置。
本申请实施例中，根据来自第一接入网设备的第三消息，获取UE的第一位置。第一网元获取UE的概略位置的方式不依赖UE接收的卫星信号，因此在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
第十六方面，本申请实施例提供另一种卫星定位方法，该方法应用于第一网元之中，该方法包括：接收来自第一接入网设备的第三消息，所述第三消息用于获取利用所述UE的卫星观测量得到的UE的位置，所述第三消息包括定位测量量和所述UE的卫星观测量，所述定位测量量用于确定所述UE的第一位置；根据所述第三消息，获取所述第一位置以及所述UE的卫星观测量；根据所述第一位置、卫星误差改正模型以及所述UE的卫星观测量，确定所述UE的第二位置，所述第二位置的精度高于所述第一位置的精度；向所述第一接入网设备发送第四消息，所述第四消息用于指示所述第二位置。
本申请实施例中，根据来自第一接入网设备的第三消息，获取UE的第一位置。第一网元获取UE的概略位置的方式不依赖UE接收的卫星信号，因此在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
在第十五方面或第十六方面一种可能的实现方式中，所述根据所述第一接入网设备的卫星观测量、所述多个第二接入网设备的卫星观测量、所述第一位置以及所述UE的卫星观测量，确定所述UE的第二位置包括：根据所述第一接入网设备的卫星观测量和所述多个第二接入网设备的卫星观测量，生成卫星误差改正模型；根据所述卫星误差改正模型、所述第一位置以及所述UE的卫星观测量，确定所述UE的第二位置。
在该实现方式中，根据第一接入网设备的卫星观测量和多个第二接入网设备的卫星观测量，能够较准确的生成卫星误差改正模型。由于第一位置较准确，因此卫星误差改正模型、第一位置以及UE的卫星观测量确定的UE的第二位置也较准确。
在第十五方面或第十六方面一种可能的实现方式中，所述根据所述卫星误差改正模型、所述第一位置以及所述UE的卫星观测量，确定所述UE的第二位置包括：根据所述卫星误差改正模型和所述第一位置，得到第一卫星误差改正信息，所述第一卫星误差改正信息指示所述UE所处位置的卫星误差改正信息；根据所述第一卫星误差改正信息，修正所述UE的卫星观测量；利用修正后的所述UE的卫星观测量，确定所述第二位置。
在该实现方式中，由于第一位置较准确，因此可准确地确定第二位置。
第十七方面，本申请实施例提供一种通信装置，该通信装置具有实现上述第一方面方法实施例中的行为的功能。该通信装置可以是通信设备，也可以是通信设备的部件(例如处理器、芯片、或芯片系统等)，还可以是能实现全部或部分该通信设备的功能的逻辑模块或软件。该通信装置的功能可以通过硬件实现，也可以通过硬件执行相应的软件实现，该硬件或软件包括一个或多个与上述功能相对应的模块或单元。在一种可能的实现方式中，该通信装置包括处理模块和收发模块，其中：所述收发模块，用于收发模块，用于向为所述UE提供服务的第一接入网设备发送第一消息，所述第一消息用于获取所述UE所处位置的卫星误差改正信息；所述处理模块，用于响应所述第一接入网设备发起的定位测量，所述第一接入网设备发起的定位测量用于确定所述UE的第一位置；所述收发模块，还用于接收来自所述第一接入网设备的第二消息，所述第二消息用于指示第一卫星误差改正信息，所述第一卫星误差改正信息指示所述第一接入网设备利用所述第一位置得到的所述UE所处位置的卫星误差改正信息；所述处理模块，还用于根据所述第一卫星误差改正信息，确定所述UE的第二位置，所述第二位置的精度高于所述第一位置的精度
第十八方面，本申请实施例提供一种通信装置，该通信装置具有实现上述第二方面方法实施例中的行为的功能。该通信装置可以是通信设备，也可以是通信设备的部件(例如处理器、芯片、或芯片系统等)，还可以是能实现全部或部分该通信设备的功能的逻辑模块或软件。该通信装置的功能可以通过硬件实现，也可以通过硬件执行相应的软件实现，该硬件或软件包括一个或多个与上述功能相对应的模块或单元。在一种可能的实现方式中，该通信装置包括处理模块和收发模块，其中：所述收发模块，用于向为所述UE提供服务的第一接入网设备发送第一消息，所述第一消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第一消息包括所述UE的卫星观测量；所述处理模块，用于响应所述第一接入网设备发起的定位测量，所述第一接入网设备发起的定位测量用于确定所述UE的第一位置；所述收发模块，还用于接收来自所述第一接入网设备的第二消息，所述第二消息用于指示所述UE的第二位置，所述第二位置 的精度高于所述第一位置的精度，所述第二位置由所述第一接入网设备利用所述UE的卫星观测量和所述第一位置得到。
在第十七方面或第十八方面一种可能的实现方式中，所述处理模块，具体用于与所述第一接入网设备进行5G单站定位测量，与所述第一接入网设备进行5G单站定位测量得到的测量量用于确定所述第一位置。
关于第十七方面的各种可能的实现方式所带来的技术效果，可参考对于第一方面或第一方面的各种可能的实现方式的技术效果的介绍。
关于第十八方面的各种可能的实现方式所带来的技术效果，可参考对于第二方面或第二方面的各种可能的实现方式的技术效果的介绍。
第十九方面，本申请实施例提供一种通信装置，该通信装置具有实现上述第三方面方法实施例中的行为的功能。该通信装置可以是通信设备，也可以是通信设备的部件(例如处理器、芯片、或芯片系统等)，还可以是能实现全部或部分该通信设备的功能的逻辑模块或软件。该通信装置的功能可以通过硬件实现，也可以通过硬件执行相应的软件实现，该硬件或软件包括一个或多个与上述功能相对应的模块或单元。在一种可能的实现方式中，该通信装置包括处理模块和收发模块，其中：所述收发模块，用于接收来自UE的第一消息，所述第一消息用于获取所述UE所处位置的卫星误差改正信息；所述处理模块，用于获取所述UE的第一位置；根据所述UE的第一位置，确定与所述第一接入网设备相邻的多个第二接入网设备；根据所述第一接入网设备的卫星观测量、所述多个第二接入网设备的卫星观测量以及所述第一位置，得到第一卫星误差改正信息，所述第一卫星误差改正信息指示所述UE所处位置的卫星误差改正信息；所述收发模块，还用于向所述UE发送第二消息，所述第二消息用于指示所述第一卫星误差改正信息。
在第十九方面一种可能的实现方式中，所述处理模块，具体用于根据所述第一接入网设备的卫星观测量和所述多个第二接入网设备的卫星观测量，生成卫星误差改正模型；根据所述卫星误差改正模型和所述第一位置，得到所述第一卫星误差改正信息。
关于第十九方面的各种可能的实现方式所带来的技术效果，可参考对于第三方面或第三方面的各种可能的实现方式的技术效果的介绍。
第二十方面，本申请实施例提供一种通信装置，该通信装置具有实现上述第四方面方法实施例中的行为的功能。该通信装置可以是通信设备，也可以是通信设备的部件(例如处理器、芯片、或芯片系统等)，还可以是能实现全部或部分该通信设备的功能的逻辑模块或软件。该通信装置的功能可以通过硬件实现，也可以通过硬件执行相应的软件实现，该硬件或软件包括一个或多个与上述功能相对应的模块或单元。在一种可能的实现方式中，该通信装置包括处理模块和收发模块，其中：所述收发模块，用于接收来自UE的第一消息，所述第一消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第一消息包括所述UE的卫星观测量；所述处理模块，用于获取所述UE的第一位置；根据所述UE的第一位置，确定与所述第一接入网设备相邻的多个第二接入网设备；根据所述第一接入网设备的卫星观测量、所述多个第二接入网设备的卫星观测量、所述第一位置以及所述UE的卫星观测量，确定所述UE的第二位置，所述第二位置的精度高于所述第一位置的精度；所述收发模块，还用于向所述UE发送第二消息，所述第二消息用于指示所述第二位置。
在第二十方面一种可能的实现方式中，所述处理模块，具体用于根据所述第一接入网设备的卫星观测量和所述多个第二接入网设备的卫星观测量，生成卫星误差改正模型；根据所述卫星误差改正模型、所述第一位置以及所述UE的卫星观测量，确定所述UE的第二位置。
在第二十方面一种可能的实现方式中，所述处理模块，具体用于根据所述卫星误差改正模型和所述第一位置，得到第一卫星误差改正信息，所述第一卫星误差改正信息指示所述UE所处位置的卫星误差改正信息；根据所述第一卫星误差改正信息，修正所述UE的卫星观测量；利用修正后的所述UE的卫星观测量，确定所述第二位置。
在第十九方面或第二十方面一种可能的实现方式中，所述处理模块，具体用于根据所述UE的第一位置，选择与所述第一接入网设备相邻的第二接入网设备中符合第一条件的多个第二接入网设备；所述第一条件包括以下一项或多项：与所述第一接入网设备之间的距离小于第一阈值，与所述UE之间的距离小于第二阈值，覆盖范围内包含所述UE的位置，与所述第一接入网设备形成的拓扑结构覆盖所述UE。
在第十九方面或第二十方面一种可能的实现方式中，所述处理模块，具体用于与所述UE进行5G单站定位测量，得到定位测量结果；根据所述定位测量结果，获取所述UE的第一位置。
关于第二十方面的各种可能的实现方式所带来的技术效果，可参考对于第四方面或第四方面的各种可 能的实现方式的技术效果的介绍。
第二十一方面，本申请实施例提供一种通信装置，该通信装置具有实现上述第九方面方法实施例中的行为的功能。该通信装置可以是通信设备，也可以是通信设备的部件(例如处理器、芯片、或芯片系统等)，还可以是能实现全部或部分该通信设备的功能的逻辑模块或软件。该通信装置的功能可以通过硬件实现，也可以通过硬件执行相应的软件实现，该硬件或软件包括一个或多个与上述功能相对应的模块或单元。在一种可能的实现方式中，该通信装置包括处理模块和收发模块，其中：所述收发模块，用于接收来自UE的第一消息，所述第一消息用于获取所述UE所处位置的卫星误差改正信息；所述处理模块，用于根据所述第一消息，获取所述UE的第一位置；所述收发模块，还用于向第一网元发送第三消息，所述第三消息用于获取所述UE所处位置的卫星误差改正信息，所述第三消息包括第一位置信息，所述第一位置信息用于指示所述UE的第一位置；接收来自所述第一网元的第四消息，所述第四消息用于指示第一卫星误差改正信息，所述第一卫星误差改正信息指示所述第一网元利用所述第一位置得到的所述UE所处位置的卫星误差改正信息；向所述UE发送第二消息，所述第二消息用于指示所述第一卫星误差改正信息。
