WO2024066569A1

WO2024066569A1 - Positioning method and terminal

Info

Publication number: WO2024066569A1
Application number: PCT/CN2023/103608
Authority: WO
Inventors: 汪剑锋; 汪海明
Original assignee: 联想(北京)有限公司
Priority date: 2022-09-28
Filing date: 2023-06-29
Publication date: 2024-04-04
Also published as: CN115701140A

Abstract

Disclosed in embodiments of the present application are a positioning method and a terminal. A first terminal obtains a positioning request for a target terminal, and then in response to the positioning request, determines positioning wireless resource configuration information and feedback configuration information; the positioning wireless resource configuration information is sent to at least one target anchor node, the positioning wireless resource configuration information and the feedback configuration information are sent to the target terminal, and a positioning parameter signal and/or a positioning wireless frame are/is sent to the target terminal; and target information reported by the target terminal on the basis of the feedback configuration information is received, wherein the target information is a positioning related measurement quantity corresponding to the first terminal and a positioning related measurement quantity corresponding to each target anchor node, or the target information is the position of the target terminal; and the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity corresponding to each target anchor node are used for determining the position of the target terminal.

Description

Positioning method and terminal

This application claims the priority of the Chinese patent application filed with the China Patent Office on September 28, 2022, with application number 202211189649.3 and invention name “Positioning Method and Terminal”, all contents of which are incorporated by reference in this application.

Technical Field

The present application relates to the field of positioning technology, and more specifically, to a positioning method and a terminal.

Background technique

At present, with the large-scale commercial deployment of 5G networks, a variety of applications and services that require high-speed, low-latency and highly reliable wireless connections have emerged in large numbers, such as smart manufacturing, smart home, virtual reality (VR)/augmented reality (AR)/extended reality (XR) and industrial Internet 4.0 and other emerging scenarios. In order to meet the wireless communication needs in these emerging scenarios, relevant standardization organizations or groups have formulated new short-range wireless communication system standards to provide wireless transmission capabilities that meet short-range business needs. At this stage, as one of the evolutionary technologies of new short-range wireless communication systems, positioning functions urgently need to be supplemented and supported.

Summary of the invention

In view of this, the present application provides a positioning method and terminal, including the following technical solutions:

A terminal, the terminal being a first terminal, and the first terminal comprising:

Memory, used to store programs;

A processor configured to execute a program stored in the memory, wherein the program, when executed by the processor, configures the processor to:

Obtaining a positioning request for a target terminal;

In response to the positioning request, determining positioning radio resource configuration information and feedback configuration information;

Sending the positioning wireless resource configuration information to at least one target anchor node;

Sending the positioning wireless resource configuration information and the feedback configuration information to the target terminal;

Sending a positioning parameter signal and/or a positioning radio frame to the target terminal;

receiving target information reported by the target terminal based on the feedback configuration information;

The target information is: the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity corresponding to each target anchor node; or, the target information is: the position of the target terminal;

The positioning related measurement amount corresponding to the first terminal and the positioning related measurement amounts corresponding to each target anchor node are used to determine the position of the target terminal.

For the above terminal, preferably, the at least one target anchor node is selected from a plurality of anchor nodes; the plurality of anchor nodes are: terminals that have registered with the first terminal;

The degree of association between the target anchor node and the target terminal is higher than the degree of association between non-target anchor nodes among the multiple anchor nodes and the target terminal.

The above terminal, preferably, the association degree between the target anchor node and the target terminal is higher than the association degree between the non-target anchor nodes among the multiple anchor nodes and the target terminal, including:

The signal strength between the target anchor node and the target terminal is greater than the signal strength between the non-target anchor node and the target terminal.

In the above terminal, preferably, when the program is executed by the processor, the processor is further configured to:

Sending configuration information of each of the anchor nodes to the target terminal;

receiving signal strength between the target terminal and each anchor node sent by each anchor node;

The target anchor node is determined based on the signal strength between the target terminal and each of the anchor nodes.

receiving a link establishment success signal sent by each anchor node, wherein the link establishment success signal sent by the anchor node indicates that a link has been established between the anchor node and the target terminal;

Sending reference signal configuration information for link quality measurement to the target terminal and each of the anchor nodes;

receiving a signal strength between the target terminal and each of the anchor nodes;

Sending first reporting resource configuration information to each of the anchor nodes; receiving the first target frequency point based on the first target frequency point The position and status information reported by the anchor node according to the target period;

or,

Sending second reporting resource configuration information to each of the anchor nodes; and receiving the position and status information reported by the anchor nodes based on the second target frequency.

In the above terminal, preferably, the anchor node includes at least two types: a static anchor node and a dynamic anchor node; the dynamic anchor node is a mobile terminal;

When executed by the processor, the program further configures the processor to:

In a case where at least one target anchor node selected from the plurality of anchor nodes includes M dynamic anchor nodes, sending an auxiliary positioning request to each of the M dynamic anchor nodes respectively;

If the first information fed back by the M dynamic anchor nodes is received, the step of sending the positioning wireless resource configuration information to at least one target anchor node is performed.

Broadcast anchor node query information;

receiving an anchor node registration request sent by a first device, and recording relevant information of the first device carried in the anchor node registration request, wherein the relevant information includes at least an identification identifier and location information of the first device;

The anchor node registration request is sent by the first device to the first terminal after receiving the device query information.

For the above terminal, preferably, the related information further includes: an anchor node type of the first device.

A terminal, the terminal being a second terminal, the second terminal being a target anchor node selected from a plurality of anchor nodes; the plurality of anchor nodes being terminals that have registered with a first terminal; wherein the degree of association between the target anchor node and the target terminal is higher than the degree of association between a non-target anchor node among the plurality of anchor nodes and the target terminal; the second terminal comprising:

Memory, used to store programs;

Receiving positioning wireless resource configuration information sent by the first terminal;

Send a positioning reference signal and/or a positioning radio frame to the target terminal according to the positioning radio resource configuration information.

Receiving a link establishment request sent by the target terminal;

measuring a signal strength of an access signal carrying the link establishment request;

sending the signal strength to the first terminal;

Receiving the confirmation information for establishing a link sent by the first terminal, and establishing a link with the target terminal, indicating that the second terminal is determined as the target anchor node.

Establishing a link with the target terminal;

receiving reference signal configuration information for link quality measurement sent by the first terminal;

The reference signal configuration information is used to determine the signal strength between the target terminal and each of the anchor nodes.

Sending a reference signal to the target terminal based on the reference signal configuration information;

Receiving the confirmation information of establishing the link sent by the first terminal indicates that the second terminal is determined as the target anchor node.

Based on the reference signal configuration information, receiving a reference signal sent by the target terminal;

Calculating a signal strength between the target terminal and the second terminal based on a reference signal sent by the target terminal;

Feedback to the first terminal the signal strength between the target terminal and the second terminal;

receiving first reporting resource configuration information sent by the first terminal; reporting the location and status information of the second terminal to the first terminal according to a target period and a first target frequency based on the first reporting resource configuration information;

or,

Receive second reporting resource configuration information sent by the first terminal; based on the second reporting resource configuration information, report the location and status information of the second terminal to the first terminal according to a second target frequency.

When the second terminal is a dynamic anchor node, receiving an auxiliary positioning request sent by the first terminal;

If the auxiliary positioning condition is met, first information is fed back to the first terminal; the first information indicates that the anchor node can be used for auxiliary positioning.

Receiving an anchor node query request broadcast by the first terminal;

An anchor node registration request is sent to the first terminal, where the anchor node registration request carries relevant information of the second terminal, and the relevant information includes at least an identification identifier and location information of the second terminal.

For the above terminal, preferably, the related information further includes: an anchor node type of the second terminal.

A terminal, the terminal being a target terminal, the target terminal comprising:

Memory, used to store programs;

A processor configured to execute a program stored in the memory, the program being executed by the processor When executed by the processor, the processor is configured as:

Receiving positioning radio resource configuration information and feedback configuration information sent by the first terminal;

Receiving, based on the radio resource configuration information, a positioning reference signal and/or a positioning radio frame sent by the first terminal, and a positioning reference signal and/or a positioning radio frame sent by at least one target anchor node;

Calculate the positioning related measurement amount corresponding to the first terminal according to the positioning reference signal and/or positioning radio frame sent by the first terminal, and calculate the positioning related measurement amount corresponding to the target anchor node according to the positioning reference signal and/or positioning radio frame sent by the target anchor node;

Reporting target information to the first terminal based on the feedback configuration information;

receiving configuration information of each of the anchor nodes sent by the first terminal;

Sending a link establishment request to each of the anchor nodes based on the configuration information of each of the anchor nodes;

Receive a link establishment success signal fed back by the anchor node.

