WO2023051310A1 - 一种定位方法及装置 - Google Patents

一种定位方法及装置 Download PDF

Info

Publication number
WO2023051310A1
WO2023051310A1 PCT/CN2022/119719 CN2022119719W WO2023051310A1 WO 2023051310 A1 WO2023051310 A1 WO 2023051310A1 CN 2022119719 W CN2022119719 W CN 2022119719W WO 2023051310 A1 WO2023051310 A1 WO 2023051310A1
Authority
WO
WIPO (PCT)
Prior art keywords
reference signal
time difference
sending
displacement vector
transceiving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2022/119719
Other languages
English (en)
French (fr)
Inventor
黄甦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huawei Technologies Co Ltd
Original Assignee
Huawei Technologies Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Priority to EP22874697.0A priority Critical patent/EP4391596A4/en
Publication of WO2023051310A1 publication Critical patent/WO2023051310A1/zh
Priority to US18/616,175 priority patent/US20240244577A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
    • G01S13/765—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted with exchange of information between interrogator and responder
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/003—Arrangements for allocating sub-channels of the transmission path
    • H04L5/0048—Allocation of pilot signals, i.e. of signals known to the receiver
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location

Definitions

  • the present application relates to the field of positioning, and in particular to a positioning method and device.
  • the positioning scenarios of the current communication system include: enhanced mobile broadband (eMBB) outdoors, eMBB indoors, ultra-reliable and low latency communications (URLLC) and massive machine type communications (massive machine type of communication) , mMTC)/Internet of Things (IOT), Vehicle Networking (vehicular to x, V2X), satellite positioning, etc.
  • eMBB enhanced mobile broadband
  • URLLC ultra-reliable and low latency communications
  • massive machine type communications massive machine type of communication
  • IOT Internet of Things
  • V2X Vehicle Networking
  • a multi-round-trip time (multi-round-trip time, Multi-RTT) technology may be used to implement positioning on a user equipment (user equipment, UE).
  • the location management function (LMF) network element can obtain the Rx-Tx time difference (Rx-Tx time difference) measured by the UE and the access network device (such as a base station or satellite). Then, the LMF network element can determine the distance between the UE and the access network device according to the time difference between sending and receiving measured by the UE and the access network device, thereby determining the location of the UE.
  • This positioning technology is applicable to the situation that the equipment (including UE and access network equipment) participating in positioning is in a static state.
  • the present application provides a positioning method and device, which can enable high-precision positioning of equipment in a moving state.
  • the present application provides a positioning method, which may be applied to a first device, where the first device may be, for example, a terminal device.
  • the method includes: receiving the first transceiving time difference and the displacement vector of the second device; determining the position of the first device according to the first transceiving time difference, the displacement vector of the second device and the second transceiving time difference.
  • the first transceiving time difference is the time difference between the receiving time of the first reference signal and the sending time of the second reference signal
  • the first reference signal is the reference signal of the first device received by the second device
  • the second reference signal is the reference signal of the second device
  • the reference signal sent is the displacement vector of the second device is the displacement of the second device within a time period corresponding to the first sending and receiving time difference.
  • the second sending and receiving time difference is the time difference between the receiving time of the third reference signal and the sending time of the fourth reference signal
  • the third reference signal is the reference signal of the second device received by the first device
  • the fourth reference signal is sent by the first device reference signal.
  • the first device when the first device determines its own position, it can perform positioning calculation according to the first sending and receiving time difference, the second sending and receiving time difference, and the displacement vector of the second device .
  • the transmission distance of the reference signal between the first device and the second device can be determined according to the first transceiving time difference and the second transceiving time difference
  • the relative distance between the first device and the second device can be determined according to the displacement vector of the second device. displacement.
  • the first device can perform positioning calculations based on the transmission distance of the reference signal between the first device and the second device and the relative displacement between the two devices, so that the parameters that affect the positioning accuracy - the parameters involved in positioning
  • the relative displacement between the devices is added to the positioning calculation, so that the first device in the moving state can be accurately positioned.
  • the first reference signal is a reference signal of the first device received by the second device, which can be understood as: the first reference signal is a reference signal from the first device received by the second device, or the first reference signal is The second device receives the reference signal of the first device reflected by other devices.
  • the first device receiving the first transceiving time difference and the displacement vector of the second device may include: the first device receiving the first transceiving time difference and the displacement vector of the second device from the second device, or the first device receiving the displacement vector from the third device The first sending and receiving time difference of the device and the displacement vector of the second device.
  • the first sending and receiving time difference and the displacement vector of the second device may be carried in one piece of information, or carried in two pieces of information respectively, which is not limited.
  • determining the position of the first device according to the first transceiving time difference, the displacement vector of the second device, and the second transceiving time difference may include: according to the first transceiving time difference, the displacement vector of the second device, the second transceiving time difference The time difference and the displacement vector of the first device determine the position of the first device.
  • an implementation method of determining the relative displacement between the first device and the second device can be provided.
  • the first device can determine the distance between the first device and the second device according to the displacement vector of the second device and the displacement vector of the first device.
  • the relative displacement between the devices, so that the first device can perform positioning calculation based on the distance transmitted by the reference signal between the first device and the second device and the relative displacement between the two devices, so that the first device in the moving state can A device for accurate positioning.
  • the first device is located on the ellipsoid or ellipse determined according to the distance and relative displacement of the reference signal transmitted between the first device and the second device, so that an implementation method of determining the position of the first device can be provided , for example, the first device can establish an expression of the first area whose shape is an ellipsoid or an ellipse according to the distance transmitted by the reference signal between the first device and the second device and the relative displacement between the two devices, so that the first The device can perform positioning calculation in combination with the transmission distance of the reference signal between the first device and the second device and the relative displacement between the two devices, so that the first device in a moving state can be accurately positioned.
  • the shape of the first region in two-dimensional space, may be an ellipse, or a circumference of an ellipse; in three-dimensional space, the shape of the first region may be an ellipsoid, or an ellipsoidal surface.
  • an ellipsoid is an extension of an ellipse in three-dimensional space.
  • the concept of an ellipsoid can include an ellipsoid in three-dimensional space and an ellipse in two-dimensional space.
  • the first area can be a part of an ellipsoid or an ellipse.
  • an area whose shape is an ellipsoid or an ellipse can be determined first, and then use wireless signal transmission characteristics (such as the coverage direction of the signal) to remove unreasonable areas in the area.
  • the part of , and the remaining part is regarded as the first area, which will be described in a unified manner here, and will not be described in detail below.
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device, assuming that the coordinates of the first and last endpoints of the first vector are (x0, y0) and (-x0, -y0) respectively , then the location of the first device is located in the first area, and the first area can be determined according to the following formula (1):
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device, assuming that the first and last end point coordinates of the first vector are (x0, y0) and (-x0, -y0 ), then the location of the first device is located in the first area, and the first area can be determined according to the following formula (3):
  • L is the distance corresponding to the sum of the second transceiving time difference and the first transceiving time difference
  • a represents the semi-major axis of the first area
  • b represents the semi-minor axis of the first area.
  • x, y are variables and dependent variables in the expression of the first region.
  • each second device corresponds to a second area
  • the first device is located at the intersection of the N second areas.
  • the shape of the i-th second area corresponding to the i-th second device among the N second devices is an ellipsoid or ellipse
  • the two foci of the i-th second area are the first and last endpoints of the second vector
  • the i-th The length of the long axis of the second area is the distance corresponding to the sum of the second sending and receiving time difference and the first sending and receiving time difference of the i-th second device
  • the second vector is the displacement vector of the first device and the distance between the i-th second device
  • the sum of displacement vectors, i is a positive integer, and i ⁇ N.
  • the first device can transmit information between the first device and multiple second devices according to the reference signal.
  • the distance and the relative displacement between the first device and the multiple second devices establish the expression of multiple second regions whose shape is an ellipsoid or ellipse, and the position of the first device is located at the intersection of these multiple second regions, so that the first A device can perform positioning calculation based on the transmission distance of the reference signal between the first device and multiple second devices and the relative displacement between the first device and multiple second devices, so as to improve the positioning accuracy of the first device.
  • the position of the first device is determined by the first area and the angle of arrival (AOA) of the first reference signal; and/or, the position of the first device is determined by the first area and the arrival of the third reference signal The angle is determined.
  • AOA angle of arrival
  • the distance of the reference signal transmitted between the first device and the second device, the relative displacement between the two devices, and the angle of arrival of the first reference signal can also be used for positioning calculation , so that the positioning accuracy can be further improved, and the positioning calculation process can be simplified.
  • positioning when determining the position of the first device, positioning can also be performed in combination with the transmission distance of the reference signal between the first device and the second device, the relative displacement between the two devices, and the angle of arrival of the third reference signal Calculation, so that the positioning accuracy can be further improved, and the process of positioning calculation can be simplified.
  • the angle of arrival of the third reference signal is denoted as AoA1
  • the position (x, y) of the first device can be combined with formula (1), formula (2), formula (4), or simultaneous formula (3 ), Formula (4) is determined.
  • Formula (4) is as follows:
  • the angle of arrival of the first reference signal is denoted as AoA2
  • the position (x, y) of the first device can be combined with formula (1), formula (2), formula (5), or formula (3), Formula (5).
  • Formula (5) is as follows:
  • the angle of arrival of the third reference signal is denoted as AoA1
  • the angle of arrival of the first reference signal is denoted as AoA2.
  • the position (x, y) of the first device can be combined with formula (1), formula (2) , formula (6), or simultaneous formula (3) and formula (6) to determine.
  • Formula (6) is as follows:
  • the vertical angle of arrival (zenith angle of arrival, ZOA) is also a kind of arrival angle, that is to say, the arrival angle of the first reference signal may include AOA and ZOA, and the arrival angle of the third reference signal may include AOA and ZOA. It is described here in a unified manner, and will not be described in detail below.
  • the position of the first device is determined by the angle of arrival of the first reference signal and the angle of arrival of the third reference signal.
  • the distance of the reference signal transmitted between the first device and the second device, the relative displacement between the two devices, the angle of arrival of the first reference signal, and the third reference signal can also be combined.
  • the angle of arrival of the signal is used for positioning calculation, so that the positioning accuracy can be further improved and the positioning calculation process can be simplified.
  • the first transceiving time difference is: a value obtained by taking a modulus of the first value of the difference between the receiving time of the first reference signal and the sending time of the second reference signal.
  • the second sending and receiving time difference is: the difference between the receiving time of the third reference signal and the sending time of the fourth reference signal modulo the first value.
  • the first value is a value configured by the network device to the terminal device, or a value reported by the terminal device to the network device, or a pre-agreed value (such as a protocol agreement), which is not limited in this application.
  • the present application provides a positioning method, which can be applied to a third device, where the third device can be, for example, a positioning management device (such as an LMF network element).
  • the method includes: receiving the first transceiving time difference of the second device and the displacement vector of the second device; and sending the first transceiving time difference and the displacement vector of the second device to the first device.
  • the first transceiving time difference is the time difference between the receiving time of the first reference signal and the sending time of the second reference signal
  • the first reference signal is the reference signal of the first device received by the second device
  • the second reference signal is the reference signal of the second device
  • the reference signal sent, the displacement vector of the second device is the displacement of the second device within a time period corresponding to the first sending and receiving time difference.
  • the present application provides a positioning method, which can be applied to a third device, and the third device can be, for example, a positioning management device (such as an LMF network element).
  • the method includes: receiving the second transceiving time difference of the first device; receiving the first transceiving time difference of the second device and the displacement vector of the second device; determining the second transceiving time difference according to the first transceiving time difference, the displacement vector of the second device and the second transceiving time difference A device location.
  • the first transceiving time difference is the time difference between the receiving time of the first reference signal and the sending time of the second reference signal
  • the first reference signal is the reference signal of the first device received by the second device
  • the second reference signal is the reference signal of the second device
  • the reference signal sent is the displacement vector of the second device is the displacement of the second device within a time period corresponding to the first sending and receiving time difference.
  • the second sending and receiving time difference is the time difference between the receiving time of the third reference signal and the sending time of the fourth reference signal
  • the third reference signal is the reference signal of the second device received by the first device
  • the fourth reference signal is sent by the first device reference signal.
  • the third device when the third device determines the position of the first device, it can perform positioning according to the first sending and receiving time difference, the second sending and receiving time difference, and the displacement vector of the second device solve.
  • the transmission distance of the reference signal between the first device and the second device can be determined according to the first transceiving time difference and the second transceiving time difference
  • the relative distance between the first device and the second device can be determined according to the displacement vector of the second device. displacement.
  • the third device can perform positioning calculations based on the transmission distance of the reference signal between the first device and the second device and the relative displacement between the two devices, so that the parameters that affect the positioning accuracy - the parameters involved in positioning
  • the relative displacement between the devices is added to the positioning calculation, so that the first device in the moving state can be accurately positioned.
  • determining the position of the first device according to the first transceiving time difference, the displacement vector of the second device, and the second transceiving time difference may include: according to the first transceiving time difference, the displacement vector of the second device, the second transceiving time difference The time difference and the displacement vector of the first device determine the position of the first device.
  • the third device can determine the distance between the first device and the second device according to the displacement vector of the second device and the displacement vector of the first device. The relative displacement between the devices, so that the third device can perform positioning calculation based on the distance transmitted by the reference signal between the first device and the second device and the relative displacement between the two devices, so that the third device in the moving state can A device for accurate positioning.
  • the location of the first device is located in the first area.
  • the shape of the first region is an ellipsoid or an ellipse
  • the two focal points of the first region are the first and last endpoints of the first vector
  • the length of the major axis of the first region is corresponding to the sum of the second sending and receiving time difference and the first sending and receiving time difference Distance
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device.
  • the first device is located on the ellipsoid or ellipse determined according to the transmission distance of the reference signal between the first device and the second device and the relative displacement between the two devices.
  • the third device may establish an expression of the first area whose shape is an ellipsoid or an ellipse according to the distance transmitted by the reference signal between the first device and the second device and the relative displacement between the two devices, In this way, the third device can perform positioning calculation based on the transmission distance of the reference signal between the first device and the second device and the relative displacement between the two devices, thereby improving the positioning accuracy of the first device.
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device, assuming that the coordinates of the first and last endpoints of the first vector are (x0, y0) and (-x0, -y0) respectively , then the location of the first device is located in the first area, and the first area can be determined according to the following formula (1):
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device, assuming that the first and last end point coordinates of the first vector are (x0, y0) and (-x0, -y0 ), then the location of the first device is located in the first area, and the first area can be determined according to the following formula (3):
  • L is the distance corresponding to the sum of the second transceiving time difference and the first transceiving time difference
  • a represents the semi-major axis of the first area
  • b represents the semi-minor axis of the first area.
  • x, y are variables and dependent variables in the expression of the first region.
  • each second device corresponds to a second area
  • the first device is located at the intersection of the N second areas.
  • the shape of the i-th second area corresponding to the i-th second device among the N second devices is an ellipsoid or ellipse
  • the two foci of the i-th second area are the first and last endpoints of the second vector
  • the i-th The length of the long axis of the second area is the distance corresponding to the sum of the second sending and receiving time difference and the first sending and receiving time difference of the i-th second device
  • the second vector is the displacement vector of the first device and the distance between the i-th second device
  • the sum of displacement vectors, i is a positive integer, and i ⁇ N.
  • the third device can transmit information between the first device and multiple second devices according to the reference signal.
  • the distance and the relative displacement between the first device and the plurality of second devices establish expressions for a plurality of second areas whose shape is an ellipsoid or an ellipse, and the position of the first device is located at the intersection of the plurality of second areas, thus This allows the third device to perform positioning calculations based on the distance transmitted by the reference signal between the first device and multiple second devices and the relative displacement between the first device and multiple second devices, improving the positioning of the first device precision.
  • the position of the first device is determined by the first area and the angle of arrival of the first reference signal; and/or, the position of the first device is determined by the first area and the angle of arrival of the third reference signal.
  • the distance of the reference signal transmitted between the first device and the second device, the relative displacement between the two devices, and the angle of arrival of the third reference signal can also be used for positioning calculation. Therefore, the positioning accuracy can be further improved, and the positioning calculation process can be simplified.
  • the positioning solution may also be performed in combination with the transmission distance of the reference signal between the first device and the second device, the relative displacement between the two devices, and the angle of arrival of the first reference signal. calculation, so that the positioning accuracy can be further improved, and the positioning calculation process can be simplified.
  • the position of the first device is determined by the angle of arrival of the first reference signal and the angle of arrival of the third reference signal.
  • the angle of arrival of the third reference signal is denoted as AoA1
  • the position (x, y) of the first device can be combined with formula (1), formula (2), formula (4), or simultaneous formula (3 ), Formula (4) is determined.
  • Formula (4) is as follows:
  • the angle of arrival of the first reference signal is denoted as AoA2
  • the position (x, y) of the first device can be combined with formula (1), formula (2), formula (5), or formula (3), Formula (5).
  • Formula (5) is as follows:
  • the angle of arrival of the third reference signal is denoted as AoA1
  • the angle of arrival of the first reference signal is denoted as AoA2.
  • the position (x, y) of the first device can be combined with formula (1), formula (2) , formula (6), or simultaneous formula (3) and formula (6) to determine.
  • Formula (6) is as follows:
  • the first transceiving time difference is: a value obtained by taking a modulus of the first value of the difference between the receiving time of the first reference signal and the sending time of the second reference signal.
  • the second sending and receiving time difference is: the difference between the receiving time of the third reference signal and the sending time of the fourth reference signal modulo the first value.
  • the first value is a value configured by the network device to the terminal device, or a value reported by the terminal device to the network device, or a pre-agreed value (such as a protocol agreement), which is not limited in this application.
  • the present application provides a positioning method, which may be applied to a first device, where the first device may be, for example, a terminal device.
  • the method includes: determining the second transceiving time difference; and sending the second transceiving time difference.
  • the second sending and receiving time difference is the time difference between the receiving time of the third reference signal and the sending time of the fourth reference signal
  • the third reference signal is the reference signal of the second device received by the first device
  • the fourth reference signal is the reference signal of the first device The reference signal sent.
  • the first device when it sends the second sending and receiving time difference, it may send the second sending and receiving time difference to a third device, and the third device may be, for example, a location management device (such as an LMF network element).
  • a location management device such as an LMF network element
  • the positioning method of the fourth aspect may further include: determining a displacement vector of the first device; and sending the displacement vector of the first device.
  • the displacement vector of the first device is the displacement of the first device within a time period corresponding to the second sending and receiving time difference.
  • the first device when it sends the displacement vector of the first device, it may send the displacement vector of the first device to a third device, and the third device may be, for example, a location management device (such as an LMF network element).
  • the second sending and receiving time difference and the displacement vector of the first device may be carried in one piece of information, or carried in two pieces of information respectively, which is not limited. It should be noted that, for the technical effect of the communication method described in the fourth aspect, reference may be made to the technical effect of the communication method described in the third aspect, which will not be repeated here.
  • the present application provides a positioning method, which can be applied to a second device, where the second device can be, for example, a terminal device or an access network device.
  • the method includes: determining the first transceiving time difference and the displacement vector of the second device; and sending the first transceiving time difference and the displacement vector of the second device.
  • the first transceiving time difference is the time difference between the receiving time of the first reference signal and the sending time of the second reference signal
  • the first reference signal is the reference signal of the first device received by the second device
  • the second reference signal is the reference signal of the second device
  • the reference signal sent, the displacement vector of the second device is the displacement of the second device within a time period corresponding to the first sending and receiving time difference.
  • the second device when it sends the first transceiving time difference and the displacement vector of the second device, it may send the first transceiving time difference and the displacement vector of the second device to the first device, or may send the first transceiving time difference and the second displacement vector to the third device.
  • the third device may be, for example, a location management device (such as an LMF network element), which is not limited in this application.
  • receiving the first sending and receiving time difference and the second device may include: UE1 receives the first sending and receiving time difference from UE2 and the displacement vector of UE2.
  • sending the first sending and receiving time difference and the displacement vector of the second device may include: UE2 sending the first sending and receiving time difference and the displacement vector of UE2 to UE1.
  • receiving the first sending and receiving time difference and the displacement vector of the second device may include: UE1 receiving the first sending and receiving time difference and the displacement vector of UE2/access network device from the LMF network element .
  • sending the first sending and receiving time difference and the displacement vector of the second device may include: the UE2/access network device sending the first sending and receiving time difference to the LMF network element, and sending the UE2/access network device to the LMF network element displacement vector.
  • receiving the first The transmitting and receiving time difference and the displacement vector of the second device may include: UE1 receiving the first transmitting and receiving time difference and the satellite displacement vector from the LMF network element.
  • the sending the first sending and receiving time difference and the displacement vector of the second device may include: the satellite sends the first sending and receiving time difference and the satellite's displacement vector to the LMF network element.
  • receiving the second sending and receiving time difference of the first device may include: the LMF network element receiving the second sending and receiving time difference from UE1; receiving the first sending and receiving time difference of the second device and the displacement vector of the second device may include: LMF network The unit receives the first sending and receiving time difference from UE2 and the displacement vector of UE2.