在第二十一方面一种可能的实现方式中，所述处理模块，具体用于根据所述第一消息，与所述UE进行5G单站定位测量，得到定位测量结果；根据所述定位测量结果，获取所述UE的第一位置。
关于第二十一方面的各种可能的实现方式所带来的技术效果，可参考对于第九方面或第九方面的各种可能的实现方式的技术效果的介绍。
第二十二方面，本申请实施例提供一种通信装置，该通信装置具有实现上述第十方面方法实施例中的行为的功能。该通信装置可以是通信设备，也可以是通信设备的部件(例如处理器、芯片、或芯片系统等)，还可以是能实现全部或部分该通信设备的功能的逻辑模块或软件。该通信装置的功能可以通过硬件实现，也可以通过硬件执行相应的软件实现，该硬件或软件包括一个或多个与上述功能相对应的模块或单元。在一种可能的实现方式中，该通信装置包括处理模块和收发模块，其中：所述收发模块，用于接收来自UE的第一消息，所述第一消息用于获取所述UE所处位置的卫星误差改正信息；所述处理模块，用于根据所述第一消息，对所述UE进行定位测量，得到定位测量量，所述定位测量量用于确定所述UE的第一位置；所述收发模块，还用于向所述第一网元发送第三消息，所述第三消息用于获取所述UE所处位置的卫星误差改正信息，所述第三消息包括所述定位测量量；接收来自所述第一网元的第四消息，所述第四消息用于指示第一卫星误差改正信息，所述第一卫星误差改正信息指示所述第一网元利用所述第一位置得到的所述UE所处位置的卫星误差改正信息；向所述UE发送第二消息，所述第二消息用于指示所述第一卫星误差改正信息。
关于第二十二方面的各种可能的实现方式所带来的技术效果，可参考对于第十方面或第十方面的各种可能的实现方式的技术效果的介绍。
第二十三方面，本申请实施例提供一种通信装置，该通信装置具有实现上述第十一方面方法实施例中的行为的功能。该通信装置可以是通信设备，也可以是通信设备的部件(例如处理器、芯片、或芯片系统等)，还可以是能实现全部或部分该通信设备的功能的逻辑模块或软件。该通信装置的功能可以通过硬件实现，也可以通过硬件执行相应的软件实现，该硬件或软件包括一个或多个与上述功能相对应的模块或单元。在一种可能的实现方式中，该通信装置包括处理模块和收发模块，其中：所述收发模块，用于接收来自第一接入网设备的第三消息，所述第三消息用于获取所述UE所处位置的卫星误差改正信息，所述第三消息包括第一位置信息，所述第一位置信息用于指示所述UE的第一位置；所述处理模块，用于根据所述第三消息，获取所述第一位置；根据所述第一接入网设备的卫星观测量、与所述第一接入网设备相邻的多个第二接入网设备的卫星观测量以及所述第一位置，得到第一卫星误差改正信息，所述第一卫星误差改正信息指示所述UE所处位置的卫星误差改正信息；所述收发模块，还用于向所述第一接入网设备发送第四消息，所述第四消息用于指示所述第一卫星误差改正信息。
关于第二十三方面的各种可能的实现方式所带来的技术效果，可参考对于第十一方面或第十一方面的各种可能的实现方式的技术效果的介绍。
第二十四方面，本申请实施例提供一种通信装置，该通信装置具有实现上述第十二方面方法实施例中的行为的功能。该通信装置可以是通信设备，也可以是通信设备的部件(例如处理器、芯片、或芯片系统等)，还可以是能实现全部或部分该通信设备的功能的逻辑模块或软件。该通信装置的功能可以通过硬件实现，也可以通过硬件执行相应的软件实现，该硬件或软件包括一个或多个与上述功能相对应的模块或单元。在一种可能的实现方式中，该通信装置包括处理模块和收发模块，其中：所述收发模块，用于接收来自第一接入网设备的第三消息，所述第三消息用于获取所述UE所处位置的卫星误差改正信息，所述第三 消息包括定位测量量，所述定位测量量用于确定所述UE的第一位置；所述处理模块，用于根据所述第三消息，获取所述第一位置；根据所述第一接入网设备的卫星观测量、与所述第一接入网设备相邻的多个第二接入网设备的卫星观测量以及所述第一位置，得到第一卫星误差改正信息，所述第一卫星误差改正信息指示所述UE所处位置的卫星误差改正信息；所述收发模块，还用于向所述第一接入网设备发送第四消息，所述第四消息用于指示所述第一卫星误差改正信息。
在第二十三方面或第二十四方面一种可能的实现方式中，所述处理模块，具体用于根据所述第一接入网设备的卫星观测量和所述多个第二接入网设备的卫星观测量，生成卫星误差改正模型；根据所述卫星误差改正模型和所述第一位置，得到所述第一卫星误差改正信息。
关于第二十四方面的各种可能的实现方式所带来的技术效果，可参考对于第十二方面或第十二方面的各种可能的实现方式的技术效果的介绍。
第二十五方面，本申请实施例提供一种通信装置，该通信装置具有实现上述第十三方面方法实施例中的行为的功能。该通信装置可以是通信设备，也可以是通信设备的部件(例如处理器、芯片、或芯片系统等)，还可以是能实现全部或部分该通信设备的功能的逻辑模块或软件。该通信装置的功能可以通过硬件实现，也可以通过硬件执行相应的软件实现，该硬件或软件包括一个或多个与上述功能相对应的模块或单元。在一种可能的实现方式中，该通信装置包括处理模块和收发模块，其中：所述收发模块，用于接收来自UE的第一消息，所述第一消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第一消息包括所述UE的卫星观测量；所述处理模块，用于根据所述第一消息，获取所述UE的第一位置；所述收发模块，还用于向第一网元发送第三消息，所述第三消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第三消息包括第一位置信息和所述UE的卫星观测量，所述第一位置信息用于指示所述UE的第一位置；接收来自所述第一网元的第四消息，所述第四消息用于指示所述UE的第二位置；向所述UE发送第二消息，所述第二消息用于指示所述第二位置。
在第二十五方面一种可能的实现方式中，所述处理模块，具体用于根据所述第一消息，与所述UE进行5G单站定位测量，得到定位测量结果；根据所述定位测量结果，获取所述UE的第一位置。
关于第二十五方面的各种可能的实现方式所带来的技术效果，可参考对于第十三方面或第十三方面的各种可能的实现方式的技术效果的介绍。
第二十六方面，本申请实施例提供一种通信装置，该通信装置具有实现上述第十四方面方法实施例中的行为的功能。该通信装置可以是通信设备，也可以是通信设备的部件(例如处理器、芯片、或芯片系统等)，还可以是能实现全部或部分该通信设备的功能的逻辑模块或软件。该通信装置的功能可以通过硬件实现，也可以通过硬件执行相应的软件实现，该硬件或软件包括一个或多个与上述功能相对应的模块或单元。在一种可能的实现方式中，该通信装置包括处理模块和收发模块，其中：所述收发模块，用于接收来自UE的第一消息，所述第一消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第一消息包括所述UE的卫星观测量；所述处理模块，用于根据所述第一消息，对所述UE进行定位测量，得到定位测量量，所述定位测量量用于确定所述UE的第一位置；所述收发模块，还用于向所述第一网元发送第三消息，所述第三消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第三消息包括所述定位测量量和所述UE的卫星观测量；接收来自所述第一网元的第四消息，所述第四消息用于指示所述UE的第二位置；向所述UE发送第二消息，所述第二消息用于指示所述第二位置。
关于第二十六方面所带来的技术效果，可参考对于第十四方面的技术效果的介绍。
第二十七方面，本申请实施例提供一种通信装置，该通信装置具有实现上述第十五方面方法实施例中的行为的功能。该通信装置可以是通信设备，也可以是通信设备的部件(例如处理器、芯片、或芯片系统等)，还可以是能实现全部或部分该通信设备的功能的逻辑模块或软件。该通信装置的功能可以通过硬件实现，也可以通过硬件执行相应的软件实现，该硬件或软件包括一个或多个与上述功能相对应的模块或单元。在一种可能的实现方式中，该通信装置包括处理模块和收发模块，其中：所述收发模块，用于接收来自第一接入网设备的第三消息，所述第三消息用于获取利用所述UE的卫星观测量得到的UE的位置，所述第三消息包括第一位置信息和所述UE的卫星观测量，所述第一位置信息用于指示所述UE的第一位置；所述处理模块，用于根据所述第三消息，获取所述第一位置以及所述UE的卫星观测量；根据所述第一位置、卫星误差改正模型以及所述UE的卫星观测量，确定所述UE的第二位置，所述第二位置的精度高于所述第一位置的精度；所述收发模块，还用于向所述第一接入网设备发送第四消息，所述第四消息用于指示所述第二位置。
关于第二十七方面所带来的技术效果，可参考对于第十五方面的技术效果的介绍。
第二十八方面，本申请实施例提供一种通信装置，该通信装置具有实现上述第十六方面方法实施例中的行为的功能。该通信装置可以是通信设备，也可以是通信设备的部件(例如处理器、芯片、或芯片系统等)，还可以是能实现全部或部分该通信设备的功能的逻辑模块或软件。该通信装置的功能可以通过硬件实现，也可以通过硬件执行相应的软件实现，该硬件或软件包括一个或多个与上述功能相对应的模块或单元。在一种可能的实现方式中，该通信装置包括处理模块和收发模块，其中：所述收发模块，用于接收来自第一接入网设备的第三消息，所述第三消息用于获取利用所述UE的卫星观测量得到的UE的位置，所述第三消息包括定位测量量和所述UE的卫星观测量，所述定位测量量用于确定所述UE的第一位置；所述处理模块，用于根据所述第三消息，获取所述第一位置以及所述UE的卫星观测量；根据所述第一位置、卫星误差改正模型以及所述UE的卫星观测量，确定所述UE的第二位置，所述第二位置的精度高于所述第一位置的精度；所述收发模块，还用于向所述第一接入网设备发送第四消息，所述第四消息用于指示所述第二位置。
在第二十七方面或第二十八方面一种可能的实现方式中，所述处理模块，具体用于根据所述第一接入网设备的卫星观测量和所述多个第二接入网设备的卫星观测量，生成卫星误差改正模型；根据所述卫星误差改正模型、所述第一位置以及所述UE的卫星观测量，确定所述UE的第二位置。