Establishing a link with the anchor node based on the configuration information of the anchor node;

Based on the reference signal configuration information, receiving a reference signal for link quality measurement sent by each of the anchor nodes;

Calculating a signal strength between the target terminal and the anchor node based on a reference signal sent by the anchor node;

The signal strength between the target terminal and each of the anchor nodes is fed back to the first terminal.

Based on the reference signal configuration information, sending a reference signal for link quality measurement to the anchor node;

The reference signal is used to calculate the signal strength between the target terminal and the anchor node.

A positioning method, used for a first terminal, comprising:

Obtaining a positioning request for a target terminal;

In response to the positioning request, determining positioning radio resource configuration information and feeding back configuration information;

A positioning method for a second terminal, wherein the second terminal is a target anchor node selected from a plurality of anchor nodes; the plurality of anchor nodes are terminals that have registered with a first terminal; wherein the association degree between the target anchor node and the target terminal is higher than the association degree between a non-target anchor node among the plurality of anchor nodes and the target terminal The method comprises:

A positioning reference signal and/or a positioning radio frame is sent to the target terminal according to the positioning radio resource configuration information.

A positioning method, for a target terminal, comprising:

It can be seen from the above technical scheme that the positioning method and terminal provided in the embodiment of the present application, after the first terminal obtains the positioning request for the target terminal, responds to the positioning request, determines the positioning wireless resource configuration information and feedback configuration information; sends the above positioning wireless resource configuration information to at least one target anchor node, sends the above positioning wireless resource configuration information and feedback configuration information to the target terminal, sends the positioning parameter signal and/or positioning wireless frame to the target terminal; receives the target information reported by the target terminal based on the feedback configuration information; the target information is: the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity corresponding to each target anchor node; or the target information is: the position of the target terminal; the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity corresponding to each target anchor node are used to determine the position of the target terminal. The present application configures the positioning wireless resource configuration and feedback related information for the target terminal and the target anchor node through the first terminal, so that the target terminal can measure the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity corresponding to each target anchor node, and then determines the position of the target terminal according to the obtained positioning related measurement, thereby realizing high-precision positioning of the target terminal.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

FIG. 1a is a schematic diagram of a structure of a first terminal provided in an embodiment of the present application;

FIG1b is a flowchart of an implementation of a positioning method provided in an embodiment of the present application;

FIG2a is a schematic diagram of a structure of a second terminal provided in an embodiment of the present application;

FIG2b is another implementation flow chart of the positioning method provided in an embodiment of the present application;

FIG3a is a schematic diagram of a structure of a target terminal provided in an embodiment of the present application;

FIG3b is a flowchart of another implementation of the positioning method provided in an embodiment of the present application;

FIG4 is a flowchart of another implementation of the positioning method provided in an embodiment of the present application;

FIG5 is a flowchart of an implementation of selecting at least one target anchor node from multiple anchor nodes provided by an embodiment of the present application;

FIG6 is another implementation flowchart of selecting at least one target anchor node from multiple anchor nodes provided in an embodiment of the present application;

FIG7 is a flowchart of an implementation of monitoring of each anchor node by a first terminal according to an embodiment of the present application;

FIG8 is another implementation flowchart of the first terminal monitoring each anchor node provided in an embodiment of the present application;

FIG9 is a schematic diagram of a structure of a positioning device provided in an embodiment of the present application;

FIG10 is another schematic diagram of the structure of a positioning device provided in an embodiment of the present application;

FIG. 11 is another schematic diagram of the structure of the positioning device provided in an embodiment of the present application.

Detailed ways

The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, ordinary technicians in this field will not make any inventions. All other embodiments obtained under the premise of sexual labor are within the scope of protection of this application.

A positioning method provided in an embodiment of the present application can be used in a terminal device (referred to as a first terminal). The first terminal can be a device with management functions in a short-range wireless communication system. As an example, the first terminal can be a wireless access point (Wireless Access Point, AP). Of course, the first terminal can also be other devices as long as it can implement the positioning method provided in the present application.

As shown in Figures 1a-1b, Figure 1a is a schematic diagram of a structure of a first terminal provided in an embodiment of the present application, and Figure 1b is a flowchart of an implementation of a positioning method provided in an embodiment of the present application. The first terminal may include: at least one processor 11, at least one communication interface 21, at least one memory 31 and at least one communication bus 41.

In the embodiment of the present application, the number of the processor 11 , the communication interface 21 , the memory 31 , and the communication bus 41 is at least one, and the processor 11 , the communication interface 21 , and the memory 31 communicate with each other through the communication bus 41 .

Processor 11 may be a central processing unit CPU, or an application specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

The memory 31 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

The memory 31 stores a program, and the processor 11 is configured to execute the program stored in the memory 31. When the program is executed by the processor 11, the processor 11 is configured to execute the steps shown in FIG. 1b:

Step S101: Obtain a positioning request for a target terminal.

The location request for the target terminal may be triggered by a user performing a specified operation on the first terminal.

The positioning request for the target terminal may be generated by other devices and sent to the first terminal, that is, the first terminal receives the positioning request for the target terminal sent by other devices.

Step S102: In response to the positioning request, determine positioning radio resource configuration information and feedback configuration information.

The positioning wireless resource configuration information is used to configure the target anchor node and the target terminal, mainly to configure the wireless transmission resources required for positioning the target terminal, which may include but is not limited to the following information: pilot, positioning The number and period of the positioning radio frames, the frequency hopping mode related to the positioning algorithm, the positioning reference signal and/or the positioning radio frame, etc. Optionally, the first terminal can determine the wireless transmission resources required for positioning according to information such as positioning accuracy requirements, system configuration (i.e., configuration of the short-range wireless communication system) and network topology (i.e., network topology of the short-range wireless communication system).

The feedback configuration information is used to configure the target terminal, including but not limited to: positioning related measurement quantities that the target terminal needs to calculate, feedback transmission format (ie, the transmission format when the target terminal feeds back information to the first terminal), and other information.

After the first terminal determines the positioning radio resource configuration information and feedback configuration information, it needs to perform the following signaling interaction process with the target anchor node and the target terminal:

Step S103: Send the above positioning wireless resource configuration information to at least one target anchor node.

The present application may send the above positioning wireless resource configuration information to only one target anchor node, or may send the above positioning wireless resource configuration information to multiple (i.e., two or more) target anchor nodes. By sending the above positioning wireless resource configuration information to the target anchor node, the target anchor node may send positioning reference signals and/or positioning wireless frames to the target terminal based on the pilot, the number and period of positioning wireless frames, the frequency hopping mode, etc. specified by the positioning wireless resource configuration information.

The at least one target anchor node may be selected from a plurality of anchor nodes. Each of the plurality of anchor nodes is a terminal having an auxiliary positioning function.

Step S104: Send the above positioning wireless resource configuration information and feedback configuration information to the target terminal.

By sending the above positioning wireless resource configuration information to the target terminal, the target terminal can receive positioning reference signals and/or positioning wireless frames based on the pilot, number and period of positioning wireless frames, frequency hopping mode, etc. specified by the positioning wireless resource configuration information.

By sending the above feedback configuration information to the target terminal, the target terminal can determine the positioning-related measurement quantity that needs to be calculated and the feedback transmission format required for reporting information to the first terminal based on the feedback configuration information.

This application does not limit the execution order of step S103 and step S104. Step S103 can be executed first, and then step S104, or step S104 can be executed first, and then step S103, or step S103 and step S104 can be executed simultaneously.

Step S105: Sending a positioning parameter signal and/or a positioning radio frame to the target terminal.

The first terminal determines the number and frequency of the pilot, positioning wireless frames specified by the wireless resource configuration information period, frequency hopping mode, etc. to send positioning parameter signals and/or positioning wireless frames to the target terminal.

Step S106: receiving target information reported by the target terminal based on the feedback configuration information.

The target information is: the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity corresponding to each target anchor node; or, the target information is: the position of the target terminal.

The positioning related measurement amount corresponding to the first terminal is calculated by the target terminal according to the positioning parameter signal and/or the positioning radio frame sent by the first terminal.

The positioning related measurement amount corresponding to the target anchor node is calculated by the target terminal according to the positioning parameter signal and/or positioning radio frame sent by the target anchor node. In other words, the positioning related measurement amount corresponding to the j-th target anchor node (the j-th target anchor node is any one of the at least one target anchor node) is calculated by the target terminal according to the positioning parameter signal and/or positioning radio frame sent by the j-th target anchor node.

