WO2026026964A1 - 定位方法、装置、通信设备及可读存储介质 - Google Patents

定位方法、装置、通信设备及可读存储介质

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Publication number
WO2026026964A1
WO2026026964A1 PCT/CN2025/112218 CN2025112218W WO2026026964A1 WO 2026026964 A1 WO2026026964 A1 WO 2026026964A1 CN 2025112218 W CN2025112218 W CN 2025112218W WO 2026026964 A1 WO2026026964 A1 WO 2026026964A1
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WO
WIPO (PCT)
Prior art keywords
signal
information
measurement
doa
periodic
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PCT/CN2025/112218
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English (en)
French (fr)
Inventor
黄伟
秦飞
姜大洁
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Vivo Mobile Communication Co Ltd
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Vivo Mobile Communication Co Ltd
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Publication of WO2026026964A1 publication Critical patent/WO2026026964A1/zh
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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • This application belongs to the field of communication technology, specifically relating to a positioning method, apparatus, communication equipment, and readable storage medium.
  • Low-power tag devices such as passive and semi-passive tags
  • Backscatter-based tag positioning technology is considered a low-cost, low-power solution.
  • the tag device itself does not need to generate a carrier wave; instead, it modulates its own data onto a radio frequency carrier transmitted by a third-party device, achieving low-cost, low-power, and miniaturized positioning.
  • tag angle measurement and positioning methods often suffer from limited antennas and poor synchronization performance, resulting in low positioning accuracy. Therefore, improving positioning accuracy under conditions of limited antennas and poor synchronization performance is a pressing issue that needs to be addressed.
  • This application provides a positioning method, apparatus, communication device, and readable storage medium, which can solve the problem of how to improve positioning accuracy under conditions of few antennas and poor synchronization performance.
  • a positioning method executed by a first device, the method comprising:
  • the first device sends a first signal to the second device during the movement
  • the first device receives a second signal sent by the second device, the second signal being a periodic signal generated based on the first signal;
  • the first device obtains a first measurement value of the second signal and a second measurement value of the inertial measurement unit in the first device, and the second measurement value and the second signal are correlated.
  • the first device estimates the DOA or AOD between the first device and the second device based on the first measurement value and the second measurement value, and/or estimates the location information of the second device.
  • a positioning method executed by a second device, the method comprising:
  • the second device receives the first signal sent by the first device during its movement
  • the second device generates a second signal based on the first signal, and the second signal is a periodic signal
  • the second device sends the second signal to the first device during the movement, the second signal being used for at least one of the following: estimating the DOA or AOD between the first device and the second device, or estimating the location information of the second device.
  • a positioning device for use in a first device, comprising:
  • the first transmitting module is used to transmit a first signal to the second device during the movement of the first device
  • a first receiving module is configured to receive a second signal sent by the second device during the movement of the first device, wherein the second signal is a periodic signal generated based on the first signal;
  • a first processing module is configured to obtain a first measurement value of the second signal and a second measurement value of the inertial measurement unit in the first device, wherein the second measurement value and the second signal are correlated; and based on the first measurement value and the second measurement value, to estimate the DOA or AOD between the first device and the second device, and/or to estimate the position information of the second device.
  • a positioning device for use in a second device, comprising:
  • the fourth receiving module is used to receive the first signal sent by the first device during its movement
  • the second processing module is used to generate a second signal based on the first signal, wherein the second signal is a periodic signal;
  • the third transmitting module is used to transmit the second signal to the first device during the movement process; wherein the second signal is used for at least one of the following: estimating the DOA or AOD between the first device and the second device, and estimating the location information of the second device.
  • a positioning device is provided, the device being configured to perform the steps of the method described in the first aspect, or to implement the steps of the method described in the second aspect.
  • a communication device including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method as described in the first aspect, or implementing the steps of the method as described in the second aspect.
  • a communication device including a processor and a communication interface.
  • the communication interface is used to send a first signal to a second device during the movement of the first device, and to receive a second signal sent by the second device, the second signal being a periodic signal generated based on the first signal;
  • the processor is used to obtain a first measurement value of the second signal and a second measurement value of an inertial measurement unit in the first device, the second measurement value and the second signal being correlated, and to estimate the DOA or AOD between the first device and the second device based on the first measurement value and the second measurement value, and/or to estimate the position information of the second device.
  • the communication interface is used to receive the first signal sent by the first device during movement; the processor is used to generate a second signal based on the first signal, the second signal being a periodic signal; the communication interface is also used to send the second signal to the first device during movement, the second signal being used for at least one of: estimating the DOA or AOD between the first device and the second device, and estimating the position information of the second device.
  • a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect, or implement the steps of the method described in the second aspect.
  • a ninth aspect provides a wireless communication system comprising at least a first device and a second device, wherein the first device is configured to perform the steps of the method described in the first aspect, and the second device is configured to perform the steps of the method described in the second aspect.
  • a chip including a processor and a communication interface coupled to the processor, the processor being configured to run programs or instructions to implement the method as described in the first aspect, or to implement the method as described in the second aspect.
  • a computer program/program product is provided, which is stored in a storage medium and is executed by at least one processor to implement the steps of the method as described in the first aspect, or to implement the steps of the method as described in the second aspect.
  • the first device can send a first signal to the second device during movement and receive a second signal sent by the second device during movement.
  • the second signal is a periodic signal generated based on the first signal.
  • a first measurement value of the second signal and a second measurement value from the inertial measurement unit in the first device are obtained.
  • the second measurement value and the second signal are correlated.
  • the DOA or AOD between the first and second devices is estimated, and/or the position information of the second device is estimated. Therefore, a virtual antenna array can be constructed by moving the first device, thereby enabling angle measurement and positioning of the second device (such as a tag device), thus improving positioning accuracy and stability under conditions of few antennas and poor synchronization performance.
  • FIGS 1A to 1E show schematic diagrams of the backscatter-based communication architecture in the embodiments of this application
  • FIG. 2 is a flowchart of a positioning method provided in an embodiment of this application.
  • FIG. 3 is a flowchart of another positioning method provided in an embodiment of this application.
  • FIG. 4 is a flowchart of the positioning process in Embodiment 1 of this application.
  • Figure 5 is a schematic diagram of angle measurement based on a virtual antenna array in Embodiment 2 of this application;
  • Figure 6 is a schematic diagram of relative positioning based on angle measurement in Embodiment 4 of this application.
  • Figure 7 is a schematic diagram of a positioning device provided in an embodiment of this application.
  • Figure 8 is a schematic diagram of another positioning device provided in an embodiment of this application.
  • Figure 9 is a schematic diagram of the structure of a communication device provided in an embodiment of this application.
  • Figure 10 is a schematic diagram of the structure of a terminal provided in an embodiment of this application.
  • first and second are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by “first” and “second” are generally of the same class, not limited in number; for example, the first object can be one or more.
  • “or” in this application indicates at least one of the connected objects.
  • the scope of protection for "A or B” covers at least three scenarios: Scenario 1: including A but not B; Scenario 2: including B but not A; Scenario 3: including both A and B.
  • the terms “A and/or B,” “at least one of A and B,” and “at least one of A or B” also cover at least the above three scenarios.
  • the character “/” generally indicates that the preceding and following objects are in an "or” relationship.
  • instruction in this application can be either a direct instruction (or explicit instruction) or an indirect instruction (or implicit instruction).
  • a direct instruction can be understood as one in which the sender explicitly informs the receiver of specific information, the operation to be performed, or the requested result, etc., in the instruction sent.
  • An indirect instruction can be understood as one in which the receiver determines the corresponding information based on the instruction sent by the sender, or makes a judgment and determines the operation to be performed or the requested result, etc., based on the judgment result.
  • LTE Long Term Evolution
  • LTE-A Long Term Evolution-Advanced
  • CDMA Code Division Multiple Access
  • TDMA Time Division Multiple Access
  • FDMA Frequency Division Multiple Access
  • OFDMA Orthogonal Frequency Division Multiple Access
  • SC-FDMA Single-carrier Frequency-Division Multiple Access
  • NR New Radio
  • Backscatter communication refers to the use of radio frequency signals from other devices or the environment to modulate signals and transmit information. It is a typical low-power IoT device.
  • the basic components and main functions of a backscatter communication transmitter include:
  • Antenna unit Used to receive radio frequency signals and control commands, and also to transmit modulated backscattered signals.
  • This module is used for radio frequency energy harvesting or other energy harvesting in the backscatter communication device, including but not limited to solar energy, kinetic energy, mechanical energy, and thermal energy.
  • the energy harvesting module it may also include a battery power supply module, in which case the backscatter communication device is a semi-passive device.
  • the energy harvesting module or power supply module supplies power to all other modules in the device.
  • Microcontrollers including control baseband signal processing, energy storage or data scheduling status, switching, system synchronization, etc.
  • - Signal receiving module Used to demodulate control commands or data sent by the backscatter communication receiver or other network nodes.
  • - Encoding and Modulation Module Performs channel coding and signal modulation under the control of the controller, and achieves modulation by selecting different load impedances through a selection switch under the control of the controller.
  • - Memory or sensing module Used to store device identification (ID) information, location information, or sensing data, etc.
  • future backscatter communication transmitters can also integrate tunnel diode amplifier modules, low-noise amplifier modules, etc., to improve the receiver sensitivity and transmission power of the transmitter.
  • the basic components and main functions of the backscatter communication receiver include:
  • Antenna element Used to receive modulated backscattered signals.
  • Backscatter signal detection module Used to detect the backscatter signal sent by the backscatter communication transmitter, including but not limited to ASK detection, PSK detection, FSK detection or QAM detection, etc.
  • - Demodulation and decoding module Demodulates and decodes the detected signal to recover the original information stream.
  • Backscatter communication devices control the reflection coefficient ⁇ of the modulation circuit by adjusting its internal impedance, thereby changing the amplitude, frequency, and phase of the incident signal to achieve signal modulation.
  • the reflection coefficient ⁇ can be characterized as:
  • backscatter communication devices can be tags in traditional Radio Frequency Identification (RFID) systems, or passive or semi-passive Internet of Things (IoT) devices.
  • RFID Radio Frequency Identification
  • IoT Internet of Things
  • a backscatter-based communication architecture may include at least the following patterns:
  • Topology 1 As shown in Figure 1A, the base station in Topology 1 is both a radio frequency source/transmitter and a receiver. Therefore, Topology 1 is a Monostatic Backscatter Communication System (MBCS) architecture.
  • MBCS Monostatic Backscatter Communication System
  • Traditional RFID systems are typical MBCS systems, which include ambient IoT devices and readers.
  • the IoT device can be a tag, and the reader can be a base station.
  • the tag communicates directly with the reader, which may have a frequency division duplex (FDD) architecture module.
  • FDD frequency division duplex
  • the device that transmits control signaling and the device that receives backscattered signals are the same device, while the device that transmits the radio frequency (RF) carrier source can be the same device as the aforementioned device or a separate device.
  • RF radio frequency
  • Topology 2 As shown in Figure 1B, in Topology 2, Ambient IoT Devices (e.g., Tags) receive control signaling and carrier signals sent by intermediate nodes.
  • the control signaling can be indicated by network devices (e.g., base stations (gNBs)) through intermediate nodes.
  • the intermediate nodes can be User Equipment (UE), repeaters, Integrated Access Backhaul (IAB) nodes, etc.
  • Intermediate nodes can also act as relays to forward IoT data to gNBs.
  • UE User Equipment
  • IAB Integrated Access Backhaul
  • Topology 3 involves a Bistatic Backscatter Communications System (BBCS), in which the radio frequency source, BSC transmitting device and BSC receiving device are separate; in Topology 3, the Ambient IoT Device (e.g., Tag) sends IoT data/uplink signaling to the base station and receives data/signaling sent by the auxiliary node, as shown in Figure 1C; or, the Ambient IoT Device (e.g., Tag) sends IoT data/uplink signaling to the auxiliary node and receives data/signaling sent by the base station, as shown in Figure 1D; the base station and the auxiliary node communicate through the Uu interface, and the auxiliary node can be UE, repeater, IAB, etc.
  • BBCS Bistatic Backscatter Communications System
  • Topology 4 As shown in Figure 1E, in Topology 4, the UE acts as the Reader to communicate with the Tag. This architecture also belongs to the monostatic backscatter communication architecture, the difference being that the Reader is the UE, not the base station.
  • Backscatter communication devices are widely used in inventory and tracking, personal belongings retrieval, parking lot vehicle positioning, shopping mall shop positioning, and museum platform positioning due to their low cost, low power consumption, and small size.
  • the measurement parameters required to support backscatter communication positioning may include, but are not limited to, Received Signal Strength (RSS), Received Signal Strength Indication (RSSI), Direction of Arrival (DOA), Angle of Arrival (AOA), Angle of Departure (AOD), phase information, Time of Arrival (TOA) or Round-Trip Time (RTT), Time Difference of Arrival (TDOA), and Phase Difference of Arrival (PDOA).
  • RSS Received Signal Strength
  • RSSI Received Signal Strength Indication
  • DOA Direction of Arrival
  • AOA Angle of Arrival
  • AOD Angle of Departure
  • phase information Time of Arrival
  • TOA Time of Arrival
  • RTT Time Difference of Arrival
  • PDOA Phase Difference of Arrival
  • DOA and AOA refer to the same angle, and since they are the same concept, without
  • the solution in this application can be applied to angle measurement or positioning in LTE systems, 5th Generation (5G) NR systems and NR evolution systems, 6G systems and 6G evolution systems, as well as IEEE 802.11 systems (such as Wireless Fidelity (WiFi) systems), Bluetooth systems, LoRa systems, Zigbee systems, backscatter communication systems, low-power IoT systems, Ambient IoT, and other systems.
  • 5G 5th Generation
  • NR evolution systems 6G systems and 6G evolution systems
  • IEEE 802.11 systems such as Wireless Fidelity (WiFi) systems
  • Bluetooth systems such as Wireless Fidelity (WiFi) systems
  • LoRa systems such as Zigbee systems
  • backscatter communication systems low-power IoT systems
  • Ambient IoT and other systems.
  • Figure 2 is a flowchart of a positioning method provided in an embodiment of this application. The method is executed by a first device. As shown in Figure 2, the method includes the following steps:
  • Step 21 The first device sends a first signal to the second device during the movement
  • Step 22 During the movement, the first device receives a second signal sent by the second device, the second signal being a periodic signal generated based on the first signal;
  • Step 23 The first device obtains a first measurement value of the second signal and a second measurement value of the inertial measurement unit in the first device, wherein the second measurement value and the second signal are correlated;
  • Step 24 The first device estimates the DOA or AOD between the first device and the second device based on the first measurement value and the second measurement value, and/or estimates the location information of the second device.
  • the first device is a mobile device with angle measurement/positioning capabilities, which may include, but is not limited to, smartphones, tablets, laptops, smartwatches, smart bracelets, smart headphones, augmented reality (AR) devices, virtual reality (VR) devices, extended reality (XR) devices, mixed reality (MR) devices, robots, etc. It may also include mobile repeaters, relay devices, WiFi nodes, Zigbee nodes, LoRa nodes, Bluetooth nodes, etc.
  • AR augmented reality
  • VR virtual reality
  • XR extended reality
  • MR mixed reality
  • robots etc. It may also include mobile repeaters, relay devices, WiFi nodes, Zigbee nodes, LoRa nodes, Bluetooth nodes, etc.
  • the second device is the device to be located, and may include, but is not limited to, RFID tags, Third Generation Partnership Project (3GPP) AIoT tags, WiFi/Zigbee/LoRa/Bluetooth tags, or other low-power devices.
  • the second device may be a passive tag or a semi-active tag.
  • the Inertial Measurement Unit is specifically a collection of sensors used to accurately measure and detect key information of a device, such as acceleration, angular velocity, and orientation.
  • an IMU may include three single-axis accelerometers, a single-axis gyroscope, and a magnetometer.
  • the accelerometers detect the acceleration signals of the device along the three independent axes of the carrier coordinate system, while the gyroscope detects the angular velocity signals of the device relative to the navigation coordinate system.
  • the IMU outputs information such as the coordinate changes and velocity of the device relative to its initial position.
  • a first device can send a first signal to a second device during movement and receive a second signal sent by the second device during movement.
  • the second signal is a periodic signal generated based on the first signal.
  • a first measurement value of the second signal and a second measurement value of the inertial measurement unit in the first device are obtained.
  • the second measurement value and the second signal are correlated.
  • the DOA or AOD between the first and second devices is estimated, and/or the position information of the second device is estimated. Therefore, a virtual antenna array can be constructed by moving the first device, and angle measurement and positioning of the second device (such as a tag device) can be achieved, thereby improving the positioning accuracy and positioning stability under conditions of few antennas and poor synchronization performance.
  • the movement trajectory of the first device may include at least one of the following:
  • the first signal may satisfy at least one of the following:
  • the first signal is a periodic synchronization signal, such as a primary synchronization signal (PSS), a secondary synchronization signal (SSS), a preamble signal, etc.
  • PSS primary synchronization signal
  • SSS secondary synchronization signal
  • preamble signal a preamble signal
  • the first signal is a periodic reference signal used for positioning or angle measurement, such as a positioning reference signal (PRS).
  • PRS positioning reference signal
  • the first signal is a periodic measurement reference signal with a known sequence, such as a Channel State Information Reference Signal (CSI-RS), a Sounding Reference Signal (SRS), a Phase-Tracking Reference Signal (PTRS), a Dedicated Demodulation Reference Signal (DM-RS), a Preamble signal, etc.
  • CSI-RS Channel State Information Reference Signal
  • SRS Sounding Reference Signal
  • PTRS Phase-Tracking Reference Signal
  • DM-RS Dedicated Demodulation Reference Signal
  • Preamble signal a known sequence
  • the first signal is a periodic data signal for which the modulation information or input bits are known, i.e., the first signal is a modulation signal;
  • the first signal is a carrier signal, such as a sine signal, a cosine signal, a chirp signal, etc.
  • the period of the first signal and the period of the second signal can be the same or different.