在第二十七方面或第二十八方面一种可能的实现方式中，所述处理模块，具体用于根据所述卫星误差改正模型和所述第一位置，得到第一卫星误差改正信息，所述第一卫星误差改正信息指示所述UE所处位置的卫星误差改正信息；根据所述第一卫星误差改正信息，修正所述UE的卫星观测量；利用修正后的所述UE的卫星观测量，确定所述第二位置。
关于第二十八方面的各种可能的实现方式所带来的技术效果，可参考对于第十六方面或第十六方面的各种可能的实现方式的技术效果的介绍。
第二十九方面，本申请实施例提供另一种通信装置，该通信装置包括处理器，该处理器与存储器耦合，该存储器用于存储程序或指令，当该程序或指令被该处理器执行时，使得该通信装置执行上述第一方面至上述第四方面中的任一方面所示的方法，或者，当该程序或指令被该处理器执行时，使得该通信装置执行上述第九方面至上述第十六方面中的任一方面所示的方法。
本申请实施例中，在执行上述方法的过程中，上述方法中有关发送信息(或信号)的过程，可以理解为基于处理器的指令进行输出信息的过程。在输出信息时，处理器将信息输出给收发器，以便由收发器进行发射。该信息在由处理器输出之后，还可能需要进行其他的处理，然后到达收发器。类似的，处理器接收输入的信息时，收发器接收该信息，并将其输入处理器。更进一步的，在收发器收到该信息之后，该信息可能需要进行其他的处理，然后才输入处理器。
对于处理器所涉及的发送和/或接收等操作，如果没有特殊说明，或者，如果未与其在相关描述中的实际作用或者内在逻辑相抵触，则可以一般性的理解为基于处理器的指令输出。
在实现过程中，上述处理器可以是专门用于执行这些方法的处理器，也可以是执行存储器中的计算机指令来执行这些方法的处理器，例如通用处理器等。例如，处理器还可以用于执行存储器中存储的程序，当该程序被执行时，使得该通信装置执行如上述第一方面或第一方面的任意可能的实现方式所示的方法。
在一种可能的实现方式中，存储器位于上述通信装置之外。在一种可能的实现方式中，存储器位于上述通信装置之内。
在一种可能的实现方式中，处理器和存储器还可能集成于一个器件中，即处理器和存储器还可能被集成于一起。
在一种可能的实现方式中，通信装置还包括收发器，该收发器，用于接收信号或发送信号等。
第三十方面，本申请提供另一种通信装置，该通信装置包括处理电路和接口电路，该接口电路用于获取数据或输出数据；处理电路用于执行如上述第一方面至上述第四方面中的任一方面所示的方法，或者，处理电路用于执行如上述第九方面至上述第十六方面中的任一方面所示的方法。
第三十一方面，本申请提供一种计算机可读存储介质，该计算机可读存储介质中存储有计算机程序，该计算机程序包括程序指令，该程序指令被执行时使得计算机执行如上述第一方面至上述第四方面中的任一方面所示的方法，或者，该程序指令被执行时使得计算机执行如上述第九方面至上述第十六方面中的任一方面所示的方法。
第三十二方面，本申请提供一种计算机程序产品，该计算机程序产品包括计算机程序，该计算机程序包括程序指令，该程序指令被执行时使得计算机执行如上述第一方面至上述第四方面中的任一方面所示的方法，或者，该程序指令被执行时使得计算机执行如上述第九方面至上述第十六方面中的任一方面所示的 方法。
第三十三方面，本申请提供一种通信系统，包括上述第十七方面或第十七方面的任意可能的实现方式所述的通信装置、上述第十九方面或第十九方面的任意可能的实现方式所述的通信装置。
第三十四方面，本申请提供一种通信系统，包括上述第十八方面或第十八方面的任意可能的实现方式所述的通信装置、上述第二十方面或第二十方面的任意可能的实现方式所述的通信装置。
第三十五方面，本申请提供一种通信系统，包括上述第二十一方面或第二十一方面的任意可能的实现方式所述的通信装置、上述第二十三方面或第二十三方面的任意可能的实现方式所述的通信装置。可选的，该通信系统还包括上述第十七方面的任意可能的实现方式所述的通信装置或者上述第十八方面的任意可能的实现方式所述的通信装置。
第三十六方面，本申请提供一种通信系统，包括上述第二十二方面或第二十二方面的任意可能的实现方式所述的通信装置、上述第二十四方面或第二十四方面的任意可能的实现方式所述的通信装置。可选的，该通信系统还包括上述第十七方面的任意可能的实现方式所述的通信装置或者上述第十八方面的任意可能的实现方式所述的通信装置。
第三十七方面，本申请提供一种通信系统，包括上述第二十五方面或第二十五方面的任意可能的实现方式所述的通信装置、上述第二十七方面或第二十七方面的任意可能的实现方式所述的通信装置。可选的，该通信系统还包括上述第十七方面的任意可能的实现方式所述的通信装置或者上述第十八方面的任意可能的实现方式所述的通信装置。
第三十八方面，本申请提供一种通信系统，包括上述第二十六方面或第二十六方面的任意可能的实现方式所述的通信装置、上述第二十八方面或第二十八方面的任意可能的实现方式所述的通信装置。可选的，该通信系统还包括上述第十七方面的任意可能的实现方式所述的通信装置或者上述第十八方面的任意可能的实现方式所述的通信装置。
第三十九方面，本申请提供一种芯片，包括处理器与通信接口，所述处理器通过所述通信接口读取存储器上存储的指令，执行如上述第一方面至上述第四方面中的任一方面所示的方法，或者，执行如上述第九方面至上述第十六方面中的任一方面所示的方法。
附图说明
为了更清楚地说明本申请实施例或背景技术中的技术方案，下面将对本申请实施例或背景技术中所需要使用的附图进行说明。
图1为卫星定位的基本原理的示意图；
图2为网络RTK的工作原理的示意图；
图3为本申请提供的一种卫星定位系统的示例；
图4为本申请实施例提供的一种卫星定位方法交互流程图；
图5为本申请实施例提供的另一种卫星定位方法交互流程图；
图6为本申请实施例提供的另一种卫星定位方法交互流程图；
图7为本申请实施例提供的另一种卫星定位方法交互流程图；
图8为本申请实施例提供的一种通信装置800的结构示意图；
图9为本申请实施例提供的另一种通信装置90的结构示意图；
图10为本申请实施例提供的另一种通信装置100的结构示意图。
具体实施方式
本申请的说明书、权利要求书及附图中的术语“第一”和“第二”等仅用于区别不同对象，而不是用于描述特定顺序。此外，术语“包括”和“具有”以及它们的任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备等，没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元等，或可选地还包括对于这些过程、方法、产品或设备等固有的其它步骤或单元。
在本文中提及的“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员可以显式地和隐式地理解的是，本文所描述的实施例可以与 其它实施例相结合。
本申请以下实施例中所使用的术语只是为了描述特定实施例的目的，而并非旨在作为对本申请的限制。如在本申请的说明书和所附权利要求书中所使用的那样，单数表达形式“一个”、“一种”、“所述”、“上述”、“该”和“这一”旨在也包括复数表达形式，除非其上下文中明确地有相反指示。还应当理解，本申请中使用的术语“和/或”是指并包含一个或多个所列出项目的任何或所有可能组合。例如，“A和/或B”可以表示：只存在A，只存在B以及同时存在A和B三种情况，其中A，B可以是单数或者复数。本申请中使用的术语“多个”是指两个或两个以上。
可以理解，在本申请各实施例中，“A对应的B”表示A与B存在对应关系，根据A可以确定B。但还应理解，根据(或基于)A确定(或生成)B并不意味着仅仅根据(或基于)A确定(或生成)B，还可以根据(或基于)A和/或其它信息确定(或生成)B。
下面首先介绍本申请实施例中所涉及的术语和技术方案。
1.卫星定位
卫星定位的基本原理是测量出已知位置的多颗卫星与用户的接收机(例如手机)之间的距离，然后综合多颗卫星的数据就可知道接收机的具体位置。图1为卫星定位的基本原理的示意图。具体的，综合多颗卫星(例如图1中的4颗卫星)与用户的接收机(例如手机)之间的距离确定接收机的具体位置。要达到这一目的，卫星的位置可以根据星载时钟所记录的时间在卫星星历中查出。而用户到卫星的距离则通过纪录卫星信号传播到用户所经历的时间，再将其乘以光速得到(由于大气层电离层的干扰，这一距离并不是用户与卫星之间的真实距离，而是伪距。当卫星正常工作时，会不断地用1和0二进制码元组成的伪随机码(简称伪码)发射导航电文。导航电文包括卫星星历、工作状况、时钟改正、电离层时延修正、大气折射修正等信息。当用户接受到导航电文时，提取出卫星时间并将其与自己的时钟做对比便可得知卫星与用户的距离，再利用导航电文中的卫星星历数据推算出卫星发射电文时所处位置，用户在WGS-84大地坐标系中的位置速度等信息便可得知。
2.网络实时动态定位(real-time kinematic，RTK)技术
卫星的定位精度依赖于伪距、载波相位等卫星观测量(下文可简称观测量)的准确性，而卫星观测量受到卫星星历误差、大气误差和接收机误差的影响，因此要获得高精度的定位结果需要对卫星观测量的误差进行修正。
高精度的定位测量必须采用载波相位观测值，网络RTK技术是基于载波相位观测值的误差改正技术。采用网络RTK技术能够实时地提供测站点在指定坐标系中的三维定位结果，并达到厘米级精度。RTK测量至少需要两台仪器，即一台基准站以及一台流动站(至少一台)；基准站对卫星进行观测，并实时将数据通过数据链传输给流动站，流动站结合基准站的数据进行计算，从而得到厘米级的定位坐标。
传统RTK模式中，基准站与流动站之间通过电台传输数据，在不同的时段信号都相对稳定。但每次作业换址或基准站被意外移动，都需要重新架设基准站，并且误差随着流动站的距离累积，作业距离受到限制。网络RTK技术的出现很好的解决了距离受限和基准站多次架设的问题。在网络RTK中，有多个基准站，用户不需要建立自己的基准站，用户与基准站的距离可以扩展到上百公里。它的基本原理是在一个较大的区域内稀疏地、较均匀地布设多个基准站，构成一个基准站网，这样就能借鉴广域差分全球定位系统(global positioning system，GPS)和具有多个基准站的局域差分GPS中的基本原理和方法来设法消除或削弱各种系统误差的影响，从而获得高精度的定位结果。