After the target terminal calculates the positioning-related measurement amount corresponding to the first terminal and the positioning-related measurement amount corresponding to each target anchor node, the positioning-related measurement amount corresponding to the first terminal and the positioning-related measurement amount corresponding to each target anchor node can be directly fed back to the first terminal, and the first terminal calculates the position of the target terminal according to the positioning-related measurement amount corresponding to the first terminal and the positioning-related measurement amount corresponding to each target anchor node. Or,

After the target terminal calculates the positioning-related measurement amount corresponding to the first terminal and the positioning-related measurement amount corresponding to each target anchor node, the position of the target terminal can be calculated based on the positioning-related measurement amount corresponding to the first terminal and the positioning-related measurement amount corresponding to each target anchor node, and the calculated position of the target terminal is fed back to the first terminal.

Positioning-related measurement quantities may include but are not limited to at least one of the following: channel state information (CSI), signal propagation time (Time of Flight, ToF), signal arrival time difference (Time Difference of Arrival, TDoA), signal reception strength (Receive Signal Strength, RSS), radio frequency fingerprint (RF Fingerprint), and angle of arrival (Angle of Arrival, AoA) and angle of departure (Angle of Departure, AoD) that characterize the angular direction of the signal, etc.

The first terminal provided in the embodiment of the present application configures the positioning wireless resources and feedback related information for the target terminal and the target anchor node, so that the target terminal can measure the positioning corresponding to the first terminal. The related measurement quantities and the positioning related measurement quantities corresponding to each target anchor node, and the obtained positioning related measurements are used to determine the position of the target terminal, thereby achieving high-precision positioning of the target terminal.

In an optional embodiment, the plurality of anchor nodes are terminals registered with the first terminal, that is, each of the plurality of anchor nodes is a terminal with an auxiliary positioning function registered with the first terminal.

Optionally, at least one (denoted as N, where N is an integer greater than or equal to 1) anchor node may be selected from the multiple anchor nodes as the N target anchor nodes according to the degree of association between each anchor node in the multiple anchor nodes and the target terminal.

The degree of association between the target anchor node and the target terminal is higher than the degree of association between the non-target anchor nodes (ie, the anchor nodes other than the target anchor node) among the plurality of anchor nodes and the target terminal.

The plurality of anchor nodes may be sorted in descending order according to the relevance with the target terminal, and the top N anchor nodes in terms of relevance with the target terminal are selected as the N target anchor nodes. Or,

An anchor node whose association with the target terminal is greater than the association threshold may be selected as the target anchor node. Optionally, if there is no anchor node whose association with the target terminal is greater than the association threshold, the top N anchor nodes in terms of association with the target terminal may be selected as the N target anchor nodes.

Optionally, the association degree between the anchor node and the target terminal can be represented by the signal strength between the anchor node and the target terminal. The stronger the signal strength between the anchor node and the target terminal, the greater the association degree between the anchor node and the target terminal, and the weaker the signal strength between the anchor node and the target terminal, the smaller the association degree between the anchor node and the target terminal.

Accordingly, the signal strength between the target anchor node and the target terminal is greater than the signal strength between the non-target anchor node and the target terminal.

In one implementation, when the program stored in the memory 31 is executed by the processor 11, the processor 11 is further configured to perform the following steps:

The configuration information of each anchor node is sent to the target terminal. The configuration information of each anchor node may include but is not limited to the following items: identification information (eg, ID) of each anchor node, access signal format of each anchor node, etc.

Receive the signal strength between the target terminal and each anchor node sent by each anchor node. The signal strength between the target terminal and the i-th anchor node (the i-th anchor node is any one of the multiple anchor nodes) can be obtained by measuring the strength of the access signal carrying the link establishment request after the i-th anchor node receives the link establishment request sent by the target terminal. After receiving the configuration information of the i-th anchor node sent by the first terminal, the target terminal sends a link establishment request to the i-th anchor node according to the configuration information of the i-th anchor node.

The target anchor node is determined based on the signal strength between the target terminal and each anchor node.

The first terminal may sort the multiple anchor nodes in descending order of signal strength between the anchor nodes and the target terminal, and determine the top N anchor nodes as the N target anchor nodes.

The first terminal may determine an anchor node whose signal strength with the target terminal is greater than a strength threshold as a target anchor node. If the number of anchor nodes whose signal strength with the target terminal is greater than the strength threshold is greater than N, then N anchor nodes whose signal strength with the target terminal is greater than the strength threshold and ranked before N may be selected as the N target anchor nodes; if there is no anchor node whose signal strength with the target terminal is greater than the strength threshold, then the N anchor nodes ranked before N may be selected as the N target anchor nodes.

Furthermore, when the program stored in the memory 31 is executed by the processor 11, the processor 11 is further configured to perform the following steps:

After the target anchor node is determined, a confirmation message for establishing a link is sent to the target anchor node, so that the target anchor node establishes a link with the target terminal.

That is to say, the present application can determine the target anchor node during the process of establishing a link between the target terminal and the anchor node.

In another optional embodiment, the target anchor node may be determined after the target terminal establishes a link with the anchor node. Based on this, when the program stored in the memory 31 is executed by the processor 11, the processor 11 is further configured to perform the following steps:

Send configuration information of each anchor node to the target terminal. The configuration information of each anchor node may include but is not limited to the following items: identification information (e.g., ID) of each anchor node, access signal format of each anchor node, etc. After receiving the configuration information of the i-th anchor node sent by the first terminal, the target terminal may send a link establishment request to the i-th anchor node according to the configuration information of the i-th anchor node.

Receive the link establishment success signal sent by each anchor node, the link establishment success signal sent by the anchor node indicates that the anchor node has established a link with the target terminal. After the i-th anchor node establishes a link with the target terminal, it can send a link establishment success signal to the first terminal, and can also send a link establishment success signal to the target terminal. Signal.

The reference signal configuration information for link quality measurement is sent to the target terminal and each anchor node. After the first terminal receives the link establishment success signal sent by at least one anchor node, the reference signal configuration information for link quality measurement can be sent to the anchor node (for example, the i-th anchor node) that sent the link establishment success signal and the target terminal.

Optionally, the i-th anchor node may send a specified reference signal to the target terminal based on the reference signal configuration information, and the target terminal may calculate the signal strength between the target terminal and the i-th anchor node based on the reference signal specified by the received reference signal configuration information. After the target terminal obtains the signal strength between the target terminal and each anchor node, the target terminal sends the signal strength between the target terminal and each anchor node to the first terminal.

Optionally, the target terminal may send a specified reference signal to each anchor node based on the reference signal configuration information, and each anchor node may calculate the signal strength between itself and the target terminal based on the reference signal specified by the received reference signal configuration information, that is, the i-th anchor node may calculate the signal strength between the i-th anchor node and the target terminal based on the reference signal specified by the received reference signal configuration information. Each anchor node sends the calculated signal strength between itself and the target terminal to the first terminal, that is, after the i-th anchor node obtains the signal strength between the target terminal and the i-th anchor node, it sends the signal strength between the target terminal and the i-th anchor node to the first terminal.

Optionally, the format of the access signal carrying the link establishment request and the format of the reference signal specified by the reference signal configuration information can reuse the format of the reference signal defined by the air interface of the existing short-range wireless communication system (for example, the reference signal defined for data transmission, which is used for link recovery, link quality monitoring, etc.).

Optionally, the format of the access signal carrying the link establishment request may be a format dedicated to positioning, and the format of the reference signal specified by the reference signal configuration information may also be a format dedicated to positioning.

Receive the signal strength between the target terminal and each anchor node.

Optionally, the processor 11 may be configured to receive signal strengths between the target terminal and each anchor node fed back by the target terminal.

Optionally, the processor 11 may be configured to receive signal strengths between the target terminal and each anchor node fed back by each anchor node.

After the target anchor node is determined, confirmation information for establishing a link is sent to the target anchor node, so that the target anchor node can be determined to be used for subsequent auxiliary positioning (ie, the embodiment related to the aforementioned steps S101-S106).

For the non-target anchor node, since it has not received the confirmation link establishment information, it is not used for subsequent auxiliary positioning. In order to reduce power consumption, if the non-target anchor node has not received the confirmation link establishment information within a preset time, it can enter a low power consumption state, such as a dormant state or a sleeping state. Based on this, when the program stored in the memory 31 is executed by the processor 11, the processor 11 is further configured to perform the following steps:

Before sending the configuration information of each anchor node to the target terminal, each anchor node is awakened, and then the configuration information of each anchor node is sent to the target terminal.

In the present application, the target anchor node is not fixed but can be selected in real time. For example, the process of selecting the target anchor node can be triggered when a positioning request for the target terminal is obtained. In this way, the optimal anchor node for auxiliary positioning can be obtained in real time, thereby further improving the positioning accuracy of the target terminal.