  • sending the second sending and receiving time difference may include: UE1 sending the second sending and receiving time difference to the LMF network element.
  • sending the first sending and receiving time difference and the displacement vector of the second device may include: UE2 sending the first sending and receiving time difference and the displacement vector of UE2 to the LMF network element.
  • receiving the second sending and receiving time difference of the first device may include: the LMF network element receives the second sending and receiving time difference from UE1; receives the first sending and receiving time difference of the second device and the displacement vector of the second device, It may include: the LMF network element receives the first sending and receiving time difference from the UE2/access network device and the displacement vector of the UE2/access network device.
  • sending the second sending and receiving time difference may include: UE1 sending the second sending and receiving time difference to the LMF network element.
  • sending the first sending and receiving time difference and the displacement vector of the second device may include: UE2/access network device sending the first sending and receiving time difference to the LMF network element, and sending the displacement vector of UE2/access network device.
  • a communication device in a sixth aspect, includes: a processing module and a transceiver module.
  • the transceiving module is configured to receive the first transceiving time difference and the displacement vector of the second device.
  • a processing module configured to determine the position of the first device according to the first transceiving time difference, the displacement vector of the second device, and the second transceiving time difference.
  • the first transceiving time difference is the time difference between the receiving time of the first reference signal and the sending time of the second reference signal
  • the first reference signal is the reference signal of the first device received by the second device
  • the second reference signal is the reference signal of the second device
  • the reference signal sent is the displacement vector of the second device is the displacement of the second device within a time period corresponding to the first sending and receiving time difference.
  • the second sending and receiving time difference is the time difference between the receiving time of the third reference signal and the sending time of the fourth reference signal
  • the third reference signal is the reference signal of the second device received by the first device
  • the fourth reference signal is sent by the first device reference signal.
  • the transceiver module is also used to receive the first transceiver time difference from the second device and the displacement vector of the second device, or the transceiver module is also used to receive the first transceiver time difference from the third device and the displacement vector of the second device .
  • the first sending and receiving time difference and the displacement vector of the second device may be carried in one piece of information, or carried in two pieces of information respectively, which is not limited.
  • the processing module is further configured to determine the position of the first device according to the first sending and receiving time difference, the displacement vector of the second device, the second sending and receiving time difference, and the displacement vector of the first device.
  • the location of the first device is located in the first area.
  • the shape of the first region is an ellipsoid or an ellipse
  • the two focal points of the first region are the first and last endpoints of the first vector
  • the length of the major axis of the first region is corresponding to the sum of the second sending and receiving time difference and the first sending and receiving time difference Distance
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device.
  • the shape of the first region in two-dimensional space, may be an ellipse, or a circumference of an ellipse; in three-dimensional space, the shape of the first region may be an ellipsoid, or an ellipsoidal surface.
  • an ellipsoid is an extension of an ellipse in three-dimensional space.
  • the concept of an ellipsoid can include an ellipsoid in three-dimensional space and an ellipse in two-dimensional space.
  • the first area can be a part of an ellipsoid or an ellipse.
  • an area whose shape is an ellipsoid or an ellipse can be determined first, and then use wireless signal transmission characteristics (such as the coverage direction of the signal) to remove unreasonable areas in the area. part, and the rest as the first region.
  • wireless signal transmission characteristics such as the coverage direction of the signal
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device, assuming that the coordinates of the first and last endpoints of the first vector are (x0, y0) and (-x0, -y0) respectively , then the location of the first device is located in the first area, and the first area can be determined according to the following formula (1):
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device, assuming that the first and last end point coordinates of the first vector are (x0, y0) and (-x0, -y0 ), then the location of the first device is located in the first area, and the first area can be determined according to the following formula (3):
  • L is the distance corresponding to the sum of the second transceiving time difference and the first transceiving time difference
  • a represents the semi-major axis of the first area
  • b represents the semi-minor axis of the first area.
  • x, y are variables and dependent variables in the expression of the first region.
  • each second device corresponds to a second area
  • the first device is located at the intersection of the N second areas.
  • the shape of the i-th second area corresponding to the i-th second device among the N second devices is an ellipsoid or ellipse
  • the two foci of the i-th second area are the first and last endpoints of the second vector
  • the i-th The length of the long axis of the second area is the distance corresponding to the sum of the second sending and receiving time difference and the first sending and receiving time difference of the i-th second device
  • the second vector is the displacement vector of the first device and the distance between the i-th second device
  • the sum of displacement vectors, i is a positive integer, and i ⁇ N.
  • the position of the first device is determined by the first area and the angle of arrival of the first reference signal; and/or, the position of the first device is determined by the first area and the angle of arrival of the third reference signal.
  • the angle of arrival of the third reference signal is denoted as AoA1
  • the position (x, y) of the first device can be combined with formula (1), formula (2), formula (4), or simultaneous formula (3 ), Formula (4) is determined.
  • Formula (4) is as follows:
  • the angle of arrival of the first reference signal is denoted as AoA2
  • the position (x, y) of the first device can be combined with formula (1), formula (2), formula (5), or formula (3), Formula (5).
  • Formula (5) is as follows:
  • the angle of arrival of the third reference signal is denoted as AoA1
  • the angle of arrival of the first reference signal is denoted as AoA2.
  • the position (x, y) of the first device can be combined with formula (1), formula (2) , formula (6), or simultaneous formula (3) and formula (6) to determine.
  • Formula (6) is as follows:
  • the position of the first device is determined by the angle of arrival of the first reference signal and the angle of arrival of the third reference signal.
  • the first transceiving time difference is: a value obtained by taking a modulus of the first value of the difference between the receiving time of the first reference signal and the sending time of the second reference signal.
  • the second sending and receiving time difference is: the difference between the receiving time of the third reference signal and the sending time of the fourth reference signal modulo the first value.
  • the first value is a value configured by the network device to the terminal device, or a value reported by the terminal device to the network device, or a pre-agreed value (such as a protocol agreement), which is not limited in this application.
  • the transceiver module may include a receiving module and a sending module.
  • the receiving module is used to realize the receiving function of the communication device described in the sixth aspect
  • the sending module is used to realize the sending function of the communication device described in the sixth aspect.
  • the communication device described in the sixth aspect may further include a storage module, where programs or instructions are stored in the storage module.
  • the processing module executes the program or instruction
  • the communication device can execute the positioning method described in the first aspect.
  • the communication device described in the sixth aspect may be the first device, and the first device may be, for example, a terminal device, or a chip (system) or other components or components set in the terminal device, or It is a device including terminal equipment, which is not limited in this application.
  • a communication device in a seventh aspect, includes: a receiving module and a sending module.
  • the receiving module is configured to receive the first sending and receiving time difference of the second device and the displacement vector of the second device.
  • a sending module configured to send the first sending and receiving time difference and the displacement vector of the second device to the first device.
  • the first transceiving time difference is the time difference between the receiving time of the first reference signal and the sending time of the second reference signal
  • the first reference signal is the reference signal of the first device received by the second device
  • the second reference signal is the reference signal of the second device
  • the reference signal sent, the displacement vector of the second device is the displacement of the second device within a time period corresponding to the first sending and receiving time difference.
  • the receiving module and the sending module may be realized by one module, for example, a transceiver module.
  • the transceiver module can be used to realize the receiving function and the sending function of the communication device described in the seventh aspect.
  • the communication device may further include a processing module and a storage module, where programs or instructions are stored in the storage module.
  • the processing module executes the program or instruction
  • the communication device can execute the positioning method described in the second aspect.
  • the communication device described in the seventh aspect may be a third device, and the third device may be, for example, a location management device (such as an LMF network element), or a chip (system) or Other components or components may also be devices including network equipment, which is not limited in this application.
  • a location management device such as an LMF network element
  • a chip system
  • Other components or components may also be devices including network equipment, which is not limited in this application.
  • a communication device in an eighth aspect, includes: a processing module and a transceiver module.
  • the transceiving module is configured to receive the second transceiving time difference of the first device.
  • the transceiving module is also used to receive the first transceiving time difference of the second device and the displacement vector of the second device.
  • a processing module configured to determine the position of the first device according to the first transceiving time difference, the displacement vector of the second device, and the second transceiving time difference.
  • the first transceiving time difference is the time difference between the receiving time of the first reference signal and the sending time of the second reference signal
  • the first reference signal is the reference signal of the first device received by the second device
  • the second reference signal is the reference signal of the second device
  • the reference signal sent is the displacement vector of the second device is the displacement of the second device within a time period corresponding to the first sending and receiving time difference.
  • the second sending and receiving time difference is the time difference between the receiving time of the third reference signal and the sending time of the fourth reference signal
  • the third reference signal is the reference signal of the second device received by the first device
  • the fourth reference signal is sent by the first device reference signal.
  • the processing module is further configured to determine the position of the first device according to the first sending and receiving time difference, the displacement vector of the second device, the second sending and receiving time difference, and the displacement vector of the first device.
  • the location of the first device is located in the first area.
  • the shape of the first region is an ellipsoid or an ellipse
  • the two focal points of the first region are the first and last endpoints of the first vector
  • the length of the major axis of the first region is corresponding to the sum of the second sending and receiving time difference and the first sending and receiving time difference Distance
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device.
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device, assuming that the coordinates of the first and last endpoints of the first vector are (x0, y0) and (-x0, -y0) respectively , then the location of the first device is located in the first area, and the first area can be determined according to the following formula (1):
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device, assuming that the first and last end point coordinates of the first vector are (x0, y0) and (-x0, -y0 ), then the location of the first device is located in the first area, and the first area can be determined according to the following formula (3):
  • L is the distance corresponding to the sum of the second transceiving time difference and the first transceiving time difference
  • a represents the semi-major axis of the first area
  • b represents the semi-minor axis of the first area.
  • x, y are variables and dependent variables in the expression of the first area.
  • each second device corresponds to a second area
  • the first device is located at the intersection of the N second areas.
  • the shape of the i-th second area corresponding to the i-th second device among the N second devices is an ellipsoid or ellipse
  • the two foci of the i-th second area are the first and last endpoints of the second vector
  • the i-th The length of the long axis of the second area is the distance corresponding to the sum of the second sending and receiving time difference and the first sending and receiving time difference of the i-th second device
  • the second vector is the displacement vector of the first device and the distance between the i-th second device
  • the sum of displacement vectors, i is a positive integer, and i ⁇ N.
  • the position of the first device is determined by the first area and the angle of arrival of the first reference signal; and/or, the position of the first device is determined by the first area and the angle of arrival of the third reference signal.
  • the position of the first device is determined by the angle of arrival of the first reference signal and the angle of arrival of the third reference signal.
  • the angle of arrival of the third reference signal is denoted as AoA1
  • the position (x, y) of the first device can be combined with formula (1), formula (2), formula (4), or simultaneous formula (3 ), Formula (4) is determined.
  • Formula (4) is as follows:
  • the angle of arrival of the first reference signal is denoted as AoA2
  • the position (x, y) of the first device can be combined with formula (1), formula (2), formula (5), or formula (3), Formula (5).
  • Formula (5) is as follows:
  • the angle of arrival of the third reference signal is denoted as AoA1
  • the angle of arrival of the first reference signal is denoted as AoA2.
  • the position (x, y) of the first device can be combined with formula (1), formula (2) , formula (6), or simultaneous formula (3) and formula (6) to determine.
  • Formula (6) is as follows:
  • the first transceiving time difference is: a value obtained by taking a modulus of the first value of the difference between the receiving time of the first reference signal and the sending time of the second reference signal.
  • the second sending and receiving time difference is: the difference between the receiving time of the third reference signal and the sending time of the fourth reference signal modulo the first value.
  • the first value is a value configured by the network device to the terminal device, or a value reported by the terminal device to the network device, or a pre-agreed value (such as a protocol agreement), which is not limited in this application.
  • the transceiver module may include a receiving module and a sending module.
  • the receiving module is used to realize the receiving function of the communication device described in the eighth aspect
  • the sending module is used to realize the sending function of the communication device described in the eighth aspect.
  • the communication device described in the eighth aspect may further include a storage module, where programs or instructions are stored in the storage module.
  • the processing module executes the program or instruction
  • the communication device can execute the positioning method described in the third aspect.
  • the communication device described in the eighth aspect may be a third device, and the third device may be, for example, a location management device (such as an LMF network element), or a chip (system) or Other components or components may also be devices including network equipment, which is not limited in this application.
  • a location management device such as an LMF network element
  • a chip system
  • Other components or components may also be devices including network equipment, which is not limited in this application.
  • a communication device in a ninth aspect, includes: a processing module and a transceiver module.
  • the processing module is configured to determine the second sending and receiving time difference.
  • the transceiver module is configured to send the second transceiver time difference.
  • the second sending and receiving time difference is the time difference between the receiving time of the third reference signal and the sending time of the fourth reference signal
  • the third reference signal is the reference signal of the second device received by the first device
  • the fourth reference signal is the reference signal of the first device The reference signal sent.
  • the transceiving module may be configured to send the second transceiving time difference to a third device, and the third device may be, for example, a location management device (such as an LMF network element).
  • a location management device such as an LMF network element
  • the processing module is further configured to determine a displacement vector of the first device.
  • the transceiver module is also used to send the displacement vector of the first device.
  • the displacement vector of the first device is the displacement of the first device within a time period corresponding to the second sending and receiving time difference.
  • the transceiver module is further configured to send the displacement vector of the first device to a third device, and the third device may be, for example, a location management device (such as an LMF network element).
  • the second sending and receiving time difference and the displacement vector of the first device may be carried in one piece of information, or carried in two pieces of information respectively, which is not limited.
  • the transceiver module may include a receiving module and a sending module.
  • the receiving module is used to realize the receiving function of the communication device described in the ninth aspect
  • the sending module is used to realize the sending function of the communication device described in the ninth aspect.
  • the communication device described in the ninth aspect may be the first device, and the first device may be, for example, a terminal device, or a chip (system) or other components or components set in the terminal device, or It is a device including terminal equipment, which is not limited in this application.
  • a communication device in a tenth aspect, includes: a processing module and a transceiver module.
  • the processing module is configured to determine the first sending and receiving time difference and the displacement vector of the second device.
  • the transceiver module is configured to send the first transceiver time difference and the displacement vector of the second device.
  • the first sending and receiving time difference is the time difference between the receiving time of the first reference signal and the sending time of the second reference signal
  • the first reference signal is the reference signal of the first device received by the second device
  • the second reference signal is the reference signal of the second device
  • the reference signal sent, the displacement vector of the second device is the displacement of the second device within a time period corresponding to the first sending and receiving time difference.
  • the transceiver module can be used to send the first sending and receiving time difference and the displacement vector of the second device to the first device, or can be used to send the first sending and receiving time difference and the displacement vector of the second device to the third device, and the third device
  • the third device For example, it may be a location management device (such as an LMF network element), which is not limited in this application.
  • the transceiver module may include a receiving module and a sending module.
  • the receiving module is used to realize the receiving function of the communication device described in the tenth aspect
  • the sending module is used to realize the sending function of the communication device described in the tenth aspect.
  • the communication device described in the tenth aspect may further include a storage module, where programs or instructions are stored in the storage module.
  • the processing module executes the program or instruction
  • the communication device can execute the positioning method described in the fifth aspect.
  • the communication device described in the tenth aspect may be a second device, such as a terminal device or an access network device, or a chip (system) or other
  • a component or an assembly may also be a device including a terminal device, which is not limited in this application.
  • a communication device configured to execute the positioning method described in any one of the implementation manners of the first aspect to the fifth aspect.
  • the communication device described in the eleventh aspect may be the first device, the second device or the third device.
  • the first device may be, for example, a terminal device
  • the second device may be, for example, a terminal device or an access network device
  • the third device may be, for example, a location management device (such as an LMF network element). It may also be a chip (system) or other components or components arranged in the first device, the second device or the third device, or it may be a device including the first device, the second device or the third device.
  • the first device is used to execute the positioning method described in any possible implementation manner in the first aspect and the fourth aspect
  • the second device is configured to execute the positioning method described in any possible implementation manner in the fifth aspect
  • the third device is configured to execute the positioning method described in any possible implementation manner of the second aspect or the third aspect.
  • the communication device described in the eleventh aspect includes corresponding modules, units, or means for implementing the positioning method described in any one of the first to fifth aspects above, and the modules, units, or means It can be realized by hardware, by software, or by executing corresponding software by hardware.
  • the hardware or software includes one or more modules or units for performing the functions involved in the above positioning method.
  • a communication device configured to execute the positioning method described in any one possible implementation manner of the first aspect to the fifth aspect.
  • the communication device described in the twelfth aspect may further include a transceiver.
  • the transceiver may be a transceiver circuit or an interface circuit.
  • the transceiver can be used for the communication device described in the twelfth aspect to communicate with other communication devices.
  • the communication device described in the twelfth aspect may further include a memory.
  • the memory can be integrated with the processor or set separately.
  • the memory may be used to store computer programs and/or data involved in the positioning method described in any one of the first aspect to the fifth aspect.
  • the communication device described in the twelfth aspect may be the first device, the second device or the third device, the first device may be, for example, a terminal device, and the second device may be, for example, a terminal device or an access network device, the third device may be, for example, a location management device (such as an LMF network element). It may also be a chip (system) or other components or components arranged in the first device, the second device or the third device, or it may be a device including the first device, the second device or the third device. No limit.
  • the first device is used to execute the positioning method described in any possible implementation manner in the first aspect and the fourth aspect
  • the second device is configured to execute the positioning method described in any possible implementation manner in the fifth aspect.
  • the third device is configured to execute the positioning method described in any possible implementation manner of the second aspect or the third aspect.
  • a communication device in a thirteenth aspect, includes: a processor, the processor is coupled with the memory, and the processor is used to execute the computer program stored in the memory, so that the communication device executes any one of the possible implementation manners in the first aspect to the fifth aspect. positioning method.
  • the communication device may further include a transceiver.
  • the transceiver may be a transceiver circuit or an interface circuit.
  • the transceiver can be used for the communication device described in the thirteenth aspect to communicate with other communication devices.
  • the communication device described in the thirteenth aspect may be the first device, the second device or the third device.
  • the first device may be, for example, a terminal device
  • the second device may be, for example, a terminal device or an access network device
  • the third device may be, for example, a location management device (such as an LMF network element). It may also be a chip (system) or other components or components provided in the first device, the second device or the third device, or it may be a device including the first device, the second device or the third device.
  • the first device is used to execute the positioning method described in any possible implementation manner in the first aspect and the fourth aspect
  • the second device is configured to execute the positioning method described in any possible implementation manner in the fifth aspect
  • the third device is configured to execute the positioning method described in any possible implementation manner of the second aspect or the third aspect.
  • a communication device in a fourteenth aspect, includes: a processor and an interface circuit. Wherein, the interface circuit is used to receive code instructions and transmit them to the processor.
  • the processor is configured to run the above code instructions to execute the positioning method described in any one of the implementation manners of the first aspect to the fifth aspect.
  • the communication device described in the fourteenth aspect may further include a memory.
  • the memory can be integrated with the processor or set separately.
  • the memory may be used to store computer programs and/or data involved in the positioning method described in any one of the first aspect to the fifth aspect.
  • the communication device described in the fourteenth aspect may be the first device, the second device or the third device, the first device may be, for example, a terminal device, and the second device may be, for example, a terminal device or an access network device, the third device may be, for example, a location management device (such as an LMF network element). It may also be a chip (system) or other components or components arranged in the first device, the second device or the third device, or it may be a device including the first device, the second device or the third device. No limit.
  • the first device is used to execute the positioning method described in any possible implementation manner in the first aspect and the fourth aspect
  • the second device is configured to execute the positioning method described in any possible implementation manner in the fifth aspect.
  • the third device is configured to execute the positioning method described in any possible implementation manner of the second aspect or the third aspect.
  • a communication device in a fifteenth aspect, includes a processor and a storage medium, and the storage medium stores instructions. When the instructions are executed by the processor, the positioning method described in any possible implementation manner in the first aspect to the fifth aspect is implemented.
  • the communication device described in the fifteenth aspect may be the first device, the second device or the third device.
  • the first device may be, for example, a terminal device
  • the second device may be, for example, a terminal device or an access network device
  • the third device may be, for example, a location management device (such as an LMF network element). It may also be a chip (system) or other components or components arranged in the first device, the second device or the third device, or it may be a device including the first device, the second device or the third device.
  • the first device is used to execute the positioning method described in any possible implementation manner in the first aspect and the fourth aspect
  • the second device is configured to execute the positioning method described in any possible implementation manner in the fifth aspect
  • the third device is configured to execute the positioning method described in any possible implementation manner of the second aspect or the third aspect.
  • a processor is provided. Wherein, the processor is configured to execute the positioning method described in any one possible implementation manner of the first aspect to the fifth aspect.
  • a communication system in a seventeenth aspect, includes a first device and a second device.
  • the first device may be, for example, a terminal device
  • the second device may be, for example, a terminal device or an access network device.
  • the first device is used to execute the positioning method described in any possible implementation manner in the first aspect and the fourth aspect
  • the second device is configured to execute the positioning method described in any possible implementation manner in the fifth aspect. method.