图2为网络RTK的工作原理的示意图。如图2所示，网络RTK包括基准站网、数据处理中心和数据通信链路。基准站网由多个基准站构成。基准站网实时采集卫星观测数据，并通过数据通信链将卫星观测数据(或者称卫星观测量)传送给数据处理中心；数据处理中心根据流动站(即用户)的近似坐标判断流动站所在区域，然后将系统误差信息发送给流动站，流动站根据收到的系统误差信息修正卫星观测数据，从而得到精确的卫星观测数据。图2中，流动站可视为用户。
3.城市峡谷环境下的卫星定位
城市峡谷是一种类似自然峡谷的都市环境。以街道切割周围稠密的建筑街区，特别是摩天大楼，而形成的人造峡谷。在城市峡谷环境中，由于建筑物高大而密集，卫星信号受遮挡，终端(例如手机)接收到的观测量由于多径效应导致信号质量劣化，终端根据对多颗卫星的观测量获得的初始概略位置精度较差，网络RTK改正效果有限。在卫星信号被遮挡严重的情况下，终端能搜索到的卫星数量甚至不足4颗，由于无法确定自身的概略位置，直接导致网络RTK失效，位置无法解算，定位失败。
由于终端在城市峡谷环境下无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置，因此利用已有的网络RTK方案不能实现终端在城市峡谷环境下的高精度定位。为解决利用已有的网络RTK方案不能实现终端在城市峡谷环境下的高精度定位的问题，本申请提供了卫星定位方法。本申请提供的基于接入网设备组建的网络RTK的卫星定位方案，不需要UE提供其根据卫星信号确定的自身的概略位置，适用于UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景。也就是说，在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，采用本申请提供的卫星定位方案，能够实现UE的高精度定位。
下面先结合附图本申请提供的卫星定位方案适用的卫星定位系统的示例。
图3为本申请提供的一种卫星定位系统的示例。如图3所示，该卫星定位系统包括：多颗卫星(仅示出2个，即卫星1和卫星2)、UE、为该UE提供服务的第一接入网设备(或者说管理该UE当前接入的小区的接入网设备)、与第一接入网设备相邻的多个接入网设备(图3仅示出2个，即第二接入网设备1和第二接入网设备2)。可选的，该卫星定位系统还包括第一网元，例如位置管理功能(location management function，LMF)。第一网元可与第一接入网设备进行通信。应理解，卫星定位系统可包括多个UE，图3仅示出一个UE作为示例。图3所示，UE可接收卫星信号，并根据接收的卫星信号获得卫星观测量。UE还可向第一接入网设备上报其自身的卫星观测量。第一接入网设备可为UE提供卫星定位服务。第一接入网设备以及与第一接入网设备相邻的多个接入网设备均可接收卫星信号，并根据接收的卫星信号获得卫星观测量。与第一接入网设备相邻的多个接入网设备可向第一接入网设备发送卫星观测量。或者说，第一接入网设备可从其相邻的接入网设备获取卫星观测量。第一接入网设备以及与第一接入网设备相邻的多个接入网设备可均支持RTK基准站能力，即可作为RTK网络中的基准站。
UE是一种具有无线收发功能的设备。UE可经无线接入网(radioaccess network，RAN)中的接入网设备(或者称为接入设备)与一个或多个核心网(core network，CN)设备(或者称为核心设备)进行通信。UE可以部署在陆地上，包括室内或室外、手持或车载；也可以部署在水面上(如轮船等)；还可以部署在空中(例如飞机、气球和卫星上等)。本申请实施例中，UE也可以称为终端设备或者终端，可以是手机(mobile phone)、移动台(mobile station，MS)、平板电脑(pad)、带无线收发功能的电脑、虚拟现实(virtual reality，VR)终端设备、增强现实(augmented reality，AR)终端设备、工业控制(industrial control)中的无线终端设备、无人驾驶(self driving)中的无线终端设备、远程医疗(remote medical)中的无线终端设备、智能电网(smart grid)中的无线终端设备、运输安全(transportation safety)中的无线终端、智慧城市(smart city)中的无线终端设备、智慧家庭(smart home)中的无线终端、用户单元(subscriber unit)、蜂窝电话(cellular phone)、无线数据卡、个人数字助理(personal digital assistant，PDA)电脑、平板型电脑、膝上型电脑(laptop computer)、机器类型通信(machine type communication,MTC)终端等。UE可包括各种具有无线通信功能的手持设备、车载设备、可穿戴设备、计算设备或连接到无线调制解调器的其它处理设备。可选的，UE可以是具有无线通信功能的手持设备(handset)、车载设备、可穿戴设备或物联网、车联网中的终端、5G以及5G之后演进的通信系统中的任意形态的终端等，本申请对此并不限定。
接入网设备可以是任意一种具有无线收发功能且能和终端通信的设备，例如将终端接入到无线网络的无线接入网(radio access network，RAN)节点。目前，一些RAN节点的举例包括：宏基站、微基站(也称为小站)、中继站、接入点、gNB、传输接收点(transmission reception point，TRP)、演进型节点B(evolved Node B，eNB)、无线网络控制器(radio network controller，RNC)、家庭基站(例如，home evolved NodeB，或home Node B，HNB)、基带单元(base band unit，BBU)、WiFi接入点(access point，AP)、接入回传一体化(integrated access and backhaul，IAB)等。
下面结合附图介绍本申请实施例提供的基于接入网设备组建的网络RTK的卫星定位方案。
图4为本申请实施例提供的一种卫星定位方法交互流程图。如图4所示，该方法包括：
401、UE向为该UE提供服务的第一接入网设备发送第一消息。
相应的，第一接入网设备接收来自UE的第一消息。上述第一消息用于获取上述UE所处位置的卫星误差改正信息。上述第一消息可称为卫星误差改正信息请求。卫星误差改正信息用于修正UE自身的卫星观测量，即UE根据接收的卫星信号得到的卫星观测量。第一消息可以为无线资源控制(radio resource control，RRC)消息。可选的，第一消息包括UE的标识和原因值1，该原因值1表明UE发送第一消息的目的是获取上述UE所处位置的卫星误差改正信息。可选的，第一消息包括UE的标识和指示信息1，该指示信息1用于指示UE请求上述UE所处位置的卫星误差改正信息。
402、第一接入网设备向UE发起定位测量。
相应的，UE响应第一接入网设备发起的定位测量。第一接入网设备发起的定位测量用于确定上述UE的第一位置，即UE的概略位置。第一接入网设备向UE发起定位测量可能的实现方式如下：第一接入网设备向UE发起5G单站定位测量。UE响应第一接入网设备发起的定位测量可能的实现方式如下：与上述第一接入网设备进行5G单站定位测量。第一接入网设备向UE发起定位测量之后，可与UE进行定位测量。
第一接入网设备向UE发起定位测量的一个举例是：第一接入网设备向UE发起往返时延(round-trip time，RTT)测量和到达角(angle of arrival，AoA)测量。RTT测量一种可能的流程如下：第一接入网设备向UE发送下行定位参考信号(positioning reference signals，PRS)；UE接收到这个信号后向第一接入网设备发送信道探测参考信号(sounding reference signal，SRS)。第一接入网设备通过测量UE发送上行SRS和接收下行PRS的时间差，以及第一接入网设备接收上行SRS和发送下行PRS的时间差，可以计算得到UE和第一接入网设备之间的往返路程时间，从而确定UE和第一接入网设备的距离。AoA测量一种可能的流程如下：UE根据第一接入网设备的指示发送上行的SRS，第一接入网设备测量该SRS的AoA。第一接入网设备根据测量得到的RTT和AoA，计算UE的位置，并将计算得到的位置(即第一位置)作为UE的概略位置。
步骤402可视为第一接入网设备确定UE的概略位置的一种可能的方式。第一接入网设备还可通过其他不依赖UE接收的卫星信号的方式确定UE的概略位置。例如，第一接入网设备将自身的位置作为UE的概略位置。又例如，第一接入网设备向LMF网元查询UE的概略位置。再例如，第一接入网设备通过多站定位的方式确定UE的概率位置。步骤402是可选的，而非必要的。
403、第一接入网设备获取UE的第一位置。
UE的第一位置为UE的概略位置。步骤403一种可能的实现方式如下：第一接入网设备与UE进行5G单站定位测量，得到定位测量结果；根据该定位测量结果，获取UE的第一位置。步骤403另一种可能的实现方式如下：第一接入网设备将自身的位置作为UE的概略位置，即第一位置。步骤403另一种可能的实现方式如下：第一接入网设备通过向LMF网元查询UE的概略位置，获取UE的第一位置。
在一种可能的实现方式中，第一接入网设备在执行步骤402或步骤403之前，确定需要获取UE的概略位置。可选的，第一接入网设备根据第一消息中是否包含UE上报的位置信息判断是否需要获取UE的概略位置。如果UE的第一消息中已经包含UE的自身位置，则第一接入网设备不需要主动获取其概略位置。如果UE的第一消息中没有包含UE的自身位置，则第一接入网设备需要主动获取其概略位置。应理解，第一接入网设备确定需要获取UE的概略位置之后，执行步骤402和步骤403。在实现方式中，可减少主动获取UE的概略位置的操作。
404、第一接入网设备根据UE的第一位置，确定与第一接入网设备相邻的多个第二接入网设备。
步骤404一种可能的实现方式如下：根据UE的第一位置，选择与第一接入网设备相邻的第二接入网设备中符合第一条件的多个第二接入网设备。上述第一条件包括以下一项或多项：与上述第一接入网设备之间的距离小于第一阈值，与UE之间的距离小于第二阈值，覆盖范围内包含UE的位置，与第一接入网设备形成的拓扑结构覆盖UE。第一阈值和第二阈值均可根据实际需求进行配置，这里不作限定。步骤404的技术目的可理解为根据UE的第一位置，选择合适的第二接入网设备组建网络RTK。应理解，其他可达到相同技术目的的实现方式也属于本申请的保护范围。