In an optional embodiment, in order to keep the first terminal updating the location and state of the anchor node, when the program stored in the memory 31 is executed by the processor 11, the processor 11 is further configured to perform the following steps:

The first reporting resource configuration information is sent to each anchor node respectively. The first reporting resource configuration information indicates the period (for ease of description and distinction, recorded as the target period) and frequency (for ease of description and distinction, recorded as the first target frequency) at which the anchor node reports the position and status information to the first terminal.

The position and status information reported by the anchor node according to the target period is received based on the first target frequency. After the i-th anchor node receives the first reporting resource configuration information sent by the first terminal, it can use the first target frequency to periodically report the position and status information of the i-th anchor node to the first terminal, and the reporting period is the target period.

The state information of the anchor node indicates that the anchor node is online. When the anchor node is offline (for example, due to power failure, failure, or obstruction), the location and state information will not be reported to the anchor node, and auxiliary positioning cannot be performed. Based on this, the above multiple anchor nodes can be specifically: Online terminal.

Among them, the first target frequency points specified in the first reporting resource configuration information sent to different anchor nodes are different; or, the first target frequency points specified in the first reporting resource configuration information sent to different anchor nodes are the same, but the time of reporting the position and status information is different. In other words, different anchor nodes report at different first target frequency points, or different anchor nodes report at the same first target frequency point, but at different reporting times. Based on this, it is possible to avoid collision of information reported by different anchor nodes and cause failure of reporting information.

The stop reporting configuration information is sent to each anchor node respectively, so that each anchor node stops reporting the position and status information to the first terminal.

The first terminal may send stop reporting configuration information to each anchor node when the conditions are met. The conditions may include but are not limited to any of the following: the number of cycles for each anchor node to report position and status information to the first terminal reaches a preset number of cycles; an interrupt request with a priority greater than a target priority is obtained; a target event is detected, etc.

In this embodiment, the first terminal configures each anchor node to periodically report the location and status information of each anchor node to the first terminal.

In another embodiment, the first terminal may configure each anchor node to report the location and status information of each anchor node to the first terminal once. Based on this, when the program stored in the memory 31 is executed by the processor 11, the processor 11 is further configured to perform the following steps:

The second reporting resource configuration information is sent to each anchor node. The second reporting resource configuration information indicates a frequency point (for ease of description and distinction, recorded as a second target frequency point) at which the anchor node reports the location and status information to the first terminal once.

The location and status information reported by the anchor node is received based on the second target frequency point. After the i-th anchor node receives the second reporting resource configuration information, it can use the second target frequency point to report the location and status information of the i-th anchor node to the first terminal once.

The second target frequency points specified in the second reporting resource configuration information sent to different anchor nodes are different; or the second target frequency points specified in the second reporting resource configuration information sent to different anchor nodes are the same, but the time of reporting the position and status information is different. That is, different anchor nodes have different Different second target frequency points are reported, or different anchor nodes report on the same second target frequency point, but at different reporting times.

In an optional embodiment, the terminal registered with the first terminal may be a terminal at a fixed location, or a terminal at a movable location (referred to as a mobile terminal). Based on this, the present application divides anchor nodes into two types: static anchor nodes and dynamic anchor nodes; static anchor nodes are terminals at fixed locations, and dynamic anchor nodes are terminals at movable locations (e.g., notebooks, mobile phones, desktop computers, etc.). Accordingly, when the program stored in the memory 31 is executed by the processor 11, the processor 11 is further configured to execute the following steps:

In the case that at least one target anchor node selected from the plurality of anchor nodes includes M (M is less than or equal to N) dynamic anchor nodes, an auxiliary positioning request is sent to each of the M dynamic anchor nodes respectively.

If first information fed back by M dynamic anchor nodes is received, the step of sending positioning wireless resource configuration information to at least one target anchor node is performed.

In an embodiment of the present application, if M dynamic anchor nodes all feedback the first information, it means that each dynamic anchor node can be used for auxiliary positioning, that is, at least one selected target anchor node can be used for auxiliary positioning. At this time, the auxiliary positioning process can be executed, that is, the step of sending positioning wireless resource configuration information to at least one target anchor node and subsequent steps are executed.

If the second information fed back by K (K is less than or equal to M) dynamic anchor nodes is received, it means that K dynamic anchor nodes cannot be used for subsequent auxiliary positioning. Therefore, it is necessary to reselect K new anchor nodes from multiple anchor nodes as new target anchor nodes. The specific process of selecting K new anchor nodes refers to the aforementioned process of selecting target anchor nodes, which will not be repeated here.

Broadcasting anchor node query information: The first terminal may periodically broadcast anchor node query information to discover new anchor nodes.

Receive an anchor node registration request sent by the first device, and record relevant information of the first device carried in the anchor node registration request, where the relevant information at least includes: an identification mark and location information of the first device. In another step, the relevant information may further include an anchor node type of the first device.

After receiving the device query information, if the first device has not registered with the first terminal, it can send an anchor node registration request to the first terminal. Specifically, after receiving the device query request, if the first device has an auxiliary positioning function, it can send an anchor node registration request to the first terminal.

The location information of the first device in the relevant information is the location information of the first device relative to the first terminal. The first device can obtain the location of the first device relative to the first terminal through a third-party positioning method, such as laser ranging, Wifi positioning, etc. The first device can also obtain the location of the first device relative to the first terminal through a single-point positioning method.

Corresponding to the above-mentioned first terminal, the present application also provides another terminal device (referred to as the second terminal). The second terminal may be a device dedicated to auxiliary positioning, or may not be a device dedicated to auxiliary positioning. For example, it may be a notebook, mobile phone, desktop computer and other devices.

The second terminal is a target anchor node selected from a plurality of anchor nodes. The plurality of anchor nodes are: terminals that have registered with the first terminal; the association degree between the target anchor node and the target terminal is higher than the association degree between the non-target anchor nodes in the plurality of anchor nodes and the target terminal; the target terminal is the terminal to be located.

As shown in Figures 2a-2b, Figure 2a is a schematic diagram of a structure of a second terminal provided in an embodiment of the present application, and Figure 2b is another implementation flow chart of a positioning method provided in an embodiment of the present application. The second terminal may include: at least one processor 12, at least one communication interface 22, at least one memory 32 and at least one One less communication bus 42.

In the embodiment of the present application, the number of the processor 12 , the communication interface 22 , the memory 32 , and the communication bus 42 is at least one, and the processor 12 , the communication interface 22 , and the memory 32 communicate with each other through the communication bus 42 .

Processor 12 may be a central processing unit CPU, or an application specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

The memory 32 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

The memory 32 stores a program, and the processor 12 is configured to execute the program stored in the memory 32. When the program is executed by the processor 12, the processor 12 is configured to execute the steps shown in FIG. 2b:

Step S201: receiving positioning wireless resource configuration information sent by a first terminal.

The positioning wireless resource configuration information is used to configure the wireless transmission resources required for positioning the target terminal, and may include but is not limited to the following information: pilot, number and period of positioning wireless frames, frequency hopping mode, positioning reference signal and/or positioning wireless frame, etc.

Step S202: Send positioning reference signals and/or positioning radio frames to the target terminal according to the positioning radio resource configuration information. The positioning reference signals and/or positioning radio frames are used by the target terminal to determine the positioning related measurement quantity corresponding to the second terminal; the positioning related measurement quantity is used to determine the position of the target terminal.

The second terminal may send a positioning reference signal and/or a positioning radio frame to the target terminal based on the pilot, the number and period of the positioning radio frames, the frequency hopping mode, etc. specified by the positioning radio resource configuration information.

In the present application, there may be only one second terminal or multiple second terminals, that is, the number of second terminals is at least one.

The second terminal provided in the embodiment of the present application can receive the positioning wireless resource configuration sent by the first terminal. The positioning reference signal and/or positioning wireless frame are sent to the target terminal according to the positioning wireless resource configuration information, so that the target terminal can obtain the positioning related measurement quantity corresponding to the second terminal, and the positioning related measurement quantity corresponding to the second terminal is used to assist in determining the position of the target terminal, thereby realizing high-precision positioning of the target terminal.

The following describes the process of determining the second terminal as the target anchor node. Based on this, when the program stored in the memory 32 is executed by the processor 12, the processor 12 is further configured to perform the following steps:

Receive a link establishment request sent by the target terminal. The link establishment request may be sent by the target terminal to the second terminal according to the configuration information of the second terminal after receiving the configuration information of the second terminal sent by the first terminal. The configuration information of the second terminal may include but is not limited to the following items: identification information of the second terminal (e.g., ID), access signal format of the second terminal, etc.

Measuring the signal strength of the access signal of the bearer link establishment request. Optionally, after receiving the access signal of the bearer link establishment request, the second terminal establishes synchronization with the target terminal, and then measures the signal strength of the access signal of the bearer link establishment request.

The measured signal strength is sent to the first terminal.