  • the communication system may further include a third device, for example, the third device may be a location management device (such as an LMF network element).
  • the third device is configured to execute the positioning method described in any possible implementation manner of the second aspect or the third aspect.
  • a computer-readable storage medium includes a computer program or an instruction, and when the computer program or instruction is executed by a processor, any one of the first to fifth aspects Possible Implementations The positioning method described is implemented.
  • a computer program product includes an instruction.
  • the instruction is executed by a processor, the positioning method described in any possible implementation manner in the first aspect to the fifth aspect is executed. accomplish.
  • a chip in a twentieth aspect, includes a processing logic circuit and an interface circuit.
  • the number of processing logic circuits may be one or more, and the number of interface circuits may be more than one.
  • the interface circuit is used to receive code instructions and transmit them to the processing logic circuit.
  • the processing logic circuit is configured to run the above code instructions to execute the positioning method described in any one of the implementation manners of the first aspect to the fifth aspect.
  • the chip may include a memory, and the memory may be integrated with the processing logic circuit or set separately.
  • the memory may be used to store computer programs and/or data involved in the positioning method described in any one of the first aspect to the fifth aspect.
  • the chip described in the twentieth aspect may be located in the first device, the second device or the third device in a communication system
  • the first device may be, for example, a terminal device
  • the second device may be, for example, a terminal device or is an access network device
  • the third device may be, for example, a location management device (such as an LMF network element).
  • the chip when the chip is located in the first device, it is used to perform the positioning method described in any one of the possible implementations of the first aspect and the fourth aspect, and when the chip is located in the second device, it is used to perform any one of the possible implementations of the fifth aspect.
  • the chip is located in the third device, it is used to execute the positioning method described in any one of the possible implementation manners in the second aspect and the third aspect.
  • a communication system including a first device and a second device; wherein, the first device is used to receive the first transceiving time difference and the displacement vector of the second device, and the first transceiving time difference is the first reference
  • the time difference between the receiving time of the signal and the sending time of the second reference signal the first reference signal is the reference signal of the first device received by the second device
  • the second reference signal is the reference signal sent by the second device
  • the displacement of the second device The vector is the displacement of the second device within the time period corresponding to the first sending and receiving time difference
  • the first device is also used to determine the position of the first device according to the first sending and receiving time difference, the displacement vector of the second device and the second sending and receiving time difference
  • the second The sending and receiving time difference is the time difference between the receiving time of the third reference signal and the sending time of the fourth reference signal
  • the third reference signal is the reference signal of the second device received by the first device
  • the fourth reference signal is the reference signal sent by the first device .
  • the second device is configured to determine the first transceiving time difference and the displacement vector of the second device; the second device is further configured to send the first transceiving time difference and the displacement vector of the second device.
  • the communication system further includes a third device; wherein, the third device is configured to receive the first sending and receiving time difference of the second device and the displacement vector of the second device, and the third device A sending and receiving time difference is the time difference between the receiving time of the first reference signal and the sending time of the second reference signal, the first reference signal is the reference signal of the first device received by the second device, and the fourth reference signal is the reference signal sent by the second device signal, the displacement vector of the second device is the displacement of the second device within the time period corresponding to the first sending and receiving time difference; the third device is also used to send the first sending and receiving time difference and the displacement vector of the second device to the first device.
  • the third device is also used to send the first sending and receiving time difference and the displacement vector of the second device to the first device.
  • the location of the first device is located in the first area.
  • the shape of the first region is an ellipsoid or an ellipse
  • the two focal points of the first region are the first and last endpoints of the first vector
  • the length of the major axis of the first region is corresponding to the sum of the second sending and receiving time difference and the first sending and receiving time difference Distance
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device.
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device, assuming that the coordinates of the first and last endpoints of the first vector are (x0, y0) and (-x0, -y0) respectively , then the location of the first device is located in the first area, and the first area can be determined according to the following formula (1):
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device, assuming that the first and last end point coordinates of the first vector are (x0, y0) and (-x0, -y0 ), then the location of the first device is located in the first area, and the first area can be determined according to the following formula (3):
  • L is the distance corresponding to the sum of the second transceiving time difference and the first transceiving time difference
  • a represents the semi-major axis of the first area
  • b represents the semi-minor axis of the first area.
  • x, y are variables and dependent variables in the expression of the first region.
  • each second device corresponds to a second area
  • the first device is located at the intersection of the N second areas.
  • the shape of the i-th second area corresponding to the i-th second device among the N second devices is an ellipsoid or ellipse
  • the two foci of the i-th second area are the first and last endpoints of the second vector
  • the i-th The length of the long axis of the second area is the distance corresponding to the sum of the second sending and receiving time difference and the first sending and receiving time difference of the i-th second device
  • the second vector is the displacement vector of the first device and the distance between the i-th second device
  • the sum of displacement vectors, i is a positive integer, and i ⁇ N.
  • the position of the first device is determined by the first area and the angle of arrival of the first reference signal; and/or, the position of the first device is determined by the first area and the angle of arrival of the third reference signal.
  • the angle of arrival of the third reference signal is denoted as AoA1
  • the position (x, y) of the first device can be combined with formula (1), formula (2), formula (4), or simultaneous formula (3 ), Formula (4) is determined.
  • Formula (4) is as follows:
  • the angle of arrival of the first reference signal is denoted as AoA2
  • the position (x, y) of the first device can be combined with formula (1), formula (2), formula (5), or formula (3), Formula (5).
  • Formula (5) is as follows:
  • the angle of arrival of the third reference signal is denoted as AoA1
  • the angle of arrival of the first reference signal is denoted as AoA2.
  • the position (x, y) of the first device can be combined with formula (1), formula (2) , formula (6), or simultaneous formula (3) and formula (6) to determine.
  • Formula (6) is as follows:
  • the first transceiving time difference is: a value obtained by taking a modulus of the first value of the difference between the receiving time of the first reference signal and the sending time of the second reference signal.
  • the second sending and receiving time difference is: the difference between the receiving time of the third reference signal and the sending time of the fourth reference signal modulo the first value.
  • a communication system including a first device and a second device; wherein, the third device is used to receive the second sending and receiving time difference of the first device; the second sending and receiving time difference is the reception of the third reference signal The time difference between the time and the sending time of the fourth reference signal, the third reference signal is the reference signal of the second device received by the first device, and the fourth reference signal is the reference signal sent by the first device; the third device is also used to receive The first transceiving time difference of the second device and the displacement vector of the second device; the first transceiving time difference is the time difference between the receiving time of the first reference signal and the sending time of the second reference signal, and the first reference signal is the first reference signal received by the second device
  • the reference signal of a device, the fourth reference signal is the reference signal sent by the second device, the displacement vector of the second device is the displacement of the second device in the time period corresponding to the first sending and receiving time difference; the third device is also used to A transceiving time difference, the displacement
  • the second device is configured to determine the first transceiving time difference and the displacement vector of the second device; the second device is further configured to send the first transceiving time difference and the displacement vector of the second device.
  • the third device is further configured to determine the position of the first device according to the first sending and receiving time difference, the displacement vector of the second device, the second sending and receiving time difference, and the displacement vector of the first device, and the first device
  • the displacement vector of is the displacement of the first device within the time period corresponding to the second sending and receiving time difference.
  • the first device is also used to determine the displacement vector of the first device; the displacement vector of the first device is the displacement of the first device in the time period corresponding to the second sending and receiving time difference; the first device is also configured to It is used to send the second sending and receiving time difference to the third device.
  • the location of the first device is located in the first area.
  • the shape of the first region is an ellipsoid or an ellipse
  • the two focal points of the first region are the first and last endpoints of the first vector
  • the length of the major axis of the first region is corresponding to the sum of the second sending and receiving time difference and the first sending and receiving time difference Distance
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device.
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device, assuming that the coordinates of the first and last endpoints of the first vector are (x0, y0) and (-x0, -y0) respectively , then the location of the first device is located in the first area, and the first area can be determined according to the following formula (1):
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device, assuming that the first and last end point coordinates of the first vector are (x0, y0) and (-x0, -y0 ), then the location of the first device is located in the first area, and the first area can be determined according to the following formula (3):
  • L is the distance corresponding to the sum of the second transceiving time difference and the first transceiving time difference
  • a represents the semi-major axis of the first area
  • b represents the semi-minor axis of the first area.
  • x, y are variables and dependent variables in the expression of the first region.
  • each second device corresponds to a second area
  • the first device is located at the intersection of the N second areas.
  • the shape of the i-th second area corresponding to the i-th second device among the N second devices is an ellipsoid or ellipse
  • the two foci of the i-th second area are the first and last endpoints of the second vector
  • the i-th The length of the long axis of the second area is the distance corresponding to the sum of the second sending and receiving time difference and the first sending and receiving time difference of the i-th second device
  • the second vector is the displacement vector of the first device and the distance between the i-th second device
  • the sum of displacement vectors, i is a positive integer, and i ⁇ N.
  • the position of the first device is determined by the first area and the angle of arrival of the first reference signal; and/or, the position of the first device is determined by the first area and the angle of arrival of the third reference signal.
  • the angle of arrival of the third reference signal is denoted as AoA1
  • the position (x, y) of the first device can be combined with formula (1), formula (2), formula (4), or simultaneous formula (3 ), Formula (4) is determined.
  • Formula (4) is as follows:
  • the angle of arrival of the first reference signal is denoted as AoA2
  • the position (x, y) of the first device can be combined with formula (1), formula (2), formula (5), or formula (3), Formula (5).
  • Formula (5) is as follows:
  • the angle of arrival of the third reference signal is denoted as AoA1
  • the angle of arrival of the first reference signal is denoted as AoA2.
  • the position (x, y) of the first device can be combined with formula (1), formula (2) , formula (6), or simultaneous formula (3) and formula (6) to determine.
  • Formula (6) is as follows:
  • the first transceiving time difference is: a value obtained by taking a modulus of the first value of the difference between the receiving time of the first reference signal and the sending time of the second reference signal.
  • the second sending and receiving time difference is: the difference between the receiving time of the third reference signal and the sending time of the fourth reference signal modulo the first value.
  • FIG. 1 is a schematic diagram of measurement of a reference signal by a terminal device and an access network device provided in an embodiment of the present application;
  • FIG. 2 is a schematic diagram of determining the position of a terminal device by three access network devices provided in an embodiment of the present application;
  • FIG. 3 is a schematic diagram of the measurement of the positioning of two vehicles in the V2X scenario provided by the embodiment of the present application;
  • FIG. 4 is a schematic diagram of measurement of terminal device positioning in an NTN scenario provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a communication system provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of the architecture of a communication system applying the positioning method of the embodiment of the present application in a 5G system;
  • FIG. 7 is a schematic structural diagram of another communication system applying the positioning method of the embodiment of the present application in a 5G system
  • FIG. 8 is a schematic diagram of the connection between the terminal device and the NG-RAN in FIG. 5;
  • FIG. 9 is a schematic diagram of the connection between the RAN and the core network provided by the embodiment of the present application.
  • FIG. 10 is a schematic diagram of the connection between the terminal equipment, NG-RAN and the core network in FIG. 5;
  • FIG. 11 is another schematic diagram of the connection between the terminal equipment, NG-RAN and the core network in FIG. 5;
  • FIG. 12 is a schematic structural diagram of a communication device provided by an embodiment of the present application.
  • FIG. 13 is a schematic flowchart of a positioning method provided in an embodiment of the present application.
  • FIG. 14 is a schematic diagram of a scenario where UE1 is positioned according to an embodiment of the present application.
  • Fig. 15 is a schematic diagram of the first area in the coordinate system provided by the embodiment of the present application.
  • Fig. 16 is a schematic diagram of marking the angle of arrival AoA3 in the coordinate system shown in Fig. 15;
  • Fig. 17 is a schematic diagram of multiple second areas in the coordinate system provided by the embodiment of the present application.
  • FIG. 18 is a schematic flowchart of another positioning method provided in the embodiment of the present application.
  • FIG. 19 is a schematic flowchart of another positioning method provided in the embodiment of the present application.
  • FIG. 20 is a schematic flowchart of another positioning method provided by the embodiment of the present application.
  • FIG. 21 is a schematic flowchart of another positioning method provided by the embodiment of the present application.
  • FIG. 22 is a schematic flowchart of another positioning method provided by the embodiment of the present application.
  • FIG. 23 is a schematic flowchart of another positioning method provided by the embodiment of the present application.
  • FIG. 24 is a schematic structural diagram of a communication device provided by an embodiment of the present application.
  • FIG. 25 is another schematic structural diagram of a communication device provided by an embodiment of the present application.
  • the Multi-RTT positioning technology is a multi-site positioning technology. At least two sites are required in the positioning process, and the sites here may be access network devices. In the process of locating a terminal device using the Multi-RTT positioning technology, the position of the terminal device can be determined only when multiple stations measure the terminal device or the terminal device measures multiple sites.
  • the access network device needs to measure the reference signal (reference signal, RS) sent by the terminal device, and the terminal device also needs to measure the reference signal (RS) sent by the access network device Take measurements.
  • the measurement diagram of the reference signal by the terminal equipment and the access network equipment is shown in Figure 1.
  • the time when the terminal equipment sends the reference signal is recorded as TTx1, and the time when the terminal equipment receives the reference signal is recorded as TRx1; the time when the access network equipment sends the reference signal It is denoted as TTx2, and the time when the access network equipment receives the reference signal is denoted as TRx2.
  • the distance between the access network device and the terminal device can be calculated according to the following formula:
  • RTT T1+T2
  • c is the speed of light
  • d is the distance between the access network device and the terminal device.
  • a circle can be determined with the location of each access network device as the center, and the radius of the circle is the distance corresponding to the RTT.
  • Two RTTs can determine two circles, and the intersection of the two circles is the position of the terminal device. If more access network devices can determine more circles, the location of the terminal can be more accurate. As shown in FIG. 2, three base stations correspond to three circles, and the intersection of the three circles is the location of the terminal equipment.
  • the disadvantage of the above positioning technology is that the relative distance between the devices participating in the positioning remains unchanged.
  • the access network device is a stationary base station, the terminal device must also be in a stationary state to achieve accurate positioning of the terminal device .
  • the satellite in a non-terrestrial network (non-terrestrial network, NTN) communication system scenario, the satellite first sends RS1 to the terminal device, and the terminal device then sends RS2.
  • the satellite altitude is 600km
  • the moving speed is 7.56km/s
  • the propagation delay is at least 2ms ⁇ 4ms (the specific value depends on the pitch angle of the satellite)
  • the terminal device sends RS2 immediately after receiving RS1
  • the satellite will be displaced by 30m to 60m due to movement, resulting in a difference in the receiving and sending time of the reference signal that does not correspond to the actual distance between the satellite and the terminal device, resulting in a decrease in positioning accuracy.
  • an embodiment of the present application provides a technical solution, and the technical solution includes a communication system, a positioning method applied to the communication system, a communication device, and the like.
  • LTE long term evolution
  • FDD frequency division duplex
  • TDD time division duplex
  • UMTS universal mobile telecommunications system
  • WiMAX worldwide interoperability for microwave access
  • 5G fifth generation
  • NR new radio
  • NR New Radio
  • V2X vehicle networking
  • NTN communication system etc.
  • the 5G system involved in this application includes a non-standalone (NSA) 5G system or a standalone (SA) 5G system.
  • the technical solution provided by this application can also be applied to future communication systems, such as the sixth generation mobile communication system.
  • the communication system may also be a public land mobile network (PLMN) network, a device-to-device (D2D) communication system, a machine-to-machine (M2M) communication system, an object It is not limited to the Internet of Things (IoT) communication system or other communication systems.
  • PLMN public land mobile network
  • D2D device-to-device
  • M2M machine-to-machine
  • IoT Internet of Things
  • the technical solution provided by this application can be applied to various communication scenarios, for example, it can be applied to one or more of the following communication scenarios: eMBB, URLLC, MTC, mMTC, device to device (device to device, D2D), V2X, Vehicle to vehicle (V2V), IoT, satellite positioning, etc.
  • FIG. 5 is a schematic diagram of a communication system provided by an embodiment of the present application.
  • the communication system includes a terminal device, one or more access network devices (one access network device is used as an example in FIG. 5 ), and a location management device.
  • the terminal device, the access network device, or the location management device may communicate directly, or communicate through forwarding by other devices, which is not specifically limited in this embodiment of the present application.
  • the communication system may also include other network elements such as a mobility management network element, such as an access and mobility management function (AMF) network element, which is not specifically limited in this embodiment of the present application .
  • AMF access and mobility management function
  • the first device in the positioning method provided by this application may be the terminal device in Figure 5, and the second device in the positioning method provided by this application may be the terminal device or access network device in Figure 5, and this application provides The third device in the positioning method may be the positioning management device in FIG. 5 .
  • the location management device in the embodiment of the present application may be an LMF network element or a location management component (location management component, LMC) network element, or may be a local location management function (local location management function, LLMF) network element.
  • LMF location management component
  • LMC location management component
  • LLMF local location management function
  • the network element or entity corresponding to the access network device in FIG. 5 may be a next-generation radio access network (next-generation radio access network, NG-RAN) device in the 5G system.
  • the network element or entity corresponding to the above positioning management device may be an AMF network element in the 5G system, which is not specifically limited in this embodiment of the present application.
  • An access network device may also be called an access network element.
  • FIG. 6 is a schematic structural diagram of a communication system in which the positioning method according to the embodiment of the present application is applied in a 5G system.
  • the terminal equipment passes through the LTE-Uu and/or NR-Uu interface respectively via the next-generation evolved NodeB (next-generation evolved NodeB, ng-eNB) and the next-generation NodeB (generation node B, gNB) is connected to NG-RAN; NG-RAN is connected to the core network through the AMF network element through the NG-C interface.
  • next-generation evolved NodeB next-generation evolved NodeB
  • gNB next-generation NodeB
  • NG-RAN is connected to the core network through the AMF network element through the NG-C interface.
  • the NG-RAN may include one or more ng-eNBs ( Figure 6 uses an ng-eNB as an example to illustrate); the NG-RAN may also include one or more gNBs ( Figure 6 uses a gNB as an example to illustrate) ; NG-RAN may also include one or more ng-eNBs and one or more gNBs.
  • ng-eNB is an LTE base station connected to the 5G core network
  • gNB is a 5G base station connected to the 5G core network.
  • the core network may include AMF network elements and LMF network elements. Among them, the AMF network element is used to implement functions such as access management, and the LMF network element is used to implement functions such as positioning or positioning assistance.
  • the AMF network element and the LMF network element are connected through the NLs interface.
  • FIG. 7 is a schematic structural diagram of another communication system in which the positioning method according to the embodiment of the present application is applied in a 5G system.
  • the difference between the communication system architecture in FIG. 7 and FIG. 6 is that the location management function device or component (such as LMF network element) in FIG. 6 is deployed in the core network, and the location management function device or component (such as LMC network element) in FIG. ) can be deployed in NG-RAN equipment.
  • the gNB includes LMC network elements.
  • the LMC network element is part of the functional components of the LMF network element, and can be integrated in the gNB of the NG-RAN equipment.
  • FIG. 8 is a schematic diagram of connection between the terminal device and the NG-RAN in FIG. 5 .
  • the terminal equipment can be connected to the gNB in the NG-RAN through the Uu interface, different gNBs can be connected through the Xn interface, and different terminal equipment can be connected through the PC5 interface.
  • the connection between terminal equipment and NG-RAN through Uu interface can be understood as NG-RAN inner coverage (inside NG-RAN coverage), and the connection between different terminal equipment through PC5 interface can be understood as NG-RAN outer coverage (outside NG-RAN coverage). RAN coverage).
  • the first device in the positioning method provided by the present application may be the terminal device in FIG. 8
  • the second device in the positioning method provided in the present application may be the terminal device or the access network device in FIG. 8 .
  • FIG. 9 is a schematic diagram of the connection between the RAN and the core network provided by the embodiment of the present application.
  • the AMF/UPF can be connected to the gNB in the NG-RAN through the NG interface, and different gNBs can be connected through the Xn interface.
  • the mobility management entity mobility management entity, MME/serving primary gateway (serving primary gateway, S-PGW) can communicate with the evolved universal terrestrial radio network (evolved universal terrestrial radio) through the S1 interface access network, E-UTRAN), the MME/S-PGW can also connect to the MeNB through the S1 interface, and the MME/S-PGW can also connect to the IAB grant master through the S1-U interface, and the gNB and the MeNB can Connected through the X2 interface, the MeNB can be connected to the IAB donor (IAB-donor) through the X2-C interface, and the MeNB can be connected to the IAB node through the LET Uu interface.
  • the evolved universal terrestrial radio network evolved universal terrestrial radio network
  • E-UTRAN evolved universal terrestrial radio network
  • the MME/S-PGW can also connect to the MeNB through the S1 interface
  • the MME/S-PGW can also connect to the IAB grant master through the S1-U interface
  • the gNB and the MeNB can
  • gNB can be used as an integrated access and backhaul (IAB) grantor or IAB node (IAB-node), and the IAB grantor and IAB node They can be connected through F1 interface or NR Uu interface, and different IAB nodes can be connected through NR Uu interface.