可选的，第一接入网设备在确定与第一接入网设备相邻的多个第二接入网设备之后，与该多个第二接入网设备组建网络RTK系统。在网络RTK系统中，多个第二接入网设备可作为基准站接收卫星信号获得各自的卫星观测量并将卫星观测量发送给第一接入网设备；第一接入网设备作为数据中心根据各基准站上报的卫星观测量和位置，生成网络RTK系统覆盖区域内的卫星误差改正模型。第一接入网设备如何使用卫星误差改正模型可参阅下文。
405、第一接入网设备根据第一接入网设备的卫星观测量、多个第二接入网设备的卫星观测量以及第一位置，得到第一卫星误差改正信息。
上述第一卫星误差改正信息指示上述UE所处位置的卫星误差改正信息。第一卫星误差改正信息可用于修正UE的卫星观测量。
第一接入网设备在执行步骤405之前，可执行如下操作：接收卫星信号，并根据接收的卫星信号获得卫星观测量，即第一接入网设备的卫星观测量；获取多个第二接入网设备(即图4中的第二接入网设备1、第二接入网设备2、……、第二接入网设备K)的卫星观测量。可选的，第一接入网设备获取符合第一条件的多个第二接入网设备的卫星观测量。例如，第一接入网设备向符合第一条件的多个第二接入网设备均发送获取卫星观测量的请求；每个第二接入网设备在接收到来自第一接入网设备的获取卫星观测量的请求 之后，向第一接入网设备发送该第二接入网设备的卫星观测量。每个第二接入网设备接收卫星信号，并根据接收的卫星信号获得卫星观测量，即该第二接入网设备的卫星观测量。
步骤405一种可能的实现方式如下：根据上述第一接入网设备的卫星观测量和上述多个第二接入网设备的卫星观测量，生成卫星误差改正模型；根据上述卫星误差改正模型和上述第一位置，得到上述第一卫星误差改正信息。示例性的，第一接入网设备根据自身和多个第二接入网设备的卫星观测量一段时间内的卫星观测量(伪距、载波相位等)生成接入网设备覆盖区域内的卫星误差改正模型；然后，将UE的概略位置(即第一位置)作为该卫星误差改正模型的输入，计算出UE所在位置的卫星误差改正信息，即第一卫星误差改正信息。卫星误差改正信息可称为卫星观测量误差改正量或卫星误差改正量。接入网设备覆盖区域可以是第一接入网和多个第二接入网设备的覆盖区域。第一接入网设备根据自身和多个第二接入网设备的卫星观测量一段时间内的卫星观测量(伪距、载波相位等)生成接入网设备覆盖区域内的卫星误差改正模型可以是：第一接入网设备根据自身和多个第二接入网设备的卫星观测量，以及多个第二接入网设备的位置，生成接入网设备覆盖区域内的卫星误差改正模型。另外，生成卫星误差改正模型的方式可以采用现有网络RTK的多种技术，这里不再赘述。
406、第一接入网设备向UE发送第二消息。
相应的，UE接收来自第一接入网设备的第二消息。上述第二消息用于指示上述第一卫星误差改正信息。上述第一卫星误差改正信息指示上述第一接入网设备利用上述第一位置得到的上述UE所处位置的卫星误差改正信息。第二消息可以为RRC消息。
407、UE根据第一卫星误差改正信息，确定UE的第二位置。
上述第二位置的精度高于上述第一位置的精度。第二位置可视为修正第一位置(概略位置)得到的一个高精度位置。
步骤407一种可能的实现方式如下：UE根据第一卫星误差改正信息，修正UE的卫星观测量；利用修正后的上述UE的卫星观测量，确定上述第二位置。在该实现方式中，可准确地确定第二位置。
本申请实施例中，第一接入网设备通过不依赖UE接收的卫星信号的方式确定UE的概略位置，例如通过5G单站定位测量的方式确定UE的概略位置；在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
图5为本申请实施例提供的另一种卫星定位方法交互流程图。图5中的方法与图4中的方法相比，第一接入网设备向UE输出的是修正后的UE位置，而不是UE所处位置的卫星误差改正信息。如图5所示，该方法包括：
501、UE向为该UE提供服务的第一接入网设备发送第一消息。
相应的，第一接入网设备接收来自UE的第一消息。上述第一消息用于获取利用上述UE的卫星观测量得到的上述UE的位置。或者说，上述第一消息用于请求卫星定位的UE的位置。上述第一消息包括上述UE的卫星观测量。UE的卫星观测量是指UE根据接收的卫星信号得到的卫星观测量。第一消息可以为RRC消息。可选的，第一消息包括UE的标识和原因值2，该原因值2表明UE发送第一消息的目的是利用上述UE的卫星观测量得到的上述UE的位置。可选的，第一消息包括UE的标识和指示信息2，该指示信息2用于指示UE请求利用上述UE的卫星观测量得到的上述UE的位置，即对UE的概略位置修改后的位置。
502、第一接入网设备向UE发起定位测量。
步骤502可参阅步骤402。步骤502是可选的，而非必要的。相应的，UE响应第一接入网设备发起的定位测量。第一接入网设备发起的定位测量用于确定上述UE的第一位置。
503、第一接入网设备获取UE的第一位置。
步骤503可参阅步骤403。
504、第一接入网设备根据UE的第一位置，确定与第一接入网设备相邻的多个第二接入网设备。
步骤504可参阅步骤404。
505、第一接入网设备根据第一接入网设备的卫星观测量、多个第二接入网设备的卫星观测量、第一位置以及UE的卫星观测量，确定UE的第二位置。
上述第二位置的精度高于上述第一位置的精度。第二位置可视为修正第一位置得到的一个精度更高的位置。
第一接入网设备在执行步骤505之前，可执行如下操作：接收卫星信号，并根据接收的卫星信号获得卫星观测量，即第一接入网设备的卫星观测量；获取多个第二接入网设备的卫星观测量。可选的，第一接 入网设备获取符合第一条件的多个第二接入网设备的卫星观测量。
步骤505一种可能的实现方式如下：根据第一接入网设备的卫星观测量和多个第二接入网设备的卫星观测量，生成卫星误差改正模型；根据卫星误差改正模型、第一位置以及UE的卫星观测量，确定UE的第二位置。卫星误差改正模型是由多个接入网设备(例如基站)多时刻的卫星观测数据建立的该多个接入网设备覆盖范围内各位置处的卫星误差改正信息表达式。当向卫星误差改正信息表达式输入一个粗略位置(例如第一位置)，就可以获得这个位置处的改正信息。这个模型在卫星定位领域是特定的模型，这里不作详述。在该实现方式中，由于第一位置是一个较准确地概略位置，因此根据卫星误差改正模型、第一位置以及UE的卫星观测量，可准确地确定UE的第二位置。
根据卫星误差改正模型、第一位置以及UE的卫星观测量，确定UE的第二位置可能的实现方式如下：根据卫星误差改正模型和第一位置，得到第一卫星误差改正信息，该第一卫星误差改正信息指示UE所处位置的卫星误差改正信息；根据第一卫星误差改正信息，修正UE的卫星观测量；利用修正后的UE的卫星观测量，确定UE的第二位置。在该实现方式中，由于第一位置是一个较准确地概略位置，因此根据卫星误差改正模型和第一位置得到的第一卫星误差改正信息较准确，进而得到精度较高的第二位置。
506、第一接入网设备向UE发送第二消息。
相应的，UE接收来自第一接入网设备的第二消息。上述第二消息用于指示上述第二位置。UE根据该第二消息可得到UE的第二位置。第二消息可以为RRC消息。
本申请实施例中，第一接入网设备通过不依赖UE接收的卫星信号的方式确定UE的概略位置，例如通过5G单站定位测量的方式确定UE的概略位置；在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
图6为本申请实施例提供的另一种卫星定位方法交互流程图。图6中的方法与图4中的方法相比，第一网元计算得到卫星误差改正信息并发送给第一接入网设备。如图6所示，该方法包括：
600、第一网元和接入网设备群构建网络RTK系统。
第一网元和接入网设备群构建网络RTK系统可理解为：第一网元和接入网设备群，配置为网络RTK系统。接入网设备群包括多个接入网设备，即图6中的第二接入网设备1、第二接入网设备2、……、第二接入网设备K。K为大于2的整数。第一网元可以是LMF网元，也可以是其他与LMF网元具备类似功能的网元。在网络RTK系统中，多个第二接入网设备以及第一接入网设备可作为基准站接收卫星信号，并将各自获得的卫星观测量发送给第一网元；第一网元作为数据中心根据各基准站上报的卫星观测量和位置，生成网络RTK系统的覆盖区域内的卫星误差改正模型。步骤600是可选的，而非必要的。步骤600可理解为预先的配置操作，不需要每次都执行。也就是说，第一网元和接入网设备群构建网络RTK系统之后，后续就可在较长的一段时间内直接使用该网络RTK系统进行卫星定位，不需要针对每个UE的卫星定位均构建网络RTK系统。
601、UE向为该UE提供服务的第一接入网设备发送第一消息。
相应的，第一接入网设备接收来自UE的第一消息。第一接入网设备为接入网设备群中的任一接入网设备。上述第一消息用于获取上述UE所处位置的卫星误差改正信息。步骤601可参阅步骤401。
602、第一接入网设备根据第一消息，获取UE的第一位置。
第一接入网设备根据第一消息，获取UE的第一位置可理解为：在接收到第一消息之后，获取UE的第一位置。或者说，第一接入网设备根据第一消息，确定需要获取UE的第一位置。第一接入网设备获取UE的第一位置的过程不需要用到第一消息。第一接入网设备获取UE的第一位置的实现方式可参阅步骤403。
603、第一接入网设备向第一网元发送第三消息。
相应的，第一网元接收来自第一接入网设备的第三消息。第三消息用于获取(或请求)上述UE所处位置的卫星误差改正信息。上述第三消息可称为卫星误差改正信息请求。上述第三消息包括第一位置信息，上述第一位置信息用于指示上述UE的第一位置。第三消息可以是NR定位协议A(NR positioning Protocol A，NRPPa)消息。NRPPa是基站和LMF之间的传输协议，作用是支持定位功能。可选的，第三消息包括UE的标识和原因值3，该原因值3表明第一接入网设备发送第三消息的目的是获取上述UE所处位置的卫星误差改正信息。可选的，第三消息包括UE的标识和指示信息3，该指示信息3用于指示第一接入网设备请求上述UE所处位置的卫星误差改正信息。
在一种可能的实现方式中，步骤602替换为：第一接入网设备根据第一消息，对UE进行定位测量，得到定位测量量，上述定位测量量用于确定上述UE的第一位置。在该实现方式中，第三消息包括定位测 量量。示例性的，第一接入网设备在接收到第一消息之后，对UE进行RTT测量和AoA测量，得到定位测量量(包括RTT和AoA)。第一网元可根据定位测量量，确定UE的第一位置。