  • a threshold parameter ⁇ can be configured in the system, such that the period T1 of the first signal and the period T2 of the second signal satisfy:
  • the second signal when the first signal is a periodic signal, the second signal may be obtained by backscattering the first signal according to a fixed reflection coefficient.
  • the first signal when the first signal is a carrier signal, the second signal may be obtained by backscattering the first signal according to configuration or indication information.
  • the correlation between the second measured value and the second signal can be: the measurement time of the first measured value of the second signal is the same as the measurement time of the second measured value, or the measurement time of the first measured value of the second signal and the measurement time of the second measured value are within the same time window.
  • the size of this time window can be specified by the system or protocol. This ensures that the measurement times of the first and second measured values are the same or close, thereby improving the accuracy of the estimated DOA or AOD and/or the location information of the second device between the first and second devices.
  • the first measured value of the second signal may include, but is not limited to, at least one of the following:
  • the reference signal strength (RSS) of the second signal is the reference signal strength (RSS) of the second signal
  • the received signal strength indicator (RSSI) of the second signal The received signal strength indicator (RSSI) of the second signal
  • Statistical values obtained from multiple measurements of the second signal may be, for example, the maximum value, average value, minimum value, weighted value, etc.
  • the first measurement values of k second signals can be obtained using k (k ⁇ 1) antennas of the first device, or statistical values of the measurement values of the k second signals can be obtained, such as the maximum value, average value, etc.
  • the second measurement value obtained based on the inertial measurement unit (IMU) may include at least one of the following:
  • Acceleration information such as the acceleration information output by the accelerometer in the inertial measurement unit during the movement time T 2 , where T 2 is equal to one cycle time of the second signal;
  • Angular velocity information such as the angular velocity information output by the gyroscope in the inertial measurement unit during the movement time T 2 , where T 2 is equal to one cycle time of the second signal;
  • Orientation information such as the orientation information output by the gyroscope in the inertial measurement unit within the movement time T 2 , where T 2 is equal to one cycle time of the second signal;
  • Magnetic induction information such as the magnetic induction intensity output by the magnetometer in the inertial measurement unit during the movement time T 2 , where T 2 is equal to one cycle time of the second signal;
  • Yaw angle information such as the yaw angle information output by the magnetometer in the inertial measurement unit within the movement time T 2 , where T 2 is equal to one cycle time of the second signal;
  • Location information such as the relative location information of the first device within a preset time window or within one cycle time T2 of the second signal;
  • the statistical values of multiple measurements of the inertial measurement unit such as the maximum value, average value, minimum value, weighted value, earliest measurement value, latest measurement value, etc.
  • the first device may obtain initial measurements from the IMU before moving, for use during subsequent calibration.
  • first and second measurement values can be obtained.
  • the first measurement value obtained from the second signal and the second measurement value from the inertial measurement unit in the first device can include any of the following:
  • the first device obtains m first measurement values within m cycles of the second signal and m second measurement values of the inertial measurement unit within the m cycles, where m ⁇ 2; that is, a single antenna can be used to obtain m first measurement values and m second measurement values within m cycles of the second signal, and the first measurement value of the second signal within the m-th cycle is associated with the second measurement value of the IMU within the m-th cycle;
  • the first device obtains the first measurement values of k second signals obtained from k antennas in each of the m cycles of the second signal, and the m second measurement values of the inertial measurement unit in the m cycles, where m ⁇ 2 and k ⁇ 2; that is, it can use k antennas to obtain m first measurement values and m second measurement values in the m cycles of the second signal respectively, and the first measurement values of the k second signals are the measurement values in the same signal cycle, and the first measurement value of the second signal in the m-th cycle is associated with the second measurement value of the IMU in the m-th cycle.
  • m can satisfy at least one of the following:
  • the duration of the m cycles is less than or equal to the time threshold T thr , i.e. mT 2 ⁇ T thr , where the time threshold T thr can be a pre-configured or protocol-agreed time parameter; or, the duration of the m cycles is less than or equal to the working duration allowed by the inertial measurement unit within the error range.
  • the error value of the DOA or AOD estimated based on the first and second measurement values within the m periods is less than or equal to a first error threshold, which can be a pre-configured or protocol-agreed parameter; or, the confidence level of the DOA or AOD estimated based on the first and second measurement values within the m periods is greater than or equal to a first confidence level threshold, which can be a pre-configured or protocol-agreed parameter.
  • the m is less than or equal to the maximum number of measurements Mmax allowed for one DOA or AOD measurement, and the maximum number of measurements Mmax can be a pre-configured or protocol-defined parameter;
  • the number of measurements m is less than or equal to the maximum number of measurements allowed within the DOA or AOD error range of the inertial measurement unit.
  • various methods can be used to estimate the DOA or AOD between the first device and the second device.
  • the process of estimating DOA or AOD in step 24 above may include:
  • the first device estimates the DOA or AOD between the first device and the second device using a DOA or AOD estimation algorithm based on the first measurement value and the second measurement value; wherein, the DOA or AOD estimation algorithm may include at least one of the following:
  • Beamforming algorithm for example, the specific estimation process based on this beamforming algorithm can be found in the following Example 4;
  • MUSCI Multiple Signal Classification
  • the Beamforming algorithm, MUSCI algorithm, ESPRIT algorithm and unitary ESPRIT algorithm are not specifically limited in the embodiments of this application, and can be referred to the existing algorithm content.
  • the location information of the second device can be estimated using multiple DOAs or AODs.
  • the process of estimating the location information of the second device in step 24 above may include:
  • the first device estimates n DOAs or AODs between the first device and the second device based on the first measurement value and the second measurement value, such as m first measurement values and m second measurement values during the movement process, where n ⁇ 2;
  • the first device estimates the location information of the second device based on the n DOAs or AODs. For example, after obtaining the n DOAs or AODs, an existing positioning algorithm can be used to estimate the location information of the second device.
  • This positioning algorithm may include, but is not limited to, multi-angle positioning algorithms such as AOA and AOD.
  • the position information of the second device may be the phase position information between the first device and the second device, including relative distance and relative angle, or it may be the absolute position information of the second device.
  • n DOAs may satisfy, but are not limited to, at least one of the following:
  • intervals between the n DOAs are the same or different, or the intervals between the n AODs are the same or different;
  • the number of periods of the second signal corresponding to the n DOAs may be the same or different, or the number of periods of the second signal corresponding to the n AODs may be the same or different; for example, when the number of periods of the second signal corresponding to the n DOAs or AODs is different, the corresponding number of periods may be M1 , M2 , ..., Mn .
  • n DOAs are obtained under the same or different motion trajectories of the first device, or the n AODs are obtained under the same or different motion trajectories of the first device; that is, the n DOAs or AODs can be obtained based on the same motion trajectory or based on different motion trajectories;
  • n DOAs are obtained using measurements from inertial measurement units based on the same or different initial velocities and orientation angles, or the n AODs are obtained using measurements from inertial measurement units based on the same or different initial velocities and orientation angles; that is, the n DOAs or AODs can be obtained using IMU measurements based on the same initial velocities and orientation angles, or they can be obtained using IMU measurements based on different initial velocities and orientation angles.
  • n DOAs are obtained based on the same or different reference signals (such as the same or different first signals), or the n AODs are obtained based on the same or different reference signals;
  • n DOAs are obtained based on the same or different frequency domain resources, or the n AODs are obtained based on the same or different frequency domain resources; for example, the frequency domain resources for transmitting and receiving the first signal/second signal can be the same or different.
  • the n is less than or equal to the maximum number of DOAs allowed by the location measurement, or the n is less than or equal to the maximum number of DOAs or AODs allowed by the location measurement; the maximum number can be a pre-configured or protocol-agreed parameter;
  • the error of the location information estimated based on the n DOAs is less than or equal to a second error threshold, which can be a pre-configured or protocol-agreed parameter; or, the confidence level of the location information estimated based on the n DOAs is greater than or equal to a second confidence threshold, which can be a pre-configured or protocol-agreed parameter.
  • the error of the location information estimated based on the n AODs is less than or equal to a third error threshold, which can be a pre-configured or protocol-agreed parameter; or, the confidence level of the location information estimated based on the n AODs is greater than or equal to a third confidence threshold, which can be a pre-configured or protocol-agreed parameter.
  • sending the first signal to the second device during movement may include:
  • the first device sends a first signal to the second device during movement based on the first information; wherein the first information may be network configuration or indication information, and the first information may include, but is not limited to, at least one of the following:
  • Baseband signal parameters of the first signal such as including but not limited to modulation method, coding method, reference signal generation sequence, etc.
  • the waveform of the first signal such as a pseudo-random signal, an orthogonal frequency division multiplexing (OFDM) signal, a chirp spread spectrum (CSS) signal, a sine signal, a cosine signal, etc.
  • OFDM orthogonal frequency division multiplexing
  • CSS chirp spread spectrum
  • the time-domain resource information of the first signal such as including but not limited to the signal length of the first signal and the corresponding frame, subframe, time slot, symbol, etc.;
  • Frequency domain resource information of the first signal such as including but not limited to frequency, bandwidth, subcarrier spacing (SCS), radio bearer (RB), resource block group (RBG), and bandwidth part (BWP).
  • SCS subcarrier spacing
  • RB radio bearer
  • RBG resource block group
  • BWP bandwidth part
  • Spatial resource information of the first signal such as including but not limited to information on antenna, codeword, layer, antenna port, etc.;
  • Polarization resource information of the first signal such as including but not limited to vertical line polarization, horizontal line polarization, left-hand circular polarization, right-hand circular polarization, etc.
  • the first device receives capability information reported by the second device; wherein the capability information is capability information related to generating/transmitting a second signal, and the capability information may include at least one of the following:
  • the modulation order supported by the second device is the modulation order supported by the second device
  • the modulation rate supported by the second device is the modulation rate supported by the second device
  • the second device supports the following operating frequencies
  • Amplifier information for the second device is Amplifier information for the second device.
  • the first device can determine how the second device generates the second signal. For example, if the backscatter modulation method supported by the second device or the measurement signal does not meet the parameter requirements of the second signal, then the first signal sent by the first device may be a periodic signal, and the second signal may simply be a reflection of the first signal; or, if the second device supports modulation, then the first signal may be a carrier signal, and the second signal may be a backscatter modulation signal or a positioning measurement signal.
  • the above positioning method may further include:
  • the first device receives device information reported by the second device; this device information may include, for example, Electronic Product Code (EPC), Tag Identifier (TID), and Device Identifier ID.
  • EPC Electronic Product Code
  • TID Tag Identifier
  • ID Device Identifier ID
  • the first device establishes an association between itself and the second device based on the device information.
  • the second device After establishing the association between the first and second devices, the second device can respond to the first device in a timely manner, thereby enabling the location of the second device.
  • the first device can obtain the EPC code, TID code, device ID, etc. of the second device through an inventory process or registration process.
  • the above positioning method may further include:
  • the first device sends configuration information to the second device; wherein the configuration information is used to configure at least one of the following for the second device: Radio Network Temporary Identity (RNTI), preamble sequence, synchronization sequence, signal parameters of the first signal, and signal parameters of the second signal.
  • RNTI Radio Network Temporary Identity
  • the RNTI, preamble sequence, and/or synchronization sequence can be used for scrambling or correlation when the second device transmits the second signal.
  • the signal parameters of the first/second signal can be used by the second device when transmitting and receiving signals.
  • Figure 3 is a flowchart of a positioning method provided in an embodiment of this application. The method is executed by a second device. As shown in Figure 3, the method includes the following steps:
  • Step 31 The second device receives the first signal sent by the first device during its movement
  • Step 32 The second device generates a second signal based on the first signal, wherein the second signal is a periodic signal;
  • Step 33 The second device sends a second signal to the first device during the movement, the second signal being used for at least one of the following: estimating the DOA or AOD between the first device and the second device, or estimating the location information of the second device.
  • the first device is a mobile device with angle measurement/positioning capabilities, which may include, but is not limited to, smartphones, tablets, laptops, smartwatches, smart bracelets, smart headphones, AR devices, VR devices, XR devices, MR devices, robots, etc. It may also include mobile repeaters, relay devices, WiFi nodes, Zigbee nodes, LoRa nodes, Bluetooth nodes, etc.
  • the second device is the device to be located, which may include, but is not limited to, RFID tags, 3GPP AIoT tags, WiFi/Zigbee/LoRa/Bluetooth tags, or other low-power devices.
  • the second device may be a passive tag or a semi-active tag.
  • the solution in this application embodiment can construct a virtual antenna array by moving the first device, and thereby realize angle measurement and positioning of the second device (such as a tag device), thereby improving the positioning accuracy and positioning stability under conditions of few antennas and poor synchronization performance.
  • the movement trajectory of the first device may include at least one of the following:
  • the first signal may satisfy at least one of the following:
  • the first signal is a periodic synchronization signal, such as PSS, SSS, Preamble signal, etc.;
  • the first signal is a periodic reference signal used for positioning or angle measurement, such as PRS;
  • the first signal is a periodic measurement reference signal with a known sequence, such as CSI-RS, SRS, PTRS, DM-RS, Preamble signal, etc.
  • the first signal is a periodic data signal for which the modulation information or input bits are known, i.e., the first signal is a modulation signal;
  • the first signal is a carrier signal, such as a sine signal, a cosine signal, a chirp signal, etc.
  • the period of the first signal and the period of the second signal can be the same or different.
  • a threshold parameter ⁇ can be configured in the system, such that the period T1 of the first signal and the period T2 of the second signal satisfy:
  • the second signal when the first signal is a periodic signal, can be obtained by backscattering the first signal according to a fixed reflection coefficient. That is, the process of generating the second signal described above can include: when the first signal is a periodic signal, the second device backscatters the first signal according to the reflection coefficient to obtain the second signal.
  • the second signal when the first signal is a carrier signal, the second signal may be obtained by backscattering modulation of the first signal according to configuration or indication information. That is, the process of generating the second signal described above may include: when the first signal is a carrier signal, the second device performs backscattering modulation on the first signal according to configuration or indication information to obtain the second signal.
  • a second signal can be generated based on configuration or instruction information.
  • the methods for generating the second signal may include:
  • the second device generates a second signal based on the second information and the first signal; wherein the second information may include at least one of the following:
  • the reflection coefficient of the second device for example, when the first signal is a periodic signal, the second signal can be generated based on this reflection coefficient;
  • the signal period of the second signal is T2 ;
  • the baseband signal parameters of the second signal include, but are not limited to, modulation method, coding method, and reference signal generation sequence;
  • the waveform of the second signal is, for example, a pseudo-random signal, an OFDM signal, a CSS signal, a sine signal, a cosine signal, etc.
  • the second information is configured or indicated by the first device, or the second information is pre-configured by the network, pre-configured by the system, or agreed upon by the protocol.
  • sending a second signal to the first device during movement may include:
  • the second device sends a second signal to the first device during its movement based on third information; wherein the third information may include, but is not limited to, at least one of the following:
  • the time-domain resource information of the second signal such as including but not limited to the signal length of the second signal and the corresponding frame, subframe, time slot, symbol, etc.;
  • the frequency domain resource information of the second signal includes, but is not limited to, information such as frequency, bandwidth, subcarrier spacing (SCS), radio bearer (RB), resource block group (RBG), and bandwidth portion (BWP).
  • SCS subcarrier spacing
  • RB radio bearer
  • RBG resource block group
  • BWP bandwidth portion
  • the second signal's spatial resource information such as, but not limited to, information about antennas, codewords, layers, and antenna ports;
  • the polarization resource information of the second signal includes, but is not limited to, vertical linear polarization, horizontal linear polarization, left-hand circular polarization, and right-hand circular polarization.
  • the third information is configured or indicated by the first device, or the third information is pre-configured by the network, pre-configured by the system, or agreed upon by the protocol.
  • the positioning method in the embodiments of this application may further include:
  • the second device sends capability information to the first device; wherein the capability information is capability information related to generating/transmitting a second signal, and the capability information may include at least one of the following:
  • the modulation order supported by the second device is the modulation order supported by the second device
  • the modulation rate supported by the second device is the modulation rate supported by the second device
  • the second device supports the following operating frequencies
  • Amplifier information for the second device is Amplifier information for the second device.
  • the first device can determine how the second device generates the second signal. For example, if the backscatter modulation method supported by the second device or the measurement signal does not meet the parameter requirements of the second signal, then the first signal transmitted by the first device may be a periodic signal, and the second signal may simply be a reflection of the first signal; or, if the second device supports modulation, then the first signal may be a carrier signal, and the second signal may be a backscatter modulation signal or a positioning measurement signal.
  • the second device can send device information to the first device, such as the Electronic Product Code (EPC), Tag Identification Number (TID), or Device ID, so that the first device can establish a relationship between the first device and the second device based on the device information, thereby enabling the second device to respond to the first device in a timely manner.
  • EPC Electronic Product Code
  • TID Tag Identification Number
  • Device ID Device ID
  • the second device may send its EPC code, TID code, device ID, etc. to the first device through an inventory process or registration process.
  • the second device can receive configuration information sent by the first device; the configuration information is used to configure at least one of the following for the second device: RNTI, preamble sequence, synchronization sequence, signal parameters of the first signal, and signal parameters of the second signal, etc.
  • the RNTI, preamble sequence, and/or synchronization sequence can be used for scrambling or association when the second device sends the second signal.
  • the signal parameters of the first/second signal can be used by the second device when transmitting and receiving signals.
  • the interaction process between the first device (such as a mobile device) and the second device (such as a tag device) may include:
  • Step 41 Optionally, the first device and the second device perform processes such as association, inventory, registration, and capability interaction;
  • Step 42 Optionally, the first device sends indication information to the second device to indicate the signal parameters of the first signal or the second signal;
  • Step 43 The first device records the initial orientation, position, angular velocity information of the IMU, etc., and moves according to a certain trajectory/velocity/acceleration, and sends a first signal to the second device during the movement; the specific content of the first signal can be referred to the above embodiments, and will not be repeated here;
  • Step 44 The second device receives the first signal and generates a second signal based on the obtained first signal; the specific content of the second signal can be found in the above embodiments, and will not be repeated here;
  • Step 45 The second device sends a periodic second signal to the first device during the movement
  • Step 46 The first device receives the second signal and, based on the obtained second signal and associated IMU information, estimates the DOA, AOD, and/or the location information of the second device between the first device and the second device.