The first terminal receives the confirmation information for establishing a link sent by the first terminal, establishes a link with the target terminal, and indicates that the second terminal is determined as the target anchor node. The confirmation information for establishing a link is sent to the first terminal when the first terminal determines that the second terminal is the target anchor node based on the signal strength sent by the second terminal. After receiving the confirmation information for establishing a link, the second terminal establishes a link with the target terminal, indicating that the second terminal is determined as the target anchor node.

If the second terminal does not receive the confirmation information of establishing the link sent by the first terminal, it indicates that the second terminal is not determined as the target anchor node.

The present application determines whether the second terminal is a target anchor node during the process of establishing a link between the target terminal and the second terminal.

In another optional embodiment, after the target terminal establishes a link with the second terminal, it can be determined whether the second terminal is the target anchor node. Based on this, when the program stored in the memory 32 is executed by the processor 12, the processor 12 is further configured to perform the following steps:

Optionally, after receiving the link establishment request sent by the target terminal, the second terminal can establish synchronization with the target terminal and then establish a link with the target terminal. The target terminal and the first terminal respectively send a link establishment success signal, indicating that the second terminal has successfully established a link with the target terminal. The link establishment request can be sent by the target terminal to the second terminal according to the configuration information of the second terminal after receiving the configuration information of the second terminal sent by the first terminal.

Receive reference signal configuration information for link quality measurement sent by the first terminal. Optionally, the reference signal configuration information may be sent by the first terminal to the second terminal after receiving a link establishment success signal sent by the second terminal.

The reference signal configuration information is used to determine the signal strength between the target terminal and each anchor node.

Optionally, the second terminal may send a reference signal to the target terminal based on the reference signal configuration information, so that the target terminal may calculate the signal strength between the target terminal and the second terminal based on the received reference signal. After obtaining the signal strength between the target terminal and the second terminal, the target terminal sends the signal strength between the target terminal and the second terminal to the first terminal, so that the first terminal determines whether the second terminal is a target anchor node based on the signal strength between the target terminal and the second terminal. Based on this, when the program stored in the memory 32 is executed by the processor 12, the processor 12 is further configured to perform the following steps:

The reference signal is sent to the target terminal based on the reference signal configuration information. By sending the reference signal to the target terminal, the target terminal can calculate the signal strength between the target terminal and the second terminal based on the received reference signal, and send the signal strength between the target terminal and the second terminal to the first terminal.

Receiving the confirmation information of establishing a link sent by the first terminal indicates that the second terminal is determined as the target anchor node. When the first terminal determines that the second terminal is the target anchor node, the confirmation information of establishing a link is sent to the second terminal. If the confirmation information of establishing a link sent by the first terminal is not received, it indicates that the second terminal is not determined as the target anchor node.

Optionally, the second terminal may receive, based on the reference signal configuration information, a reference signal sent by the target terminal to the second terminal based on the reference signal configuration information, the second terminal may calculate the signal strength between the second terminal and the target terminal based on the received reference signal, and the second terminal sends the calculated signal strength between the second terminal and the target terminal to the first terminal. Based on this, when the program stored in the memory 32 is executed by the processor 12, the processor 12 is further configured to perform the following steps:

Based on the reference signal configuration information, a reference signal sent by the target terminal is received.

The signal strength between the target terminal and the second terminal is calculated based on the reference signal sent by the target terminal.

The signal strength between the target terminal and the second terminal is fed back to the first terminal.

Receive the confirmation information sent by the first terminal to establish the link, indicating that the second terminal is determined as the target anchor node When the first terminal determines that the second terminal is the target anchor node, the confirmation link establishment information is sent to the second terminal. If the confirmation link establishment information sent by the first terminal is not received, it indicates that the second terminal is not determined as the target anchor node.

Optionally, if the second terminal is not determined as the target anchor node, in order to reduce power consumption, if the second terminal does not receive the confirmation information of establishing the link sent by the first terminal within a preset time, it can enter a low power consumption state, such as a dormant state or a sleeping state. Based on this, when the program stored in the memory 32 is executed by the processor 12, the processor 12 is further configured to perform the following steps:

receiving a wake-up signal sent by the first terminal, and exiting the low power consumption state;

After exiting the low power consumption state, executing the step of receiving a link establishment request sent by the target terminal and its subsequent steps; or,

After exiting the low power consumption state, the step of establishing a link with the target terminal and its subsequent steps are executed.

In an optional embodiment, in order to keep the first terminal updating the location and status of the anchor node, when the program stored in the memory 32 is executed by the processor 12, the processor 12 is further configured to perform the following steps:

The first reporting resource configuration information sent by the first terminal is received. The first reporting resource configuration information indicates a period (for ease of description and distinction, recorded as a target period) and a frequency (for ease of description and distinction, recorded as a first target frequency) at which the second terminal reports position and status information to the first terminal.

Based on the first reporting resource configuration information, the location and status information of the second terminal is reported to the first terminal according to the target period and the first target frequency. The second terminal may report the location and status information of the second terminal to the first terminal according to the target period and the first target frequency specified by the first reporting resource configuration information. Among them, different second terminals report location and status information at different first target frequencies, or different second terminals report location and status information at the same first target frequency, but at different reporting times.

The status information of the second terminal indicates that the second terminal is online. When the second terminal is offline (for example, power failure, failure, or obstruction), the second terminal will not report the location and status information, and cannot perform auxiliary positioning. Therefore, the above-mentioned multiple anchor nodes can be: online terminals that have registered with the first terminal.

In this embodiment, the second terminal periodically reports the location and status information of the second terminal to the first terminal based on the configuration of the first terminal.

In another embodiment, the second terminal may report the location and status information of the second terminal to the first terminal once based on the configuration of the first terminal. Based on this, when the program stored in the memory 32 is executed by the processor 12, the processor 12 is further configured to perform the following steps:

The second reporting resource configuration information sent by the first terminal is received. The second reporting resource configuration information indicates a frequency point (referred to as a second target frequency point for ease of description and distinction) at which the second terminal reports location and status information to the first terminal.

Based on the second reporting resource configuration information, the location and status information of the second terminal is reported to the first terminal once according to the second target frequency. The second terminal may report the location and status information of the second terminal to the first terminal once according to the second target frequency specified by the second reporting resource configuration information. Different second terminals report location and status information at different second target frequencies, or different second terminals report location and status information at the same second target frequency, but at different reporting times.

In an optional embodiment, the second terminal may be a terminal at a fixed position or a terminal at a movable position. Based on this, the second terminal may be of two possible types: a static anchor node and a dynamic anchor node; a static anchor node is a terminal at a fixed position, and a dynamic anchor node is a terminal at a movable position (for example, a notebook, a mobile phone, a desktop, etc.). A static anchor node may be an anchor node dedicated to auxiliary positioning, or it may not be an anchor node dedicated to auxiliary positioning; a dynamic anchor node may be an anchor node dedicated to auxiliary positioning, or it may not be an anchor node dedicated to auxiliary positioning. Accordingly, when the program stored in the memory 32 is executed by the processor 12, the processor 12 is further configured to perform the following steps:

When the second terminal is a dynamic anchor node, an auxiliary positioning request sent by the first terminal is received.

If the auxiliary positioning condition is met, the first information is fed back to the first terminal; the first information indicates that the second terminal can be used for auxiliary positioning. When the second terminal receives the auxiliary positioning request sent by the first terminal, it can determine the current load of the second terminal. If the load is less than the threshold, it is determined that the auxiliary positioning condition is met, otherwise, it is determined that the auxiliary positioning condition is not met. Alternatively, when the second terminal receives the auxiliary positioning request sent by the first terminal, it can determine the current operating mode of the second terminal. If the operating mode is the target mode (for example, game mode, conference mode, etc.), it is determined that the auxiliary positioning condition is not met, otherwise, it is determined that the auxiliary positioning condition is met.

Further, if the auxiliary positioning condition is not met, second information is fed back to the second terminal, and the second information indicates that the second terminal cannot be used for auxiliary positioning.

The following describes the process of registering the anchor node with the first terminal by the second terminal. Based on this, when the program stored in the memory 32 is executed by the processor 12, the processor 12 is further configured to perform the following steps:

An anchor node query request broadcast by the first terminal is received.

An anchor node registration request is sent to the first terminal, the anchor node registration request carries relevant information of the second terminal, the relevant information at least includes: identification and location information of the second terminal. Further, the relevant information may also include the anchor node type of the second terminal.

After receiving the device query request, the second terminal may send an anchor node registration request to the first terminal if the second terminal has an auxiliary positioning function.