应理解，第一接入网设备向第一网元提供UE的位置信息的方式有两种：一种是在第三消息中携带指示UE的第一位置的第一位置信息，另一种是在第三消息中携带确定上述UE的第一位置的定位测量量。
604、第一网元根据第三消息，获取UE的第一位置。
605、第一网元根据UE的第一位置和卫星误差改正模型，得到第一卫星误差改正信息。
卫星误差改正模型可以是第一网元在步骤600生成的卫星误差改正模型。步骤605一种可能的实现方式如下：第一网元将UE的概略位置(即第一位置)作为卫星误差改正模型的输入，计算出UE所在位置的卫星误差改正信息，即第一卫星误差改正信息。
606、第一网元向第一接入网设备发送第四消息。
上述第四消息用于指示上述第一卫星误差改正信息。上述第四消息可以是NRPPa消息。
607、第一接入网设备向UE发送第二消息。
上述第二消息用于指示上述第一卫星误差改正信息。
608、UE根据第一卫星误差改正信息，确定UE的第二位置。
步骤608可参阅步骤407。
本申请实施例中，第一接入网设备通过不依赖UE接收的卫星信号的方式确定UE的概略位置，例如通过5G单站定位测量的方式确定UE的概略位置；在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
图7为本申请实施例提供的另一种卫星定位方法交互流程图。图7中的方法与图6中的方法相比，第一网元向第一接入网设备发送的是修正后的UE位置，而不是UE所处位置的卫星误差改正信息。如图7所示，该方法包括：
700、第一网元和接入网设备群构建网络RTK系统。
步骤700可参阅步骤600。步骤700是可选的。
701、UE向为该UE提供服务的第一接入网设备发送第一消息。
相应的，第一接入网设备接收来自UE的第一消息。步骤701可参阅步骤501。
702、第一接入网设备根据第一消息，获取UE的第一位置。
步骤702可参阅步骤602。
703、第一接入网设备向第一网元发送第三消息。
相应的，第一网元接收来自第一接入网设备的第三消息。上述第三消息用于获取利用上述UE的卫星观测量得到的上述UE的位置。或者说，上述第一消息用于请求卫星定位的UE的位置。上述第三消息包括第一位置信息和上述UE的卫星观测量，上述第一位置信息用于指示上述UE的第一位置。上述第三消息可以为NRPPa消息。
在一种可能的实现方式中，步骤702替换为：第一接入网设备根据第一消息，对UE进行定位测量，得到定位测量量，上述定位测量量用于确定上述UE的第一位置。在该实现方式中，第三消息包括定位测量量。示例性的，第一接入网设备在接收到第一消息之后，对UE进行RTT测量和AoA测量，得到定位测量量(包括RTT和AoA)。第一网元可根据定位测量量，确定UE的第一位置。
应理解，第一接入网设备向第一网元提供UE的位置信息的方式有两种：一种是在第三消息中携带指示UE的第一位置的第一位置信息，另一种是在第三消息中携带确定上述UE的第一位置的定位测量量。
704、第一网元根据第三消息，获取第一位置。
705、第一网元根据第一位置、卫星误差改正模型以及UE的卫星观测量，确定UE的第二位置。
上述第二位置的精度高于上述第一位置的精度。步骤705可参阅步骤505。
706、第一网元向第一接入网设备发送第四消息。
上述第四消息用于指示上述第二位置。
707、第一接入网设备向UE发送第二消息。
相应的，UE接收来自第一接入网设备的第二消息。上述第二消息用于指示上述第二位置。UE根据该第二消息可得到UE的第二位置。
本申请实施例中，第一接入网设备通过不依赖UE接收的卫星信号的方式确定UE的概略位置，并向第一网元提供UE的位置信息；在UE无法根据卫星信号确定自身的概略位置或者不能较准确地确定自身的概略位置的场景中，能够实现UE的高精度定位。
前面介绍了本申请实施例提供的卫星定位方法。下面结合附图介绍可实施本申请实施例提供的卫星定位方法的通信装置的结构。
图8为本申请实施例提供的一种通信装置800的结构示意图。该通信装置800可以实现上述各个方法实施例中UE实现的功能或者步骤，也可以实现上述各个方法实施例中第一接入网设备实现的功能或者步骤，还可以实现上述各个方法实施例中第一网元实现的功能或者步骤。该通信装置可以包括处理模块810和收发模块820。可选的，还可以包括存储单元，该存储单元可以用于存储指令(代码或者程序)和/或数据。处理模块810和收发模块820可以与该存储单元耦合，例如，处理模块810可以读取存储单元中的指令(代码或者程序)和/或数据，以实现相应的方法。上述各个单元可以独立设置，也可以部分或者全部集成。例如，收发模块820可包括发送模块和接收模块。发送模块可以是发射机，接收模块可以是接收机。收发模块820对应的实体可以是收发器，也可以是通信接口。
在一些可能的实施方式中，通信装置800能够对应实现上述方法实施例中UE的行为和功能。例如通信装置800可以为UE，也可以为应用于UE中的部件(例如芯片或者电路)。收发模块820例如可以用于执行图4至图7的实施例中由UE所执行的全部接收或发送操作，例如图4所示的实施例中的步骤401、步骤402、步骤406，图5所示的实施例中的步骤501、步骤502、步骤506，图6所示的实施例中的步骤601、步骤607，图7所示的实施例中的步骤701、步骤707。处理模块810用于执行图4至图7的实施例中由UE所执行的除了收发操作之外的全部操作，例如图4所示的实施例中的步骤407，图6所示的实施例中的步骤608。
在一些可能的实施方式中，通信装置800能够对应实现上述方法实施例中第一接入网设备的行为和功能。例如通信装置800可以为第一接入网设备，也可以为应用于第一接入网设备中的部件(例如芯片或者电路)。收发模块820例如可以用于执行图4至图7的实施例中由第一接入网设备所执行的全部接收或发送操作，例如图4所示的实施例中的步骤401、步骤402、步骤406，图5所示的实施例中的步骤501、步骤502、步骤502，图6所示的实施例中的步骤601、步骤603、步骤606、步骤607，图7所示的实施例中的步骤701、步骤703、步骤706、步骤707，和/或用于支持本文所描述的技术的其它过程。处理模块810用于执行由第一接入网设备所执行的除了收发操作之外的全部操作，例如图4所示的实施例中的步骤403、步骤404、步骤405，图5所示的实施例中的步骤503、步骤504、步骤505，图6所示的实施例中的步骤602，图7所示的实施例中的步骤702。
在一些可能的实施方式中，通信装置800能够对应实现上述方法实施例中第一网元的行为和功能。例如通信装置800可以为第一网元，也可以为应用于第一网元中的部件(例如芯片或者电路)。收发模块820例如可以用于执行图6或图7的实施例中由第一网元所执行的全部接收或发送操作，例如图6所示的实施例中的步骤603、步骤606，图7所示的实施例中的步骤703、步骤706，和/或用于支持本文所描述的技术的其它过程。处理模块810用于执行由第一网元所执行的除了收发操作之外的全部操作，例如图6所示的实施例中的步骤600、步骤604、步骤605，图7所示的实施例中的步骤700、步骤704、步骤705。
图9为本申请实施例提供的另一种通信装置90的结构示意图。图9中的通信装置可以是上述UE，也可以是上述第一接入网设备，还可以是上述第一网元。
如图9所示，该通信装置90包括至少一个处理器910和收发器920。
在本申请的一些实施例中，处理器910和收发器920可以用于执行UE执行的功能或操作等。收发器920例如执行图4至图7的实施例中由UE所执行的全部接收或发送操作。处理器910例如用于执行图4至图7的实施例中由UE所执行的除了收发操作之外的全部操作。
在本申请的一些实施例中，处理器910和收发器920可以用于执行第一接入网设备执行的功能或操作等。收发器920例如执行图4至图7的实施例中由第一接入网设备所执行的全部接收或发送操作。处理器910例如用于执行图4至图7的实施例中由第一接入网设备所执行的除了收发操作之外的全部操作。
在本申请的一些实施例中，处理器910和收发器920可以用于执行第一网元执行的功能或操作等。收发器920例如执行图4至图7的实施例中由第一网元所执行的全部接收或发送操作。处理器910例如用于执行图4至图7的实施例中由第一网元所执行的除了收发操作之外的全部操作。
收发器920用于通过传输介质和其他设备/装置进行通信。处理器910利用收发器920收发数据和/或信令，并用于实现上述方法实施例中的方法。处理器910可实现处理模块810的功能，收发器920可实现收发模块820的功能。
可选的，收发器920可以包括射频电路和天线，射频电路主要用于基带信号与射频信号的转换以及对射频信号的处理。天线主要用于收发电磁波形式的射频信号。输入输出装置，例如触摸屏、显示屏，键盘 等主要用于接收用户输入的数据以及对用户输出数据。
可选的，通信装置90还可以包括至少一个存储器930，用于存储程序指令和/或数据。存储器930和处理器910耦合。本申请实施例中的耦合是装置、单元或模块之间的间接耦合或通信连接，可以是电性，机械或其它的形式，用于装置、单元或模块之间的信息交互。处理器910可能和存储器930协同操作。处理器910可能执行存储器930中存储的程序指令。该至少一个存储器中的至少一个可以包括于处理器中。
当通信装置90开机后，处理器910可以读取存储器930中的软件程序，解释并执行软件程序的指令，处理软件程序的数据。当需要通过无线发送数据时，处理器910对待发送的数据进行基带处理后，输出基带信号至射频电路，射频电路将基带信号进行射频处理后将射频信号通过天线以电磁波的形式向外发送。当有数据发送到通信装置时，射频电路通过天线接收到射频信号，将射频信号转换为基带信号，并将基带信号输出至处理器910，处理器910将基带信号转换为数据并对该数据进行处理。
在另一种实现中，上述的射频电路和天线可以独立于进行基带处理的处理器而设置，例如在分布式场景中，射频电路和天线可以与独立于通信装置，呈拉远式的布置。
本申请实施例中不限定上述收发器920、处理器910以及存储器930之间的具体连接介质。本申请实施例在图9中以存储器930、处理器910以及收发器920之间通过总线940连接，总线在图9中以粗线表示，其它部件之间的连接方式，仅是进行示意性说明，并不引以为限。该总线可以分为地址总线、数据总线、控制总线等。为便于表示，图9中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