  • the specific estimation method can be found in the above embodiments and will not be repeated here.
  • the estimation process of DOA by the first device based on the second signal and the position information output by the IMU is given.
  • the motion trajectory of the first device (such as the first motion trajectory) is a non-linear trajectory or a non-uniform motion trajectory.
  • the following explanation is based on the example of the first device (such as a mobile device) being configured with only a single antenna and moving along a non-linear trajectory.
  • the first device generates and sends the first signal s(t).
  • the first signal may be a synchronization signal, a reference signal, or a data signal with known modulation information/input bits, with a period of T 1 ; the first signal may also be a carrier signal specifically used for backscatter modulation.
  • the second device receives the first signal and generates the second signal based on the first signal, including the following situations:
  • the second device can perform backscattering according to a fixed reflection coefficient to generate a second signal y(t) with a period of T2 , where
  • ⁇ ⁇ , and ⁇ is a threshold parameter configured by the system, i.e.: y(t) h(t) ⁇ s(t)+w 1 (n)
  • h is the channel coefficient or channel response between the first device and the second device
  • ⁇ is the reflection coefficient
  • w1 (n) is the signal noise at the second device end.
  • b(t) is the backscatter modulation signal of the second device, or the reference signal generated according to the system configuration.
  • the second device sends the generated periodic second signal with a time interval of T2 to the first device, and the first device receives the second signal.
  • w2 (n) represents the partial signal noise of the first device.
  • w(n) is the received noise of the first device
  • the baseband signal of the received second signal can be expressed as:
  • r[m,n] represents the nth baseband sample value of the mth (1 ⁇ m ⁇ M)th signal period
  • g[m,n] is the cascaded channel response
  • s[n] represents the baseband signal of the first signal in the mth (1 ⁇ m ⁇ M)th signal period
  • ⁇ 0 is the initial phase of the received signal in the first signal period (including phase deviation and cumulative frequency offset) and remains unchanged throughout all signal periods measured by DOA
  • f0 is the frequency offset between the first and second devices (limited by the hardware capabilities of the second device, the oscillator of the second device has inaccurate and unstable frequency) and remains unchanged throughout all signal periods measured by DOA
  • tm represents the time elapsed between the second signal in the first signal period and the second signal in the mth signal period received by the receiver
  • Ts represents the sampling time at the first device
  • w(m,n) is Gaussian white noise.
  • ⁇ represents the amplitude of the channel
  • ⁇ [m] represents the azimuth angle between the first device and the second device when the first device receives the second signal in the m-th signal period, and can be considered the same within the M signal periods for estimating DOA;
  • (x[m], y[m]) are the planar position coordinates of the x-axis and y-axis output by the IMU sensor associated with the second signal, that is, the position coordinates of the x-axis and y-axis output by the IMU sensor at the same time or within the time window as when the second signal in the m-th signal period is received, at which time:
  • the first device receives the second signal for M signal cycles and estimates the DOA.
  • Option 1 First estimate the frequency offset and compensate for it, then estimate the DOA.
  • the first device before executing the first trajectory movement, the first device remains stationary for a period of time, for example, the stationary time can be K (K ⁇ 1) signal cycles. Since the first device is stationary during this time, the only factor causing the phase change of the second signal received by the first device is the frequency offset, so the first device can easily estimate the frequency offset f ⁇ sub>0 ⁇ /sub> . Afterwards, the first device moves along the first trajectory and compensates for the frequency offset of the received second signal.
  • the DOA angle can be estimated based on algorithms such as Beamforming, MUSIC, ESPRIT, and ESPRIT.
  • the second signal after frequency offset compensation It can be written as a stacked column vector of M periodic signals, for example, as follows:
  • p[n] is a constant in all virtual antenna arrays, expressed as:
  • the covariance matrix is Its dimension is M ⁇ M, represented as:
  • the DOA angle ⁇ can be estimated:
  • the advantage of the above scheme 1 is that the calculation of DOA angle is relatively simple, but it is necessary to ensure that the first device is stationary for a period of time before executing the first motion trajectory, and to ensure that the frequency offset remains unchanged during the stationary phase and the first motion trajectory phase.
  • Option 2 Jointly estimate frequency shift and DOA.
  • the first device can simultaneously estimate the frequency offset and the DOA angle during the execution of the first trajectory motion. Similar to the first scheme, this scheme can also estimate the DOA angle based on algorithms such as Beamforming, MUSIC, ESPRIT, and unitary ESPRIT. The following explanation uses the MUSIC algorithm as an example.
  • p[n] is a constant in all virtual antenna arrays, expressed as:
  • w[n] is a signal-noise vector of dimension M ⁇ 1, and its covariance matrix is... w[n] can be represented as:
  • R the covariance matrix of the second signal r[m,n], with dimensions M ⁇ M, which can be expressed as:
  • the DOA angle ⁇ can be estimated:
  • This scheme 2 does not require the first device to be in a stationary state to estimate the frequency offset first, and then estimate the DOA after the frequency offset is compensated. Instead, the frequency offset and DOA can be estimated when the first trajectory is moving, so the time for DOA estimation is less.
  • the first device in this second embodiment estimates the DOA based on the first measurement value of the second signal and the location information of the IMU associated with the second signal, and the first device is a single-antenna configuration with a non-linear trajectory. Furthermore, the above only provides two design examples for DOA estimation, but the scheme in this application is not limited to the above two DOA estimation algorithms, and will not be elaborated further.
  • the first device can estimate the DOA based on the first measurement value of the second signal and the acceleration information of the IMU associated with the second signal, and the first device is a single-antenna configuration. Without loss of generality, the DOA estimation process is briefly described below using the MUCIS algorithm for jointly estimating frequency offset and DOA as an example.
  • ⁇ x ,y (t), vx,y (t), and a(t) represent the relative position, velocity, and acceleration of the first device moving along the first trajectory in the planar coordinate system at time t, respectively.
  • ⁇ ⁇ sub>x,y ⁇ /sub> (t ⁇ sub> 0 ⁇ /sub> ), v ⁇ sub>x,y ⁇ /sub> (t ⁇ sub> 0 ⁇ /sub>), and a(t ⁇ sub> 0 ⁇ /sub> ) represent the initial position, velocity, and acceleration of the first device when it receives the second signal during the first signal cycle.
  • the phase change caused by the second signal during the interval between two consecutive signal cycles (i.e., the time interval is T ⁇ sub> 2 ⁇ /sub> ) can be expressed as:
  • ⁇ (t) represents the angular velocity caused by the frequency shift and remains constant in a single DOA estimation
  • ⁇ (t) represents the total phase resulting from the frequency shift, motion, and time accumulation
  • v ⁇ sub> x ⁇ /sub> (t) and v ⁇ sub>y ⁇ /sub> (t) represent the velocities along the x-axis and y-axis, respectively.
  • the second term The frequency shift and DOA can be estimated by combining the estimation in the above embodiment 2. That is, the phase change caused by the average rate is considered as part of the frequency shift for estimation. In this way, the third term is only related to the components of angle ⁇ and acceleration a(t).
  • the DOA can be estimated using steps similar to those in Example 2 above, including:
  • the first device generates and sends the first signal s(t).
  • the second device receives the first signal and generates the second signal based on the first signal. Only case 2(a) is used as an example.
  • the second device sends the generated periodic second signal with a time interval of T2 to the first device, and the first device receives the second signal.
  • the baseband signal of the received signal of the first device in the m-th signal period can be expressed as:
  • v ⁇ sub>x ⁇ /sub> [m] and v ⁇ sub>y ⁇ /sub> [m] represent the velocities along the x-axis and y-axis when the second signal of the m-th signal period is received, and a[m] represents the acceleration along the x-axis and y-axis when the second signal of the m-th signal period is received.
  • the first device receives the second signal for M signal cycles and estimates the DOA.
  • the signal phase is affected by both the frequency shift and the acceleration corresponding to the motion trajectory of the first device.
  • the following explanation uses the MUSIC algorithm as an example.
  • steering vector a3 ( ⁇ , f0 ) can also be written in another steering vector form, namely:
  • the frequency at this time It does not refer to the actual frequency offset f0 between the two devices, but includes the frequency offset caused by the angular velocity during the motion.
  • p[n] is a constant in all virtual antenna arrays, expressed as:
  • w[n] is a signal-noise vector of dimension M ⁇ 1, and its covariance matrix is... w[n] can be represented as:
  • R the covariance matrix of the second signal r[m,n] is defined as R, with dimension M ⁇ M, then R can be expressed as:
  • the DOA angle ⁇ can be estimated:
  • the frequency estimated by this algorithm It does not refer to the actual frequency offset f0 between the two devices, but includes the frequency offset caused by the angular velocity during the motion.
  • the first device estimates the DOA based on a first measurement of the second signal and the acceleration information of the IMU associated with the second signal.
  • the first device is configured with a single antenna, and the first motion trajectory is either non-linear or linear but with a non-constant acceleration.
  • Embodiments 2 and 3 above illustrate the process of estimating DOA using a single antenna on the first device.
  • Embodiment 4 uses a dual-antenna configuration on the first device as an example to illustrate the process of estimating DOA based on the scheme described in this application.
  • the following explanation uses joint frequency offset and DOA estimation, as well as DOA estimation based on the Beamforming algorithm, as examples.
  • the same scheme can be extended to the MUSIC algorithm, ESPRIT algorithm, unitary ESPRIT algorithm, etc.
  • the process of estimating DOA may include...
  • the first device generates and sends the first signal s(t).
  • the second device receives the first signal and generates the second signal based on the first signal. Only case 2(a) is used as an example.
  • the second device sends the generated periodic second signal with a time interval of T2 to the first device, and the first device receives the second signal through dual antennas.
  • the baseband signals of the second signal received by antennas 1 and 2 of the first device are respectively represented as follows:
  • r1 [m,n] and r2 [m,n] represent the nth baseband sample value of antenna 1 and antenna 2 in the mth (1 ⁇ m ⁇ M)th signal period, respectively;
  • g1 [m,n] and g2 [m,n] are the cascaded channel responses between antenna 1 and antenna 2 and the second device, respectively;
  • s[n] represents the first baseband signal in the mth (1 ⁇ m ⁇ M)th signal period.
  • f ⁇ sub>0 ⁇ /sub> is the frequency offset between the first and second devices (due to the hardware limitations of the second device, the oscillator of the second device has inaccurate and unstable frequencies) and remains constant throughout all signal periods measured by DOA
  • t ⁇ sub>m ⁇ /sub> represents the time elapsed between the first device receiving the second signal in the first signal period and the second signal in the m-th signal period
  • T ⁇ sub>s ⁇ /sub> represents the sampling time at the first device end
  • w ⁇ sub> 1 ⁇ /sub> (m,n) and w ⁇ sub>2 ⁇ /sub> (m,n) are the Gaussian white noise of the signals received on antenna 1 and antenna 2, respectively.
  • the cascaded channels of antennas 1 and 2 of the first device and the second device in the m-th signal period can be represented as follows:
  • ⁇ 1 and ⁇ 2 represent the amplitudes of the cascaded channels of antenna 1 and antenna 2 with the second device, respectively. Represents the wave vector. and Let represent the relative values of the m-th virtual antenna coordinates to the initial coordinates when the second signal of the m-th signal period is received on antennas 1 and 2, respectively. This leads to the following:
  • the first device receives the second signal for M signal cycles and estimates the DOA.
  • the second signal r[m,n] received by the first device at antenna 1 and antenna 2 can be written as a stacked column vector of 2M periodic signals, as follows:
  • p[n] is a constant in all virtual antenna arrays, expressed as:
  • W_dual [n] is a signal-noise vector with dimension 2M ⁇ 1, and its covariance matrix is...
  • W dual [n] can be represented as:
  • R_dual the covariance matrix of r_dual [n] is defined as R_dual , with dimensions 2M ⁇ 2M, and is expressed as:
  • the angle DOA and frequency shift f0 can be estimated, i.e.:
  • the advantage of the scheme in this embodiment four is that the number of measurable quantities from the dual antennas increases, thus allowing for a more accurate DOA estimate. Furthermore, DOA estimation based on dual antennas is applicable to arbitrary frequency offset models and motion trajectories, thus having a wider range of applicability than that based on a single antenna.
  • this embodiment five mainly describes how to estimate the position information of the second device based on n (n ⁇ 2) DOA angles, including the relative position between the first and second devices and/or the absolute position of the second device.
  • the specific process includes:
  • the DOA between the first device and the second device is measured based on the second signal with multiple signal cycles, that is, the DOA of the first device is measured;
  • the first device executes a positioning algorithm based on n (n ⁇ 2) DOAs of the first device to obtain the location information of the second device;
  • the positioning algorithm may include, but is not limited to, AOA, AOD and other multi-angle positioning algorithms.
  • the location information of the second device includes the relative position between the first device and the second device, which is the relative position of the first device and the second device when the first device last received the second signal.
  • the location information of the second device includes the absolute position of the second device; in this case, the first device can calculate the absolute position of the second device based on its own absolute position and the measured phase position between itself and the second device.
  • the positioning method provided in this application can be executed by a positioning device.
  • This application uses a positioning device executing the positioning method as an example to illustrate the positioning device provided in this application.
  • the positioning device can be a communication device or a component within a communication device, such as a chip.
  • the positioning device includes a receiving module, a transmitting module, and a processing module.
  • the receiving module, transmitting module, and processing module can be implemented in software or hardware.
  • the processing module can be implemented by a processor.
  • the processor can include a general-purpose processor, a special-purpose processor, such as a Central Processing Unit (CPU), a microprocessor, a Digital Signal Processor (DSP), an Artificial Intelligence (AI) processor, a Graphics Processing Unit (GPU), an Application Specific Integrated Circuit (ASIC), a Network Processor (NP), a Field Programmable Gate Array (FPGA), or other programmable logic devices, gate circuits, transistors, discrete hardware components, etc.
  • the receiving module and the transmitting module can be implemented by a communication interface, which can include one or more of the following: a transceiver, pins, circuits, a bus, and a radio frequency unit.
  • the positioning device 70 when the positioning device is the first device or a component of the first device, the positioning device 70 includes:
  • the first transmitting module 71 is used to transmit a first signal to the second device during the movement of the first device;
  • the first receiving module 72 is configured to receive a second signal sent by the second device during the movement of the first device, wherein the second signal is a periodic signal generated based on the first signal;
  • the first processing module 73 is used to obtain a first measurement value of the second signal and a second measurement value of the inertial measurement unit in the first device, wherein the second measurement value and the second signal are correlated; and based on the first measurement value and the second measurement value, to estimate the DOA or AOD between the first device and the second device, and/or to estimate the position information of the second device.
  • the measurement time of the first measurement value is the same as the measurement time of the second measurement value, or the measurement time of the first measurement value and the measurement time of the second measurement value are within the same time window.
  • the first signal satisfies at least one of the following:
  • the first signal is a periodic synchronization signal
  • the first signal is a periodic reference signal used for positioning or angle measurement
  • the first signal is a periodic measurement reference signal with a known sequence
  • the first signal is a periodic data signal for which the modulation information or input bits are known.
  • the first signal is a carrier signal.
  • the first measured value of the second signal includes at least one of the following:
  • the reference signal strength RSS of the second signal is the reference signal strength RSS of the second signal
  • the received signal strength indicator (RSSI) of the second signal The received signal strength indicator (RSSI) of the second signal
  • the second measurement includes at least one of the following:
  • the first processing module 73 is specifically configured to perform any of the following:
  • m satisfies at least one of the following:
  • the duration of the m cycles is less than or equal to the time threshold, or the duration of the m cycles is less than or equal to the working duration allowed by the inertial measurement unit within the error range.
  • the error value of the DOA or AOD estimated based on the first and second measurements within the m periods is less than or equal to the first error threshold, or the confidence level of the DOA or AOD estimated based on the first and second measurements within the m periods is greater than or equal to the first confidence threshold.
  • the m is less than or equal to the maximum number of measurements allowed for a single DOA or AOD measurement
  • the number of measurements m is less than or equal to the maximum number of measurements allowed within the DOA or AOD error range of the inertial measurement unit.
  • the first processing module 73 is specifically configured to: estimate the DOA or AOD between the first device and the second device based on the first measurement value and the second measurement value using a DOA or AOD estimation algorithm;
  • the DOA or AOD estimation algorithm includes at least one of the following:
  • the first processing module 73 is specifically used to: estimate n DOAs or AODs between the first device and the second device based on the first measurement value and the second measurement value, where n ⁇ 2; and estimate the location information of the second device based on the n DOAs or AODs.
  • n DOAs or AODs satisfy at least one of the following:
  • the intervals between the n DOAs may be the same or different, or the intervals between the n AODs may be the same or different;
  • the number of periods of the second signal corresponding to the n DOAs may be the same or different; or, the number of periods of the second signal corresponding to the n AODs may be the same or different.
  • n DOAs are obtained under the same or different motion trajectories of the first device, or the n AODs are obtained under the same or different motion trajectories of the first device;
  • n DOAs are obtained using measurements from inertial measurement units based on the same or different initial velocities and orientation angles, or the n AODs are obtained using measurements from inertial measurement units based on the same or different initial velocities and orientation angles.
  • n DOAs are obtained based on the same or different reference signals, or the n AODs are obtained based on the same or different reference signals;
  • n DOAs are obtained based on the same or different frequency domain resources, or the n AODs are obtained based on the same or different frequency domain resources;
  • the n is less than or equal to the maximum number of DOAs allowed by the location measurement, or the n is less than or equal to the maximum number of DOAs or AODs allowed by the location measurement;
  • the error of the location information estimated based on the n DOAs is less than or equal to the second error threshold, or the confidence level of the location information estimated based on the n DOAs is greater than or equal to the second confidence threshold;
  • the error of the location information estimated based on the n AODs is less than or equal to the third error threshold, or the confidence level of the location information estimated based on the n AODs is greater than or equal to the third confidence threshold.