The location information of the second terminal in the relevant information is the location information of the second terminal relative to the first terminal. The second terminal can obtain the location of the second terminal relative to the first terminal through a third-party positioning method, such as laser ranging, Wifi positioning, etc. The second terminal can also obtain the location of the second terminal relative to the first terminal through a single-point positioning method.

Corresponding to the aforementioned first terminal and second terminal, the present application also provides another terminal device (referred to as a target terminal).

As shown in Figures 3a-3b, Figure 3a is a schematic diagram of a structure of a target terminal provided in an embodiment of the present application, and Figure 3b is another implementation flow chart of a positioning method provided in an embodiment of the present application. The target terminal may include: at least one processor 13, at least one communication interface 23, at least one memory 33 and at least one communication bus 43.

In the embodiment of the present application, the number of the processor 13 , the communication interface 23 , the memory 33 , and the communication bus 43 is at least one, and the processor 13 , the communication interface 23 , and the memory 33 communicate with each other through the communication bus 43 .

Processor 13 may be a central processing unit CPU, or an application specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

The memory 33 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

The memory 33 stores a program, and the processor 13 is configured to execute the program stored in the memory 33. The program, when executed by the processor 13, configures the processor 13 to perform the steps shown in FIG. 3b:

Step S301: receiving positioning radio resource configuration information and feedback configuration information sent by a first terminal.

The feedback configuration information includes, but is not limited to, positioning-related measurement quantities that the target terminal needs to calculate, feedback transmission format (ie, the transmission format in which the target terminal feeds back information to the first terminal), and other information.

Step S302: receiving a positioning reference signal and/or a positioning radio frame sent by a first terminal, and a positioning reference signal and/or a positioning radio frame sent by at least one target anchor node based on the radio resource configuration information.

The target terminal can receive the positioning reference signal and/or the positioning radio frame based on the pilot, the number and period of the positioning radio frames, the frequency hopping mode and other information specified by the positioning radio resource configuration information; determine the positioning-related measurement quantities that need to be calculated based on the feedback configuration information, and the feedback transmission format required to report the information to the first terminal.

Step S303: Calculate the positioning related measurement value corresponding to the first terminal according to the positioning reference signal and/or positioning radio frame sent by the first terminal, and calculate the positioning related measurement value corresponding to the target anchor node according to the positioning reference signal and/or positioning radio frame sent by the target anchor node.

In the present application, the target terminal calculates the positioning-related measurement quantity corresponding to the j-th target anchor node according to the positioning reference signal and/or positioning radio frame sent by the j-th target anchor node.

Step S304: Reporting target information to the first terminal based on the feedback configuration information. The target terminal may report the target information to the first terminal based on the feedback transmission format specified by the feedback configuration information.

The target terminal provided in the present application can measure the positioning-related measurement quantities corresponding to the first terminal and the positioning-related measurement quantities corresponding to each target anchor node based on the positioning wireless resource configuration and feedback-related information configuration of the target terminal by the first terminal. The obtained positioning-related measurements are used to determine the position of the target terminal, thereby achieving high-precision positioning of the target terminal.

In an optional embodiment, the at least one target anchor node is selected from a plurality of anchor nodes, and the plurality of anchor nodes are terminals registered with the first terminal, that is, each of the plurality of anchor nodes is a terminal registered with the first terminal and having an auxiliary positioning function.

In one implementation, when the program stored in the memory 33 is executed by the processor 13, the processor 13 is further configured to perform the following steps:

Receive configuration information of each anchor node sent by the first terminal. The configuration information of the i-th anchor node (any one of the multiple anchor nodes) may include but is not limited to the following items: identification information (eg, ID) of the i-th anchor node, access signal format of the i-th anchor node, etc.

A link establishment request is sent to each anchor node based on the configuration information of each anchor node. After the target terminal receives the configuration information of the i-th anchor node, it sends a link establishment request to the i-th anchor node based on the configuration information of the i-th anchor node. After the i-th anchor node receives the link establishment request sent by the target terminal, it measures the strength of the access signal carrying the link establishment request, obtains the signal strength between the target terminal and the i-th anchor node, and sends the signal strength to the first terminal so that the first terminal can determine whether the i-th anchor node is the target anchor node. If the first terminal determines that the i-th anchor node is the target anchor node, it sends confirmation information for establishing a link to the i-th anchor node, and the i-th anchor node feeds back a link establishment success signal to the target terminal so as to establish a link with the target terminal.

Receive a link establishment success signal fed back by the anchor node. If a link establishment success signal fed back by the i-th anchor node is received, it indicates that the i-th anchor node is determined as the target anchor node. On the contrary, if a link establishment success signal fed back by the i-th anchor node is not received, it indicates that the i-th anchor node is not determined as the target anchor node.

In another optional embodiment, the target anchor node may be determined after the target terminal establishes a link with the anchor node. Based on this, when the program stored in the memory 33 is executed by the processor 13, the processor 13 is further configured to perform the following steps:

The target terminal may send a link establishment request to the i-th anchor node based on the configuration information of the i-th anchor node, receive a link establishment success signal fed back by the i-th anchor node, and establish a link with the i-th anchor node. The i-th anchor node may also send a link establishment success signal to the first terminal.

The reference signal configuration information for link quality measurement sent by the first terminal is received. Optionally, the reference signal configuration information may be sent by the first terminal to the i-th anchor node after receiving a link establishment success signal sent by the i-th anchor node.

The reference signal configuration information is used to determine the signal strength between the target terminal and each anchor node. The signal strength between the target terminal and each anchor node is used to determine the target anchor node.

Optionally, when the program stored in the memory 33 is executed by the processor 13, the processor 13 is further configured to perform the following steps:

Based on the reference signal configuration information, a reference signal for link quality measurement sent by each anchor node is received. Optionally, for the i-th anchor node, the target terminal may receive the reference signal for link quality measurement sent by the i-th anchor node based on the reference signal configuration information.

The signal strength between the target terminal and the anchor node is calculated based on the reference signal sent by the anchor node. Optionally, the target terminal may calculate the signal strength between the target terminal and the i-th anchor node based on the reference signal sent by the i-th anchor node.

Feedback the signal strength between the target terminal and each anchor node to the first terminal. After calculating the signal strength between the target terminal and each anchor node, the target terminal feeds back the signal strength between the target terminal and each anchor node to the first terminal.

Based on the reference signal configuration information, the target terminal sends a reference signal for link quality measurement to each anchor node. The reference signal.

The reference signal is used to calculate the signal strength between the target terminal and the anchor node. The i-th anchor node calculates the signal strength between the target terminal and the i-th anchor node based on the reference signal sent by the target terminal. The signal strength between the target terminal and each anchor node is used to determine the target anchor node. After the i-th anchor node determines the signal strength between the target terminal and the i-th anchor node, it sends the signal strength between the target terminal and the i-th anchor node to the first terminal, so that the first terminal determines the target anchor node according to the signal strength between the target terminal and each anchor node.

As shown in FIG. 4 , another implementation flowchart of the positioning method provided in the embodiment of the present application may include:

Step S401: The first terminal obtains a positioning request for a target terminal.

Step S402: The first terminal determines positioning radio resource configuration information and feedback configuration information.

Step S403: The first terminal sends the positioning wireless resource configuration information to at least one target anchor node. Each target anchor node interacts with the first terminal and the target terminal in the same manner, and FIG4 only shows the interaction between the jth target anchor node and the first terminal and the target terminal.

Step S404: the first terminal sends the above positioning wireless resource configuration information and feedback configuration information to the target terminal.

This application does not limit the execution order of step S403 and step S404. Step S403 may be executed first, and then step S404, or step S404 may be executed first, and then step S403, or step S403 and step S404 may be executed simultaneously.

Step S405: The first terminal sends a positioning reference signal and/or a positioning radio frame to the target terminal.

Step S406: Each target anchor node sends a positioning reference signal and/or a positioning radio frame to the target terminal respectively.

This application does not limit the execution order of step S405 and step S406. Step S405 can be executed first, and then step S406, or step S406 can be executed first, and then step S405, or step S405 and step S406 can be executed at the same time.

Step S407: the target terminal calculates the positioning related measurement value corresponding to the first terminal according to the positioning reference signal and/or positioning radio frame sent by the first terminal, and calculates the positioning related measurement value corresponding to each target anchor node according to the positioning reference signal and/or positioning radio frame sent by each target anchor node.

Step S408: the target terminal reports the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity corresponding to each target anchor node to the first terminal.

Step S409: the first terminal calculates the position of the target terminal according to the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity corresponding to each target anchor node.

If the location request for the target terminal is sent by other devices to the first terminal, the first terminal may also report the location of the target terminal to the other devices. If the location request for the target terminal is generated by the first terminal, the first terminal may not report the location of the target terminal to other devices, but may also report the location of the target terminal to other devices.