  • the first device in the positioning method provided by the present application may be the terminal device in FIG. 9
  • the second device in the positioning method provided in the present application may be the terminal device or the access network device in FIG. 9 .
  • FIG. 10 is a schematic diagram of connection between the terminal device, the NG-RAN and the core network in FIG. 5 .
  • the network also called a data network
  • the network includes NG-RAN and core network
  • the network is connected to the satellite through a gateway (such as a satellite ground station), and the satellite is connected to the terminal equipment.
  • the satellite can forward the information from the terminal equipment to the NG-RAN and the core network through the gateway, or can forward the information from the NG-RAN and the core network to the terminal equipment.
  • Figure 10 can also be understood as a non-terrestrial network typical scenario based on transparent payload.
  • the first device in the positioning method provided by this application may be the terminal device in Figure 10
  • the second device in the positioning method provided by this application may be the satellite in Figure 10
  • the positioning method provided by this application The third device in FIG. 10 may be an LMF network element (not shown in FIG. 10 ) in the core network of the network in FIG. 10 .
  • FIG. 11 is another schematic diagram of the connection between the terminal device, the NG-RAN and the core network in FIG. 5 .
  • the network also called a data network
  • the network includes NG-RAN and a core network.
  • the network is connected to satellite 2 through a gateway (such as a satellite ground station), and satellite 2 and satellite 1 are connected through an inter-satellite link (inter -satellite link, ISL) connection, satellite 1 is connected to the terminal equipment.
  • Satellite 1 and satellite 2 can forward information from NG-RAN and core network to terminal equipment, or forward information from terminal equipment to NG-RAN and core network. Wherein, if no ISL is established between satellite 1 and satellite 2 in Fig. 11, then satellite 1 can also communicate with the gateway.
  • Figure 11 can also be understood as a non-terrestrial network typical scenario based on regenerative payload.
  • the first device in the positioning method provided by this application may be the terminal device in Figure 11
  • the second device in the positioning method provided by this application may be the satellite in Figure 11
  • the positioning method provided by this application The third device in FIG. 11 may be an LMF network element (not shown in FIG. 11 ) in the core network of the network in FIG. 11 .
  • the devices or function nodes included in the communication systems shown in FIGS. It includes other network elements or devices or function nodes that have an interactive relationship with the devices or function nodes shown in the figure, which is not specifically limited here.
  • the communication systems in FIGS. 5 to 11 above may also be referred to as a positioning system.
  • FIGS. 5-11 are only a feasible example. With the evolution of communication technology, the names or functions of the interfaces in FIGS. 5-11 may be changed, which is not limited.
  • a terminal device may be called a UE, a mobile station (mobile station, MS) or a mobile terminal device (mobile terminal, MT), etc.
  • the terminal device may be a handheld terminal, an industrial application terminal, a home terminal, a vehicle terminal, and the like.
  • Terminal devices can also be mobile phones, tablet computers, computers with wireless transceiver functions, virtual reality terminal devices, augmented reality terminal devices, wireless terminals in industrial control, wireless terminals in unmanned driving, wireless terminals in remote surgery, smart Wireless terminals in power grids, wireless terminals in transportation security, wireless terminals in smart cities, wireless terminals in smart homes, wireless terminals in manned equipment, machine type communication (MTC) terminals, drones , robots, etc.
  • the manned equipment can be cars, trains, high-speed rails, bullet trains, ships, planes, etc.
  • wearable devices can also be referred to as wearable smart devices, which is a general term for intelligently designing daily wear and developing wearable devices by applying wearable technology, such as glasses, Gloves, watches, clothing and shoes, etc.
  • a wearable device is a portable device that is worn directly on the body or integrated into the user's clothing or accessories. Wearable devices are not only a hardware device, but also achieve powerful functions through software support, data interaction, and cloud interaction.
  • Generalized wearable smart devices include full-featured, large-sized, complete or partial functions without relying on smart phones, such as smart watches or smart glasses, etc., and only focus on a certain type of application functions, and need to cooperate with other devices such as smart phones Use, such as various smart bracelets and smart jewelry for physical sign monitoring.
  • the terminal device can also be the terminal device in the IoT system.
  • IoT is an important part of the development of information technology in the future. Its main technical feature is to connect items to the network through communication technology, so as to realize Interconnection, an intelligent network that interconnects things.
  • the IOT technology can achieve massive connections, deep coverage, and terminal power saving through, for example, narrow band (NB) technology.
  • NB narrow band
  • the terminal equipment may also include sensors such as smart printers, train detectors, gas stations, etc., and its main functions include collecting data (part of terminal equipment), receiving control information and downlink data of access network equipment, and Send electromagnetic waves to transmit uplink data to access network equipment.
  • sensors such as smart printers, train detectors, gas stations, etc.
  • its main functions include collecting data (part of terminal equipment), receiving control information and downlink data of access network equipment, and Send electromagnetic waves to transmit uplink data to access network equipment.
  • the access network device in this embodiment of the present application may be any communication device with a wireless transceiver function for communicating with a terminal device.
  • the access network equipment includes but is not limited to: an evolved node B (evolved node B, eNB), a baseband unit (baseband unit, BBU), a wireless fidelity (wireless fidelity, WIFI) system access point (access point, AP), wireless relay node, wireless backhaul node, transmission point (transmission point, TP) or transmission reception point (transmission reception point, TRP), etc.
  • the access network device may also be a gNB, TRP or TP in the 5G system, or one or a group (including multiple antenna panels) antenna panels of the base station in the 5G system.
  • the access network device may also be a network node constituting a gNB or a TP, such as a BBU, or a distributed unit (distributed unit, DU).
  • a gNB may include a centralized unit (CU) and a DU.
  • the gNB may also include an active antenna unit (active antenna unit, AAU).
  • the CU implements some functions of the gNB
  • the DU implements some functions of the gNB.
  • the CU is responsible for processing non-real-time protocols and services, and realizing the functions of radio resource control (radio resource control, RRC) and packet data convergence protocol (packet data convergence protocol, PDCP) layer.
  • the DU is responsible for processing physical layer protocols and real-time services, realizing the functions of the radio link control (radio link control, RLC) layer, media access control (media access control, MAC) layer and physical (physical, PHY) layer.
  • the AAU implements some physical layer processing functions, radio frequency processing and related functions of active antennas. Since the information of the RRC layer will eventually become the information of the PHY layer, or be transformed from the information of the PHY layer, under this architecture, high-level signaling, such as RRC layer signaling, can also be considered to be sent by the DU , or, sent by DU+AAU. It can be understood that the access network device may be a device including one or more of a CU node, a DU node, and an AAU node.
  • the access network device and the terminal device in the embodiment of the present application may communicate through the licensed spectrum, the license-free spectrum, or both the licensed spectrum and the license-free spectrum.
  • the communication between the access network device and the terminal device can be carried out through the frequency spectrum below 6 gigahertz (GHz), or the frequency spectrum above 6 GHz can be used for communication, and the frequency spectrum below 6 GHz and the frequency spectrum above 6 GHz can also be used at the same time. to communicate.
  • GHz gigahertz
  • the embodiments of the present application do not limit the frequency spectrum resources used between the access network device and the terminal device 101 .
  • the terminal device, access network device or location management device in this embodiment of the application can be deployed on land, including indoor or outdoor, handheld or vehicle-mounted; it can also be deployed on water; it can also be deployed on an aircraft in the air , balloons and satellites.
  • the embodiments of the present application do not limit the application scenarios of the terminal device, the access network device, or the location management device.
  • the terminal device or the access network device or the location management device may include a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system layer.
  • the hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory (also called main memory).
  • the operating system may be any one or more computer operating systems that implement business processing through processes, for example, Linux operating system, Unix operating system, Android operating system, iOS operating system, or windows operating system.
  • the application layer includes applications such as browsers, address books, word processing software, and instant messaging software.
  • the embodiment of the present application does not specifically limit the specific structure of the execution subject of the method provided by the embodiment of the present application, as long as the program that records the code of the method provided by the embodiment of the present application can be run to provide the method according to the embodiment of the present application.
  • the executor of the positioning method provided in the embodiment of the present application may be a terminal device or an access network device or a positioning management device, or a terminal device or an access network device or a positioning management device that can Call the program and execute the function module of the program.
  • the relevant functions of the terminal device, access network device, or location management device in the embodiments of the present application can be implemented by one device, or jointly implemented by multiple devices, or by one or more functions in one device.
  • Module implementation which is not specifically limited in this embodiment of the present application. It can be understood that the above functions can be network elements in hardware devices, software functions running on dedicated hardware, or a combination of hardware and software, or instantiated on a platform (for example, a cloud platform) virtualization capabilities.
  • FIG. 12 is a schematic structural diagram of a communication device 1200 provided by an embodiment of the present application.
  • the communication device 1200 includes one or more processors 1201, a communication line 1202, and at least one communication interface (the communication interface 1204 and a processor 1201 are used as an example in FIG. 12 for illustration), optional can also include memory 1203.
  • the processor 1201 may be a CPU, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the program of the present application.
  • ASIC application-specific integrated circuit
  • Communication line 1202 may include a path for connecting between different components.
  • the communication interface 1204 may be a transceiver module for communicating with other devices or communication networks, such as Ethernet, access network (radio access network, RAN), wireless local area network (wireless local area networks, WLAN), etc.
  • the transceiving module may be a device such as a transceiver or a transceiver.
  • the communication interface 1204 may also be a transceiver circuit located in the processor 1201 to realize signal input and signal output of the processor.
  • the communication interface 1204 may be a transceiver, and may include a receiver and a transmitter, wherein the receiver is used to realize the sending function of the communication device 1200 , and the receiver is used to realize the receiving function of the communication device 1200 .
  • the storage 1203 may be a device having a storage function.
  • it can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (random access memory, RAM) or other types of memory that can store information and instructions
  • a dynamic storage device can also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or can be used to carry or store desired program code in the form of instructions or data structures and can be stored by a computer Any other medium, but not limited to.
  • the memory may exist independently and be connected to the processor through the communication line 1202 . Memory can also be integrated with the processor.
  • the memory 1203 is used to store computer-executed instructions for implementing the solution of the present application, and the execution is controlled by the processor 1201 .
  • the processor 1201 is configured to execute computer-executed instructions stored in the memory 1203, so as to implement the positioning method provided in the embodiment of the present application.
  • the processor 1201 may also perform processing-related functions in the positioning method provided in the following embodiments of the present application, and the communication interface 1204 is responsible for communicating with other devices or communication networks. Not specifically limited.
  • the computer-executed instructions in the embodiments of the present application may also be referred to as application program codes, which is not specifically limited in the embodiments of the present application.
  • the processor 1201 may include one or more CPUs, for example, CPU0 and CPU1 in FIG. 12 .
  • the communication device 1200 may include multiple processors, for example, the processor 1201 and the processor 1208 in FIG. 12 .
  • Each of these processors may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor.
  • a processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (eg, computer program instructions).
  • the communication apparatus 1200 may further include an output device 1205 and an input device 1206 .
  • Output device 1205 is in communication with processor 1201 and can display information in a variety of ways.
  • the aforementioned communication device 1200 may be a general-purpose device or a dedicated device.
  • the communication device 1200 may be a desktop computer, a portable computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, an embedded device, or a device having a structure similar to that shown in FIG. 12 .
  • PDA personal digital assistant
  • the embodiment of the present application does not limit the type of the communication device 1200 .
  • the above-mentioned communication device may also be referred to as a communication device.
  • the positioning method provided in the embodiment of the present application may be applied to the communication systems shown in FIGS. 5 to 11 above, and may be executed by the first device, the second device, or the third device.
  • the positioning method provided by the embodiment of the present application can combine the transmission distance of the reference signal between the first device and the second device and the relative displacement between the two devices to perform positioning calculation, so that the parameters that affect the positioning accuracy—participating in positioning
  • the relative displacement between the devices is added to the positioning calculation, so that the first device in the moving state can be accurately positioned, so that the moving device can achieve high-precision positioning.
  • the positioning methods provided in the embodiment of the present application can be divided into two types: the first one, the first device performs positioning calculation on its own position; the second one, The third device performs positioning calculation on the position of the first device, which will be described separately below.
  • the first device performs positioning calculation on its own position:
  • FIG. 13 is a schematic flowchart of a positioning method provided by an embodiment of the present application.
  • the positioning method can be executed by the first device, the second device or the third device, wherein the third device is optional.
  • the third device is optional.
  • the positioning method shown in Figure 13 may include steps S1301 to S1303, which will be described in sequence below:
  • the second device determines a first sending and receiving time difference and a displacement vector of the second device.
  • the first transceiving time difference is a time difference between the receiving time of the first reference signal and the sending time of the second reference signal.
  • the first reference signal is a reference signal of the first device received by the second device
  • the second reference signal is a reference signal sent by the second device.
  • the displacement vector of the second device is the displacement of the second device within a time period corresponding to the first sending and receiving time difference.
  • the first sending and receiving time difference and the displacement vector of the second device may be carried in one piece of information, or carried in two pieces of information respectively, which is not limited.
  • the first reference signal and the second reference signal may be reference signals used for positioning.
  • the first reference signal and the second reference signal may be sidelink (sidelink, SL) RS, such as SL channel state information reference signal (channel state information reference signal, CSI-RS) or SL positioning reference signal (positioning reference signal, PRS); or, the first reference signal and the second reference signal may also be uplink (uplink, UL) RS, such as UL sounding reference signal (sounding reference signal, SRS); or, the first reference signal and the second
  • the reference signal may also be a downlink (DL) RS, such as a DL PRS.
  • DL downlink
  • the first reference signal and the second reference signal may be SL RSs; when the first device is a terminal device and the second device is an access network device, The first reference signal may be a UL RS, and the second reference signal may be a DL RS. It can be understood that the embodiment of the present application does not limit the types of the first reference signal and the second reference signal, and the types may be determined according to requirements during actual application. For example, in a V2X scenario, the first reference signal and the second reference signal may be SL RS; in a vehicle-to-infrastructure (V2I) scenario, the first reference signal and the second reference signal may be UL RS PRS or DL PRS.
  • V2X vehicle-to-infrastructure
  • the receiving time of the first reference signal may be the start time of the subframe of the reference signal of the first device received by the second device
  • the sending time of the second reference signal may be the subframe of the reference signal sent by the second device starting moment.
  • the receiving time of the first reference signal may be the subframe boundary (subframe boundary) of the reference signal of the first device received by the second device
  • the sending time of the second reference signal may be the reference signal sent by the second device.
  • the subframe boundary of the signal In the embodiment of the present application, the subframe boundary may be understood as the start time of the first symbol or the end time of the last symbol in the subframe.
  • FIG. 14 is a schematic diagram of a scenario for positioning UE1 provided in the embodiment of the present application.
  • UE1 is the first device
  • UE2 is the second device
  • UE2 sends RS1 at time T1
  • UE1 receives RS1 from UE2 at time T1+t1
  • UE1 sends RS2 at time T2
  • UE2 receives RS1 at time T2+t2
  • d1 is the displacement vector of UE1 from time T2 to time T1+t1
  • d2 is the displacement vector of UE2 from time T1 to time T2+t2.
  • the content of Figure 14 will be described here, and will not be repeated below .
  • UE2 sends a second reference signal to UE1 at time T1 (denoted as RS1 in Figure 14), and UE2 receives the first reference signal of UE1 at time T2+t2 (denoted as RS1 in Figure 14 is RS2), so UE2 can determine that the first sending and receiving time difference is T2+t2-T1.
  • the time T1 may be the starting time of the subframe when UE2 sends RS1 to UE1
  • the time T2+t2 may be the starting time of the subframe when UE2 receives RS2 from UE1.
  • UE2 receives UE1's RS2 subframe starting time is 8 (hour): 59 (minute): 38 (second): 009 (millisecond): 060 (microsecond), that is, T2+t2 time is 8 :59:38:009:060
  • the starting time of the subframe when UE2 sends RS1 to UE1 is 8 (hour): 59 (minute): 38 (second): 000 (millisecond): 030 (microsecond)
  • Time T1 is 8:59:38:000:030
  • the time period corresponding to the first sending and receiving time difference is from time T1 to time T2+t2.
  • UE2 can also determine the displacement between time T1 and time T2+t2 according to its own movement information (such as moving speed), for example , the acceleration sensor can be used to measure the displacement between the time T1 and the time T2+t2, so as to obtain the displacement vector of the second device.
  • its own movement information such as moving speed
  • the acceleration sensor can be used to measure the displacement between the time T1 and the time T2+t2, so as to obtain the displacement vector of the second device.
  • the starting point of the displacement vector of the second device may be the position of the second device at the time of sending the second reference signal, and the end point of the displacement vector of the second device may be the position of the second device at the time of receiving the first reference signal;
  • the starting point of the displacement vector of the second device may be the position of the second device at the time of receiving the first reference signal, and the end point of the displacement vector of the second device may be the position of the second device at the time of sending the second reference signal, This application is not limited to this. For example, in FIG.
  • the starting point of the displacement vector of UE2 may be the position of UE2 at time T1, and the end point of the displacement vector of UE2 may be the position of time T2+t2, that is, the displacement of the second device
  • the starting point of the displacement vector of the second device in the embodiment of the present application is the position where the second device is at the moment when the second reference signal is sent, and the end point of the displacement vector of the second device is The location of the second device at the time of receiving the first reference signal.
  • the coordinate system corresponding to the displacement vector of the second device may be a global coordinate system.
  • the global coordinate system may refer to: The north direction is defined as the x-axis direction, the due west direction is defined as the y-axis direction, and the directly above is defined as the z-axis direction; it can also be a local coordinate system.
  • the local coordinate system can refer to: define the forward direction of the device as the x-axis direction Direction, the left direction of the forward direction of the device is defined as the y-axis direction, and the upward direction is defined as the z-axis direction.
  • the coordinate system corresponding to the displacement vector of the second device is used as an example to illustrate the positioning process of the first device.
  • the second device may also measure the angle of arrival of the first reference signal, and send the measured angle of arrival of the first reference signal to the first device.
  • the first sending and receiving time difference, the displacement vector of the second device, and the angle of arrival of the first reference signal may all be carried in one piece of information, or carried in different pieces of information, which is not limited.
  • UE2 may measure the angle of arrival of RS2, and then UE2 may send the angle of arrival of RS2 to UE1.
  • the ZOA is also a type of angle of arrival, that is, the angle of arrival of the first reference signal may be the AOA or the ZOA of the first reference signal, which is not limited in the present application.
  • the distance of the reference signal transmitted between the first device and the second device, the relative displacement between the two devices, and the angle of arrival of the first reference signal can also be used for positioning calculation , so that the positioning accuracy can be further improved, and the positioning calculation process can be simplified.
  • the angle of arrival of the first reference signal in the embodiment of the present application may be understood as the AOA of the first reference signal.
  • the second device sends the first sending and receiving time difference and the displacement vector of the second device.
  • the first device receives the first transceiving time difference of the second device and the displacement vector of the second device.
  • S1302 may include S1302A, where the second device sends the first sending and receiving time difference and the displacement vector of the second device to the first device.
  • the first device receives the first transceiving time difference and the displacement vector of the second device from the second device.
  • S1302 may include S1302B, the second device Send the first transceiving time difference and the displacement vector of the second device to the third device, and the third device receives the first transceiving time difference and the displacement vector of the second device from the second device; the third device sends the first transceiving time difference to the first device and the displacement vector of the second device, the first device receives the first sending and receiving time difference and the displacement vector of the second device from the third device.
  • the first transceiving time difference and the displacement vector of the second device sent by the second device may be sent to the first device (such as S1302A), or may be sent to the first device via the third device in a forwarding manner (such as S1302B) , the present application does not limit the sending manner of the first sending and receiving time difference and the displacement vector of the second device.
  • the first device determines the position of the first device according to the first transceiving time difference, the displacement vector of the second device, and the second transceiving time difference.
  • the second sending and receiving time difference is the time difference between the receiving time of the third reference signal and the sending time of the fourth reference signal
  • the third reference signal is the reference signal of the second device received by the first device
  • the fourth reference signal is sent by the first device reference signal
  • both the third reference signal and the fourth reference signal may be reference signals for positioning.
  • the third reference signal and the fourth reference signal may be SL RS, such as SL CSI-RS or SL PRS; or, the third reference signal and the fourth reference signal may also be UL RS, such as UL SRS; or , the third reference signal and the fourth reference signal may also be DL RS, such as DL PRS.
  • the third reference signal and the fourth reference signal may be SL RSs; when the first device is a terminal device and the second device is an access network device,
  • the third reference signal may be a DL RS, and the fourth reference signal may be a UL RS.
  • the embodiment of the present application does not limit the types of the third reference signal and the fourth reference signal, and the types may be determined according to requirements during actual application.
  • the third reference signal and the fourth reference signal may be SL RS; in the V2I scenario, the third reference signal and the fourth reference signal may be UL PRS or DL PRS.