  • the movement trajectory of the first device includes at least one of the following:
  • the first transmitting module 71 is specifically configured to: transmit the first signal to the second device during movement according to first information; wherein the first information includes at least one of the following:
  • the baseband signal parameters of the first signal are the baseband signal parameters of the first signal
  • the spatial resource information of the first signal is the spatial resource information of the first signal
  • the positioning device 70 further includes:
  • the second receiving module is configured to receive capability information reported by the second device; wherein the capability information includes at least one of the following:
  • the modulation order supported by the second device is the modulation order supported by the second device
  • the modulation rate supported by the second device is the modulation rate supported by the second device
  • the second device supports the following operating frequencies
  • Amplifier information for the second device is Amplifier information for the second device.
  • the positioning device 70 further includes:
  • the third receiving module is used to receive device information reported by the second device
  • a module is established to establish an association between the first device and the second device based on the device information.
  • the positioning device 70 further includes:
  • the second sending module is used to send configuration information to the second device, wherein the configuration information is used to configure at least one of the following for the second device: a temporary wireless network identifier, a preamble sequence, a synchronization sequence, signal parameters of the first signal, and signal parameters of the second signal.
  • the positioning device 70 provided in this application embodiment can implement the various processes implemented in the method embodiment shown in FIG2 and achieve the same technical effect. To avoid repetition, it will not be described again here.
  • the positioning device 80 when the positioning device is a second device or a component of the second device, the positioning device 80 includes:
  • the fourth receiving module 81 is used to receive the first signal sent by the first device during movement
  • the second processing module 82 is used to generate a second signal based on the first signal, wherein the second signal is a periodic signal;
  • the third transmitting module 83 is used to transmit the second signal to the first device during the movement process.
  • the second signal is used for at least one of the following: estimating the DOA or AOD between the first device and the second device, and estimating the location information of the second device.
  • the first signal satisfies at least one of the following:
  • the first signal is a periodic synchronization signal
  • the first signal is a periodic data signal for which the modulation information or input bits are known.
  • the second processing module is specifically configured to perform any of the following:
  • the first signal is a carrier signal
  • the first signal is backscattered and modulated according to configuration or indication information to obtain the second signal.
  • the second processing module is specifically configured to generate the second signal based on the second information and the first signal; wherein the second information includes at least one of the following:
  • the baseband signal parameters of the second signal are the baseband signal parameters of the second signal.
  • the second information is configured or indicated by the first device, or the second information is pre-configured by the network, pre-configured by the system, or agreed upon by the protocol.
  • the polarization resource information of the second signal is the polarization resource information of the second signal.
  • the third information is configured or indicated by the first device, or the third information is pre-configured by the network, pre-configured by the system, or agreed upon by the protocol.
  • the positioning device 80 provided in this application embodiment can implement the various processes implemented in the method embodiment shown in FIG3 and achieve the same technical effect. To avoid repetition, it will not be described again here.
  • this application embodiment also provides a communication device 90, including a processor 91 and a memory 92.
  • the memory 92 stores programs or instructions that can run on the processor 91.
  • the program or instructions executed by the processor 91 implement the various steps of the positioning method embodiment shown in Figure 2 above, and achieve the same technical effect.
  • the program or instructions executed by the processor 91 implement the various steps of the positioning method embodiment shown in Figure 3 above, and achieve the same technical effect. To avoid repetition, further details are omitted here.
  • This application also provides a terminal, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the steps in the method embodiment shown in FIG2, and can achieve the same technical effect.
  • This terminal may be the positioning device shown in FIG7.
  • Figure 10 is a schematic diagram of the hardware structure of a terminal implementing an embodiment of this application.
  • the terminal 1000 includes, but is not limited to, at least some of the following components: radio frequency unit 1001, network module 1002, audio output unit 1003, input unit 1004, sensor 1005, display unit 1006, user input unit 1007, interface unit 1008, memory 1009, and processor 1010.
  • the terminal 1000 may also include a power supply (such as a battery) for powering various components.
  • the power supply can be logically connected to the processor 1010 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system.
  • the terminal structure shown in Figure 10 does not constitute a limitation on the terminal.
  • the terminal may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.
  • the input unit 1004 may include a graphics processor 10041 and a microphone 10042.
  • the graphics processor 10041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode.
  • the display unit 1006 may include a display panel 10061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like.
  • the user input unit 1007 includes a touch panel 10071 and at least one of other input devices 10072.
  • the touch panel 10071 is also called a touch screen.
  • the touch panel 10071 may include a touch detection device and a touch controller.
  • Other input devices 10072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, power buttons, etc.), trackballs, mice, and joysticks, which will not be described in detail here.
  • the radio frequency unit 1001 can transmit it to the processor 1010 for processing; in addition, the radio frequency unit 1001 can send uplink data to the network-side device.
  • the radio frequency unit 1001 includes, but is not limited to, antennas, amplifiers, transceivers, couplers, low-noise amplifiers, duplexers, etc.
  • the memory 1009 can be used to store software programs or instructions, as well as various data.
  • the memory 1009 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data.
  • the first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.).
  • the memory 1009 may include volatile memory or non-volatile memory.
  • the non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory.
  • Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM).
  • RAM random access memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • SDRAM synchronous dynamic random access memory
  • DDRSDRAM double data rate synchronous dynamic random access memory
  • ESDRAM enhanced synchronous dynamic random access memory
  • SLDRAM synchronous link dynamic random access memory
  • DRRAM direct memory bus RAM
  • the memory 1009 in this embodiment includes, but is not limited to, these and any other suitable types of memory.
  • the processor 1010 may include one or more processing units; optionally, the processor 1010 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into the processor 1010.
  • the radio frequency unit 1001 is used to send a first signal to the second device and receive a second signal sent by the second device during the movement of the terminal 1000.
  • the second signal is a periodic signal generated based on the first signal.
  • the processor 1010 is configured to obtain a first measurement value of the second signal and a second measurement value of the inertial measurement unit in the first device, wherein the second measurement value and the second signal are correlated; and based on the first measurement value and the second measurement value, to estimate the DOA or AOD between the first device and the second device, and/or to estimate the position information of the second device.
  • This application also provides a readable storage medium storing a program or instructions.
  • the program or instructions When the program or instructions are executed by a processor, they implement the various processes of the positioning method embodiments shown in FIG2 or FIG3 above and achieve the same technical effect. To avoid repetition, they will not be described again here.
  • the processor mentioned above is the processor in the terminal described in the above embodiments.
  • the readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.