The specific implementation process of each step S401-S409 can refer to the above-mentioned embodiment and will not be repeated here.

FIG4 is an example in which the target terminal reports the positioning-related measurement amount corresponding to the first terminal and the positioning-related measurement amount corresponding to each target anchor node to the first terminal. As described in the above embodiment, the target terminal may also calculate the position of the target terminal according to the positioning-related measurement amount corresponding to the first terminal and the positioning-related measurement amount corresponding to each target anchor node, and report the position of the target terminal to the first terminal.

As shown in FIG. 5 , a flowchart for implementing the selection of at least one target anchor node from multiple anchor nodes provided in an embodiment of the present application may include:

Step S501: The first terminal wakes up each anchor node, which may also be called enabling each anchor node.

Step S502: the first terminal sends configuration information of each anchor node to the target terminal.

Step S503: the target terminal sends a link establishment request to each anchor node according to the configuration information of each anchor node. Each anchor node interacts with the first terminal and the target terminal in the same manner, and FIG5 shows only the i-th anchor node.

Step S504: Each anchor node measures the signal strength of the access signal carrying the link establishment request. That is, the i-th anchor node measures the signal strength of the access signal carrying the link establishment request sent by the target terminal to the i-th anchor node to obtain the signal strength between the i-th anchor node and the target terminal.

Step S505: each anchor node reports the measured signal strength to the first terminal, that is, the i-th anchor node reports the signal strength between the i-th anchor node and the target terminal to the first terminal.

Step S506: The first terminal determines the target terminal based on the signal strength between the target terminal and each anchor node. Anchor node.

Step S507: The first terminal sends confirmation information for establishing a link to the target anchor node. FIG5 takes the i-th anchor node being determined as the target anchor node as an example for explanation. If the i-th anchor node is not determined as the target anchor node, the first terminal will not send confirmation information for establishing a link to the i-th anchor node.

Step S508: the target anchor node sends a link establishment success signal to the target terminal. That is, only the anchor node determined as the target anchor node will establish a link with the target terminal.

The specific implementation process of each step S501-S508 can refer to the above-mentioned embodiment and will not be repeated here.

After the target anchor node is determined, the subsequent process of positioning the target terminal based on at least one target anchor node may be performed.

As shown in FIG6 , another implementation flowchart of selecting at least one target anchor node from multiple anchor nodes provided in an embodiment of the present application may include:

Step S601: The first terminal wakes up each anchor node, which may also be called enabling each anchor node.

Step S602: The first terminal sends configuration information of each anchor node to the target terminal.

Step S603: the target terminal sends a link establishment request to each anchor node according to the configuration information of each anchor node. Each anchor node interacts with the first terminal and the target terminal in the same manner, and FIG5 shows only the i-th anchor node.

Step S604: Each anchor node sends a link establishment success signal to the target terminal and the first terminal respectively.

Step S605: The first terminal sends reference signal configuration information for link quality measurement to each anchor node and the target terminal respectively.

Step S606: Each anchor node sends a reference signal specified by the reference signal configuration information to the target terminal.

Step S607: the target terminal calculates the signal strength between the target terminal and each anchor node based on the reference signal sent by each anchor node. Specifically, the target terminal calculates the signal strength between the target terminal and the i-th anchor node based on the reference signal sent by the i-th anchor node.

Step S608: the target terminal feeds back the signal strength between the target terminal and each anchor node to the first terminal.

Step S609: the first terminal determines the target anchor node based on the signal strength between the target terminal and each anchor node.

Step S610: The first terminal sends confirmation information for establishing a link to the target anchor node. FIG6 takes the i-th anchor node being determined as the target anchor node as an example for explanation. If the i-th anchor node is not determined as the target anchor node, the first terminal will not send confirmation information for establishing a link to the i-th anchor node. The anchor node that receives the confirmation information for establishing a link determines that it is determined as the target anchor node and can be used for subsequent auxiliary positioning.

The specific implementation process of each step S601-S610 can refer to the above-mentioned embodiment and will not be repeated here.

The embodiment shown in Figure 6 takes the example of an anchor node sending a reference signal specified by reference signal configuration information to a target terminal, and the target terminal feeding back the signal strength between the target terminal and each anchor node to the first terminal to illustrate the process of determining the target anchor node. In the present application, the target terminal may also send a reference signal specified by the reference signal configuration information to each anchor node, and each anchor node calculates the signal strength between the target terminal and each anchor node based on the reference signal sent by the target terminal, and then each anchor node feeds back the signal strength between each anchor node and the target terminal to the first terminal.

As shown in FIG. 7 , a flowchart of an implementation of monitoring of each anchor node by a first terminal provided in an embodiment of the present application may include:

Step S701: The first terminal sends first reporting resource configuration information to each anchor node respectively.

Step S702: Each anchor node periodically reports position and status information. Specifically, each anchor node reports the position and status information of the anchor node to the first terminal according to the target period based on the first target frequency specified by the first reporting resource configuration information. Specifically, the i-th anchor node reports the position and status information of the i-th anchor node to the first terminal according to the target period based on the first target frequency specified by the first reporting resource configuration information. Each anchor node interacts with the first terminal in the same manner, and only the i-th anchor node is shown in FIG7 .

Step S703: The first terminal sends stop reporting configuration information to each anchor node respectively, so that each anchor node stops reporting position and status information to the first terminal. In other words, the first terminal can send stop reporting configuration information to the i-th anchor node, so that the i-th anchor node stops reporting the position and status information of the i-th anchor node to the first terminal.

That is, the first terminal sends the first reporting resource configuration information to the i-th anchor node once, and the i-th anchor node will periodically report the position and state information of the i-th anchor node to the first terminal multiple times.

The specific implementation process of each step S701-S703 can refer to the above-mentioned embodiment and will not be repeated here.

As shown in FIG. 8 , another implementation flowchart of the first terminal monitoring each anchor node provided in an embodiment of the present application may include:

Step S801: The first terminal sends second reporting resource configuration information to each anchor node respectively.

Step S802: Each anchor node reports its position and status information once. Specifically, each anchor node reports its position and status information to the first terminal once based on the second target frequency specified by the second reporting resource configuration information. Specifically, the i-th anchor node reports its position and status information to the first terminal once based on the second target frequency specified by the second reporting resource configuration information. Each anchor node interacts with the first terminal in the same manner, and only the i-th anchor node is shown in FIG8 .

That is, the first terminal sends the second reporting resource configuration information to the i-th anchor node once, and the i-th anchor node reports the position and state information of the i-th anchor node to the first terminal only once.

Corresponding to the method embodiment shown in FIG. 1b , the embodiment of the present application further provides a positioning device. A structural schematic diagram of the positioning device provided in the embodiment of the present application is shown in FIG. 9 , and may include:

The obtaining module 901 is used to obtain a positioning request for a target terminal.

The determination module 902 is used to determine positioning radio resource configuration information and feedback configuration information in response to the positioning request.

The first sending module 903 is configured to send the above positioning wireless resource configuration information to at least one target anchor node.

The second sending module 904 is used to send the above positioning wireless resource configuration information and feedback configuration information to the target terminal.

The third sending module 905 is used to send a positioning parameter signal and/or a positioning radio frame to a target terminal.

The first receiving module 906 is configured to receive target information reported by the target terminal based on the feedback configuration information.

The target information includes: the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity of each target anchor node. The corresponding positioning related measurement quantity; or, the target information is: the location of the target terminal.

Corresponding to the method embodiment shown in FIG2b, the embodiment of the present application also provides another positioning device, which is used for a second terminal, and the second terminal is a target anchor node selected from a plurality of anchor nodes. The plurality of anchor nodes are: terminals that have registered with the first terminal; the degree of association between the target anchor node and the target terminal is higher than the degree of association between the non-target anchor nodes in the plurality of anchor nodes and the target terminal; the target terminal is the terminal to be positioned.

Another structural schematic diagram of the positioning device provided in an embodiment of the present application is shown in FIG10 , which may include:

The second receiving module 1001 is used to receive positioning wireless resource configuration information sent by the first terminal.

The fourth sending module 1002 is used to send a positioning reference signal and/or a positioning radio frame to a target terminal according to the positioning radio resource configuration information.

Corresponding to the method embodiment shown in FIG3b , the embodiment of the present application further provides another positioning device. Another structural schematic diagram of the positioning device provided in the embodiment of the present application is shown in FIG11 , which may include:

The third receiving module 1101 is used to receive positioning radio resource configuration information and feedback configuration information sent by the first terminal.

The fourth receiving module 1102 is configured to receive a positioning reference signal and/or a positioning radio frame sent by the first terminal, and a positioning reference signal and/or a positioning radio frame sent by at least one target anchor node based on the radio resource configuration information.