  • the receiving time of the third reference signal may be the start time of the subframe of the reference signal of the second device received by the first device
  • the sending time of the fourth reference signal may be the subframe of the reference signal sent by the first device starting moment.
  • the receiving time of the third reference signal may be the subframe boundary of the reference signal of the second device received by the first device
  • the sending time of the fourth reference signal may be the subframe of the reference signal sent by the first device boundary.
  • the first device may first determine the second time difference between sending and receiving, and then determine the position of the first device according to the first time difference between sending and receiving, the displacement vector of the second device, and the second time difference between sending and receiving.
  • the following first describes the process of the first device determining the second sending and receiving time difference in the second sending and receiving time difference with an example:
  • UE1 is a first device
  • UE2 is a second device.
  • UE1 receives the third reference signal of UE2 (marked as RS1 in Figure 14) at time T1+t1
  • UE1 sends the fourth reference signal (marked as RS2 in Figure 14) to UE2 at time T2, so that UE1 It may be determined that the second sending and receiving time difference is T1+t1-T2.
  • the time T1+t1 may be the start time of the subframe when UE1 receives RS1 from UE2, and the time T2 may be the start time of the subframe when UE1 sends RS2 to UE2.
  • UE1 receives UE2's RS1 subframe starting time is 8 (hour): 59 (minute): 38 (second): 000 (millisecond): 010 (microsecond), that is, T1+t1 time is 8 :59:38:000:010
  • the starting time of the subframe that UE1 sends RS2 to UE2 is 8 (hour): 59 (minute): 38 (second): 009 (millisecond): 000 (microsecond)
  • Time T2 is 8:59:38:009:000
  • the first device may also determine a displacement vector of the first device, where the displacement vector of the first device is the displacement of the first device within a time period corresponding to the second sending and receiving time difference.
  • the first device can determine the distance between the first device and the second device according to the displacement vector of the second device and the displacement vector of the first device.
  • the time period corresponding to the second sending and receiving time difference is from time T1+t1 to time T2.
  • UE1 can also determine the displacement between time T1+t1 and time T2 according to its own movement information. For example, it can use The acceleration sensor measures the displacement between the time T1+t1 and the time T2, so as to obtain the displacement vector of the first device.
  • the starting point of the displacement vector of the first device may be the position where the first device is at the time when the fourth reference signal is sent, and the end point of the displacement vector of the first device may be the position where the first device receives the fourth reference signal.
  • the location of the fourth reference signal is not limited in this application. For example, in FIG.
  • the starting point of the displacement vector of UE1 may be the position of UE1 at time T2, and the end point of the displacement vector of UE1 may be the position of time T1+t1, that is, the displacement of the first device
  • the vector is the vector d1 in FIG. 14; or, the starting point of the displacement vector of UE1 may be the location of UE1 at T1+t1, and the end point of the displacement vector of UE1 may be the location of T2.
  • the starting point of the displacement vector of the first device in the embodiment of the present application is the position where the first device is at the moment when the fourth reference signal is sent, and the end point of the displacement vector of the first device is The location of the first device at the time of receiving the third reference signal.
  • the starting point of the displacement vector of one device is The position at the time when the reference signal is received, the end point of the displacement vector of a device is the position at the time when the reference signal is sent; or, the starting point of the displacement vector of a device is the position at the time when the reference signal is sent, the displacement vector of a device The end point of is the position where the reference signal is received.
  • the starting point of the displacement vector of the first device is the position where the first device is at the time when the fourth reference signal is sent
  • the end point of the displacement vector of the first device is the position where the first device receives the third reference signal.
  • the starting point of the displacement vector of the second device is the position of the second device at the moment of sending the second reference signal
  • the end point of the displacement vector of the second device is the moment of receiving the first reference signal of the second device location.
  • the starting point of the displacement vector of the first device is the position of the first device at the time of receiving the third reference signal
  • the end point of the displacement vector of the first device is the position of the first device at the time of sending the fourth reference signal
  • the starting point of the displacement vector of the second device is the position of the second device at the time of receiving the first reference signal
  • the end point of the displacement vector of the second device is the position of the second device at the time of sending the second reference signal.
  • the starting point of the displacement vector of a device is the earliest moment in the process of sending and receiving reference signals
  • the end point of the displacement vector of a device is the latest time in the process of sending and receiving reference signals.
  • the relative displacement between the first device and the second device may also be the difference between the displacement vector of the first device and the displacement vector of the second device.
  • the present application does not limit the coordinate system corresponding to the displacement vector of the first device, and the coordinate system corresponding to the displacement vector of the first device may be a global coordinate system or a local coordinate system.
  • the coordinate system corresponding to the displacement vector of the first device is used as an example to describe the positioning process of the first device as the global coordinate system.
  • the first device may also measure the angle of arrival of the third reference signal.
  • UE1 may measure the angle of arrival of RS1.
  • the ZOA is also a type of angle of arrival, that is, the angle of arrival of the third reference signal may be the AOA or the ZOA of the third reference signal, which is not limited in the present application.
  • the distance of the reference signal transmitted between the first device and the second device, the relative displacement between the two devices, and the angle of arrival of the third reference signal can also be used for positioning calculation , so that the positioning accuracy can be further improved, and the positioning calculation process can be simplified.
  • the angle of arrival of the third reference signal in the embodiment of the present application may be understood as the AOA of the third reference signal.
  • the method of determining the position of the first device according to the first sending and receiving time difference, the displacement vector of the second device, and the second sending and receiving time difference can be as follows. :
  • the first device determines the relative displacement between the first device and the second device according to the displacement vector of the second device.
  • the first device may determine the displacement vector of the second device as the relative displacement between the first device and the second device.
  • the second device may be in a moving state or a stationary state, which is not limited.
  • determining the position of the first device according to the first transceiving time difference, the displacement vector of the second device and the second transceiving time difference may include: according to the first transceiving time difference, the displacement vector of the second device, the second transceiving time difference and the second transceiving time difference A device's displacement vector, determining the position of the first device.
  • the first device may determine the relative displacement between the first device and the second device according to the displacement vector of the first device and the displacement vector of the second device.
  • the first device may determine the sum of the displacement vector of the first device and the displacement vector of the second device as the relative displacement between the first device and the second device.
  • the first device can determine the position of the first device according to the relative displacement between the first device and the second device, the first time difference between sending and receiving, and the second time difference between sending and receiving (refer to the following process 2 and process 3).
  • the displacement vector of UE1 is d1
  • the displacement vector of UE2 is d2
  • the relative displacement between UE1 and UE2 can be determined as d1+d2.
  • d1 (x1, y1)
  • d2 (x2, y2)
  • the displacement of UE2 relative to UE1 can be determined according to the geometric relationship between vectors, as shown in FIG. 14 .
  • the first device determines the time transmission distance of the reference signal between the first device and the second device according to the first transceiving time difference and the second transceiving time difference.
  • the sum of the first sending and receiving time difference and the second sending and receiving time difference represents the time for the reference signal to travel back and forth between the two devices.
  • the first sending and receiving time difference may be the value after the difference between the receiving time of the first reference signal and the sending time of the second reference signal is moduloed to the first value; the second sending and receiving time difference may be the receiving time of the third reference signal The difference from the sending time of the fourth reference signal is a value obtained by taking a modulus of the first value.
  • the second device can take the modulus of (RX1-TX1) to the first value to obtain the first sending and receiving time difference after taking the modulus; correspondingly, the first device can take (RX2-TX2) to the first value modulus, to obtain the second sending and receiving time difference after taking the modulus.
  • the first device may determine the time transmission distance of the reference signal between the first device and the second device according to the first transceiving time difference and the second transceiving time difference after taking the modulus.
  • the first value is a value configured by the network device to the terminal device, or a value reported by the terminal device to the network device, or a pre-agreed value (such as a protocol agreement), which is not limited in this application.
  • the size of the first value can be 2 ms, 1 ms, 0.5 ms, etc.
  • the first data size is 1 ms as an example to illustrate the positioning process of the first device, but it does not mean that the first data is limited to 1 ms.
  • the first sending and receiving time difference after the modulus or the second sending and receiving time difference after the modulus can be constrained within an interval with a length of 1ms, and the left and right endpoints of the interval can be different according to the modulus rules, for example,
  • the value of the first sending and receiving time difference after taking the modulus can be constrained between [0ms, 1ms), or can be constrained between [-0.5ms, 0.5ms). Make adjustments.
  • the value of the first sending and receiving time difference after modulus can be constrained to be between [0 ms, 1 ms) as an example to illustrate the positioning process of the first device.
  • RX2 is 8:59:38:009:060 and TX2 is 8:59:38:000:030
  • the value after the modulus is 0.03ms (30 ⁇ s)
  • the second sending and receiving time difference after taking the modulus is 0.03ms (30 ⁇ s)
  • the first sending and receiving time difference is the same as the second sending and receiving time difference
  • the sum of the time differences is 40 ⁇ s
  • the sum of the first transceiving time difference and the second transceiving time difference after modulo taking is the same as the sum of the first transceiving time difference and the second transceiving time difference without modulo taking.
  • the number of digits of the first time difference between sending and receiving and the second time difference between sending and receiving after taking the modulus will be reduced, so that the number of bits of signaling carrying the first time difference between sending and receiving and the second time difference between sending and receiving can be reduced, and the number of bits of signaling in the communication process can be reduced. Overhead, improve transmission efficiency.
  • the first value may meet the following requirements: the first value is a positive number, and the product of the first value and the speed of light does not exceed the maximum distance between the two devices. For example, assuming that the maximum distance between two devices on the earth is 3 ⁇ 10 5 m, the first value ⁇ c ⁇ 3 ⁇ 10 5 m, so the first value does not exceed 1 ms.
  • the first device determines the position of the first device according to the distance transmitted by the reference signal between the first device and the second device and the relative displacement between the first device and the second device.
  • the position of the first device is located in the first area.
  • the shape of the first area is an ellipsoid or an ellipse, and the two foci of the first area are the first and last endpoints of the first vector.
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device, and the length of the major axis of the first area is the distance corresponding to the sum of the second sending and receiving time difference and the first sending and receiving time difference; or in other words, the first A vector is the relative displacement between the first device and the second device, and the length of the major axis of the first area is the transmission distance of the reference signal between the first device and the second device.
  • the first device is located on the ellipsoid or ellipse determined according to the distance and relative displacement of the reference signal transmitted between the first device and the second device, so that an implementation method of determining the position of the first device can be provided , for example, the first device can establish an expression of the first area whose shape is an ellipsoid or an ellipse according to the distance transmitted by the reference signal between the first device and the second device and the relative displacement between the two devices, so that the first The device can perform positioning calculation in combination with the transmission distance of the reference signal between the first device and the second device and the relative displacement between the two devices, so that the first device in a moving state can be accurately positioned.
  • the position of the first device is located on the boundary of the first area, for example, when the shape of the first area is an ellipsoid, the position of the first device is located on the surface of the ellipsoid; when the shape of the first area is an ellipse, the first The location of the device is located on the circumference of the ellipse.
  • process 3 may include: the first device may determine the first area according to the distance transmitted by the reference signal between the first device and the second device and the relative displacement between the first device and the second device; and then according to The first area determines the location of the first device.
  • the sum of the displacement vector of the first device and the displacement vector of the second device is recorded as the first vector, which will be described uniformly here and will not be described in detail below.
  • the shape of the first region may be an ellipse, or an ellipse circumference; in three-dimensional space, the shape of the first region may be an ellipsoid, or an ellipsoidal surface.
  • an ellipsoid is an extension of an ellipse in three-dimensional space.
  • the concept of an ellipsoid can include an ellipsoid in three-dimensional space and an ellipse in two-dimensional space.
  • the first area can be a part of an ellipsoid or an ellipse.
  • an area whose shape is an ellipsoid or an ellipse can be determined first, and then use wireless signal transmission characteristics (such as the coverage direction of the signal) to remove unreasonable areas in the area. part, and the rest as the first region.
  • the shape of the first area is an ellipse as an example to illustrate how to determine the position of the first device, that is, the first device, the second device and the two devices
  • the motion trajectories of are located on the same horizontal plane, and the z-axis component (height component) of the displacement vectors of the first device and the second device is 0.
  • the embodiment of the present application does not limit the shape of the first region to be an ellipse or an ellipsoid.
  • the first device may determine the first area according to the transmission distance of the reference signal between the first device and the second device and the relative displacement between the first device and the second device as follows:
  • a represents the semi-major axis of the first area
  • L is the time transmission distance of the reference signal between the first device and the second device
  • b represents the semi-minor axis of the first area
  • the first device can determine the The first area shown, the length of the major axis AB of the first area is the distance corresponding to the sum of RS1 and RS2, F1 and F2 are the two foci of the first area, and F1F2 is the first vector, OC is the first area The semi-minor axis of (that is, b in the above formula).
  • the first device is located at a certain position on the first area. At this time, from the perspective of the first device, the first device cannot yet determine which point on the first area is its own position, and needs to further determine the position of the first device based on the first area.
  • the implementation manner in which the first device determines the location of the first device according to the first area may include the following methods 1 to 3:
  • the first device determines the position of the first device on the first area according to the first area and the angle of arrival of the third reference signal. Or in other words, the location of the first device is determined by the first area and the angle of arrival of the third reference signal.
  • AoA1 may satisfy the following formula (4):
  • Simultaneously formula (1), formula (2), formula (4), or formula (3), formula (4) can solve (x, y), that is, determine the position of the first device.
  • (x, y) when solving (x, y) in simultaneous formula (1), formula (2), formula (4), or formula (3), formula (4), there may be multiple solutions, this At this time, the quadrant of AoA1 can be used to eliminate redundant solutions, so as to obtain the correct position of the first device.
  • the first device determines that the first device is located in the first area according to the first area and the angle of arrival of the first reference signal position on the Or in other words, the position of the first device is determined by the first area and the angle of arrival of the first reference signal.
  • AoA2 may satisfy the following formula (5):
  • Mode 3 in the case where the second device also sends the measured angle of arrival of the first reference signal to the first device, and the first device also measures the angle of arrival of the third reference signal, the first device according to the first area, the first The angle of arrival of the reference signal and the angle of arrival of the third reference signal determine a location of the first device on the first area. Or in other words, the location of the first device is determined by the first area, the angle of arrival of the first reference signal, and the angle of arrival of the third reference signal.
  • the first device may determine a position of the first device by using the above mode 1 and mode 2 respectively, and then use the average value of the two positions as the position of the first device. For example, assuming that the position of the first device determined by method 1 is (x1, y1), and the position of the first device determined by method 2 is (x2, y2), then the final determined position of the first device is ((x1 +x2)/2, (y1+y2)/2).
  • FIG. 16 is a schematic diagram of marking the angle of arrival AoA3 in the coordinate system shown in FIG. 15. As shown in FIG. 16, the angle of arrival of the third reference signal is marked as AoA1, and the angle of arrival of the first reference signal is marked as AoA2, then AoA1 and AoA2 can satisfy the following formula (6):
  • Simultaneously formula (1), formula (2), formula (6), or formula (3), formula (6) can solve (x, y), that is, determine the position of the first device.
  • (x, y) when solving (x, y) in simultaneous formula (1), formula (2), formula (6), or formula (3), formula (6), there may be multiple solutions, this available when The quadrant (denoted as AoA3) excludes redundant solutions, thereby obtaining the correct position of the first device.
  • AoA3 represents the angular relationship between UE1 and the center of the coordinate system.
  • AoA is between 0 and ⁇ /2, the corresponding -y0-y>0, -x0-x>0;
  • AoA is between ⁇ /2 and ⁇ , then the corresponding -y0-y>0, -x0-x ⁇ 0;
  • AoA is between ⁇ and 3* ⁇ /2, then the corresponding -y0-y ⁇ 0, -x0-x ⁇ 0;
  • Mode 4 if there are multiple second devices, that is, the first device can receive the first sending and receiving time difference of multiple second devices and the displacement vector of the second device, then for each second device, by using In the above "determine the first area according to the transmission distance of the reference signal between the first device and the second device and the relative displacement between the first device and the second device", a corresponding second device can be determined for each second device.
  • An area (for ease of distinction, this area is referred to as a second area), that is, multiple second areas can be obtained.
  • the first device may determine the intersection of the plurality of second areas as the location of the first device.
  • each second device corresponds to a second area
  • the first device is located at the intersection of the N second areas.
  • the shape of the i-th second area corresponding to the i-th second device among the N second devices is an ellipsoid or ellipse
  • the two foci of the i-th second area are the first and last endpoints of the second vector
  • the i-th The length of the long axis of the second area is the distance corresponding to the sum of the second sending and receiving time difference and the first sending and receiving time difference of the i-th second device
  • the second vector is the displacement vector of the first device and the distance between the i-th second device
  • the sum of displacement vectors, i is a positive integer, and i ⁇ N.
  • the first device can transmit information between the first device and multiple second devices according to the reference signal.
  • the distance and the relative displacement between the first device and the multiple second devices establish the expression of multiple second regions whose shape is an ellipsoid or ellipse, and the position of the first device is located at the intersection of these multiple second regions, so that the first A device can perform positioning calculation based on the transmission distance of the reference signal between the first device and multiple second devices and the relative displacement between the first device and multiple second devices, so as to improve the positioning accuracy of the first device.
  • any one of methods 1 to 3 is used to correct the first device.
  • the location of a device so as to further improve the positioning accuracy of the first device.
  • the position of UE1 relative to UE2 is (x+x 0 ,y+y 0 ,0), and the position of UE2 relative to UE1 is (-x 0 -x,-y 0 -y,0), The distance between the two is At T2+t2, the position of UE1 relative to UE2 is (xx 0 ,yy 0 ,0), the position of UE2 relative to UE1 is (x 0 -x,y 0 -y,0), the distance between them for
  • the displacement vector of the first device, the displacement vector of the second device, and the angle of arrival are all based on the same coordinate system.
  • the first device can use the coordinate system conversion formula to convert the displacement vector of the first device, the displacement vector of the second device
  • the coordinate system on which the displacement vector, angle of arrival are based is converted to the same coordinate system.
  • the conversion method of the coordinate system conversion formula and how the first device obtains the coordinate system conversion formula are not limited in this application.
  • the first device when the first device determines its own position, it may perform positioning calculation according to the first sending and receiving time difference, the second sending and receiving time difference, and the displacement vector of the second device.
  • the transmission distance of the reference signal between the first device and the second device can be determined according to the first transceiving time difference and the second transceiving time difference
  • the relative distance between the first device and the second device can be determined according to the displacement vector of the second device. displacement.
  • the first device can perform positioning calculations based on the transmission distance of the reference signal between the first device and the second device and the relative displacement between the two devices, so that the parameters that affect the positioning accuracy - the parameters involved in positioning
  • the relative displacement between the devices is added to the positioning calculation, so that the accurate positioning of the first device can be realized regardless of whether the devices participating in the positioning (including the above-mentioned first device and the second device) are in a moving state.
  • the first device and the second device will send and receive reference signals to each other to measure the Rx-Tx time difference, so as to determine the first sending and receiving time difference respectively.
  • the time difference and the second sending and receiving time difference will be noted that, in the process of executing the above S1301-S1303, the first device and the second device will send and receive reference signals to each other to measure the Rx-Tx time difference, so as to determine the first sending and receiving time difference respectively.
  • the time difference and the second sending and receiving time difference will be noted that, in the process of executing the above S1301-S1303, the first device and the second device will send and receive reference signals to each other to measure the Rx-Tx time difference, so as to determine the first sending and receiving time difference respectively.
  • the time difference and the second sending and receiving time difference will be noted that, in the process of executing the above S1301-S1303, the first device and the second device will send and receive reference signals to each other to measure the Rx-Tx time difference, so as to determine the first sending and
  • the second device will receive the first reference signal from the first device, send the second reference signal to the first device, and then calculate the time difference between the receiving time of the first reference signal and the sending time of the second reference signal It is determined as the first sending and receiving time difference; in the above S1303, the first device will receive the third reference signal from the second device, send the fourth reference signal to the second device, and then compare the receiving time of the third reference signal with the fourth reference signal The time difference of the sending time is determined as the second sending and receiving time difference.
  • This embodiment of the present application does not limit the order in which the first device and the second device send and receive reference signals to each other.
  • the second device may first send the second reference signal to the first device ( Figure 14 RS1 in ), and then the first device sends the fourth reference signal (RS2 in FIG. 14 ) to the second device; or, the first device can first send the fourth reference signal to the second device, and then the second device sends The device sends the second reference signal, which is not limited in this application.
  • the second device first sends the second reference signal to the first device, and then the first device sends the fourth reference signal to the second device as an example. A positioning process of the first device.
  • the first reference signal may be a fourth reference signal
  • the second reference signal may be a third reference signal
  • the third reference signal may be sent by the above-mentioned second device to the first
  • the reference signal of the device is, for example, the second reference signal
  • the fourth reference signal may be a reference signal from the first device received by the second device, for example, the first reference signal.
  • the first reference signal is the fourth reference signal
  • the second reference signal is the third reference signal.