  • ROM computer read-only memory
  • RAM random access memory
  • magnetic disk magnetic disk
  • optical disk optical disk
  • the readable storage medium may be a non-transient readable storage medium.
  • This application embodiment also provides a chip, which includes a processor and a communication interface.
  • the communication interface is coupled to the processor.
  • the processor is used to run programs or instructions to implement the various processes of the positioning method embodiments shown in FIG2 or FIG3 above, and can achieve the same technical effect. To avoid repetition, it will not be described again here.
  • chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.
  • This application also provides a computer program/program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the positioning method embodiments shown in FIG2 or FIG3 above, and can achieve the same technical effect. To avoid repetition, it will not be described again here.
  • This application also provides a communication system, including a first device and a second device, wherein the first device can be used to perform the steps of the positioning method as shown in FIG2 above, and the second device can be used to perform the steps of the positioning method as shown in FIG3 above.

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Abstract

本申请公开了一种定位方法、装置、通信设备及可读存储介质，属于通信技术领域，本申请实施例的定位方法包括：第一设备在移动过程中向第二设备发送第一信号；在移动过程中接收所述第二设备发送的第二信号，所述第二信号是根据所述第一信号生成的周期性信号；获得所述第二信号的第一测量值和所述第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系；根据所述第一测量值和所述第二测量值，估计所述第一设备与所述第二设备之间的波达方向DOA或出发角AOD，和/或，估计所述第二设备的位置信息。

Description

定位方法、装置、通信设备及可读存储介质
相关申请的交叉引用
本申请主张在2024年08月02日在中国提交的中国专利申请No.202411054321.X的优先权，其全部内容通过引用包含于此。
技术领域
本申请属于通信技术领域，具体涉及一种定位方法、装置、通信设备及可读存储介质。
背景技术
由于低功耗标签设备(比如包括无源标签、半无源标签等)具有成本低、无需电池供电、体积小等优点，因此物品查找、物流跟踪、宠物定位等场景都有标签的定位需求。基于反向散射的标签定位技术被认为是一项低成本、低功耗的解决方案。标签设备自身不需要生成载波，而是将自身的调制数据调制到第三方设备发射的射频载波上，从而实现低成本、低功耗、设备小型化的定位。但受限于标签设备自身低功耗、硬件电路简单的限制，标签测角和定位方法通常面临着少天线、同步性能差等情况，因此常存在定位精度低的问题。这种情况下，如何提升在少天线和同步性能差情况下的定位精度是目前急需解决的问题。
发明内容
本申请实施例提供一种定位方法、装置、通信设备及可读存储介质，能够解决如何提升在少天线和同步性能差情况下的定位精度的问题。
第一方面，提供了一种定位方法，由第一设备执行，该方法包括：
第一设备在移动过程中向第二设备发送第一信号；
所述第一设备在移动过程中接收所述第二设备发送的第二信号，所述第二信号是根据所述第一信号生成的周期性信号；
所述第一设备获得所述第二信号的第一测量值和所述第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系；
所述第一设备根据所述第一测量值和所述第二测量值，估计所述第一设备与所述第二设备之间的DOA或AOD，和/或，估计所述第二设备的位置信息。
第二方面，提供了一种定位方法，由第二设备执行，该方法包括：
第二设备接收第一设备在移动过程中发送的第一信号；
所述第二设备根据所述第一信号生成第二信号，所述第二信号是周期性信号；
所述第二设备向移动过程中的所述第一设备发送所述第二信号，所述第二信号用于以下至少一项：估计所述第一设备与所述第二设备之间的DOA或AOD、估计所述第二设备的位置信息。
第三方面，提供了一种定位装置，应用于第一设备，包括：
第一发送模块，用于在第一设备的移动过程中向第二设备发送第一信号；
第一接收模块，用于在所述第一设备的移动过程中接收所述第二设备发送的第二信号，所述第二信号是根据所述第一信号生成的周期性信号；
第一处理模块，用于获得所述第二信号的第一测量值和所述第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系；根据所述第一测量值和所述第二测量值，估计所述第一设备与所述第二设备之间的DOA或AOD，和/或，估计所述第二设备的位置信息。
第四方面，提供了一种定位装置，应用于第二设备，包括：
第四接收模块，用于接收第一设备在移动过程中发送的第一信号；
第二处理模块，用于根据所述第一信号生成第二信号，所述第二信号是周期性信号；
第三发送模块，用于向移动过程中的所述第一设备发送所述第二信号；其中，所述第二信号用于以下至少一项：估计所述第一设备与所述第二设备之间的DOA或AOD、估计所述第二设备的位置信息。
第五方面，提供了一种定位装置，所述装置被配置为执行如第一方面所述的方法的步骤，或者实现如第二方面所述的方法的步骤。
第六方面，提供了一种通信设备，该通信设备包括处理器和存储器，所述存储器存储可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如第一方面所述的方法的步骤，或者实现如第二方面所述的方法的步骤。
第七方面，提供了一种通信设备，包括处理器及通信接口，例如，该通信设备为第一设备时，所述通信接口用于在第一设备的移动过程中向第二设备发送第一信号，并接收所述第二设备发送的第二信号，所述第二信号是根据所述第一信号生成的周期性信号；所述处理器用于获得所述第二信号的第一测量值和所述第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系，以及根据所述第一测量值和所述第二测量值，估计所述第一设备与所述第二设备之间的DOA或AOD，和/或，估计所述第二设备的位置信息。该通信设备为第二设备时，所述通信接口用于接收第一设备在移动过程中发送的第一信号；所述处理器用于根据所述第一信号生成第二信号，所述第二信号是周期性信号；所述通信接口还用于向移动过程中的所述第一设备发送所述第二信号，所述第二信号用于以下至少一项：估计所述第一设备与所述第二设备之间的DOA或AOD、估计所述第二设备的位置信息。
第八方面，提供了一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如第一方面所述的方法的步骤，或者实现如第二方面所述的方法的步骤。
第九方面，提供了一种无线通信系统，至少包括第一设备及第二设备，所述第一设备可用于执行如第一方面所述的方法的步骤，所述第二设备可用于执行如第二方面所述的方法的步骤。
第十方面，提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如第一方面所述的方法，或实现如第二方面所述的方法。
第十一方面，提供了一种计算机程序/程序产品，所述计算机程序/程序产品被存储在存储介质中，所述计算机程序/程序产品被至少一个处理器执行以实现如第一方面所述的方法的步骤，或者实现如第二方面所述的方法的步骤。
在本申请实施例中，第一设备可以在移动过程中向第二设备发送第一信号，并在移动过程中接收第二设备发送的第二信号，所述第二信号是根据第一信号生成的周期性信号，获得所述第二信号的第一测量值和第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系，并根据所述第一测量值和所述第二测量值，估计第一设备与第二设备之间的DOA或AOD，和/或估计第二设备的位置信息。由此，可以通过第一设备的移动来构建虚拟天线阵列，并以此实现对第二设备(如标签设备)进行测角和定位，从而提升在少天线和同步性能差情况下的定位精度和定位稳定性。
附图说明
图1A至图1E示出本申请实施例中基于反向散射的通信架构的示意图；
图2是本申请实施例提供的一种定位方法的流程图；
图3是本申请实施例提供的另一种定位方法的流程图；
图4是本申请实施例一中定位过程的流程图；
图5是本申请实施例二中基于虚拟天线阵列的测角示意图；
图6是本申请实施例四中基于测角进行相对定位的示意图；
图7是本申请实施例提供的一种定位装置的结构示意图；
图8是本申请实施例提供的另一种定位装置的结构示意图；
图9是本申请实施例提供的一种通信设备的结构示意图；
图10是本申请实施例提供的一种终端的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本申请保护的范围。
本申请的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的术语在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”所区别的对象通常为一类，并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，本申请中的“或”表示所连接对象的至少其中之一。例如“A或B”的保护范围至少涵盖三种方案，即，方案一：包括A且不包括B；方案二：包括B且不包括A；方案三：既包括A又包括B。此外，术语“A和/或B”、“A和B中的至少一项”、“A或B中的至少一项”也分别至少涵盖上述三种方案。字符“/”一般表示前后关联对象是一种“或”的关系。
本申请的术语“指示”既可以是一个直接的指示(或者说显式的指示)，也可以是一个间接的指示(或者说隐含的指示)。其中，直接的指示可以理解为，发送方在发送的指示中明确告知了接收方具体的信息、需要执行的操作或请求结果等内容；间接的指示可以理解为，接收方根据发送方发送的指示确定对应的信息，或者进行判断并根据判断结果确定需要执行的操作或请求结果等。
值得指出的是，本申请实施例所描述的技术不限于长期演进型(Long Term Evolution，LTE)/LTE的演进(LTE-Advanced，LTE-A)系统，还可用于其他无线通信系统，诸如码分多址(Code Division Multiple Access，CDMA)、时分多址(Time Division Multiple Access，TDMA)、频分多址(Frequency Division Multiple Access，FDMA)、正交频分多址(Orthogonal Frequency Division Multiple Access，OFDMA)、单载波频分多址(Single-carrier Frequency-Division Multiple Access，SC-FDMA)或其他系统。本申请实施例中的术语“系统”和“网络”常被可互换地使用，所描述的技术既可用于以上提及的系统和无线电技术，也可用于其他系统和无线电技术。以下描述出于示例目的描述了新空口(New Radio，NR)系统，并且在以下大部分描述中使用NR术语，但是这些技术也可应用于NR系统以外的系统，如第6代(6th Generation，6G)通信系统。
为了便于理解本申请实施例，首先说明以下内容。
反向散射通信(Backscatter Communication，BSC)是指反向散射通信设备利用其它设备或者环境中的射频信号进行信号调制来传输自己信息，是一种比较典型的低功耗物联设备。反向散射通信发送端的基本构成模块及主要功能包括：
-天线单元：用于接收射频信号、控制命令，同时用于发送调制的反向散射信号。
-能量采集模块或供能模块：该模块用于反向散射通信设备进行射频能量采集，或者其它能量采集，包括但不限于太阳能、动能、机械能、热能等。另外除了包括能量采集模块，也可能包括电池供能模块，此时反向散射通信设备为半无源设备。能量采集模块或供能模块给设备中的其它所有模块进行供电。
-微控制器：包括控制基带信号处理、储能或数据调度状态、开关切换、系统同步等。
-信号接收模块：用于解调反向散射通信接收端或是其它网络节点发送的控制命令或数据等。
-编码和调制模块：在控制器的控制下进行信道编码和信号调制，并通过选择开关在控制器的控制下通过选择不同的负载阻抗来实现调制。
-存储器或传感模块：用于存储设备的标识(Identity，ID)信息、位置信息或是传感数据等。
除了上述典型的构成模块之外，未来的反向散射通信发送端还可以集成隧道二极管放大器模块、低噪声放大器模块等，用于提升发送端的接收灵敏度和发送功率。
可选地，反向散射通信接收端的基本构成模块及主要功能包括：
-天线单元：用于接收调制的反向散射信号。
-反向散射信号检波模块：用于对反向散射通信发送端发送的反向散射信号进行检波，包括但不限于ASK检波、PSK检波、FSK检波或QAM检波等。
-解调和解码模块：对检波出的信号进行解调制和解码，以恢复出原始信息流。
反向散射通信设备通过调节其内部阻抗来控制调制电路的反射系数Γ，从而改变入射信号的幅度、频率、相位等，实现信号的调制。反射系数Γ可以表征为：
其中，Z0为天线特性阻抗；Z1是负载阻抗；j表示复数，θT表示相位。假设入射信号表示为Sin(t)，则输出信号为因此，通过合理的控制反射系数可实现对应的幅度调制、频率调制或相位调制。基于此，反向散射通信设备，可以是传统射频识别标识(Radio Frequency Identification，RFID)中的标签(Tag)，也可以是无源或半无源物联网(Passive/Semi-passive Internet of Things，IoT)设备。这里，反向散射通信设备可统称为BSC设备。
可选地，基于反向散射的通信架构至少可以包括以下几种模式：
(1)拓扑结构(Topology)1：如图1A所示，Topology 1中的基站既是射频源或者发送设备也是接收设备，因此Topology1是单基地反向散射通信系统(Monostatic Backscatter Communication System，MBCS)架构。传统的RFID系统就是典型的MBCS，其中包含环境供能的物联网设备(Ambient IoT Device)和读写器(Reader)，其中，物联网设备可以是Tag，读写器可以是基站，且Tag与Reader直接通信，Reader可能具有频分双工(Frequency Division Duplexing，FDD)架构的功能模块。在Topology 1中，控制信令的发送设备和反向散射信号的接收设备是同一个设备，而射频(Radio Frequency，RF)载波源的发送设备可以与前述设备是同一设备，也可以是独立的设备。
(2)拓扑结构Topology 2：如图1B所示，在Topology 2中，Ambient IoT Device(比如Tag)接收中间节点发送的控制信令和载波信号，所述控制信令可以是网络设备(比如基站(gNB))通过中间节点进行指示的，所述中间节点可以为用户设备(User Equipment，UE)、中继器(repeater)、集成接入回程(Integrated Access Backhaul，IAB)节点等。中间节点还可以作为中继将IoT数据转发给gNB。
(3)拓扑结构Topology 3：Topology 3涉及双基地反向散射通信系统(Bistatic Backscatter Communications System，BBCS)，其中的射频源、BSC发送设备和BSC接收设备是分开的；在Topology 3中，Ambient IoT Device(比如Tag)向基站发送IoT数据/上行信令，并接收辅助节点发送的数据/信令，如图1C所示；或者，Ambient IoT Device(比如Tag)向辅助节点发送IoT数据/上行信令，并接收基站发送的数据/信令，如图1D所示；基站与辅助节点通过Uu口通信，辅助节点可以为UE、repeater、IAB等。
(4)拓扑结构Topology 4：如图1E所示，在Topology 4中，UE作为Reader与Tag进行通信。此架构也属于单基地反向散射通信架构，区别在于Reader是UE，而非基站。
由于反向散射通信设备具有成本低、功耗低、体积小的特点，因此可以广泛应用于货物盘点和追踪、个人物品寻找、停车场车辆定位、商场的商铺定位和博物馆站台定位等。支持反向散射通信定位所需的测量参数可以包括但不限于参考信号强度(Received Signal Strength，RSS)、接收信号强度指示(Received Signal Strength Indication，RSSI)、波达方向(Direction Of Arrival，DOA)、到达角(Angle of Arrival，AOA)、出发角(Angle of Departure，AOD)相位信息、到达时间(Time Of Arrival，TOA)或往返时间(Round-Trip Time，RTT)、到达时间差(Time Difference Of Arrival，TDOA)、载波相位差(Phase Difference of Arrival，PDOA)等。其中，DOA与AOA是同一个角，二者概念相同，不失一般性，下面都是以DOA进行说明。
可选地，本申请中方案可以应用在LTE系统，第5代(5th Generation，5G)NR系统以及NR演进系统，6G系统以及6G演进系统，以及IEEE 802.11系统(如无线保真(Wireless Fidelity，WiFi)系统)、蓝牙(Bluetooth)系统、LoRa系统、紫蜂(Zigbee)系统、反向散射通信系统、低功耗物联网系统、Ambient IoT等系统的测角或定位。
下面结合附图，通过一些实施例及其应用场景对本申请实施例提供的定位方法、装置、通信设备及可读存储介质进行详细地说明。
请参见图2，图2是本申请实施例提供的一种定位方法的流程图，该方法由第一设备执行，如图2所示，该方法包括如下步骤：
步骤21：第一设备在移动过程中向第二设备发送第一信号；
步骤22：第一设备在移动过程中接收第二设备发送的第二信号，所述第二信号是根据第一信号生成的周期性信号；
步骤23：第一设备获得所述第二信号的第一测量值和第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系；
步骤24：第一设备根据所述第一测量值和所述第二测量值，估计第一设备与第二设备之间的DOA或AOD，和/或，估计第二设备的位置信息。
本申请实施例中，所述第一设备为具有测角/定位能力且支持移动的设备，可以包括但不限于智能手机、平板电脑、笔记本电脑、智能手表、智能手环、智能耳机、增强现实(Augmented Reality，AR)设备、虚拟现实(Virtual Reality，VR)设备、扩展现实(Extended Reality，XR)设备、混合现实(Mix reality，MR)设备、机器人等，也可以包括支持移动的中继器(Repeater)、继电Relay设备、WiFi节点、Zigbee节点、LoRa节点、Bluetooth节点等。
所述第二设备为待定位设备，可以包括但不限于RFID标签、第三代伙伴组织计划(Third Generation Partnership Projects，3GPP)AIoT标签、WiFi/Zigbee/LoRa/Bluetooth标签或其它低功耗设备。比如，所述第二设备可选为无源标签或半有源标签。
所述惯性测量单元(Inertial Measurement Unit，IMU)具体为一个传感器的集合，可以用于精确测量和检测设备的加速度、角速度和方向等关键信息。比如，惯性测量单元IMU可以包含三个单轴的加速度计、单个单轴的陀螺仪以及磁力器等；其中，加速度计用于检测相应设备在载体坐标系统独立三轴的加速度信号，而陀螺仪用于检测相应设备相对于导航坐标系的角速度信号，测量物体在三维空间中的角速度和加速度，并经过误差补偿和惯性导航解算，输出相应设备相对于初始位置的坐标变化量、速度等信息。
通过本申请实施例的方案，第一设备可以在移动过程中向第二设备发送第一信号，并在移动过程中接收第二设备发送的第二信号，所述第二信号是根据第一信号生成的周期性信号，获得所述第二信号的第一测量值和第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系，并根据所述第一测量值和所述第二测量值，估计第一设备与第二设备之间的DOA或AOD，和/或估计第二设备的位置信息。由此，可以通过第一设备的移动来构建虚拟天线阵列，并以此实现对第二设备(如标签设备)进行测角和定位，从而提升在少天线和同步性能差情况下的定位精度和定位稳定性。