在本申请实施例中，处理器可以是通用处理器、数字信号处理器、专用集成电路、现场可编程门阵列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处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。
图10为本申请实施例提供的另一种通信装置100的结构示意图。如图10所示，图10所示的通信装置包括逻辑电路1001和接口1002。图10中的处理模块810可以用逻辑电路1001实现，图10中的收发模块820可以用接口1002实现。其中，该逻辑电路1001可以为芯片、处理电路、集成电路或片上系统(system on chip，SoC)芯片等，接口1002可以为通信接口、输入输出接口等。本申请实施例中，逻辑电路和接口还可以相互耦合。对于逻辑电路和接口的具体连接方式，本申请实施例不作限定。
在本申请的一些实施例中，该逻辑电路和接口可用于执行上述UE执行的功能或操作等。
在本申请的一些实施例中，该逻辑电路和接口可用于执行上述第一接入网设备执行的功能或操作等。
在本申请的一些实施例中，该逻辑电路和接口可用于执行上述第一网元执行的功能或操作等。
本申请还提供一种计算机可读存储介质，该计算机可读存储介质中存储有计算机程序或指令，当计算机程序或指令在计算机上运行时，使得计算机执行上述实施例的方法。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质(例如，固态硬盘(solid state disk，SSD))等。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。
需要说明的是，本领域普通技术人员可以看到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，该程序可以存储于计算机可读存储介质中。计算机可读存储介质包括只读存储器(read-only memory，ROM)、随机存储器(random access memory，RAM)、可编程只读存储器(programmable read-only memory，PROM)、可擦除可编程只读存储器(erasable programmable read only memory，EPROM)、一次可编程只读存储器(one-time programmable read-only memory，OTPROM)、电子抹除式可复写只读存储(Electrically-Erasable Programmable Read-Only Memory，EEPROM)、只读光盘(Compact Disc read-only memory，CD-ROM)或其他光盘存储器、磁盘存储器、磁带存储器、或者能够用于携带或存储数据的计算机可读的任何其他介质。
本申请还提供一种计算机程序产品，该计算机程序产品包括指令或计算机程序，当该指令或计算机程序在计算机上运行时，使得上述实施例中的方法被执行。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生本申请实施例所述的流程或功能。
上述实施例可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。
本申请还提供一种通信系统，包括上述UE和上述第一接入网设备。
本申请还提供另一种通信系统，包括上述第一接入网设备以及上述第一网元。可选的额，该通信系统还包括上述UE。
本申请还提供一种芯片，该芯片包括处理器与通信接口，所述处理器通过所述通信接口读取存储器上存储的指令，执行上述实施例的方法。
本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机程序产品存储在一个存储介质中，包括若干指令用以使得一个设备(可以是终端设备、网络设备、车载设备、路由器、服务器、机器人、芯片、机器人等)执行本申请各个实施例所述方法的全部或部分步骤。

Claims (30)

  1. 一种卫星定位方法，其特征在于，所述方法应用于用户设备UE之中，所述方法包括：
    向为所述UE提供服务的第一接入网设备发送第一消息，所述第一消息用于获取所述UE所处位置的卫星误差改正信息；
    响应所述第一接入网设备发起的定位测量，所述第一接入网设备发起的定位测量用于确定所述UE的第一位置；
    接收来自所述第一接入网设备的第二消息，所述第二消息用于指示第一卫星误差改正信息，所述第一卫星误差改正信息指示所述第一接入网设备利用所述第一位置得到的所述UE所处位置的卫星误差改正信息；
    根据所述第一卫星误差改正信息，确定所述UE的第二位置，所述第二位置的精度高于所述第一位置的精度。
  2. 一种卫星定位方法，其特征在于，所述方法应用于UE之中，所述方法包括：
    向为所述UE提供服务的第一接入网设备发送第一消息，所述第一消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第一消息包括所述UE的卫星观测量；
    响应所述第一接入网设备发起的定位测量，所述第一接入网设备发起的定位测量用于确定所述UE的第一位置；
    接收来自所述第一接入网设备的第二消息，所述第二消息用于指示所述UE的第二位置，所述第二位置的精度高于所述第一位置的精度，所述第二位置由所述第一接入网设备利用所述UE的卫星观测量和所述第一位置得到。
  3. 根据权利要求1或2所述的方法，其特征在于，响应所述第一接入网设备发起的定位测量包括：
    与所述第一接入网设备进行5G单站定位测量，与所述第一接入网设备进行5G单站定位测量得到的测量量用于确定所述第一位置。
  4. 一种卫星定位方法，其特征在于，所述方法应用于第一接入网设备之中，所述方法包括：
    接收来自UE的第一消息，所述第一消息用于获取所述UE所处位置的卫星误差改正信息；
    获取所述UE的第一位置；
    根据所述UE的第一位置，确定与所述第一接入网设备相邻的多个第二接入网设备；
    根据所述第一接入网设备的卫星观测量、所述多个第二接入网设备的卫星观测量以及所述第一位置，得到第一卫星误差改正信息，所述第一卫星误差改正信息指示所述UE所处位置的卫星误差改正信息；
    向所述UE发送第二消息，所述第二消息用于指示所述第一卫星误差改正信息。
  5. 根据权利要求4所述的方法，其特征在于，所述根据所述第一接入网设备的卫星观测量、所述多个第二接入网设备的卫星观测量以及所述第一位置，得到第一卫星误差改正信息包括：
    根据所述第一接入网设备的卫星观测量和所述多个第二接入网设备的卫星观测量，生成卫星误差改正模型；
    根据所述卫星误差改正模型和所述第一位置，得到所述第一卫星误差改正信息。
  6. 一种卫星定位方法，其特征在于，所述方法应用于第一接入网设备之中，所述方法包括：
    接收来自UE的第一消息，所述第一消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第一消息包括所述UE的卫星观测量；
    获取所述UE的第一位置；
    根据所述UE的第一位置，确定与所述第一接入网设备相邻的多个第二接入网设备；
    根据所述第一接入网设备的卫星观测量、所述多个第二接入网设备的卫星观测量、所述第一位置以及所述UE的卫星观测量，确定所述UE的第二位置，所述第二位置的精度高于所述第一位置的精度；
    向所述UE发送第二消息，所述第二消息用于指示所述第二位置。
  7. 根据权利要求6所述的方法，其特征在于，所述根据所述第一接入网设备的卫星观测量、从所述多个第二接入网设备获取的卫星观测量、所述第一位置以及所述UE的卫星观测量，确定所述UE的第二位置包括：
    根据所述第一接入网设备的卫星观测量和所述多个第二接入网设备的卫星观测量，生成卫星误差改正模型；
    根据所述卫星误差改正模型、所述第一位置以及所述UE的卫星观测量，确定所述UE的第二位置。
  8. 根据权利要求7所述的方法，其特征在于，所述根据所述卫星误差改正模型、所述第一位置以及所述UE的卫星观测量，确定所述UE的第二位置包括：
    根据所述卫星误差改正模型和所述第一位置，得到第一卫星误差改正信息，所述第一卫星误差改正信息指示所述UE所处位置的卫星误差改正信息；
    根据所述第一卫星误差改正信息，修正所述UE的卫星观测量；
    利用修正后的所述UE的卫星观测量，确定所述第二位置。
  9. 根据权利要求5至8任一项所述的方法，其特征在于，所述根据所述UE的第一位置，确定与所述第一接入网设备相邻的多个第二接入网设备包括：
    根据所述UE的第一位置，选择与所述第一接入网设备相邻的第二接入网设备中符合第一条件的多个第二接入网设备；所述第一条件包括以下一项或多项：与所述第一接入网设备之间的距离小于第一阈值，与所述UE之间的距离小于第二阈值，覆盖范围内包含所述UE的位置，与所述第一接入网设备形成的拓扑结构覆盖所述UE。
  10. 根据权利要求5至9任一项所述的方法，其特征在于，所述获取所述UE的第一位置包括：
    与所述UE进行5G单站定位测量，得到定位测量结果；
    根据所述定位测量结果，获取所述UE的第一位置。
  11. 一种卫星定位方法，其特征在于，所述方法包括：
    第一接入网设备接收来自UE的第一消息，所述第一消息用于获取所述UE所处位置的卫星误差改正信息；
    所述第一接入网设备根据所述第一消息，获取所述UE的第一位置，并向第一网元发送第三消息，所述第三消息用于获取所述UE所处位置的卫星误差改正信息，所述第三消息包括第一位置信息，所述第一位置信息用于指示所述UE的第一位置；
    所述第一网元根据所述第三消息，获取所述第一位置；
    所述第一网元根据所述第一位置和卫星误差改正模型，得到第一卫星误差改正信息，所述第一卫星误差改正信息指示所述UE所处位置的卫星误差改正信息；
    所述第一网元向所述第一接入网设备发送第四消息，所述第四消息用于指示所述第一卫星误差改正信息；