  • the first reference signal and the fourth reference signal may be reference signals of different periods, and the second reference signal and the third reference signal may be of different periods. the reference signal.
  • the first device may be a terminal device
  • the second device may be a terminal device or an access network device
  • the third device may be a location management device (eg LMF network element).
  • the positioning method shown in Figure 13 can be divided into the following possible implementations:
  • Mode 5 when the second device is a terminal device and the first receiving and receiving time difference and the displacement vector of the second device are not forwarded by the third device, the first device receives the first receiving and receiving time difference and the second device's displacement vector from the second device Displacement vector, and perform positioning calculation on its own position.
  • FIG. 18 is a schematic flowchart of another positioning method provided by an embodiment of the present application.
  • the positioning method can be executed by a first device and a second device, wherein the first device is a terminal device (recorded in FIG. 18 UE1), and the second device is a terminal device (denoted as UE2 in FIG. 18).
  • the positioning method shown in Figure 18 may include S1801-S1803, which are described below:
  • UE2 determines the first sending and receiving time difference and the displacement vector of the second device.
  • UE2 sends the first sending and receiving time difference and the displacement vector of the second device to UE1.
  • UE1 receives the first sending and receiving time difference and the displacement vector of the second device from UE2.
  • UE1 determines the location of the first device according to the first transceiving time difference, the displacement vector of the second device, and the second transceiving time difference.
  • the motion states of UE1 and UE2 are not limited, and may be in a moving state or a static state, and by applying the positioning method provided in the embodiment of the present application, the position of UE1 can be accurately positioned.
  • Mode 5 can be applied to a V2X scenario, and can help accurately locate two relatively moving terminal devices in the V2X scenario.
  • Method 6 In the case that the second device is a terminal device or an access network device and the first receiving and receiving time difference and the displacement vector of the second device are forwarded by the third device, the first device receives the first receiving and receiving time difference and the displacement vector of the second device from the third device. The displacement vector of the second device, and calculate its own position.
  • FIG. 19 is a schematic flowchart of another positioning method provided in an embodiment of the present application.
  • the positioning method may be executed by a first device, a second device, and a third device, where the first device is a terminal device ( Denoted as UE1 in Figure 19), the second device is a terminal device or an access network device (denoted as UE2/access network device in Figure 19), and the third device is an LMF network element (denoted as an LMF network element in Figure 19) .
  • the positioning method shown in Figure 19 may include S1901-S1903, which are introduced respectively below:
  • UE2 or an access network device determines a first sending and receiving time difference and a displacement vector of a second device.
  • UE2 or the access network device sends the first sending and receiving time difference and the displacement vector of the second device to the LMF network element.
  • the LMF network element receives the first sending and receiving time difference and the displacement vector of the second device from UE2 or the access network device.
  • the LMF network element sends the first sending and receiving time difference and the displacement vector of the second device to UE1.
  • UE1 receives the first sending and receiving time difference and the displacement vector of the second device from the LMF network element.
  • UE1 determines the location of the first device according to the first transceiving time difference, the displacement vector of the second device, and the second transceiving time difference.
  • the access network device in mode 6 may be a base station, a TRP, a road side unit (road side unit, RSU), etc., and the number of access network devices may be multiple.
  • the location of UE2/access network device in manner 6 may be stationary, and UE1 may be mobile or stationary, which is not limited.
  • the first device determines its own position, it can integrate its own position with the GPS, and use the navigation program to display its own position on the map in real time, and display information such as acceleration, which can improve user experience.
  • the above manner 4 may be used to calculate the position of the first device.
  • Mode 7 when the second device is a satellite and the first receiving and receiving time difference and the displacement vector of the second device are forwarded by the third device, the first device receives the first receiving and receiving time difference and the displacement vector of the second device from the third device , and calculate its position.
  • FIG. 20 is a schematic flowchart of another positioning method provided in an embodiment of the present application.
  • the positioning method may be executed by a first device, a second device, and a third device, where the first device is a terminal device ( It is marked as UE1 in FIG. 20 ), the second device is a satellite (marked as satellite in FIG. 20 ), and the third device is an LMF network element (marked as LMF network element in FIG. 20 ).
  • the positioning method shown in Figure 20 may include S2001 to S2003, which are described below:
  • the satellite determines the first sending and receiving time difference and the displacement vector of the second device.
  • the satellite sends the first sending and receiving time difference and the displacement vector of the second device to the LMF network element.
  • the LMF network element receives the first sending and receiving time difference from the satellite and the displacement vector of the second device.
  • the LMF network element sends the first sending and receiving time difference and the displacement vector of the second device to UE1.
  • UE1 receives the first sending and receiving time difference and the displacement vector of the second device from the LMF network element.
  • UE1 determines the position of the first device according to the first transceiving time difference, the displacement vector of the second device, and the second transceiving time difference.
  • Method 7 can be used for satellites, UAVs, and aircrafts to locate ground terminals, that is to say, the first device can be a terminal device, and the second device can be a satellite, UAV, or aircraft
  • multiple satellites will feed back the first time difference of reception and reception of the satellites and the displacement vector of the second device to the network, such as the base station, the core network LMF, or the V2X server.
  • the vector is forwarded to the first device for the first device to calculate its own position.
  • the third device performs positioning calculation on the position of the first device:
  • FIG. 21 is a schematic flowchart of another positioning method provided by an embodiment of the present application.
  • a third device performs positioning calculation on the position of the first device.
  • the positioning method may include S2101 to S2105, which will be described in sequence below.
  • the second device determines a first sending and receiving time difference and a displacement vector of the second device.
  • the first device determines the second sending and receiving time difference.
  • S2102 can refer to the content of "the first device determines the second sending and receiving time difference" in the above-mentioned method embodiment shown in Figure 13, and details are not repeated here.
  • the second device sends the first sending and receiving time difference and the displacement vector of the second device to the third device.
  • the third device receives the first transceiving time difference and the displacement vector of the second device from the second device.
  • the first device sends the second sending and receiving time difference to the third device.
  • the third device receives the second sending and receiving time difference from the first device.
  • the third device determines the position of the first device according to the first transceiving time difference, the displacement vector of the second device, and the second transceiving time difference.
  • the principle and effect of the third device determining the position of the first device according to the first sending and receiving time difference, the displacement vector of the second device and the second sending and receiving time difference can refer to the first device in S1303 above according to the first sending and receiving time difference and the second device The principle and effect of determining the position of the first device by the displacement vector and the second sending and receiving time difference will not be repeated here.
  • the first device may be a terminal device
  • the second device may be a terminal device or an access network device
  • the third device may be a location management device (eg LMF network element).
  • the positioning method shown in FIG. 21 can be divided into the following possible implementation manners:
  • the third device calculates the location of the first device according to the first sending and receiving time difference, the displacement vector of the second device, and the second sending and receiving time difference.
  • FIG. 22 is a schematic flowchart of another positioning method provided by an embodiment of the present application.
  • the positioning method can be executed by a first device, a second device, and a third device, where the first device is a terminal device ( It is marked as UE1 in FIG. 22), the second device is a terminal device (denoted as UE2 in FIG. 22), and the third device is an LMF network element (denoted as LMF network element in FIG. 22).
  • the positioning method shown in Figure 22 may include S2201-S2205, which are described below:
  • UE2 determines the first sending and receiving time difference and the displacement vector of the second device.
  • S2202. UE1 determines the second sending and receiving time difference.
  • UE2 sends the first sending and receiving time difference and the displacement vector of the second device to the LMF network element.
  • the LMF network element receives the first sending and receiving time difference and the displacement vector of the second device from UE2.
  • UE1 sends the first sending and receiving time difference and the displacement vector of the second device to the LMF network element.
  • the LMF network element receives the first sending and receiving time difference and the displacement vector of the second device from UE1.
  • the LMF network element determines the position of the first device according to the first sending and receiving time difference, the displacement vector of the second device, and the second sending and receiving time difference.
  • FIG. 22 uses the network as an example of the LMF network element), it is used for the network to calculate the position between two UEs.
  • the third device calculates the position of the first device according to the first sending and receiving time difference, the displacement vector of the second device, and the second sending and receiving time difference.
  • FIG. 23 is a schematic flowchart of another positioning method provided by an embodiment of the present application.
  • the positioning method may be executed by a first device, a second device, and a third device, where the first device is a terminal device ( Denoted as UE1 in Figure 23), the second device is a terminal device or an access network device (denoted as UE2/access network device in Figure 23), and the third device is an LMF network element (denoted as an LMF network element in Figure 23) .
  • the positioning method shown in Figure 23 may include S2301-S2305, which are introduced respectively below:
  • UE2 or the access network device determines the first sending and receiving time difference and the displacement vector of the second device.
  • S2302. UE1 determines the second sending and receiving time difference.
  • UE2 or the access network device sends the first sending and receiving time difference and the displacement vector of the second device to the LMF network element.
  • the LMF network element receives the first sending and receiving time difference and the displacement vector of the second device from UE2 or the access network device.
  • UE1 sends the first sending and receiving time difference and the displacement vector of the second device to the LMF network element.
  • the LMF network element receives the first sending and receiving time difference and the displacement vector of the second device from UE1.
  • the LMF network element determines the position of the first device according to the first sending and receiving time difference, the displacement vector of the second device, and the second sending and receiving time difference.
  • the access network device may be a base station, TRP, RSU, roadside unit, etc., and the number of access network devices may be multiple.
  • the location of UE2/access network device in manner 9 may be stationary, and UE1 may be mobile or stationary, which is not limited.
  • Both UE1 and UE2/access network equipment feed back the measured first transceiving time difference and the displacement vector of the second device or the second transceiving time difference to the network (such as a base station, LMF network element, or V2X server, etc.,
  • Figure 23 uses the network as the LMF network element as an example), and the network calculates the location of UE1.
  • the above manner 4 may be used to calculate the position of the first device.
  • the positioning method provided by the embodiment of the present application has been described in detail above with reference to FIGS. 13 to 23 .
  • the communication device for executing the positioning method provided by the embodiment of the present application will be described in detail below with reference to FIGS. 24 to 25 .
  • FIG. 24 is a schematic structural diagram of a communication device provided by an embodiment of the present application.
  • a communication device 2400 includes: a processing module 2401 and a transceiver module 2402 .
  • FIG. 24 shows only the main components of the communication device.
  • the communication device 2400 may be applicable to the communication system shown in FIG. 5 to FIG. 11 , and perform the function of the first device in the positioning methods shown in FIG. 13 and FIG. 18 to FIG. 20 .
  • the transceiving module 2402 is configured to receive the first transceiving time difference and the displacement vector of the second device.
  • the processing module 2401 is configured to determine the position of the first device according to the first transceiving time difference, the displacement vector of the second device, and the second transceiving time difference.
  • the first transceiving time difference is the time difference between the receiving time of the first reference signal and the sending time of the second reference signal
  • the first reference signal is the reference signal of the first device received by the second device
  • the second reference signal is the reference signal of the second device
  • the reference signal sent, the displacement vector of the second device is the displacement of the second device within a time period corresponding to the first sending and receiving time difference.
  • the second sending and receiving time difference is the time difference between the receiving time of the third reference signal and the sending time of the fourth reference signal
  • the third reference signal is the reference signal of the second device received by the first device
  • the fourth reference signal is sent by the first device reference signal.
  • the transceiving module 2402 is further configured to receive the first transceiving time difference from the second device and the displacement vector of the second device, or the transceiving module 2402 is further configured to receive the first transceiving time difference from the third device and the displacement vector of the second device displacement vector.
  • the first sending and receiving time difference and the displacement vector of the second device may be carried in one piece of information, or carried in two pieces of information respectively, which is not limited.
  • the processing module 2401 is further configured to determine the position of the first device according to the first sending and receiving time difference, the displacement vector of the second device, the second sending and receiving time difference, and the displacement vector of the first device.
  • the location of the first device is located in the first area.
  • the shape of the first region is an ellipsoid or an ellipse
  • the two focal points of the first region are the first and last endpoints of the first vector
  • the length of the major axis of the first region is corresponding to the sum of the second sending and receiving time difference and the first sending and receiving time difference Distance
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device.
  • the shape of the first region in two-dimensional space, may be an ellipse, or a circumference of an ellipse; in three-dimensional space, the shape of the first region may be an ellipsoid, or an ellipsoidal surface.
  • an ellipsoid is an extension of an ellipse in three-dimensional space.
  • the concept of an ellipsoid can include an ellipsoid in three-dimensional space and an ellipse in two-dimensional space.
  • the first area can be a part of an ellipsoid or an ellipse.
  • an area whose shape is an ellipsoid or an ellipse can be determined first, and then use wireless signal transmission characteristics (such as the coverage direction of the signal) to remove unreasonable areas in the area. part, and the rest as the first region.
  • wireless signal transmission characteristics such as the coverage direction of the signal
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device, assuming that the coordinates of the first and last endpoints of the first vector are (x0, y0) and (-x0, -y0) respectively , then the location of the first device is located in the first area, and the first area can be determined according to the following formula (1):
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device, assuming that the first and last end point coordinates of the first vector are (x0, y0) and (-x0, -y0 ), then the location of the first device is located in the first area, and the first area can be determined according to the following formula (3):
  • L is the distance corresponding to the sum of the second transceiving time difference and the first transceiving time difference
  • a represents the semi-major axis of the first area
  • b represents the semi-minor axis of the first area.
  • x, y are variables and dependent variables in the expression of the first region.
  • each second device corresponds to a second area
  • the first device is located at the intersection of the N second areas.
  • the shape of the i-th second area corresponding to the i-th second device among the N second devices is an ellipsoid or ellipse
  • the two foci of the i-th second area are the first and last endpoints of the second vector
  • the i-th The length of the long axis of the second area is the distance corresponding to the sum of the second sending and receiving time difference and the first sending and receiving time difference of the i-th second device
  • the second vector is the displacement vector of the first device and the distance between the i-th second device
  • the sum of displacement vectors, i is a positive integer, and i ⁇ N.
  • the position of the first device is determined by the first area and the angle of arrival of the first reference signal; and/or, the position of the first device is determined by the first area and the angle of arrival of the third reference signal.
  • the angle of arrival of the third reference signal is denoted as AoA1
  • the position (x, y) of the first device can be combined with formula (1), formula (2), formula (4), or simultaneous formula (3 ), Formula (4) is determined.
  • Formula (4) is as follows:
  • the angle of arrival of the first reference signal is denoted as AoA2
  • the position (x, y) of the first device can be combined with formula (1), formula (2), formula (5), or formula (3), Formula (5).
  • Formula (5) is as follows:
  • the angle of arrival of the third reference signal is denoted as AoA1
  • the angle of arrival of the first reference signal is denoted as AoA2.
  • the position (x, y) of the first device can be combined with formula (1), formula (2) , formula (6), or simultaneous formula (3) and formula (6) to determine.
  • Formula (6) is as follows:
  • the position of the first device is determined by the angle of arrival of the first reference signal and the angle of arrival of the third reference signal.
  • the first transceiving time difference is: a value obtained by taking a modulus of the first value of the difference between the receiving time of the first reference signal and the sending time of the second reference signal.
  • the second sending and receiving time difference is: the difference between the receiving time of the third reference signal and the sending time of the fourth reference signal modulo the first value.
  • the first value is a value configured by the network device to the terminal device, or a value reported by the terminal device to the network device, or a pre-agreed value (such as a protocol agreement), which is not limited in this application.
  • the communication device 2400 may be applicable to the communication system shown in FIG. 5 to FIG. 11 , and execute the function of the third device in the positioning method shown in FIG. 21 to FIG. 23 .
  • the transceiving module 2402 is configured to receive the second transceiving time difference of the first device.
  • the transceiving module 2402 is also configured to receive the first transceiving time difference of the second device and the displacement vector of the second device.
  • the processing module 2401 is configured to determine the position of the first device according to the first transceiving time difference, the displacement vector of the second device, and the second transceiving time difference.
  • the first transceiving time difference is the time difference between the receiving time of the first reference signal and the sending time of the second reference signal
  • the first reference signal is the reference signal of the first device received by the second device
  • the second reference signal is the reference signal of the second device
  • the reference signal sent is the displacement vector of the second device is the displacement of the second device within a time period corresponding to the first sending and receiving time difference.
  • the second sending and receiving time difference is the time difference between the receiving time of the third reference signal and the sending time of the fourth reference signal
  • the third reference signal is the reference signal of the second device received by the first device
  • the fourth reference signal is sent by the first device reference signal.
  • the processing module 2401 is further configured to determine the position of the first device according to the first sending and receiving time difference, the displacement vector of the second device, the second sending and receiving time difference, and the displacement vector of the first device.
  • the location of the first device is located in the first area.
  • the shape of the first region is an ellipsoid or an ellipse
  • the two focal points of the first region are the first and last endpoints of the first vector
  • the length of the major axis of the first region is corresponding to the sum of the second sending and receiving time difference and the first sending and receiving time difference Distance
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device.
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device, assuming that the coordinates of the first and last endpoints of the first vector are (x0, y0) and (-x0, -y0) respectively , then the location of the first device is located in the first area, and the first area can be determined according to the following formula (1):
  • the first vector is the sum of the displacement vector of the first device and the displacement vector of the second device, assuming that the first and last end point coordinates of the first vector are (x0, y0) and (-x0, -y0 ), then the location of the first device is located in the first area, and the first area can be determined according to the following formula (3):
  • L is the distance corresponding to the sum of the second transceiving time difference and the first transceiving time difference
  • a represents the semi-major axis of the first area
  • b represents the semi-minor axis of the first area.
  • x, y are variables and dependent variables in the expression of the first area.
  • each second device corresponds to a second area
  • the first device is located at the intersection of the N second areas.
  • the shape of the i-th second area corresponding to the i-th second device among the N second devices is an ellipsoid or ellipse
  • the two foci of the i-th second area are the first and last endpoints of the second vector
  • the i-th The length of the long axis of the second area is the distance corresponding to the sum of the second sending and receiving time difference and the first sending and receiving time difference of the i-th second device
  • the second vector is the displacement vector of the first device and the distance between the i-th second device
  • the sum of displacement vectors, i is a positive integer, and i ⁇ N.
  • the position of the first device is determined by the first area and the angle of arrival of the first reference signal; and/or, the position of the first device is determined by the first area and the angle of arrival of the third reference signal.
  • the position of the first device is determined by the angle of arrival of the first reference signal and the angle of arrival of the third reference signal.
  • the angle of arrival of the third reference signal is denoted as AoA1
  • the position (x, y) of the first device can be combined with formula (1), formula (2), formula (4), or simultaneous formula (3 ), Formula (4) is determined.
  • Formula (4) is as follows:
  • the angle of arrival of the first reference signal is denoted as AoA2
  • the position (x, y) of the first device can be combined with formula (1), formula (2), formula (5), or formula (3), Formula (5).
  • Formula (5) is as follows:
  • the angle of arrival of the third reference signal is denoted as AoA1
  • the angle of arrival of the first reference signal is denoted as AoA2.
  • the position (x, y) of the first device can be combined with formula (1), formula (2) , formula (6), or simultaneous formula (3) and formula (6) to determine.
  • Formula (6) is as follows:
  • the first transceiving time difference is: a value obtained by taking a modulus of the first value of the difference between the receiving time of the first reference signal and the sending time of the second reference signal.
  • the second sending and receiving time difference is: the difference between the receiving time of the third reference signal and the sending time of the fourth reference signal modulo the first value.
  • the first value is a value configured by the network device to the terminal device, or a value reported by the terminal device to the network device, or a pre-agreed value (such as a protocol agreement), which is not limited in this application.
  • the communication device 2400 may be applicable to the communication system shown in FIG. 5 to FIG. 11 , and perform the function of the first device in the positioning method shown in FIG. 21 to FIG. 23 .
  • the processing module 2401 is configured to determine the second sending and receiving time difference.
  • the transceiving module 2402 is configured to send the second transceiving time difference.
  • the second sending and receiving time difference is the time difference between the receiving time of the third reference signal and the sending time of the fourth reference signal
  • the third reference signal is the reference signal of the second device received by the first device
  • the fourth reference signal is the reference signal of the first device The reference signal sent.
  • the transceiving module 2402 may be configured to send the second transceiving time difference to a third device, and the third device may be, for example, a location management device (such as an LMF network element).
  • a location management device such as an LMF network element
  • the processing module 2401 is also configured to determine the displacement vector of the first device.
  • the transceiver module 2402 is further configured to send the displacement vector of the first device.
  • the displacement vector of the first device is the displacement of the first device within a time period corresponding to the second sending and receiving time difference.
  • the transceiver module 2402 is further configured to send the displacement vector of the first device to a third device, and the third device may be, for example, a location management device (such as an LMF network element).
  • the second sending and receiving time difference and the displacement vector of the first device may be carried in one piece of information, or carried in two pieces of information respectively, which is not limited.
  • the communication device 2400 can be applied in the communication system shown in Fig. 5 to Fig. 11, and execute the positioning method shown in Fig. 13, Fig. 18 to Fig. 20 or Fig. 21 to Fig. 23 The functionality of the second device.
  • the processing module 2401 is configured to determine the first sending and receiving time difference and the displacement vector of the second device.