可选地，所述第一设备的移动轨迹可以包括以下至少一项：
非直线轨迹；
加速度为非恒值的移动轨迹。
可选地，所述第一信号可以满足以下至少一项：
(a)所述第一信号是周期性的同步信号，比如为主同步信号(Primary Synchronization Signal，PSS)、辅同步信号(Secondary Synchronization Signal，SSS)、前导码(Preamble)信号等；
(b)所述第一信号是周期性的用于定位或测角的参考信号，比如为定位参考信号(Positioning Reference Signal，PRS)等；
(c)所述第一信号是周期性的且序列已知的测量参考信号，比如为信道状态信息参考信号(Channel State Information Reference Signal，CSI-RS)、探测参考信号(Sounding Reference Signal，SRS)、相位跟踪参考信号(Phase-Tracking Reference Signal，PTRS)、解调参考信号(Dedicated demodulation reference signals，DM-RS)、Preamble信号等；
(d)所述第一信号是周期性的且调制信息或输入比特已知的数据信号，即所述第一信号为调制信号；
(e)所述第一信号是载波信号，比如为正弦信号、余弦信号、啁啾chirp信号等。
可选地，当所述第一信号是周期性信号时，所述第一信号的周期与所述第二信号的周期可以相同，也可以不相同。比如可以系统配置的一个阈值参数δ，所述第一信号的周期T1与所述第二信号的周期T2满足：|T1-T2|≤δ。
可选地，当所述第一信号是周期性信号时，所述第二信号可以是按照固定的反射系数对所述第一信号进行反向散射得到的。或者，当所述第一信号是载波信号时，所述第二信号可以是根据配置或指示信息对所述第一信号进行反向散射调制得到的。
可选地，对于第二测量值和第二信号存在的关联关系，可以是：所述第二信号的第一测量值的测量时刻与所述第二测量值的测量时刻相同，或者，所述第二信号的第一测量值的测量时刻与所述第二测量值的测量时刻在同一个时间窗内。该时间窗的大小可以是系统或协议规定的。由此，可以保证第一测量值和第二测量值的测量时刻相同或接近，从而提升估计得到的第一设备与第二设备之间的DOA或AOD和/或第二设备的位置信息的准确性。
可选地，所述第二信号的第一测量值可以包括但不限于以下至少一项：
所述第二信号的参考信号强度(Received Signal Strength，RSS)；
所述第二信号的接收信号强度指示RSSI；
所述第二信号的幅度；
所述第二信号的相位；
所述第二信号的频率；
所述第二信号的协方差矩阵；
所述第二信号的自相关矩阵；
根据所述第二信号的多个测量值得到的统计值；该统计值比如为最大值、平均值、最小值、加权值等；
利用多个天线获得的多个第二信号的测量值，或者，利用多个天线获得的多个第二信号的测量值的统计值。
一种可选实施方式中，可以利用第一设备的k(k≥1)根天线获得k个第二信号的第一测量值，或者获得该k个第二信号的测量值的统计值，比如最大值、平均值等。
可选地，基于惯性测量单元IMU获得的第二测量值可以包括以下至少一项：
加速度信息，比如为惯性测量单元中加速度计输出的在移动时间T2内的加速度信息，该T2等于所述第二信号的一个周期时间；
角速度信息，比如为惯性测量单元中陀螺仪输出的在移动时间T2内的角速度信息，该T2等于所述第二信号的一个周期时间；
方位信息，比如为惯性测量单元中陀螺仪输出的在移动时间T2内的方位信息，该T2等于所述第二信号的一个周期时间；
磁感应信息，比如为惯性测量单元中磁力器输出的在移动时间T2内的磁感应强度，该T2等于所述第二信号的一个周期时间；
偏航角信息，比如为惯性测量单元中磁力器输出的在移动时间T2内的偏航角信息，该T2等于所述第二信号的一个周期时间；
位置信息，比如为预设时间窗内或所述第二信号的一个周期时间T2内的第一设备的相对位置信息；
所述惯性测量单元的多个测量值的统计值，该统计值比如为最大值、平均值、最小值、加权值、测量时间最早测量值、测量时间最晚测量值等。
一种可选实施方式中，第一设备在移动之前，可以先获得IMU的初始测量值，以便后续进行校正时使用。
可选地，为了估计得到DOA、AOD和/或第二设备的位置信息，可以获得多个第一测量值和第二测量值。上述获得所述第二信号的第一测量值和第一设备中的惯性测量单元的第二测量值可以包括以下任一项：
(1)第一设备获得所述第二信号的m个周期内的m个第一测量值和所述m个周期内的所述惯性测量单元的m个第二测量值，m≥2；即，可以利用单个天线，在所述第二信号的m个周期内，获得m个第一测量值和m个第二测量值，且第m个周期内的第二信号的第一测量值与第m个周期内的IMU的第二测量值关联；
(2)第一设备获得所述第二信号的m个周期中的每个周期内的基于k个天线得到的k个第二信号的第一测量值，和所述m个周期内的所述惯性测量单元的m个第二测量值，m≥2，k≥2；即，可以利用k个天线，分别在所述第二信号的m个周期内，获得m个第一测量值和m个第二测量值，且k个第二信号的第一测量值为相同信号周期内的测量值，第m个周期内的第二信号的第一测量值与第m个周期内的IMU的第二测量值关联。
可选地，为了满足测量需求，所述m可以满足以下至少一项：
1)所述m个周期的时长小于或等于时间阈值Tthr，即mT2≤Tthr，该时间阈值Tthr可以为预配置或协议约定的时间参数；或者，所述m个周期的时长小于或等于所述惯性测量单元所允许的满足误差范围内的工作时长；
2)基于所述m个周期内的第一测量值和第二测量值估计的DOA或AOD的误差值小于或等于第一误差阈值，该第一误差阈值可以为预配置或协议约定的参数；或者，基于所述m个周期内的第一测量值和第二测量值估计的DOA或AOD的置信度大于或等于第一置信度阈值，该第一置信度阈值可以为预配置或协议约定的参数；
3)所述m小于或等于测量一次DOA或AOD所允许的最大测量次数Mmax，该最大测量次数Mmax可以为预配置或协议约定的参数；
4)所述m小于或等于所述惯性测量单元所允许的DOA或AOD误差范围内的最大测量次数。
本申请实施例中，可以采用多种方式来估计第一设备与第二设备之间的DOA或AOD。
上述步骤24中估计DOA或AOD的过程可以包括：
第一设备根据所述第一测量值和所述第二测量值，采用DOA或AOD估计算法估计得到第一设备与第二设备之间的DOA或AOD；其中，所述DOA或AOD估计算法可以包括以下至少一项：
波束成形(Beamforming)算法；比如，基于此Beamforming算法的具体估计过程可参见下述实施例四中所记载；
多重信号分类(Multiple Signal Classification，MUSCI)算法；比如，基于此MUSCI算法的具体估计过程可参见下述实施例二和实施例三中所记载；
基于旋转不变性技术(Estimation of Signal Parameters via Rotational Invariance Techniques，ESPRIT)算法；
酉ESPRIT(Unitary ESPRIT)算法。
对于Beamforming算法、MUSCI算法、ESPRIT算法以及酉ESPRIT算法，本申请实施例中不作具体限定，可以参见已有的算法内容。
可选地，可以利用多个DOA或AOD估计得到第二设备的位置信息。上述步骤24中估计第二设备的位置信息的过程可以包括：
第一设备根据所述第一测量值和所述第二测量值，比如移动过程中的m个第一测量值和m个第二测量值，估计得到第一设备与第二设备之间的n个DOA或AOD，n≥2；
第一设备根据所述n个DOA或AOD，估计得到第二设备的位置信息；比如，在获得n个DOA或AOD后，可以采用已有的定位算法来估计第二设备的位置信息，该定位算法可以包括但不限于AOA、AOD等多角定位算法。
可选地，所述第二设备的位置信息可以是第一设备与第二设备的相位位置信息，包括相对距离和相对角度等，也可以是第二设备的绝对位置信息。
可选地，所述n个DOA可以满足但不限于以下至少一项：
(1)所述n个DOA之间的间隔相同或不相同，或者，所述n个AOD之间的间隔相同或不相同；
(2)所述n个DOA对应的第二信号的周期个数相同或不相同，或者，所述n个AOD对应的第二信号的周期个数相同或不相同；比如，当所述n个DOA或AOD对应的第二信号的周期个数不相同时，相应的周期个数可以为M1,M2,…,Mn。
(3)所述n个DOA是在所述第一设备的相同或不同的运动轨迹下得到的，或者，所述n个AOD是在所述第一设备的相同或不同的运动轨迹下得到的；即，所述n个DOA或AOD可以是基于相同的运动轨迹得到的，也可以是基于不同的运动轨迹得到的；
(4)所述n个DOA是使用基于相同或不同的初始速度和方向角的惯性测量单元的测量值得到的，或者，所述n个AOD是使用基于相同或不同的初始速度和方向角的惯性测量单元的测量值得到的；即，所述n个DOA或AOD可以是使用基于相同初始速度和方向角的IMU测量值，也可以使用基于不同初始速度和方向角的IMU测量值；
(5)所述n个DOA是基于相同或不同的参考信号(如相同或不同的第一信号)得到的，或者，所述n个AOD是基于相同或不同的参考信号得到的；
(6)所述n个DOA是基于相同或不同的频域资源得到的，或者，所述n个AOD是基于相同或不同的频域资源得到的；如收发第一信号/第二信号时的频域资源可以是相同的，也可以是不同的；
(7)所述n小于或等于位置测量所允许的DOA的最大次数，或者，所述n小于或等于位置测量所允许的DOA或AOD的最大次数；该最大次数可以为预配置或协议约定的参数；
(8)基于所述n个DOA估计的位置信息的误差小于或等于第二误差阈值，该第二误差阈值可以为预配置或协议约定的参数；或者，基于所述n个DOA估计的位置信息的置信度大于或等于第二置信度阈值，该第二置信度阈值可以为预配置或协议约定的参数；
(9)基于所述n个AOD估计的位置信息的误差小于或等于第三误差阈值，该第三误差阈值可以为预配置或协议约定的参数；或者，基于所述n个AOD估计的位置信息的置信度大于或等于第三置信度阈值，该第三置信度阈值可以为预配置或协议约定的参数。
可选地，上述在移动过程中向第二设备发送第一信号可以包括：
第一设备根据第一信息，在移动过程中向第二设备发送第一信号；其中，所述第一信息可以是网络配置或指示的信息，所述第一信息可以包括但不限以下至少一项：
a)所述第一信号的信号周期T1；
b)所述第一信号的基带信号参数，比如包括但不限于调制方式、编码方式、参考信号生成序列等；
c)所述第一信号的信号波形，比如为伪随机信号、正交频分复用(Orthogonal Frequency Division Multiplexing，OFDM)信号、啁啾扩频(Chirp Spread Spectrum，CSS)信号、正弦信号、余弦信号等的波形；
d)所述第一信号的发送功率或发送功率等级；
e)所述第一信号的时域资源信息，比如包括但不限于第一信号的信号长度及对应的帧、子帧、时隙、符号等信息；
f)所述第一信号的频域资源信息，比如包括但不限于频率、带宽、子载波间隔(Subcarrier Spacing，SCS)、无线承载(Radio Bearer，RB)、资源块组(Resource Block Group，RBG)、带宽部分(Bandwidth Part，BWP)等信息；
g)所述第一信号的时频域图案模式或梳状(Comb)大小等；
h)所述第一信号的空域资源信息，比如包括但不限于天线、码字、层、天线端口等信息；
i)所述第一信号的极化资源信息，比如包括但不限于垂直线极化、水平线极化、左旋圆极化、右旋圆极化等信息。
可选地，第一设备可以与第二设备进行信令交互并关联。本申请实施例中的定位方法还可以包括：
第一设备接收第二设备上报的能力信息；其中，所述能力信息是生成/发送第二信号相关的能力信息，所述能力信息可以包括以下至少一项：
所述第二设备的天线能力；
所述第二设备支持的调制方式；
所述第二设备支持的调制阶数；
所述第二设备支持的调制速率；
所述第二设备支持的带宽；
所述第二设备支持的工作频点；
所述第二设备的搬频能力；
所述第二设备的反射系数大小；
所述第二设备的放大器信息。
这样借助上报的能力信息，可以使得第一设备确定第二设备生成第二信号的方式。比如，如果第二设备支持的反向散射调制方式或者测量信号不满足第二信号的参数要求，则此时可以是第一设备发送的第一信号就是周期性信号，而第二信号仅仅是第一信号的反射信号；或者，如果第二设备支持调制，则第一信号可以是载波信号，而第二信号是反向散射调制信号或者定位测量信号。
可选地，上述定位方法还可以包括：
第一设备接收第二设备上报的设备信息；该设备信息比如为产品电子代码(Electronic Product Code，EPC)、标签识别号(Tag Identifier，TID)、设备标识ID等；
第一设备根据所述设备信息，建立第一设备与第二设备之间的关联关系。
这样在建立第一设备与第二设备之间的关联关系之后，可以使得第二设备及时响应第一设备，从而实现对第二设备的定位。
一种可选实施方式中，第一设备可以通过盘点流程或注册过程等获取第二设备的EPC码、TID码、设备ID等。
可选地，上述定位方法还可以包括：
第一设备向第二设备发送配置信息；其中，所述配置信息用于为第二设备配置以下至少一项：无线网络临时标识(Radio Network Temporary Identity，RNTI)、前导序列、同步序列、第一信号的信号参数和第二信号的信号参数。
比如，所述RNTI、前导序列和/或同步序列可以用于第二设备发送第二信号时加扰或者关联等。所述第一信号/第二信号的信号参数可以使第二设备在收发信号时使用。
请参见图3，图3是本申请实施例提供的一种定位方法的流程图，该方法由第二设备执行，如图3所示，该方法包括如下步骤：
步骤31：第二设备接收第一设备在移动过程中发送的第一信号；
步骤32：第二设备根据所述第一信号生成第二信号，所述第二信号是周期性信号；
步骤33：第二设备向移动过程中的第一设备发送第二信号，所述第二信号用于以下至少一项：估计第一设备与第二设备之间的DOA或AOD、估计第二设备的位置信息。
本申请实施例中，所述第一设备为具有测角/定位能力且支持移动的设备，可以包括但不限于智能手机、平板电脑、笔记本电脑、智能手表、智能手环、智能耳机、AR设备、VR设备、XR设备、MR设备、机器人等，也可以包括支持移动的中继器(Repeater)、继电Relay设备、WiFi节点、Zigbee节点、LoRa节点、Bluetooth节点等。
所述第二设备为待定位设备，可以包括但不限于RFID标签、3GPP AIoT标签、WiFi/Zigbee/LoRa/Bluetooth标签或其它低功耗设备。比如，所述第二设备可选为无源标签或半有源标签。
对于利用第二信号估计第一设备与第二设备之间的DOA或AOD，和/或估计第二设备的位置信息的方式，可以参见上述实施例中所述，在此不再赘述。
本申请实施例的方案，可以通过第一设备的移动来构建虚拟天线阵列，并以此实现对第二设备(如标签设备)进行测角和定位，从而提升在少天线和同步性能差情况下的定位精度和定位稳定性。
可选地，所述第一设备的移动轨迹可以包括以下至少一项：
非直线轨迹；
加速度为非恒值的移动轨迹。
可选地，所述第一信号可以满足以下至少一项：
(a)所述第一信号是周期性的同步信号，比如为PSS、SSS、Preamble信号等；
(b)所述第一信号是周期性的用于定位或测角的参考信号，比如为PRS等；
(c)所述第一信号是周期性的且序列已知的测量参考信号，比如为CSI-RS、SRS、PTRS、DM-RS、Preamble信号等；
(d)所述第一信号是周期性的且调制信息或输入比特已知的数据信号，即所述第一信号为调制信号；
(e)所述第一信号是载波信号，比如为正弦信号、余弦信号、chirp信号等。
可选地，当所述第一信号是周期性信号时，所述第一信号的周期与所述第二信号的周期可以相同，也可以不相同。比如可以系统配置的一个阈值参数δ，所述第一信号的周期T1与所述第二信号的周期T2满足：|T1-T2|≤δ。
可选地，当所述第一信号是周期性信号时，所述第二信号可以是按照固定的反射系数对所述第一信号进行反向散射得到的。即，上述生成第二信号的过程可以包括：第二设备在所述第一信号是周期性信号的情况下，按照反射系数对所述第一信号进行反向散射，得到所述第二信号。
可选地，当所述第一信号是载波信号时，所述第二信号可以是根据配置或指示信息对所述第一信号进行反向散射调制得到的。即，上述生成第二信号的过程可以包括：第二设备在所述第一信号是载波信号的情况下，根据配置或指示信息对所述第一信号进行反向散射调制，得到所述第二信号。
本申请实施例中，可以根据配置或指示信息来生成第二信号。上述生成第二信号的方式可以包括：
第二设备根据第二信息和所述第一信号，生成第二信号；其中，所述第二信息可以包括以下至少一项：
所述第二设备的反射系数；比如，当所述第一信号是周期性信号时，可以根据该反射系数来生成第二信号；
所述第二信号的信号周期T2；
所述第二信号的基带信号参数，比如包括但不限于调制方式、编码方式、参考信号生成序列等；
所述第二信号的信号波形，比如为伪随机信号、OFDM信号、CSS信号、正弦信号、余弦信号等的波形。
可选地，所述第二信息是由第一设备配置或指示的，或者，所述第二信息是网络预配置、系统预配置或协议约定的。
可选地，上述向移动过程中的第一设备发送第二信号可以包括：
第二设备根据第三信息，向移动过程中的第一设备发送第二信号；其中，所述第三信息可以包括但不限于以下至少一项：
所述第二信号的发送功率；
所述第二信号的时域资源信息，比如包括但不限于第二信号的信号长度及对应的帧、子帧、时隙、符号等信息；
所述第二信号的频域资源信息，比如包括但不限于频率、带宽、子载波间隔SCS、无线承载RB、资源块组RBG、带宽部分BWP等信息；
所述第二信号的时频域图案模式或梳状Comb大小等；
所述第二信号的空域资源信息，比如包括但不限于天线、码字、层、天线端口等信息；
所述第二信号的极化资源信息，比如包括但不限于垂直线极化、水平线极化、左旋圆极化、右旋圆极化等信息。
可选地，所述第三信息是由第一设备配置或指示的，或者，所述第三信息是网络预配置、系统预配置或协议约定的。
可选地，本申请实施例中的定位方法还可以包括：
第二设备向第一设备发送能力信息；其中，所述能力信息是生成/发送第二信号相关的能力信息，所述能力信息可以包括以下至少一项：
所述第二设备的天线能力；
所述第二设备支持的调制方式；
所述第二设备支持的调制阶数；
所述第二设备支持的调制速率；
所述第二设备支持的带宽；
所述第二设备支持的工作频点；
所述第二设备的搬频能力；
所述第二设备的反射系数大小；
所述第二设备的放大器信息。
这样借助发送的能力信息，可以使得第一设备确定第二设备生成第二信号的方式。比如，如果第二设备支持的反向散射调制方式或者测量信号不满足第二信号的参数要求，则此时可以是第一设备发送的第一信号就是周期性信号，而第二信号仅仅是第一信号的反射信号；或者，如果第二设备支持调制，则第一信号可以是载波信号，而第二信号是反向散射调制信号或者定位测量信号。
可选地，第二设备可以向第一设备发送设备信息，该设备信息比如为产品电子代码EPC、标签识别号TID、设备ID等，以使第一设备根据该设备信息，建立第一设备与第二设备之间的关联关系，进而使得第二设备及时响应第一设备。
一种可选实施方式中，第二设备可以通过盘点流程或注册过程等向第一设备发送其EPC码、TID码、设备ID等。
可选地，第二设备可以接收第一设备发送的配置信息；所述配置信息用于为第二设备配置以下至少一项：RNTI、前导序列、同步序列、第一信号的信号参数和第二信号的信号参数等。比如，所述RNTI、前导序列和/或同步序列可以用于第二设备发送第二信号时加扰或者关联等。所述第一信号/第二信号的信号参数可以使第二设备在收发信号时使用。
下面结合具体实施例对本申请进行说明。由于估计DOA和AOD的信令流程类似，下面仅以估计DOA以及基于DOA进行定位为例进行说明，相同的方法可以扩展到AOD估计以及基于多个AOD测量值进行定位。
实施例一
本实施例一中，如图4所示，第一设备(如移动设备)与第二设备(如标签设备)之间的交互流程可以包括：
步骤41：可选地，第一设备与第二设备进行关联、盘点、注册、能力交互等流程；
步骤42：可选地，第一设备向第二设备发送指示信息，用于指示第一信号或第二信号的信号参数；
步骤43：第一设备记录IMU的初始方位、位置、角速度信息等，并按照一定的轨迹/速度/加速度运动，并在移动过程中向第二设备发送第一信号；所述第一信号的具体内容可以参见上述实施例中所述，在此不再赘述；
步骤44：第二设备接收第一信号，并基于获得的第一信号生成第二信号；所述第二信号的具体内容可以参见上述实施例中所述，在此不再赘述；
步骤45：第二设备向移动过程中第一设备发送周期性的第二信号；
步骤46：第一设备接收第二信号，并基于获得的第二信号与关联的IMU信息，估计第一设备与第二设备之间的DOA、AOD和/或第二设备的位置信息。具体估计方式可以参见上述实施例中所述，在此不再赘述。
实施例二
在本实施例二中，给出了第一设备基于第二信号以及IMU输出的位置信息，来估计DOA的估计过程。在这种情况下，需要保证第一设备的运动轨迹(如第一运动轨迹)为非直线轨迹，或者非匀速运动轨迹。如图5所示，下面以第一设备(如移动设备)只配置了单天线，并且以非直线轨迹运动为例进行说明。
(1)第一设备生成并发送第一信号s(t)。
可选地，第一信号可以是周期为T1的同步信号、参考信号，或调制信息/输入比特已知的数据信号；第一信号也可以是专门用于反向散射调制的载波信号。
(2)第二设备接收第一信号，并根据第一信号生成第二信号，包括如下情况：
(a)当第一信号是周期为T1的同步信号、参考信号，或调制信息/输入比特已知的数据信号时，第二设备可以按照固定的反射系数进行反向散射，生成周期为T2的第二信号y(t)，其中|T1-T2|≤δ，δ是系统配置的一个阈值参数，即：
y(t)＝h(t)·α·s(t)+w1(n)
其中，h为第一设备与第二设备之间的信道系数或信道响应，α为反射系数，w1(n)为第二设备端的信号噪声。
(b)当第一信号为载波信号时，第二设备可以根据配置或指示信息进行反向散射调制，生成周期为T2的第二信号y(t)，即：
y(t)＝h(t)·α·b(t)·s(t)+w1(n)
其中，b(t)是第二设备的反向散射调制信号，或者按照系统配置生成的参考信号。
(3)第二设备将生成的时间间隔为T2周期性第二信号发送给第一设备，第一设备接收所述第二信号。