    所述第一接入网设备向所述UE发送第二消息，所述第二消息用于指示所述第一卫星误差改正信息。
  12. 一种卫星定位方法，其特征在于，所述方法包括：
    第一接入网设备接收来自UE的第一消息，所述第一消息用于获取所述UE所处位置的卫星误差改正信息；
    所述第一接入网设备根据所述第一消息，对所述UE进行定位测量，得到定位测量量，所述定位测量量用于确定所述UE的第一位置；
    所述第一接入网设备向所述第一网元发送第三消息，所述第三消息用于获取所述UE所处位置的卫星误差改正信息，所述第三消息包括所述定位测量量；
    所述第一网元根据所述第三消息，获取所述第一位置；
    所述第一网元根据所述第一位置和卫星误差改正模型，得到第一卫星误差改正信息，所述第一卫星误差改正信息指示所述UE所处位置的卫星误差改正信息；
    所述第一网元向所述第一接入网设备发送第四消息，所述第四消息用于指示所述第一卫星误差改正信息；
    所述第一接入网设备向所述UE发送第二消息，所述第二消息用于指示所述第一卫星误差改正信息。
  13. 一种卫星定位方法，其特征在于，所述方法包括：
    第一接入网设备接收来自UE的第一消息，所述第一消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第一消息包括所述UE的卫星观测量；
    所述第一接入网设备根据所述第一消息，获取所述UE的第一位置，并向第一网元发送第三消息，所述第三消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第三消息包括第一位置信息和所述UE的卫星观测量，所述第一位置信息用于指示所述UE的第一位置；
    所述第一网元根据所述第三消息，获取所述第一位置；
    所述第一网元根据所述第一位置、卫星误差改正模型以及所述UE的卫星观测量，确定所述UE的第二位置，所述第二位置的精度高于所述第一位置的精度；
    所述第一网元向所述第一接入网设备发送第四消息，所述第四消息用于指示所述第二位置；
    所述第一接入网设备向所述UE发送第二消息，所述第二消息用于指示所述第二位置。
  14. 一种卫星定位方法，其特征在于，所述方法包括：
    第一接入网设备接收来自UE的第一消息，所述第一消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第一消息包括所述UE的卫星观测量；
    所述第一接入网设备根据所述第一消息，对所述UE进行定位测量，得到定位测量量，所述定位测量量用于确定所述UE的第一位置；
    所述第一接入网设备向所述第一网元发送第三消息，所述第三消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第三消息包括所述定位测量量和所述UE的卫星观测量；
    所述第一网元根据所述第三消息，获取所述第一位置以及所述UE的卫星观测量；
    所述第一网元根据所述第一位置、卫星误差改正模型以及所述UE的卫星观测量，确定所述UE的第二位置，所述第二位置的精度高于所述第一位置的精度；
    所述第一网元向所述第一接入网设备发送第四消息，所述第四消息用于指示所述第二位置；
    所述第一接入网设备向所述UE发送第二消息，所述第二消息用于指示所述第二位置。
  15. 根据权利要求13或14所述的方法，其特征在于，所述第一网元根据所述第一位置、卫星误差改正模型以及所述UE的卫星观测量，确定所述UE的第二位置包括：
    所述第一网元根据所述卫星误差改正模型和所述第一位置，得到第一卫星误差改正信息，所述第一卫星误差改正信息指示所述UE所处位置的卫星误差改正信息；
    所述第一网元根据所述第一卫星误差改正信息，修正所述UE的卫星观测量；
    所述第一网元利用修正后的所述UE的卫星观测量，确定所述第二位置。
  16. 根据权利要求11或13所述的方法，其特征在于，所述第一接入网设备根据所述第一消息，获取所述UE的第一位置包括：
    所述第一接入网设备与所述UE进行5G单站定位测量，得到定位测量结果；
    所述第一接入网设备根据所述定位测量结果，获取所述UE的第一位置。
  17. 一种通信装置，其特征在于，所述通信装置包含于UE，所述通信装置包括：
    收发模块，用于向为所述UE提供服务的第一接入网设备发送第一消息，所述第一消息用于获取所述UE所处位置的卫星误差改正信息；
    处理模块，用于响应所述第一接入网设备发起的定位测量，所述第一接入网设备发起的定位测量用于确定所述UE的第一位置；
    所述收发模块，还用于接收来自所述第一接入网设备的第二消息，所述第二消息用于指示第一卫星误差改正信息，所述第一卫星误差改正信息指示所述第一接入网设备利用所述第一位置得到的所述UE所处位置的卫星误差改正信息；
    所述处理模块，还用于根据所述第一卫星误差改正信息，确定所述UE的第二位置，所述第二位置的精度高于所述第一位置的精度。
  18. 一种通信装置，其特征在于，所述通信装置包含于UE，所述通信装置包括：
    收发模块，用于向为所述UE提供服务的第一接入网设备发送第一消息，所述第一消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第一消息包括所述UE的卫星观测量；
    处理模块，用于响应所述第一接入网设备发起的定位测量，所述第一接入网设备发起的定位测量用于确定所述UE的第一位置；
    所述收发模块，还用于接收来自所述第一接入网设备的第二消息，所述第二消息用于指示所述UE的第二位置，所述第二位置的精度高于所述第一位置的精度，所述第二位置由所述第一接入网设备利用所述UE的卫星观测量和所述第一位置得到。
  19. 根据权利要求17或18所述的通信装置，其特征在于，
    所述处理模块，具体用于与所述第一接入网设备进行5G单站定位测量，与所述第一接入网设备进行5G单站定位测量得到的测量量用于确定所述第一位置。
  20. 一种通信装置，其特征在于，所述通信装置包含于第一接入网设备，所述通信装置包括：
    收发模块，用于接收来自UE的第一消息，所述第一消息用于获取所述UE所处位置的卫星误差改正信息；
    处理模块，用于获取所述UE的第一位置；根据所述UE的第一位置，确定与所述第一接入网设备相 邻的多个第二接入网设备；根据所述第一接入网设备的卫星观测量、所述多个第二接入网设备的卫星观测量以及所述第一位置，得到第一卫星误差改正信息，所述第一卫星误差改正信息指示所述UE所处位置的卫星误差改正信息；
    所述收发模块，还用于向所述UE发送第二消息，所述第二消息用于指示所述第一卫星误差改正信息。
  21. 根据权利要求20所述的通信装置，其特征在于，
    所述处理模块，具体用于根据所述第一接入网设备的卫星观测量和所述多个第二接入网设备的卫星观测量，生成卫星误差改正模型；根据所述卫星误差改正模型和所述第一位置，得到所述第一卫星误差改正信息。
  22. 一种通信装置，其特征在于，所述通信装置包含于第一接入网设备，所述通信装置包括：
    收发模块，用于接收来自UE的第一消息，所述第一消息用于获取利用所述UE的卫星观测量得到的所述UE的位置，所述第一消息包括所述UE的卫星观测量；
    处理模块，用于获取所述UE的第一位置；根据所述UE的第一位置，确定与所述第一接入网设备相邻的多个第二接入网设备；根据所述第一接入网设备的卫星观测量、所述多个第二接入网设备的卫星观测量、所述第一位置以及所述UE的卫星观测量，确定所述UE的第二位置，所述第二位置的精度高于所述第一位置的精度；
    所述收发模块，还用于向所述UE发送第二消息，所述第二消息用于指示所述第二位置。
  23. 根据权利要求22所述的通信装置，其特征在于，
    所述处理模块，具体用于根据所述第一接入网设备的卫星观测量和所述多个第二接入网设备的卫星观测量，生成卫星误差改正模型；
    根据所述卫星误差改正模型、所述第一位置以及所述UE的卫星观测量，确定所述UE的第二位置。
  24. 根据权利要求23所述的通信装置，其特征在于，
    所述处理模块，具体用于根据所述卫星误差改正模型和所述第一位置，得到第一卫星误差改正信息，所述第一卫星误差改正信息指示所述UE所处位置的卫星误差改正信息；根据所述第一卫星误差改正信息，修正所述UE的卫星观测量；利用修正后的所述UE的卫星观测量，确定所述第二位置。
  25. 根据权利要求21至24任一项所述的通信装置，其特征在于，
    所述处理模块，具体用于根据所述UE的第一位置，选择与所述第一接入网设备相邻的第二接入网设备中符合第一条件的多个第二接入网设备；所述第一条件包括以下一项或多项：与所述第一接入网设备之间的距离小于第一阈值，与所述UE之间的距离小于第二阈值，覆盖范围内包含所述UE的位置，与所述第一接入网设备形成的拓扑结构覆盖所述UE。
  26. 根据权利要求21至25任一项所述的通信装置，其特征在于，
    所述处理模块，具体用于与所述UE进行5G单站定位测量，得到定位测量结果；根据所述定位测量结果，获取所述UE的第一位置。
  27. 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，所述计算机程序包括程序指令，所述程序指令被执行时使得计算机执行如权利要求1至5任一项所述的方法，或者，所述程序指令被执行时使得计算机执行如权利要求6至10任一项所述的方法。
  28. 一种通信装置，其特征在于，包括处理器，所述处理器，所述处理器用于在执行指令时，使得所述通信装置执行如权利要求1至5任一项所述的方法，或者，使得所述通信装置执行如权利要求6至10任一项所述的方法。
  29. 一种芯片，其特征在于，所述芯片包括处理器与通信接口，所述处理器通过所述通信接口读取存储器上存储的指令，执行如权利要求1至5任一项所述的方法，或者，执行如权利要求6至10任一项所述的方法。
  30. 一种通信系统，其特征在于，包括权利要求11至权利要求17中任一项所述的第一接入网设备以及第一网元。
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