  • the transceiving module 2402 is configured to transmit the first transceiving time difference and the displacement vector of the second device.
  • the first transceiving time difference is the time difference between the receiving time of the first reference signal and the sending time of the second reference signal
  • the first reference signal is the reference signal of the first device received by the second device
  • the second reference signal is the reference signal of the second device
  • the reference signal sent, the displacement vector of the second device is the displacement of the second device within a time period corresponding to the first sending and receiving time difference.
  • the transceiver module 2402 can be used to send the first sending and receiving time difference and the displacement vector of the second device to the first device, or can be used to send the first sending and receiving time difference and the displacement vector of the second device to the third device, and the third
  • the device may be, for example, a location management device (such as an LMF network element), which is not limited in this application.
  • the transceiver module 2402 may include a receiving module and a sending module (not shown in FIG. 24 ).
  • the sending module is used to implement the sending function of the communication device 2400
  • the receiving module is used to realize the receiving function of the communication device 2400.
  • the receiving module may also be called a receiver, and the sending module may also be called a transmitter.
  • the communication device 2400 may further include a storage module (not shown in FIG. 24 ), where programs or instructions are stored in the storage module.
  • the processing module 2401 executes the program or instruction
  • the communication device 2400 can execute the function of the first device, the second device or the third device in the positioning method shown in any one of FIG. 13 , FIG. 18 to FIG. 23 .
  • the processing module 2401 involved in the communication device 2400 may be implemented by a processor or a processor-related circuit component, and may be a processor or a processing unit;
  • the transceiver module 2402 may be implemented by a transceiver or a transceiver-related circuit component, and may be a transceiver Transceiver or Transceiver Unit.
  • the communication device 2400 may be the first device, the second device or the third device, or may be a chip (system) or other components or components set in the first device, the second device or the third device, It may also be an apparatus including the first device, the second device or the third device, which is not limited in this application.
  • the first device is used to execute the positioning method described in any possible implementation in Fig. 13, Fig. 18-23
  • the second device is used to execute any possible implementation in Fig. 13, Fig. 18-23
  • the third device is configured to execute the positioning method described in any one of the possible implementation manners in FIG. 13 , FIG. 19 to FIG. 23 .
  • the transceiver module 2402 in the communication device 2400 can correspond to the input and output of the chip, for example, the receiving module in the transceiver module 2402 corresponds to the input interface of the chip, and the sending module 2402 in the transceiver module 2402 The module corresponds to the output interface of the chip, which is not limited in this application.
  • FIG. 25 is another schematic structural diagram of a communication device provided by an embodiment of the present application.
  • a communication device 2500 includes: a receiving module 2501 and a sending module 2502 .
  • FIG. 25 shows only the main components of the communication device.
  • the communication device 2500 may be applicable to the communication system shown in FIG. 5 to FIG. 11 , and perform the function of the third device in the positioning methods shown in FIG. 13 and FIG. 18 to FIG. 20 .
  • the receiving module 2501 is configured to receive the first sending and receiving time difference of the second device and the displacement vector of the second device.
  • the sending module 2502 is configured to send the first sending and receiving time difference and the displacement vector of the second device to the first device.
  • the first transceiving time difference is the time difference between the receiving time of the first reference signal and the sending time of the second reference signal
  • the first reference signal is the reference signal of the first device received by the second device
  • the second reference signal is the reference signal of the second device
  • the reference signal sent, the displacement vector of the second device is the displacement of the second device within a time period corresponding to the first sending and receiving time difference.
  • the receiving module 2501 and the sending module 2502 in the communication device 2500 may be implemented by one module, for example, a transceiver module or a transceiver.
  • the transceiver module can be used to realize the receiving function and the sending function of the communication device 2500 .
  • the receiving module 2501 may also be called a receiver, and the sending module 2502 may also be called a transmitter.
  • the communication device 2500 may further include a processing module and a storage module, where programs or instructions are stored in the storage module.
  • the processing module executes the program or instruction
  • the communication device can execute the positioning method described in any one of the possible implementation manners in FIG. 13 , FIG. 19 , and FIG. 20 .
  • the embodiment of the present application also provides a chip system, including: a processor, the processor is coupled with a memory, and the memory is used to store programs or instructions, and when the programs or instructions are executed by the processor, the The system on chip implements the method in any one of the foregoing method embodiments.
  • processors in the chip system there may be one or more processors in the chip system.
  • the processor can be realized by hardware or by software.
  • the processor may be a logic circuit, an integrated circuit, or the like.
  • the processor may be a general-purpose processor implemented by reading software codes stored in a memory.
  • the memory can be integrated with the processor, or can be set separately from the processor, which is not limited in this application.
  • the memory can be a non-transitory processor, such as a read-only memory ROM, which can be integrated with the processor on the same chip, or can be respectively arranged on different chips.
  • the setting method of the processor is not specifically limited.
  • the chip system may be a field programmable gate array (field programmable gate array, FPGA), an ASIC, a system on chip (SoC), a CPU, or a network processing A network processor (NP), a digital signal processor (DSP), a microcontroller (micro controller unit, MCU), or a programmable logic device (PLD) ) or other integrated chips.
  • FPGA field programmable gate array
  • SoC system on chip
  • NP network processor
  • DSP digital signal processor
  • MCU microcontroller
  • PLD programmable logic device
  • An embodiment of the present application provides a communication system.
  • the communication system includes a first device and a second device.
  • the first device and the second device can be combined to execute the above-mentioned method embodiments shown in FIG. 13, FIG. 18 to FIG. I won't repeat them here.
  • the communication system may further include a third device.
  • the combination of the first device, the second device and the third device may execute the above-mentioned method embodiments shown in FIG. 13, FIG. 19-23, and the specific execution process may be Referring to the foregoing method embodiments, details are not repeated here.
  • the present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer-readable storage medium is executed by a computer, the functions of any one of the above method embodiments are realized.
  • the present application also provides a computer program product, which implements the functions of any one of the above method embodiments when executed by a computer.
  • processor in the embodiment of the present application may be a CPU, and the processor may also be other general-purpose processors, DSP, ASIC, FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. .
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • the memory in the embodiments of the present application may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories.
  • the non-volatile memory may be ROM, programmable read-only memory (programmable ROM, PROM), erasable programmable read-only memory (erasable PROM, EPROM), EEPROM or flash memory.
  • Volatile memory can be RAM, which acts as external cache memory.
  • RAM random access memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • SDRAM synchronous dynamic random access memory
  • Double data rate synchronous dynamic random access memory double data rate SDRAM, DDR SDRAM
  • enhanced SDRAM enhanced synchronous dynamic random access memory
  • SLDRAM synchronous connection dynamic random access memory
  • direct rambus RAM direct rambus RAM
  • the above-mentioned embodiments may be implemented in whole or in part by software, hardware (such as circuits), firmware, or other arbitrary combinations.
  • the above-described embodiments may be implemented in whole or in part in the form of computer program products.
  • the computer program product comprises one or more computer instructions or computer programs. When the computer instruction or computer program is loaded or executed on the computer, the processes or functions according to the embodiments of the present application will be generated in whole or in part.
  • the computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable devices.
  • the computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website, computer, server or data center Transmission to another website site, computer, server or data center by wired (such as infrared, wireless, microwave, etc.).
  • the computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center that includes one or more sets of available media.
  • the available media may be magnetic media (eg, floppy disk, hard disk, magnetic tape), optical media (eg, DVD), or semiconductor media.
  • the semiconductor medium may be a solid state drive.
  • At least one means one or more, and “multiple” means two or more.
  • At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items.
  • at least one item (unit) in a, b, c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c can be single or multiple.
  • sequence numbers of the above-mentioned processes do not mean the order of execution, and the execution order of the processes should be determined by their functions and internal logic, and should not be used in the embodiments of the present application.
  • the implementation process constitutes any limitation.
  • the disclosed systems, devices and methods may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the functions described above are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: various media capable of storing program codes such as U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk.

Landscapes

  • Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

本申请公开一种定位方法及装置，涉及定位领域，能够使得处于移动状态的设备实现高精度定位。定位方法包括：接收第一收发时间差和第二设备的位移矢量；根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置。该方法可以应用于第一设备。第一设备根据第一收发时间差和第二收发时间差可以确定参考信号在两个设备之间传输的距离，根据第二设备的位移矢量可以确定两个设备之间的相对位移。换句话说，第一设备可以结合参考信号在两个设备之间传输的距离和两设备之间的相对位移进行定位解算，这样可以将影响定位精度的参数——参与定位的设备间的相对位移，加入到定位解算中，从而能够对处于移动状态的第一设备进行准确定位。

Description

一种定位方法及装置
本申请要求于2021年09月28日提交国家知识产权局、申请号为202111144795.X、申请名称为“一种定位方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及定位领域，尤其涉及一种定位方法及装置。
背景技术
随着通信技术的快速发展，高精度定位逐步被确定为重要的研究项目。当前通信系统的定位场景包括：增强移动宽带(enhanced mobile broadband，eMBB)室外、eMBB室内、高可靠低时延(ultra-reliable and low latency communications，URLLC)和海量机器类通信(massive machine type of communication，mMTC)/物联网(internet of things，IOT)、车联网(vehicular to x，V2X)、卫星定位等。同时，当前还要求通信系统具有可扩展性、高安全性、高可用性以及高速应用中保证精度等特点。随着定位需求和定位场景越来越广泛，对定位精度的要求也越来越高。
当前，对用户设备(user equipment，UE)进行定位时，可以利用多往返时延(multi-round-trip time，Multi-RTT)技术实现。在利用Multi-RTT技术定位时，定位管理功能(location management function，LMF)网元可以获取UE和接入网设备(比如基站或卫星)分别测量的收发时间差(Rx-Tx time difference)。然后，LMF网元可以根据UE和接入网设备分别测量的收发时间差，确定UE与接入网设备之间的距离，从而确定UE的位置。该定位技术适用于参与定位的设备(包括UE和接入网设备)处于静止状态的情况下。
但是，在V2X、卫星定位等场景中，利用上述定位技术对这些场景中的UE进行定位时，当参与定位的设备处于移动状态时，会导致定位精度下降，难以满足高精度定位的需求。
发明内容
本申请提供一种定位方法及装置，能够使得处于移动状态的设备实现高精度定位。
为达到上述目的，本申请采用如下技术方案：
第一方面，本申请提供一种定位方法，该方法可以应用于第一设备，该第一设备例如可以是终端设备。该方法包括：接收第一收发时间差和第二设备的位移矢量；根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置。其中，第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，第一参考信号为第二设备接收的第一设备的参考信号，第二参考信号为第二设备发送的参考信号，第二设备的位移矢量为第二设备在第一收发时间差对应时间段内的位移。第二收发时间差为第三参考信号的接收时间与第四参考信号的发送时间的时间差，第三参考信号为第一设备接收的第二设备的参考信号，第四参考信号为第一设备发送的 参考信号。
结合第一方面、第二方面以及第五方面所述的定位方法，第一设备在确定自身的位置时，可以根据第一收发时间差、第二收发时间差和第二设备的位移矢量进行定位解算。其中，根据第一收发时间差和第二收发时间差可以确定参考信号在第一设备与第二设备之间传输的距离，根据第二设备的位移矢量可以确定第一设备与第二设备之间的相对位移。换句话说，第一设备可以结合参考信号在第一设备与第二设备之间传输的距离和两设备之间的相对位移进行定位解算，这样可以将影响定位精度的参数——参与定位的设备间的相对位移，加入到定位解算中，从而能够对处于移动状态的第一设备进行准确定位。
需要说明的是，第一参考信号为第二设备接收的第一设备的参考信号，可以理解为：第一参考信号是第二设备接收的来自第一设备的参考信号，或者第一参考信号是第二设备接收的其他设备反射的第一设备的参考信号。
其中，第一设备接收第一收发时间差和第二设备的位移矢量，可以包括：第一设备接收来自第二设备的第一收发时间差和第二设备的位移矢量，或者第一设备接收来自第三设备的第一收发时间差和第二设备的位移矢量。
其中，第一收发时间差和第二设备的位移矢量可以承载于一个信息中，或者分别承载于两个信息中，对此不作限定。在一些可能的设计中，根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置，可以包括：根据第一收发时间差、第二设备的位移矢量、第二收发时间差和第一设备的位移矢量，确定第一设备的位置。这样，可以提供一种确定第一设备与第二设备之间的相对位移的实现方式，例如，第一设备可以根据第二设备的位移矢量和第一设备的位移矢量确定第一设备与第二设备之间的相对位移，以使得第一设备可以结合参考信号在第一设备与第二设备之间传输的距离和两设备之间的相对位移进行定位解算，从而能够对处于移动状态的第一设备进行准确定位。