The calculation module 1103 is used to calculate the positioning related measurement value corresponding to the first terminal according to the positioning reference signal and/or positioning radio frame sent by the first terminal, and calculate the positioning related measurement value corresponding to the target anchor node according to the positioning reference signal and/or positioning radio frame sent by the target anchor node.

The reporting module 1104 is configured to report the target information to the first terminal based on the feedback configuration information. The target terminal may report the target information to the first terminal based on the feedback transmission format specified by the feedback configuration information.

The target information is: a positioning related measurement quantity corresponding to the first terminal and a positioning related measurement quantity corresponding to each target anchor node; or, the target information is: a position of the target terminal.

Corresponding to the method embodiment, the embodiment of the present application further provides a storage medium, which may store a program suitable for execution by a processor, wherein the program is used to:

Obtaining a positioning request for a target terminal;

Alternatively, the program is used to:

The positioning-related measurement amount corresponding to the first terminal is calculated according to the positioning reference signal and/or positioning radio frame sent by the first terminal, and the positioning-related measurement amount corresponding to the first terminal is calculated according to the positioning reference signal and/or positioning radio frame sent by the target anchor node. or calculating the positioning radio frame to obtain the positioning related measurement value corresponding to the target anchor node;

Optionally, the detailed functions and extended functions of the program may refer to the above description.

Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

It should be understood that in the embodiments of the present application, the various embodiments and features can be combined with each other to solve the aforementioned technical problems.

If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or partly contributed to the prior art or part of the technical solution can be It is embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

A terminal, the terminal being a first terminal, and the first terminal comprising:

Memory, used to store programs;

A processor configured to execute a program stored in the memory, wherein the program, when executed by the processor, configures the processor to:

Obtaining a positioning request for a target terminal;

In response to the positioning request, determining positioning radio resource configuration information and feedback configuration information;

Sending the positioning wireless resource configuration information to at least one target anchor node;

Sending the positioning wireless resource configuration information and the feedback configuration information to the target terminal;

Sending a positioning parameter signal and/or a positioning radio frame to the target terminal;

receiving target information reported by the target terminal based on the feedback configuration information;

The target information is: the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity corresponding to each target anchor node; or, the target information is: the position of the target terminal;

The positioning related measurement amount corresponding to the first terminal and the positioning related measurement amounts corresponding to each target anchor node are used to determine the position of the target terminal.
According to the terminal of claim 1, the at least one target anchor node is selected from a plurality of anchor nodes; the plurality of anchor nodes are: terminals that have registered with the first terminal;

The degree of association between the target anchor node and the target terminal is higher than the degree of association between non-target anchor nodes among the multiple anchor nodes and the target terminal.
According to the terminal of claim 2, the association degree between the target anchor node and the target terminal is higher than the association degree between the non-target anchor nodes among the multiple anchor nodes and the target terminal, comprising:

The signal strength between the target anchor node and the target terminal is greater than the signal strength between the non-target anchor node and the target terminal.
According to the terminal of claim 3, when the program is executed by the processor, the processor is further configured to:

Sending configuration information of each of the anchor nodes to the target terminal;

receiving signal strength between the target terminal and each anchor node sent by each anchor node;

The target anchor node is determined based on the signal strength between the target terminal and each of the anchor nodes.
The terminal according to claim 3, wherein the program further The processor is configured to:

Sending configuration information of each of the anchor nodes to the target terminal;

receiving a link establishment success signal sent by each anchor node, wherein the link establishment success signal sent by the anchor node indicates that a link has been established between the anchor node and the target terminal;

Sending reference signal configuration information for link quality measurement to the target terminal and each of the anchor nodes;

receiving a signal strength between the target terminal and each of the anchor nodes;

The target anchor node is determined based on the signal strength between the target terminal and each of the anchor nodes.
According to the terminal of claim 2, when the program is executed by the processor, the processor is further configured to:

Sending first reporting resource configuration information to each of the anchor nodes; receiving position and status information reported by the anchor nodes according to a target period based on a first target frequency;

or,

Sending second reporting resource configuration information to each of the anchor nodes; and receiving the position and status information reported by the anchor nodes based on the second target frequency.
According to the terminal of claim 2, the anchor node includes at least two types: a static anchor node and a dynamic anchor node; the dynamic anchor node is a mobile terminal;

When executed by the processor, the program further configures the processor to:

In a case where at least one target anchor node selected from the plurality of anchor nodes includes M dynamic anchor nodes, sending an auxiliary positioning request to each of the M dynamic anchor nodes respectively;

If the first information fed back by the M dynamic anchor nodes is received, the step of sending the positioning wireless resource configuration information to at least one target anchor node is performed.
According to the terminal according to any one of claims 1 to 7, when the program is executed by the processor, the processor is further configured to:

Broadcast anchor node query information;

receiving an anchor node registration request sent by a first device, and recording relevant information of the first device carried in the anchor node registration request, wherein the relevant information includes at least an identification identifier and location information of the first device;

The anchor node registration request is sent by the first device to the first terminal after receiving the device query information.
A terminal, the terminal being a second terminal, the second terminal being a target anchor node selected from a plurality of anchor nodes; the plurality of anchor nodes being terminals that have registered with a first terminal; wherein the degree of association between the target anchor node and the target terminal is higher than the degree of association between a non-target anchor node among the plurality of anchor nodes and the target terminal; the second terminal comprising:

Memory, used to store programs;

A processor configured to execute a program stored in the memory, wherein the program, when executed by the processor, configures the processor to:

Receiving positioning wireless resource configuration information sent by the first terminal;

Send a positioning reference signal and/or a positioning radio frame to the target terminal according to the positioning radio resource configuration information.
A terminal, the terminal being a target terminal, the target terminal comprising:

Memory, used to store programs;

A processor configured to execute a program stored in the memory, wherein the program, when executed by the processor, configures the processor to:

Receiving positioning radio resource configuration information and feedback configuration information sent by the first terminal;

Receiving, based on the radio resource configuration information, a positioning reference signal and/or a positioning radio frame sent by the first terminal, and a positioning reference signal and/or a positioning radio frame sent by at least one target anchor node;

Calculate the positioning related measurement amount corresponding to the first terminal according to the positioning reference signal and/or positioning radio frame sent by the first terminal, and calculate the positioning related measurement amount corresponding to the target anchor node according to the positioning reference signal and/or positioning radio frame sent by the target anchor node;

Reporting target information to the first terminal based on the feedback configuration information;

The target information is: the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity corresponding to each target anchor node; or, the target information is: the position of the target terminal;

The positioning related measurement amount corresponding to the first terminal and the positioning related measurement amounts corresponding to each target anchor node are used to determine the position of the target terminal.
A positioning method, used for a first terminal, comprising:

Obtaining a positioning request for a target terminal;

In response to the positioning request, determining positioning radio resource configuration information and feeding back configuration information;

Sending the positioning wireless resource configuration information to at least one target anchor node;

Sending the positioning wireless resource configuration information and the feedback configuration information to the target terminal;

Sending a positioning parameter signal and/or a positioning radio frame to the target terminal;

receiving target information reported by the target terminal based on the feedback configuration information;

The target information is: the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity corresponding to each target anchor node; or, the target information is: the position of the target terminal;

The positioning related measurement amount corresponding to the first terminal and the positioning related measurement amounts corresponding to each target anchor node are used to determine the position of the target terminal.
A positioning method is provided for a second terminal, wherein the second terminal is a target anchor node selected from a plurality of anchor nodes; the plurality of anchor nodes are terminals that have registered with a first terminal; wherein the degree of association between the target anchor node and the target terminal is higher than the degree of association between a non-target anchor node among the plurality of anchor nodes and the target terminal; the method comprises:

Receiving positioning wireless resource configuration information sent by the first terminal;

A positioning reference signal and/or a positioning radio frame is sent to the target terminal according to the positioning radio resource configuration information.
A positioning method, for a target terminal, comprising:

Receiving positioning radio resource configuration information and feedback configuration information sent by the first terminal;

Receiving, based on the radio resource configuration information, a positioning reference signal and/or a positioning radio frame sent by the first terminal, and a positioning reference signal and/or a positioning radio frame sent by at least one target anchor node;

Calculate the positioning related measurement amount corresponding to the first terminal according to the positioning reference signal and/or positioning radio frame sent by the first terminal, and calculate the positioning related measurement amount corresponding to the target anchor node according to the positioning reference signal and/or positioning radio frame sent by the target anchor node;

Reporting target information to the first terminal based on the feedback configuration information;

The target information is: the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity corresponding to each target anchor node; or, the target information is: the position of the target terminal;

The positioning related measurement amount corresponding to the first terminal and the positioning related measurement amounts corresponding to each target anchor node are used to determine the position of the target terminal.