例如，接收到的第二信号可以表示为：
r(t)＝h(t)·y(t)+w2(n)
其中，w2(n)为第一设备的部分信号噪声。为了简便说明，仅以上述2(a)情况为例进行举例，则此时第二信号可以表示为：
r(t)＝h(t)·(h(t)·α·s(t)+w1(n))+w2(n)＝h(t)·h(t)·α·s(t)+h·w1(n)+w2(n)
＝g(t)·s(t)+w(n)
其中，g(t)＝α·h(t)·h(t)表示第一设备与第二设备之间的级联信道或双程信道响应，w(n)是第一设备的接收噪声。
相应的，接收到的第二信号的基带信号可以表示为：
其中，r[m,n]表示第m(1≤m≤M)个信号周期的第n个基带采样值，g[m,n]是级联信道响应，s[n]则表示第m(1≤m≤M)个信号周期的第一信号的基带信号，φ0是第1个信号周期接收信号的初始相位(包括相位偏差和累计频率偏移)并且在DOA测量的所有信号周期内保持不变，f0是第一设备与第二设备之间的频率偏移(受限于第二设备的硬件能力，第二设备的振荡器存在频率不准且不稳的情况)并且在DOA测量的所有信号周期内保持不变，tm表示接收端接收到第1个信号周期的第二信号与第m个信号周期的第二信号所经过的时间；Ts表示第一设备端的采样时间，w(m,n)为高斯白噪声。
假设第m个信号周期的级联信道为：
其中，γ表示信道的幅度，表示波向量，表示接收到第m个信号周期的第二信号时第m个虚拟天线坐标与初始坐标的相对值。可以进一步表示为：
其中，θ[m]表示第一设备接收到第m个信号周期的第二信号时与第二设备的方位角，并且在估计DOA的M个信号周期内可以认为相同；(x[m],y[m])是与第二信号关联的IMU传感器输出的x轴和y轴的平面位置坐标，即与接收到第m个信号周期的第二信号相同的时刻或时间窗内的IMU传感器输出的x轴和y轴的位置坐标，此时有：
(4)第一设备接收到M个信号周期的第二信号，并估计DOA。
由于第一设备接收到的第二信号中，信号相位既受到频率偏移的影响，也受到第一设备运动轨迹对应的坐标(x[m],y[m])影响，因此在估计DOA的过程中需要先消除频率偏移对DOA估计的影响，存在两种可能的解决方案。
方案1：先估计频率偏移并补偿该频率偏移后，估计DOA。
本方案1中，第一设备在执行第一轨迹运动之前，先静止一段时间，比如静止时间可以是K(K≥1)个信号周期。由于此时第一设备处于静止状态，因此引起第一设备所接收的第二信号的相位变化的因素就只有频率偏移，因此第一设备可以容易估计出频率偏移f0。之后，第一设备按第一轨迹运动，并对接收到的第二信号进行频率偏移补偿：
在获得频率偏移补偿后的信号之后，可以基于Beamforming算法、MUSIC算法、ESPRIT算法、酉ESPRIT算法等估计DOA角度。
下面仅以MUSIC算法为例进行说明，但本申请不以此为限。
在频率偏移补偿之后的第二信号可以写成M个周期信号的堆叠列向量形式，比如表示为：
其中，a1(θ)表示导向矢量，表示为：
p[n]在所有的虚拟天线阵列中都是常数，表示为：
是维度为M×1的信号噪声矢量，且其协方差矩阵为 可表示为：
更进一步的，定义频率偏移补偿之后的第二信号的协方差矩阵为其维度为M×M，表示为：
其中，表示信号的期望，(·)*表示信号的共轭。同时，定义表示由矩阵最小的(M-K)个特征值所对应的特征向量矩阵，其维度为M×(M-K)。因此，可以构建MUSIC谱为：
通过搜索最大谱峰值，可以估计得到DOA角度θ：
上述方案1的好处是计算DOA角度较为简单，但需要保证第一设备在执行第一运动轨迹之前要静止一段时间，且保证频率偏移在静止阶段和第一运动轨迹阶段保持不变。
方案2：联合估计频率偏移以及DOA。
本方案2中，第一设备在执行第一轨迹运动的过程中，可以同时估计频率偏移和DOA角度。与上述方案1一样，本方案也可以基于Beamforming算法、MUSIC算法、ESPRIT算法、酉ESPRIT算法等估计DOA角度。下面仅以MUSIC算法为例进行说明。
具体的，可以将第一设备接收到的第二信号r[m,n]写成M个周期信号的堆叠列向量形式，表示为：
r[n]＝a2(θ,f0)p[n]+w[n]
其中，a2(θ,f0)表示导向矢量：
p[n]在所有的虚拟天线阵列中都是常数，表示为：
w[n]是维度为M×1的信号噪声矢量，且其协方差矩阵为w[n]可表示为：
更进一步的，定义第二信号r[m,n]的协方差矩阵为R，其维度为M×M，可表示为：
其中，表示信号的期望，(·)*表示信号的共轭。同时，定义Ew表示由矩阵R最小的(M-K)个特征值所对应的特征向量矩阵，其维度为M×(M-K)。因此，可以构建MUSIC谱为：
通过搜索最大谱峰值，可以估计出DOA角度θ：
本方案2的好处是不需要第一设备处于静止状态下先估计频率偏移，并在补偿完频率偏移后再估计DOA，而是在第一轨迹运动时就可以估计频率偏移和DOA，因此估计DOA的时间较少。
值得注意的是，本实施例二中的第一设备是基于第二信号的第一测量值和与第二信号关联的IMU的位置信息来估计DOA的，并且第一设备是单天线配置，第一运动轨迹为非直线轨迹。另外上述只是给出了两种DOA估计的设计示例，但本申请中方案不限定于上述两种DOA估计算法，不再赘述。
实施例三
对于一些移动设备，输出准确的位置坐标的能力不够，有一些移动设备可能只能输出加速度信息。在本实施例三中，第一设备可以基于第二信号的第一测量值和与第二信号关联的IMU的加速度信息来估计DOA，并且第一设备是单天线配置。不失一般性，下面以联合估计频率偏移以及DOA的MUCIS算法为例，简述DOA估计过程。
首先，定义μx,y(t)、vx,y(t)和a(t)分别表示平面坐标系中第一设备沿着第一轨迹运动到t时刻的相对位置、速度和加速度，三者存在如下关系：

vx,y(t)＝vx,y(t0)-(t-t0)a(t0)
其中，μx,y(t0)、vx,y(t0)和a(t0)表示第一设备接收到第1个信号周期的第二信号时的初始位置、速度和加速度。前后两个信号周期间隔(即时间间隔为T2)的第二信号引起的相位变化可以表示为：
其中：
其中，ω(t)表示由于频率偏移引起的角速度并且在一次DOA估计中保持不变，φ(t)表示频率偏移、运动以及时间累计产生的总相位，vx(t)和vy(t)分别表示沿着x轴和y轴的速度。更进一步的，上式可以写成：
上式中，第二项可以通过上述实施例二中的联合估计频率偏移以及DOA进行估计，即：将平均速率引起的相位变化认为是频率偏移的一部分进行估计，这样的话第三项中是只与角度θ以及加速度a(t)的分量。
基于上述分析，可以按照与上述实施例二类似的步骤来估计DOA，包括：
(1)第一设备生成并发送第一信号s(t)。
(2)第二设备接收第一信号，并根据第一信号生成第二信号，仅以2(a)情况为例进行举例。
(3)第二设备将生成的时间间隔为T2的周期性第二信号发送给第一设备，第一设备接收所述第二信号。
基于上述分析，第m个信号周期的第一设备的接收信号的基带信号可以表示为：
其中，vx[m]和vy[m]表示接收到第m个信号周期的第二信号时的沿着x轴和y轴的速度，a[m]表示接收到第m个信号周期的第二信号时的沿着x轴和y轴的加速度。
(4)第一设备接收M个信号周期的第二信号，并估计DOA。
第一设备接收到的第二信号中，信号相位既受到频率偏移的影响，也受第一设备的运动轨迹对应的加速度影响。下面仅以MUSIC算法为例进行说明。
具体的，可以将第一设备接收到的第二信号r[m,n]写成M个周期信号的堆叠列向量形式，表示为：
r[n]＝a3(θ,f0)p[n]+w[n]
其中，a3(θ,f0)表示导向矢量：
此外，导向矢量a3(θ,f0)也可以写成另一种导向矢量形式，即：
其中，即此时频率不是指第一设备端与第一设备端的实际频率偏移f0，而是包括了运动过程中角速度导致的频率偏移。
p[n]在所有的虚拟天线阵列中都是常数，表示为：
w[n]则是维度为M×1的信号噪声矢量，且其协方差矩阵为w[n]可表示为；
假设定义第二信号r[m,n]的协方差矩阵为R，维度为M×M，R可表示为：
其中，表示信号的期望，(·)*表示信号的共轭。同时，定义Ew表示由矩阵R最小的(M-K)个特征值所对应的特征向量矩阵，其维度为M×(M-K)。因此，可以构建MUSIC谱为：
通过搜索最大谱峰值，可以估计出DOA角度θ：
注意的是，本算法估计出的频率不是指第一设备端与第一设备端的实际频率偏移f0，而是包括了运动过程中角速度导致的频率偏移。
在本实施例三中的第一设备是基于第二信号的第一测量值和与第二信号关联的IMU的加速度信息来估计DOA的，并且第一设备是单天线配置，第一运动轨迹为非直线轨迹，或者第一轨迹为直线轨迹但加速度为非恒值。本实施例三所达到的好处是：只需要IMU输出加速度信息即可，而不需要准确的位置信息，从而降低了移动设备集成IMU的成本和硬件能力需求。
实施例四
上述实施例二和三中，都是以第一设备配置单天线为例进行说明的，而本实施例四是以第一设备配置双天线为例，说明基于本申请中方案估计DOA的过程。不失一般性，下面以联合频率偏移和DOA估计，以及基于Beamforming算法的DOA估计为例进行说明，但相同的方案也可以扩展到MUSIC算法、ESPRIT算法、酉ESPRIT算法等。估计DOA的过程可以包括
(1)第一设备生成并发送第一信号s(t)。
(2)第二设备接收第一信号，并根据第一信号生成第二信号，仅以2(a)情况为例进行举例。
(3)第二设备将生成的时间间隔为T2的周期性第二信号发送给第一设备，第一设备通过双天线接收所述第二信号。
具体的，第一设备的天线1和天线2接收到的第二信号的基带信号分别表示为：
其中，r1[m,n]和r2[m,n]分别表示天线1和天线2在第m(1≤m≤M)个信号周期的第n个基带采样值，g1[m,n]和g2[m,n]分别是天线1和天线2与第二设备之间的级联信道响应，s[n]则表示第m(1≤m≤M)个信号周期的第一信号基带信号，和分别是天线1和天线2上的第1个信号周期接收信号的初始相位(包括相位偏差和累计频率偏移)。不失一般性，可假设并且在DOA测量的所有信号周期内保持不变，f0是第一设备与第二设备之间的频率偏移(受限于第二设备的硬件能力，第二设备的振荡器存在频率不准且不稳的情况)并且在DOA测量的所有信号周期内保持不变，tm表示第一设备接收到第1个信号周期的第二信号与第m个信号周期的第二信号所经过的时间；Ts表示第一设备端的采样时间，w1(m,n)和w2(m,n)分别为天线1和天线2上接收到的信号高斯白噪声。
第一设备的天线1和天线2与第二设备在第m个信号周期的级联信道可分别表示为：
其中，γ1和γ2分别表示天线1和天线2与第二设备的级联信道的幅度，表示波向量，和分别表示天线1和天线2上接收到第m个信号周期的第二信号时的第m个虚拟天线坐标与初始坐标的相对值。进而可以得到：
(4)第一设备接收M个信号周期的第二信号，并估计DOA。
具体的，可以将第一设备在天线1和天线2接收到的第二信号r[m,n]写成2M个周期信号的堆叠列向量形式，表示为：
其中，表示克罗内克积运算，a1(θ,f0)和a2(θ,f0)分别表示天线1和天线2的导向矢量，如下：
p[n]在所有的虚拟天线阵列中都是常数，表示为：
Wdual[n]则是维度为2M×1的信号噪声矢量，且其协方差矩阵为Wdual[n]可表示为：
更进一步的，定义rdual[n]的协方差矩阵为Rdual，维度为2M×2M，表示为：
其中，表示信号的期望，(·)*表示信号的共轭。
不失一般性，本实施例四以Beamforming算法估计DOA为例，基于上述内容，Beamforming谱可以表示为：
PBF(θ,f0)＝(Adual)*·Rdual·Adual
通过搜索Beamforming谱的最高峰，可以估计出角度DOA以及频率偏移f0，即：
本实施例四中方案的好处在于双天线的可测量量增多，因此可以获得更加精确的DOA估计值。更进一步得，基于双天线来估计DOA对于任意频率偏移模型以及运动轨迹等都适用，因此适用的范围比单天线更广。
实施例五
上述实施例二至四中，主要是描述如何基于M个信号周期的第二信号来估计第一设备与第二设备之间的DOA。如图6所示，本实施例五中主要描述如何基于n(n≥2)个DOA角度，来估计第二设备的位置信息，包括第一设备和第二设备之间的相对位置和/或第二设备的绝对位置。具体过程包括：
(1)按照上述实施例二至四中的方法，基于多个信号周期的第二信号来测量第一设备与第二设备之间的DOA，即测量第一设备的DOA；
(2)按照(1)所述的方法，获得n(n≥2)个第一设备的DOA；
(3)第一设备基于n(n≥2)个第一设备的DOA执行定位算法，获得第二设备的位置信息；该定位算法可包括但不限于AOA、AOD等多角定位算法。
可选的，所述第二设备的位置信息包括第一设备和第二设备之间的相对位置，该相对位置是第一设备最后一次接收到第二信号时，第一设备与第二设备的相对位置。
可选的，所述第二设备的位置信息包括第二设备的绝对位置；此情况下，第一设备可以根据自己的绝对位置以及测量得到的其和第二设备之间的相位位置，计算出第二设备的绝对位置。
本申请实施例提供的定位方法，执行主体可以为定位装置。本申请实施例中以定位装置执行定位的方法为例，说明本申请实施例提供的定位的装置。
本申请实施例提供一种定位装置，作为一种示例，定位装置可以是通信设备或通信设备中的部件，例如芯片等。定位装置包括接收模块、发送模块和处理模块。其中，接收模块、发送模块和处理模块可以是通过软件实现，也可以通过硬件实现。当通过硬件实现时，处理模块可以由处理器实现，示例性的，处理器可以包括通用处理器、专用处理器等，例如包括中央处理单元(Central Processing Unit，CPU)、微处理器、数字信号处理器(Digital Signal Processor，DSP)、人工智能(Artificial Intelligent，AI)处理器、图形处理器(Graphics Processing Unit，GPU)、专用集成电路(Application Specific Integrated Circuit，ASIC)、网络处理器(Network Processor，NP)、现场可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、门电路、晶体管、分立硬件组件等。接收模块和发送模块可以由通信接口实现，通信接口可以包括收发器、管脚、电路、总线、射频单元等其中一种或多种。
具体的，参见图7，当定位装置为第一设备或第一设备中的部件时，定位装置70包括：
第一发送模块71，用于在第一设备的移动过程中向第二设备发送第一信号；
第一接收模块72，用于在所述第一设备的移动过程中接收所述第二设备发送的第二信号，所述第二信号是根据所述第一信号生成的周期性信号；
第一处理模块73，用于获得所述第二信号的第一测量值和所述第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系；根据所述第一测量值和所述第二测量值，估计所述第一设备与所述第二设备之间的DOA或AOD，和/或，估计所述第二设备的位置信息。
可选地，所述第一测量值的测量时刻与所述第二测量值的测量时刻相同，或者，所述第一测量值的测量时刻与所述第二测量值的测量时刻在同一个时间窗内。
可选地，所述第一信号满足以下至少一项：
所述第一信号是周期性的同步信号；
所述第一信号是周期性的用于定位或测角的参考信号；
所述第一信号是周期性的且序列已知的测量参考信号；
所述第一信号是周期性的且调制信息或输入比特已知的数据信号
所述第一信号是载波信号。
可选地，所述第二信号的第一测量值包括以下至少一项：
所述第二信号的参考信号强度RSS；
所述第二信号的接收信号强度指示RSSI；
所述第二信号的幅度；
所述第二信号的相位；
所述第二信号的频率；
所述第二信号的协方差矩阵；
所述第二信号的自相关矩阵；
根据所述第二信号的多个测量值得到的统计值；
利用多个天线获得的多个第二信号的测量值，或者，利用多个天线获得的多个第二信号的测量值的统计值。
可选地，所述第二测量值包括以下至少一项：
加速度信息；
角速度信息；
方位信息；
磁感应信息；
偏航角信息；
位置信息；
所述惯性测量单元的多个测量值的统计值。
可选地，所述第一处理模块73具体用于执行以下任一项：
获得所述第二信号的m个周期内的m个第一测量值和所述m个周期内的所述惯性测量单元的m个第二测量值，m≥2；
获得所述第二信号的m个周期中的每个周期内的基于k个天线得到的k个第二信号的第一测量值，和所述m个周期内的所述惯性测量单元的m个第二测量值，m≥2，k≥2。
可选地，所述m满足以下至少一项：
所述m个周期的时长小于或等于时间阈值，或者，所述m个周期的时长小于或等于所述惯性测量单元所允许的满足误差范围内的工作时长；
基于所述m个周期内的第一测量值和第二测量值估计的DOA或AOD的误差值小于或等于第一误差阈值，或者，基于所述m个周期内的第一测量值和第二测量值估计的DOA或AOD的置信度大于或等于第一置信度阈值；
所述m小于或等于测量一次DOA或AOD所允许的最大测量次数；
所述m小于或等于所述惯性测量单元所允许的DOA或AOD误差范围内的最大测量次数。
可选地，所述第一处理模块73具体用于：根据所述第一测量值和所述第二测量值，采用DOA或AOD估计算法估计得到所述第一设备与所述第二设备之间的DOA或AOD；
其中，所述DOA或AOD估计算法包括以下至少一项：
波束成形Beamforming算法；
多重信号分类MUSCI算法；
ESPRIT算法；
酉ESPRIT算法。
可选地，所述第一处理模块73具体用于：根据所述第一测量值和所述第二测量值，估计得到所述第一设备与所述第二设备之间的n个DOA或AOD，n≥2；根据所述n个DOA或AOD，估计得到所述第二设备的位置信息。
可选地，所述n个DOA或AOD满足以下至少一项：
所述n个DOA之间的间隔相同或不相同，或者，所述n个AOD之间的间隔相同或不相同；
所述n个DOA对应的第二信号的周期个数相同或不相同，或者，所述n个AOD对应的第二信号的周期个数相同或不相同；
所述n个DOA是在所述第一设备的相同或不同的运动轨迹下得到的，或者，所述n个AOD是在所述第一设备的相同或不同的运动轨迹下得到的；
所述n个DOA是使用基于相同或不同的初始速度和方向角的惯性测量单元的测量值得到的，或者，所述n个AOD是使用基于相同或不同的初始速度和方向角的惯性测量单元的测量值得到的；
所述n个DOA是基于相同或不同的参考信号得到的，或者，所述n个AOD是基于相同或不同的参考信号得到的；
所述n个DOA是基于相同或不同的频域资源得到的，或者，所述n个AOD是基于相同或不同的频域资源得到的；
所述n小于或等于位置测量所允许的DOA的最大次数，或者，所述n小于或等于位置测量所允许的DOA或AOD的最大次数；
基于所述n个DOA估计的位置信息的误差小于或等于第二误差阈值，或者，基于所述n个DOA估计的位置信息的置信度大于或等于第二置信度阈值；
基于所述n个AOD估计的位置信息的误差小于或等于第三误差阈值，或者，基于所述n个AOD估计的位置信息的置信度大于或等于第三置信度阈值。
可选地，所述第一设备的移动轨迹包括以下至少一项：
非直线轨迹；
加速度为非恒值的移动轨迹。
可选地，所述第一发送模块71具体用于：根据第一信息，在移动过程中向所述第二设备发送所述第一信号；其中，所述第一信息包括以下至少一项：
所述第一信号的信号周期；
所述第一信号的基带信号参数；
所述第一信号的信号波形；
所述第一信号的发送功率；
所述第一信号的时域资源信息；
所述第一信号的频域资源信息；
所述第一信号的时频域图案模式；
所述第一信号的空域资源信息；
所述第一信号的极化资源信息。
可选地，定位装置70还包括：
第二接收模块，用于接收所述第二设备上报的能力信息；其中，所述能力信息包括以下至少一项：
所述第二设备的天线能力；
所述第二设备支持的调制方式；
所述第二设备支持的调制阶数；
所述第二设备支持的调制速率；
所述第二设备支持的带宽；
所述第二设备支持的工作频点；
所述第二设备的搬频能力；
所述第二设备的反射系数大小；
所述第二设备的放大器信息。
可选地，定位装置70还包括：
第三接收模块，用于接收所述第二设备上报的设备信息；
建立模块，用于根据所述设备信息，建立所述第一设备与第二设备之间的关联关系。
可选地，定位装置70还包括：
第二发送模块，用于向所述第二设备发送配置信息，其中，所述配置信息用于为所述第二设备配置以下至少一项：无线网络临时标识、前导序列、同步序列、所述第一信号的信号参数和所述第二信号的信号参数。
本申请实施例提供的定位装置70能够实现图2所示的方法实施例实现的各个过程，并达到相同的技术效果，为避免重复，这里不再赘述。
参见图8，当定位装置为第二设备或第二设备中的部件时，定位装置80包括：
第四接收模块81，用于接收第一设备在移动过程中发送的第一信号；
第二处理模块82，用于根据所述第一信号生成第二信号，所述第二信号是周期性信号；
第三发送模块83，用于向移动过程中的所述第一设备发送所述第二信号，所述第二信号用于以下至少一项：估计所述第一设备与所述第二设备之间的DOA或AOD、估计所述第二设备的位置信息。
可选地，所述第一信号满足以下至少一项：
所述第一信号是周期性的同步信号；
所述第一信号是周期性的用于定位或测角的参考信号；
所述第一信号是周期性的且序列已知的测量参考信号；
所述第一信号是周期性的且调制信息或输入比特已知的数据信号
第一信号是载波信号。
可选地，所述第二处理模块具体用于执行以下任一项：
在所述第一信号是周期性信号的情况下，按照反射系数对所述第一信号进行反向散射，得到所述第二信号；
在所述第一信号是载波信号的情况下，根据配置或指示信息对所述第一信号进行反向散射调制，得到所述第二信号。
可选地，所述第二处理模块具体用于根据第二信息和所述第一信号，生成所述第二信号；其中，所述第二信息包括以下至少一项：
所述第二设备的反射系数；
所述第二信号的信号周期；
所述第二信号的基带信号参数；
所述第二信号的信号波形。
可选地，所述第二信息是由所述第一设备配置或指示的，或者，所述第二信息是网络预配置、系统预配置或协议约定的。
可选地，所述第三发送模块具体用于：根据第三信息，向移动过程中的所述第一设备发送所述第二信号；其中，所述第三信息包括以下至少一项：
所述第二信号的发送功率；
所述第二信号的时域资源信息；
所述第二信号的频域资源信息；
所述第二信号的时频域图案模式；
所述第二信号的空域资源信息；
所述第二信号的极化资源信息。
可选地，所述第三信息是由所述第一设备配置或指示的，或者，所述第三信息是网络预配置、系统预配置或协议约定的。
本申请实施例提供的定位装置80能够实现图3所示的方法实施例实现的各个过程，并达到相同的技术效果，为避免重复，这里不再赘述。
如图9所示，本申请实施例还提供一种通信设备90，包括处理器91和存储器92，存储器92上存储有可在所述处理器91上运行的程序或指令，例如，该通信设备90为第一设备时，该程序或指令被处理器91执行时实现上述图2所示的定位方法实施例的各个步骤，且能达到相同的技术效果。该通信设备90为第二设备时，该程序或指令被处理器91执行时实现上述图3所示定位方法实施例的各个步骤，且能达到相同的技术效果，为避免重复，这里不再赘述。
本申请实施例还提供一种终端，包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如图2所示方法实施例中的步骤，且能达到相同的技术效果。该终端可以是图7所示的定位装置。
具体地，图10为实现本申请实施例的一种终端的硬件结构示意图。
该终端1000包括但不限于：射频单元1001、网络模块1002、音频输出单元1003、输入单元1004、传感器1005、显示单元1006、用户输入单元1007、接口单元1008、存储器1009以及处理器1010等中的至少部分部件。
本领域技术人员可以理解，终端1000还可以包括给各个部件供电的电源(比如电池)，电源可以通过电源管理系统与处理器1010逻辑相连，从而通过电源管理系统实现管理充电、放电以及功耗管理等功能。图10中示出的终端结构并不构成对终端的限定，终端可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置，在此不再赘述。
应理解的是，本申请实施例中，输入单元1004可以包括图形处理器10041和麦克风10042，图形处理器10041对在视频捕获模式或图像捕获模式中由图像捕获装置(如摄像头)获得的静态图片或视频的图像数据进行处理。显示单元1006可包括显示面板10061，可以采用液晶显示器、有机发光二极管等形式来配置显示面板10061。用户输入单元1007包括触控面板10071以及其他输入设备10072中的至少一种。触控面板10071，也称为触摸屏。触控面板10071可包括触摸检测装置和触摸控制器两个部分。其他输入设备10072可以包括但不限于物理键盘、功能键(比如音量控制按键、开关按键等)、轨迹球、鼠标、操作杆，在此不再赘述。
本申请实施例中，射频单元1001接收来自网络侧设备的下行数据后，可以传输给处理器1010进行处理；另外，射频单元1001可以向网络侧设备发送上行数据。通常，射频单元1001包括但不限于天线、放大器、收发器、耦合器、低噪声放大器、双工器等。
存储器1009可用于存储软件程序或指令以及各种数据。存储器1009可主要包括存储程序或指令的第一存储区和存储数据的第二存储区，其中，第一存储区可存储操作系统、至少一个功能所需的应用程序或指令(比如声音播放功能、图像播放功能等)等。此外，存储器1009可以包括易失性存储器或非易失性存储器。其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory，RAM)，静态随机存取存储器(Static RAM，SRAM)、动态随机存取存储器(Dynamic RAM，DRAM)、同步动态随机存取存储器(Synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Rate SDRAM，DDRSDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(Synch link DRAM，SLDRAM)和直接内存总线随机存取存储器(Direct Rambus RAM，DRRAM)。本申请实施例中的存储器1009包括但不限于这些和任意其它适合类型的存储器。
处理器1010可包括一个或多个处理单元；可选地，处理器1010集成应用处理器和调制解调处理器，其中，应用处理器主要处理涉及操作系统、用户界面和应用程序等的操作，调制解调处理器主要处理无线通信信号，如基带处理器。可以理解的是，上述调制解调处理器也可以不集成到处理器1010中。
其中，射频单元1001，用于在终端1000的移动过程中向第二设备发送第一信号，接收所述第二设备发送的第二信号，所述第二信号是根据所述第一信号生成的周期性信号；
处理器1010，用于获得所述第二信号的第一测量值和所述第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系；根据所述第一测量值和所述第二测量值，估计所述第一设备与所述第二设备之间的DOA或AOD，和/或估计所述第二设备的位置信息。
可以理解，本实施例中提及的各实现方式的实现过程可以参照图2中所示方法实施例的相关描述，并达到相同或相应的技术效果，为避免重复，在此不再赘述。
本申请实施例还提供一种可读存储介质，所述可读存储介质上存储有程序或指令，该程序或指令被处理器执行时实现上述图2或图3所示的定位方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
其中，所述处理器为上述实施例中所述的终端中的处理器。所述可读存储介质，包括计算机可读存储介质，如计算机只读存储器ROM、随机存取存储器RAM、磁碟或者光盘等。在一些示例中，可读存储介质可以是非瞬态的可读存储介质。
本申请实施例另提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现上述图2或图3所示的定位方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
应理解，本申请实施例提到的芯片还可以称为系统级芯片，系统芯片，芯片系统或片上系统芯片等。
本申请实施例另提供了一种计算机程序/程序产品，所述计算机程序/程序产品被存储在存储介质中，所述计算机程序/程序产品被至少一个处理器执行以实现上述图2或图3所示的定位方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
本申请实施例还提供了一种通信系统，包括：第一设备及第二设备，所述第一设备可用于执行如上图2所述的定位方法的步骤，所述第二设备可用于执行如上图3所述的定位方法的步骤。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外，需要指出的是，本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能，还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能，例如，可以按不同于所描述的次序来执行所描述的方法，并且还可以添加、省去或组合各种步骤。另外，参照某些示例所描述的特征可在其他示例中被组合。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助计算机软件产品加必需的通用硬件平台的方式来实现，当然也可以通过硬件。该计算机软件产品存储在存储介质(如ROM、RAM、磁碟、光盘等)中，包括若干指令，用以使得终端或者网络侧设备执行本申请各个实施例所述的方法。
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式的实施方式，这些实施方式均属于本申请的保护之内。

Claims (29)

  1. 一种定位方法，包括：
    第一设备在移动过程中向第二设备发送第一信号；
    所述第一设备在移动过程中接收所述第二设备发送的第二信号，所述第二信号是根据所述第一信号生成的周期性信号；
    所述第一设备获得所述第二信号的第一测量值和所述第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系；
    所述第一设备根据所述第一测量值和所述第二测量值，估计所述第一设备与所述第二设备之间的波达方向DOA或出发角AOD，和/或，估计所述第二设备的位置信息。
  2. 根据权利要求1所述的方法，其中，所述第一测量值的测量时刻与所述第二测量值的测量时刻相同，或者，所述第一测量值的测量时刻与所述第二测量值的测量时刻在同一个时间窗内。
  3. 根据权利要求1或2所述的方法，其中，所述第一信号满足以下至少一项：
    所述第一信号是周期性的同步信号；
    所述第一信号是周期性的用于定位或测角的参考信号；
    所述第一信号是周期性的且序列已知的测量参考信号；
    所述第一信号是周期性的且调制信息或输入比特已知的数据信号
    所述第一信号是载波信号。
  4. 根据权利要求1至3任一项所述的方法，其中，所述第二信号的第一测量值包括以下至少一项：
    所述第二信号的参考信号强度RSS；
    所述第二信号的接收信号强度指示RSSI；
    所述第二信号的幅度；
    所述第二信号的相位；
    所述第二信号的频率；
    所述第二信号的协方差矩阵；
    所述第二信号的自相关矩阵；
    根据所述第二信号的多个测量值得到的统计值；
    利用多个天线获得的多个第二信号的测量值，或者，利用多个天线获得的多个第二信号的测量值的统计值。
  5. 根据权利要求1至4任一项所述的方法，其中，所述第二测量值包括以下至少一项：
    加速度信息；
    角速度信息；
    方位信息；
    磁感应信息；
    偏航角信息；
    位置信息；
    所述惯性测量单元的多个测量值的统计值。
  6. 根据权利要求1至5任一项所述的方法，其中，所述第一设备获得所述第二信号的第一测量值和所述第一设备中的惯性测量单元的第二测量值，包括以下任一项：
    所述第一设备获得所述第二信号的m个周期内的m个第一测量值和所述m个周期内的所述惯性测量单元的m个第二测量值，m≥2；
    所述第一设备获得所述第二信号的m个周期中的每个周期内的基于k个天线得到的k个第二信号的第一测量值，和所述m个周期内的所述惯性测量单元的m个第二测量值，m≥2，k≥2。
  7. 根据权利要求6所述的方法，其中，所述m满足以下至少一项：
    所述m个周期的时长小于或等于时间阈值，或者，所述m个周期的时长小于或等于所述惯性测量单元所允许的满足误差范围内的工作时长；
    基于所述m个周期内的第一测量值和第二测量值估计的DOA或AOD的误差值小于或等于第一误差阈值，或者，基于所述m个周期内的第一测量值和第二测量值估计的DOA或AOD的置信度大于或等于第一置信度阈值；
    所述m小于或等于测量一次DOA或AOD所允许的最大测量次数；
    所述m小于或等于所述惯性测量单元所允许的DOA或AOD误差范围内的最大测量次数。
  8. 根据权利要求1至7任一项所述的方法，其中，所述第一设备根据所述第一测量值和所述第二测量值，估计所述第一设备与所述第二设备之间的波达方向DOA或出发角AOD，包括：
    所述第一设备根据所述第一测量值和所述第二测量值，采用DOA或AOD估计算法估计得到所述第一设备与所述第二设备之间的DOA或AOD；
    其中，所述DOA或AOD估计算法包括以下至少一项：
    波束成形Beamforming算法；
    多重信号分类MUSCI算法；
    ESPRIT算法；
    酉ESPRIT算法。
  9. 根据权利要求1至8任一项所述的方法，其中，所述估计所述第二设备的位置信息，包括：
    所述第一设备根据所述第一测量值和所述第二测量值，估计得到所述第一设备与所述第二设备之间的n个DOA或AOD，n≥2；
    所述第一设备根据所述n个DOA或AOD，估计得到所述第二设备的位置信息。
  10. 根据权利要求9所述的方法，其中，所述n个DOA或AOD满足以下至少一项：
    所述n个DOA之间的间隔相同或不相同，或者，所述n个AOD之间的间隔相同或不相同；
    所述n个DOA对应的第二信号的周期个数相同或不相同，或者，所述n个AOD对应的第二信号的周期个数相同或不相同；
    所述n个DOA是在所述第一设备的相同或不同的运动轨迹下得到的，或者，所述n个AOD是在所述第一设备的相同或不同的运动轨迹下得到的；
    所述n个DOA是使用基于相同或不同的初始速度和方向角的惯性测量单元的测量值得到的，或者，所述n个AOD是使用基于相同或不同的初始速度和方向角的惯性测量单元的测量值得到的；
    所述n个DOA是基于相同或不同的参考信号得到的，或者，所述n个AOD是基于相同或不同的参考信号得到的；
    所述n个DOA是基于相同或不同的频域资源得到的，或者，所述n个AOD是基于相同或不同的频域资源得到的；
    所述n小于或等于位置测量所允许的DOA的最大次数，或者，所述n小于或等于位置测量所允许的DOA或AOD的最大次数；
    基于所述n个DOA估计的位置信息的误差小于或等于第二误差阈值，或者，基于所述n个DOA估计的位置信息的置信度大于或等于第二置信度阈值；
    基于所述n个AOD估计的位置信息的误差小于或等于第三误差阈值，或者，基于所述n个AOD估计的位置信息的置信度大于或等于第三置信度阈值。
  11. 根据权利要求1至10任一项所述的方法，其中，所述第一设备的移动轨迹包括以下至少一项：
    非直线轨迹；
    加速度为非恒值的移动轨迹。
  12. 根据权利要求1至11任一项所述的方法，其中，所述第一设备在移动过程中向第二设备发送第一信号，包括：
    所述第一设备根据第一信息，在移动过程中向所述第二设备发送所述第一信号；
    其中，所述第一信息包括以下至少一项：
    所述第一信号的信号周期；
    所述第一信号的基带信号参数；
    所述第一信号的信号波形；
    所述第一信号的发送功率；
    所述第一信号的时域资源信息；
    所述第一信号的频域资源信息；
    所述第一信号的时频域图案模式；
    所述第一信号的空域资源信息；
    所述第一信号的极化资源信息。
  13. 根据权利要求1至12任一项所述的方法，所述方法还包括：
    所述第一设备接收所述第二设备上报的能力信息；
    其中，所述能力信息包括以下至少一项：
    所述第二设备的天线能力；
    所述第二设备支持的调制方式；
    所述第二设备支持的调制阶数；
    所述第二设备支持的调制速率；
    所述第二设备支持的带宽；
    所述第二设备支持的工作频点；
    所述第二设备的搬频能力；
    所述第二设备的反射系数大小；
    所述第二设备的放大器信息。
  14. 根据权利要求1至13任一项所述的方法，所述方法还包括：
    所述第一设备接收所述第二设备上报的设备信息；
    所述第一设备根据所述设备信息，建立所述第一设备与所述第二设备之间的关联关系。
  15. 根据权利要求1至14任一项所述的方法，所述方法还包括：
    所述第一设备向所述第二设备发送配置信息，其中，所述配置信息用于为所述第二设备配置以下至少一项：无线网络临时标识、前导序列、同步序列、所述第一信号的信号参数和所述第二信号的信号参数。
  16. 一种定位方法，包括：
    第二设备接收第一设备在移动过程中发送的第一信号；
    所述第二设备根据所述第一信号生成第二信号，所述第二信号是周期性信号；
    所述第二设备向移动过程中的所述第一设备发送所述第二信号；其中，所述第二信号用于以下至少一项：估计所述第一设备与所述第二设备之间的DOA或AOD、估计所述第二设备的位置信息。
  17. 根据权利要求16所述的方法，其中，所述第一信号满足以下至少一项：
    所述第一信号是周期性的同步信号；
    所述第一信号是周期性的用于定位或测角的参考信号；
    所述第一信号是周期性的且序列已知的测量参考信号；
    所述第一信号是周期性的且调制信息或输入比特已知的数据信号
    第一信号是载波信号。
  18. 根据权利要求16或17所述的方法，其中，所述第二设备根据所述第一信号生成第二信号，包括以下任一项：
    所述第二设备在所述第一信号是周期性信号的情况下，按照反射系数对所述第一信号进行反向散射，得到所述第二信号；
    所述第二设备在所述第一信号是载波信号的情况下，根据配置或指示信息对所述第一信号进行反向散射调制，得到所述第二信号。
  19. 根据权利要求16至18任一项所述的方法，其中，所述第二设备根据所述第一信号生成第二信号，包括：
    所述第二设备根据第二信息和所述第一信号，生成所述第二信号；
    其中，所述第二信息包括以下至少一项：
    所述第二设备的反射系数；
    所述第二信号的信号周期；
    所述第二信号的基带信号参数；
    所述第二信号的信号波形。
  20. 根据权利要求19所述的方法，其中，所述第二信息是由所述第一设备配置或指示的，或者，所述第二信息是网络预配置、系统预配置或协议约定的。
  21. 根据权利要求16至20任一项所述的方法，其中，所述第二设备向移动过程中的所述第一设备发送所述第二信号，包括：
    所述第二设备根据第三信息，向移动过程中的所述第一设备发送所述第二信号；
    其中，所述第三信息包括以下至少一项：
    所述第二信号的发送功率；
    所述第二信号的时域资源信息；
    所述第二信号的频域资源信息；
    所述第二信号的时频域图案模式；
    所述第二信号的空域资源信息；
    所述第二信号的极化资源信息。
  22. 根据权利要求21所述的方法，其中，所述第三信息是由所述第一设备配置或指示的，或者，所述第三信息是网络预配置、系统预配置或协议约定的。
  23. 一种定位装置，包括：
    第一发送模块，用于在第一设备的移动过程中向第二设备发送第一信号；
    第一接收模块，用于在所述第一设备的移动过程中接收所述第二设备发送的第二信号，所述第二信号是根据所述第一信号生成的周期性信号；
    第一处理模块，用于获得所述第二信号的第一测量值和所述第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系；根据所述第一测量值和所述第二测量值，估计所述第一设备与所述第二设备之间的DOA或AOD，和/或，估计所述第二设备的位置信息。
  24. 根据权利要求23所述的装置，其中，所述第一测量值的测量时刻与所述第二测量值的测量时刻相同，或者，所述第一测量值的测量时刻与所述第二测量值的测量时刻在同一个时间窗内。
  25. 根据权利要求23或24所述的装置，其中，所述第一信号满足以下至少一项：
    所述第一信号是周期性的同步信号；
    所述第一信号是周期性的用于定位或测角的参考信号；
    所述第一信号是周期性的且序列已知的测量参考信号；
    所述第一信号是周期性的且调制信息或输入比特已知的数据信号
    所述第一信号是载波信号。
  26. 一种定位装置，包括：
    第四接收模块，用于接收第一设备在移动过程中发送的第一信号；
    第二处理模块，用于根据所述第一信号生成第二信号，所述第二信号是周期性信号；
    第三发送模块，用于向移动过程中的所述第一设备发送所述第二信号；其中，所述第二信号用于以下至少一项：估计所述第一设备与第二设备之间的DOA或AOD、估计第二设备的位置信息。
  27. 根据权利要求26所述的装置，其中，所述第二处理模块用于以下任一项：
    在所述第一信号是周期性信号的情况下，按照反射系数对所述第一信号进行反向散射，得到所述第二信号；
    在所述第一信号是载波信号的情况下，根据配置或指示信息对所述第一信号进行反向散射调制，得到所述第二信号。
  28. 一种通信设备，包括处理器和存储器，所述存储器存储可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求1至15任一项所述的定位方法的步骤，或者实现如权利要求16至22任一项所述的定位方法的步骤。
  29. 一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如权利要求1至15任一项所述的定位方法，或者实现如权利要求16至22任一项所述的定位方法的步骤。
PCT/CN2025/112218 2024-08-02 2025-08-01 定位方法、装置、通信设备及可读存储介质 Pending WO2026026964A1 (zh)

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Citations (4)

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CN110736962A (zh) * 2019-09-10 2020-01-31 天津大学 一种无源rfid场景下的目标追踪方法
US20210080533A1 (en) * 2018-08-18 2021-03-18 The Regents Of The University Of California Single antenna direction finding and localization
CN117527006A (zh) * 2023-09-26 2024-02-06 北京邮电大学 环境反向散射通信虚拟天线阵列构建方法及相关设备
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US20210080533A1 (en) * 2018-08-18 2021-03-18 The Regents Of The University Of California Single antenna direction finding and localization
CN110736962A (zh) * 2019-09-10 2020-01-31 天津大学 一种无源rfid场景下的目标追踪方法
CN117769659A (zh) * 2021-06-11 2024-03-26 英频杰公司 使用相位的rfid标签参数确定
CN117527006A (zh) * 2023-09-26 2024-02-06 北京邮电大学 环境反向散射通信虚拟天线阵列构建方法及相关设备

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