在一些可能的设计中，第一设备的位置位于第一区域。其中，第一区域的形状为椭球或椭圆，第一区域的两个焦点为第一矢量的首尾端点，第一区域的长轴的长度为第二收发时间差和第一收发时间差之和对应的距离，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和。换句话说，第一设备位于根据参考信号在第一设备与第二设备之间传输的距离和相对位移确定的椭球或椭圆上，这样，可以提供一种确定第一设备的位置的实现方式，例如，第一设备可以根据参考信号在第一设备与第二设备之间传输的距离和两设备之间的相对位移建立形状为椭球或椭圆的第一区域的表达式，以使得第一设备可以结合参考信号在第一设备与第二设备之间传输的距离和两设备之间的相对位移进行定位解算，从而能够对处于移动状态的第一设备进行准确定位。
其中，在二维空间中，第一区域的形状可以为椭圆，也可以是椭圆圆周，在三维空间中，第一区域的形状可以为椭球，也可以是椭球曲面。另外，椭球是椭圆在三维空间的推广，在一些可能的设计中，椭球的概念可以包括三维空间中的椭球和二维空间中的椭圆。在一些情况下，第一区域可以是椭球或椭圆的一部分，例如可以先确定一个形状为椭球或椭圆的区域，然后利用无线信号传输特征(例如信号的覆盖方向)去除该区域中不合理的部分，将剩余部分作为第一区域，在此统一说明，下文不再赘 述。
在一些可能的设计中，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和，假设第一矢量的首尾端点坐标分别为(x0,y0)和(-x0,-y0)，那么第一设备的位置位于第一区域，第一区域可以根据如下公式(1)确定：
Figure PCTCN2022119719-appb-000001
其中，
Figure PCTCN2022119719-appb-000002
L为第二收发时间差和第一收发时间差之和对应的距离，a表示第一区域的半长轴，b表示第一区域的半短轴。并且，公式(1)中x′和y′与x、y(x、y为第一区域表达式中的变量和因变量)的关系可以根据以下公式(2)确定：
Figure PCTCN2022119719-appb-000003
在另一些可能的设计中，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和，假设第一矢量的首尾端点坐标分别为(x0,y0)和(-x0,-y0)，那么第一设备的位置位于第一区域，第一区域可以根据如下公式(3)确定：
Figure PCTCN2022119719-appb-000004
其中，
Figure PCTCN2022119719-appb-000005
L为第二收发时间差和第一收发时间差之和对应的距离，a表示第一区域的半长轴，b表示第一区域的半短轴。x、y为第一区域表达式中的变量和因变量。
可选地，若第二设备的数量为N个，N为大于1的整数，那么每个第二设备均对应一个第二区域，第一设备的位置位于N个第二区域的交点。其中，N个第二设备中第i个第二设备对应的第i个第二区域的形状为椭球或椭圆，第i个第二区域的两个焦点为第二矢量的首尾端点，第i个第二区域的长轴的长度为第二收发时间差和第i个第二设备的第一收发时间差之和对应的距离，第二矢量为第一设备的位移矢量与第i个第二设备的位移矢量之和，i为正整数，且i≤N。这样，在第二设备的数量有多个时，可以提供一种确定第一设备的位置的实现方式，例如，第一设备可以根据参考信号在第一设备与多个第二设备之间传输的距离和第一设备与多个第二设备的相对位移，建立形状为椭球或椭圆的多个第二区域的表达式，第一设备的位置位于这多个第二区域的交点，从而使得第一设备可以结合参考信号在第一设备与多个第二设备之间传输的距离和第一设备与多个第二设备的相对位移进行定位解算，提高第一设备的定位精度。
可选地，第一设备的位置由第一区域以及第一参考信号的到达角(angle of arrival，AOA)确定；和/或，第一设备的位置由第一区域以及第三参考信号的到达角确定。这样，在确定第一设备的位置时，还可以结合参考信号在第一设备与第二设备之间传输的距离、两设备之间的相对位移，以及第一参考信号的到达角进行定位解算，从而能够进一步提高定位精度，以及能够简化定位解算过程。和/或，在确定第一设备的位置时，还可以结合参考信号在第一设备与第二设备之间传输的距离、两设备之间的相对位移，以及第三参考信号的到达角进行定位解算，从而能够进一步提高定位精度，以 及能够简化定位解算过程。
将第三参考信号的到达角记为AoA1，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(4)，或者联立公式(3)、公式(4)确定。公式(4)如下：
Figure PCTCN2022119719-appb-000006
将第一参考信号的到达角记为AoA2，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(5)，或者公式(3)、公式(5)。公式(5)如下：
Figure PCTCN2022119719-appb-000007
将第三参考信号的到达角记为AoA1，将第一参考信号的到达角记为AoA2，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(6)，或者联立公式(3)、公式(6)确定。公式(6)如下：
Figure PCTCN2022119719-appb-000008
其中，垂直向到达角(zenith angle of arrival，ZOA)也是到达角的一种，也即是说，第一参考信号的到达角可以包括AOA和ZOA，第三参考信号的到达角可以包括AOA和ZOA。在此统一说明，下文不再赘述。
可选地，第一设备的位置由第一参考信号的到达角和第三参考信号的到达角确定。这样，在确定第一设备的位置时，还可以结合参考信号在第一设备与第二设备之间传输的距离、两设备之间的相对位移，以及第一参考信号的到达角、第三参考信号的到达角进行定位解算，从而能够进一步提高定位精度，简化定位解算过程。
在一些可能的设计中，第一收发时间差为：第一参考信号的接收时间与第二参考信号的发送时间的差对第一数值取模后的值。第二收发时间差为：第三参考信号的接收时间与第四参考信号的发送时间的差对第一数值取模后的值。换句话说，取模后，第一收发时间差和第二收发时间差的位数会减少，这样，能够减小携带第一收发时间差的信令的比特数，减少通信过程中信令的开销，提升传输效率。
其中，第一数值为网络设备配置给终端设备的值，或者为终端设备上报给网络设备的值，或者为预先约定(比如协议约定)的值，本申请对此不作限定。
第二方面，本申请提供一种定位方法，该方法可以应用于第三设备，该第三设备例如可以是定位管理设备(比如LMF网元)。该方法包括：接收第二设备的第一收发时间差和第二设备的位移矢量；向第一设备发送第一收发时间差和第二设备的位移矢量。其中，第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，第一参考信号为第二设备接收的第一设备的参考信号，第二参考信号为第二设备发送的参考信号，第二设备的位移矢量为第二设备在第一收发时间差对应时间段内的位移。
需要说明的是，第二方面所述的通信方法的技术效果可以参考第一方面所述的通信方法的技术效果，在此不再赘述。
第三方面，本申请提供一种定位方法，该方法可以应用于第三设备，该第三设备例如可以是定位管理设备(比如LMF网元)。该方法包括：接收第一设备的第二收发时间差；接收第二设备的第一收发时间差和第二设备的位移矢量；根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置。其中，第一收发时 间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，第一参考信号为第二设备接收的第一设备的参考信号，第二参考信号为第二设备发送的参考信号，第二设备的位移矢量为第二设备在第一收发时间差对应时间段内的位移。第二收发时间差为第三参考信号的接收时间与第四参考信号的发送时间的时间差，第三参考信号为第一设备接收的第二设备的参考信号，第四参考信号为第一设备发送的参考信号。
结合第三方面、第四方面、第五方面所述的定位方法，第三设备在确定第一设备的位置时，可以根据第一收发时间差、第二收发时间差和第二设备的位移矢量进行定位解算。其中，根据第一收发时间差和第二收发时间差可以确定参考信号在第一设备与第二设备之间传输的距离，根据第二设备的位移矢量可以确定第一设备与第二设备之间的相对位移。换句话说，第三设备可以结合参考信号在第一设备与第二设备之间传输的距离和两设备之间的相对位移进行定位解算，这样可以将影响定位精度的参数——参与定位的设备间的相对位移，加入到定位解算中，从而能够对处于移动状态的第一设备进行准确定位。
在一些可能的设计中，根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置，可以包括：根据第一收发时间差、第二设备的位移矢量、第二收发时间差和第一设备的位移矢量，确定第一设备的位置。这样，可以提供一种确定第一设备与第二设备之间的相对位移的实现方式，例如，第三设备可以根据第二设备的位移矢量和第一设备的位移矢量确定第一设备与第二设备之间的相对位移，以使得第三设备可以结合参考信号在第一设备与第二设备之间传输的距离和两设备之间的相对位移进行定位解算，从而能够对处于移动状态的第一设备进行准确定位。
在一些可能的设计中，第一设备的位置位于第一区域。其中，第一区域的形状为椭球或椭圆，第一区域的两个焦点为第一矢量的首尾端点，第一区域的长轴的长度为第二收发时间差和第一收发时间差之和对应的距离，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和。换句话说，第一设备位于根据参考信号在第一设备与第二设备之间传输的距离和两设备间的相对位移确定的椭球或椭圆上，这样，可以提供一种确定第一设备的位置的实现方式，例如，第三设备可以根据参考信号在第一设备与第二设备之间传输的距离和两设备之间的相对位移建立形状为椭球或椭圆的第一区域的表达式，以使得第三设备可以结合参考信号在第一设备与第二设备之间传输的距离和两设备之间的相对位移进行定位解算，从而提高对第一设备的定位精度。
在一些可能的设计中，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和，假设第一矢量的首尾端点坐标分别为(x0,y0)和(-x0,-y0)，那么第一设备的位置位于第一区域，第一区域可以根据如下公式(1)确定：
Figure PCTCN2022119719-appb-000009
其中，
Figure PCTCN2022119719-appb-000010
L为第二收发时间差和第一收发时间差之和对应的距离，a表示第一区域的半长轴，b表示第一区域的半短轴。并且，公式(1)中x′和y′与x、y(x、y为第一区域表达式中的变量和因变量)的关系可以根据以下公式(2)确定：
Figure PCTCN2022119719-appb-000011
在另一些可能的设计中，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和，假设第一矢量的首尾端点坐标分别为(x0,y0)和(-x0,-y0)，那么第一设备的位置位于第一区域，第一区域可以根据如下公式(3)确定：
Figure PCTCN2022119719-appb-000012
其中，
Figure PCTCN2022119719-appb-000013
L为第二收发时间差和第一收发时间差之和对应的距离，a表示第一区域的半长轴，b表示第一区域的半短轴。x、y为第一区域表达式中的变量和因变量。
可选地，若第二设备的数量为N个，N为大于1的整数，那么每个第二设备均对应一个第二区域，第一设备的位置位于N个第二区域的交点。其中，N个第二设备中第i个第二设备对应的第i个第二区域的形状为椭球或椭圆，第i个第二区域的两个焦点为第二矢量的首尾端点，第i个第二区域的长轴的长度为第二收发时间差和第i个第二设备的第一收发时间差之和对应的距离，第二矢量为第一设备的位移矢量与第i个第二设备的位移矢量之和，i为正整数，且i≤N。这样，在第二设备的数量有多个时，可以提供一种确定第一设备的位置的实现方式，例如，第三设备可以根据参考信号在第一设备与多个第二设备之间传输的距离和第一设备与多个第二设备之间的相对位移，建立形状为椭球或椭圆的多个第二区域的表达式，第一设备的位置位于这多个第二区域的交点，从而使得第三设备可以结合参考信号在第一设备与多个第二设备之间传输的距离和第一设备与多个第二设备之间的相对位移进行定位解算，提高对第一设备的定位精度。
可选地，第一设备的位置由第一区域以及第一参考信号的到达角确定；和/或，第一设备的位置由第一区域以及第三参考信号的到达角确定。这样，在确定第一设备的位置时，还可以结合参考信号在第一设备与第二设备之间传输的距离、两设备间的相对位移，以及第三参考信号的到达角进行定位解算，从而能够进一步提高定位精度，以及能够简化定位解算过程。和/或，在确定第一设备的位置时，还可以结合参考信号在第一设备与第二设备之间传输的距离、两设备间的相对位移，以及第一参考信号的到达角进行定位解算，从而能够进一步提高定位精度，以及能够简化定位解算过程。
可选地，第一设备的位置由第一参考信号的到达角和第三参考信号的到达角确定。
将第三参考信号的到达角记为AoA1，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(4)，或者联立公式(3)、公式(4)确定。公式(4)如下：
Figure PCTCN2022119719-appb-000014
将第一参考信号的到达角记为AoA2，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(5)，或者公式(3)、公式(5)。公式(5)如下：
Figure PCTCN2022119719-appb-000015
将第三参考信号的到达角记为AoA1，将第一参考信号的到达角记为AoA2，可选 地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(6)，或者联立公式(3)、公式(6)确定。公式(6)如下：
Figure PCTCN2022119719-appb-000016
在一些可能的设计中，第一收发时间差为：第一参考信号的接收时间与第二参考信号的发送时间的差对第一数值取模后的值。第二收发时间差为：第三参考信号的接收时间与第四参考信号的发送时间的差对第一数值取模后的值。换句话说，取模后，第一收发时间差和第二收发时间差的位数会减少，这样，能够减小携带第一收发时间差和第二收发时间差的信令的比特数，减少通信过程中信令的开销，提升传输效率。
其中，第一数值为网络设备配置给终端设备的值，或者为终端设备上报给网络设备的值，或者为预先约定(比如协议约定)的值，本申请对此不作限定。
第四方面，本申请提供一种定位方法，该方法可以应用于第一设备，该第一设备例如可以是终端设备。该方法包括：确定第二收发时间差；发送第二收发时间差。其中，第二收发时间差为第三参考信号的接收时间与第四参考信号的发送时间的时间差，第三参考信号为第一设备接收的第二设备的参考信号，第四参考信号为第一设备发送的参考信号。
其中，第一设备发送第二收发时间差时，可以向第三设备发送第二收发时间差，该第三设备例如可以是定位管理设备(比如LMF网元)。
在一些可能的设计中，第四方面的定位方法还可以包括：确定第一设备的位移矢量；发送第一设备的位移矢量。第一设备的位移矢量为第一设备在第二收发时间差对应时间段内的位移。其中，第一设备发送第一设备的位移矢量时，可以向第三设备发送第一设备的位移矢量，该第三设备例如可以是定位管理设备(比如LMF网元)。
其中，第二收发时间差和第一设备的位移矢量可以承载于一个信息中，或者分别承载于两个信息中，对此不作限定。需要说明的是，第四方面所述的通信方法的技术效果可以参考第三方面所述的通信方法的技术效果，在此不再赘述。
第五方面，本申请提供一种定位方法，该方法可以应用于第二设备，该第二设备例如可以是终端设备或者是接入网设备。该方法包括：确定第一收发时间差和第二设备的位移矢量；发送第一收发时间差和第二设备的位移矢量。其中，第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，第一参考信号为第二设备接收的第一设备的参考信号，第二参考信号为第二设备发送的参考信号，第二设备的位移矢量为第二设备在第一收发时间差对应时间段内的位移。
其中，第二设备发送第一收发时间差和第二设备的位移矢量时，可以向第一设备发送第一收发时间差和第二设备的位移矢量，或者可以向第三设备发送第一收发时间差和第二设备的位移矢量，该第三设备例如可以是定位管理设备(比如LMF网元)，本申请对此不作限定。
需要说明的是，第五方面所述的通信方法的技术效果可以参考第一方面或第三方面所述的通信方法的技术效果，在此不再赘述。
结合上述第一方面、第五方面，当第一设备为终端设备(记为UE1)，第二设备为终端设备(记为UE2)时，第一方面中，接收第一收发时间差和第二设备的位移矢量，可以包括：UE1接收来自UE2的第一收发时间差和UE2的位移矢量。第五方面 中，发送第一收发时间差和第二设备的位移矢量，可以包括：UE2向UE1发送第一收发时间差和UE2的位移矢量。
结合上述第一方面、第二方面和第五方面，当第一设备为终端设备(记为UE1)，第二设备为终端设备或接入网设备(记为UE2/接入网设备)，第三设备为LMF网元时，第一方面中，接收第一收发时间差和第二设备的位移矢量，可以包括：UE1接收来自LMF网元的第一收发时间差和UE2/接入网设备的位移矢量。第五方面中，发送第一收发时间差和第二设备的位移矢量，可以包括：UE2/接入网设备向LMF网元发送第一收发时间差，以及向LMF网元发送UE2/接入网设备的位移矢量。
结合上述第一方面、第二方面和第五方面，当第一设备为终端设备(记为UE1)，第二设备为卫星，第三设备为LMF网元时，第一方面中，接收第一收发时间差和第二设备的位移矢量，可以包括：UE1接收来自LMF网元的第一收发时间差和卫星的位移矢量。第五方面中，发送第一收发时间差和第二设备的位移矢量，可以包括：卫星向LMF网元发送第一收发时间差和卫星的位移矢量。
结合上述第三方面、第四方面和第五方面，当第一设备为终端设备(记为UE1)，第二设备为终端设备(记为UE2)，第三设备为LMF网元时，第三方面中，接收第一设备的第二收发时间差，可以包括：LMF网元接收来自UE1的第二收发时间差；接收第二设备的第一收发时间差和第二设备的位移矢量，可以包括：LMF网元接收来自UE2的第一收发时间差和UE2的位移矢量。第四方面中，发送第二收发时间差，可以包括：UE1向LMF网元发送第二收发时间差。第五方面中，发送第一收发时间差和第二设备的位移矢量，可以包括：UE2向LMF网元发送第一收发时间差和UE2的位移矢量。
结合上述第三方面、第四方面和第五方面，当第一设备为终端设备(记为UE1)，第二设备为终端设备(记为UE2/接入网设备)，第三设备为LMF网元时，第三方面中，接收第一设备的第二收发时间差，可以包括：LMF网元接收来自UE1的第二收发时间差；接收第二设备的第一收发时间差和第二设备的位移矢量，可以包括：LMF网元接收来自UE2/接入网设备的第一收发时间差和UE2/接入网设备的位移矢量。第四方面中，发送第二收发时间差，可以包括：UE1向LMF网元发送第二收发时间差。第五方面中，发送第一收发时间差和第二设备的位移矢量，可以包括：UE2/接入网设备向LMF网元发送第一收发时间差，以及发送UE2/接入网设备的位移矢量。
第六方面，提供一种通信装置。该通信装置包括：处理模块和收发模块。其中，收发模块，用于接收第一收发时间差和第二设备的位移矢量。处理模块，用于根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置。其中，第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，第一参考信号为第二设备接收的第一设备的参考信号，第二参考信号为第二设备发送的参考信号，第二设备的位移矢量为第二设备在第一收发时间差对应时间段内的位移。第二收发时间差为第三参考信号的接收时间与第四参考信号的发送时间的时间差，第三参考信号为第一设备接收的第二设备的参考信号，第四参考信号为第一设备发送的参考信号。
其中，收发模块，还用于接收来自第二设备的第一收发时间差和第二设备的位移矢量，或者收发模块，还用于接收来自第三设备的第一收发时间差和第二设备的位移 矢量。
其中，第一收发时间差和第二设备的位移矢量可以承载于一个信息中，或者分别承载于两个信息中，对此不作限定。
在一些可能的设计中，处理模块，还用于根据第一收发时间差、第二设备的位移矢量、第二收发时间差和第一设备的位移矢量，确定第一设备的位置。
在一些可能的设计中，第一设备的位置位于第一区域。其中，第一区域的形状为椭球或椭圆，第一区域的两个焦点为第一矢量的首尾端点，第一区域的长轴的长度为第二收发时间差和第一收发时间差之和对应的距离，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和。
其中，在二维空间中，第一区域的形状可以为椭圆，也可以是椭圆圆周，在三维空间中，第一区域的形状可以为椭球，也可以是椭球曲面。另外，椭球是椭圆在三维空间的推广，在一些可能的设计中，椭球的概念可以包括三维空间中的椭球和二维空间中的椭圆。在一些情况下，第一区域可以是椭球或椭圆的一部分，例如可以先确定一个形状为椭球或椭圆的区域，然后利用无线信号传输特征(例如信号的覆盖方向)去除该区域中不合理的部分，将剩余部分作为第一区域。
在一些可能的设计中，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和，假设第一矢量的首尾端点坐标分别为(x0,y0)和(-x0,-y0)，那么第一设备的位置位于第一区域，第一区域可以根据如下公式(1)确定：
Figure PCTCN2022119719-appb-000017
其中，
Figure PCTCN2022119719-appb-000018
L为第二收发时间差和第一收发时间差之和对应的距离，a表示第一区域的半长轴，b表示第一区域的半短轴。并且，公式(1)中x′和y′与x、y(x、y为第一区域表达式中的变量和因变量)的关系可以根据以下公式(2)确定：
Figure PCTCN2022119719-appb-000019
在另一些可能的设计中，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和，假设第一矢量的首尾端点坐标分别为(x0,y0)和(-x0,-y0)，那么第一设备的位置位于第一区域，第一区域可以根据如下公式(3)确定：
Figure PCTCN2022119719-appb-000020
其中，
Figure PCTCN2022119719-appb-000021
L为第二收发时间差和第一收发时间差之和对应的距离，a表示第一区域的半长轴，b表示第一区域的半短轴。x、y为第一区域表达式中的变量和因变量。
可选地，若第二设备的数量为N个，N为大于1的整数，那么每个第二设备均对应一个第二区域，第一设备的位置位于N个第二区域的交点。其中，N个第二设备中第i个第二设备对应的第i个第二区域的形状为椭球或椭圆，第i个第二区域的两个焦点为第二矢量的首尾端点，第i个第二区域的长轴的长度为第二收发时间差和第i个第二设备的第一收发时间差之和对应的距离，第二矢量为第一设备的位移矢量与第i 个第二设备的位移矢量之和，i为正整数，且i≤N。
可选地，第一设备的位置由第一区域以及第一参考信号的到达角确定；和/或，第一设备的位置由第一区域以及第三参考信号的到达角确定。
将第三参考信号的到达角记为AoA1，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(4)，或者联立公式(3)、公式(4)确定。公式(4)如下：
Figure PCTCN2022119719-appb-000022
将第一参考信号的到达角记为AoA2，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(5)，或者公式(3)、公式(5)。公式(5)如下：
Figure PCTCN2022119719-appb-000023
将第三参考信号的到达角记为AoA1，将第一参考信号的到达角记为AoA2，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(6)，或者联立公式(3)、公式(6)确定。公式(6)如下：
Figure PCTCN2022119719-appb-000024
可选地，第一设备的位置由第一参考信号的到达角和第三参考信号的到达角确定。
在一些可能的设计中，第一收发时间差为：第一参考信号的接收时间与第二参考信号的发送时间的差对第一数值取模后的值。第二收发时间差为：第三参考信号的接收时间与第四参考信号的发送时间的差对第一数值取模后的值。
其中，第一数值为网络设备配置给终端设备的值，或者为终端设备上报给网络设备的值，或者为预先约定(比如协议约定)的值，本申请对此不作限定。
可选地，收发模块可以包括接收模块和发送模块。其中，接收模块用于实现第六方面所述的通信装置的接收功能，发送模块用于实现第六方面所述的通信装置的发送功能。
可选地，第六方面所述的通信装置还可以包括存储模块，该存储模块存储有程序或指令。当处理模块执行该程序或指令时，使得该通信装置可以执行第一方面所述的定位方法。
需要说明的是，第六方面所述的通信装置可以是第一设备，该第一设备例如可以是终端设备，也可以是设置于终端设备中的芯片(系统)或其他部件或组件，还可以是包含终端设备的装置，本申请对此不做限定。
此外，第六方面所述的通信装置的技术效果可以参考第一方面所述的定位方法的技术效果，此处不再赘述。
第七方面，提供一种通信装置。该通信装置包括：接收模块和发送模块。其中，接收模块，用于接收第二设备的第一收发时间差和第二设备的位移矢量。发送模块，用于向第一设备发送第一收发时间差和第二设备的位移矢量。其中，第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，第一参考信号为第二设备接收的第一设备的参考信号，第二参考信号为第二设备发送的参考信号，第二设备的位移矢量为第二设备在第一收发时间差对应时间段内的位移。
可选地，接收模块和发送模块可以由一个模块实现，比如，收发模块。换句话说，收发模块可以用于实现第七方面所述的通信装置的接收功能和发送功能。
可选地，第七方面所述的通信装置还可以包括处理模块和存储模块，该存储模块存储有程序或指令。当处理模块执行该程序或指令时，使得该通信装置可以执行第二方面所述的定位方法。
需要说明的是，第七方面所述的通信装置可以是第三设备，该第三设备例如可以是定位管理设备(比如LMF网元)，也可以是设置于网络设备中的芯片(系统)或其他部件或组件，还可以是包含网络设备的装置，本申请对此不做限定。
此外，第七方面所述的通信装置的技术效果可以参考第二方面所述的定位方法的技术效果，此处不再赘述。
第八方面，提供一种通信装置。该通信装置包括：处理模块和收发模块。其中，收发模块，用于接收第一设备的第二收发时间差。收发模块，还用于接收第二设备的第一收发时间差和第二设备的位移矢量。处理模块，用于根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置。其中，第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，第一参考信号为第二设备接收的第一设备的参考信号，第二参考信号为第二设备发送的参考信号，第二设备的位移矢量为第二设备在第一收发时间差对应时间段内的位移。第二收发时间差为第三参考信号的接收时间与第四参考信号的发送时间的时间差，第三参考信号为第一设备接收的第二设备的参考信号，第四参考信号为第一设备发送的参考信号。
在一些可能的设计中，处理模块，还用于根据第一收发时间差、第二设备的位移矢量、第二收发时间差和第一设备的位移矢量，确定第一设备的位置。
在一些可能的设计中，第一设备的位置位于第一区域。其中，第一区域的形状为椭球或椭圆，第一区域的两个焦点为第一矢量的首尾端点，第一区域的长轴的长度为第二收发时间差和第一收发时间差之和对应的距离，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和。
在一些可能的设计中，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和，假设第一矢量的首尾端点坐标分别为(x0,y0)和(-x0,-y0)，那么第一设备的位置位于第一区域，第一区域可以根据如下公式(1)确定：
Figure PCTCN2022119719-appb-000025
其中，
Figure PCTCN2022119719-appb-000026
L为第二收发时间差和第一收发时间差之和对应的距离，a表示第一区域的半长轴，b表示第一区域的半短轴。并且，公式(1)中x′和y′与x、y(x、y为第一区域表达式中的变量和因变量)的关系可以根据以下公式(2)确定：
Figure PCTCN2022119719-appb-000027
在另一些可能的设计中，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和，假设第一矢量的首尾端点坐标分别为(x0,y0)和(-x0,-y0)，那么第一设备的位置位于第一区域，第一区域可以根据如下公式(3)确定：
Figure PCTCN2022119719-appb-000028
其中，
Figure PCTCN2022119719-appb-000029
L为第二收发时间差和第一收发时间差之和对应的距离，a表示第一区域的半长轴，b表示第一区域的半短轴。x、y为第一区域表达式中的变量和因变量。
可选地，若第二设备的数量为N个，N为大于1的整数，那么每个第二设备均对应一个第二区域，第一设备的位置位于N个第二区域的交点。其中，N个第二设备中第i个第二设备对应的第i个第二区域的形状为椭球或椭圆，第i个第二区域的两个焦点为第二矢量的首尾端点，第i个第二区域的长轴的长度为第二收发时间差和第i个第二设备的第一收发时间差之和对应的距离，第二矢量为第一设备的位移矢量与第i个第二设备的位移矢量之和，i为正整数，且i≤N。
可选地，第一设备的位置由第一区域以及第一参考信号的到达角确定；和/或，第一设备的位置由第一区域以及第三参考信号的到达角确定。
可选地，第一设备的位置由第一参考信号的到达角和第三参考信号的到达角确定。
将第三参考信号的到达角记为AoA1，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(4)，或者联立公式(3)、公式(4)确定。公式(4)如下：
Figure PCTCN2022119719-appb-000030
将第一参考信号的到达角记为AoA2，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(5)，或者公式(3)、公式(5)。公式(5)如下：
Figure PCTCN2022119719-appb-000031
将第三参考信号的到达角记为AoA1，将第一参考信号的到达角记为AoA2，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(6)，或者联立公式(3)、公式(6)确定。公式(6)如下：
Figure PCTCN2022119719-appb-000032
在一些可能的设计中，第一收发时间差为：第一参考信号的接收时间与第二参考信号的发送时间的差对第一数值取模后的值。第二收发时间差为：第三参考信号的接收时间与第四参考信号的发送时间的差对第一数值取模后的值。
其中，第一数值为网络设备配置给终端设备的值，或者为终端设备上报给网络设备的值，或者为预先约定(比如协议约定)的值，本申请对此不作限定。
可选地，收发模块可以包括接收模块和发送模块。其中，接收模块用于实现第八方面所述的通信装置的接收功能，发送模块用于实现第八方面所述的通信装置的发送功能。
可选地，第八方面所述的通信装置还可以包括存储模块，该存储模块存储有程序或指令。当处理模块执行该程序或指令时，使得该通信装置可以执行第三方面所述的定位方法。
需要说明的是，第八方面所述的通信装置可以是第三设备，该第三设备例如可以是定位管理设备(比如LMF网元)，也可以是设置于网络设备中的芯片(系统)或其他部件或组件，还可以是包含网络设备的装置，本申请对此不做限定。
此外，第八方面所述的通信装置的技术效果可以参考第三方面所述的定位方法的技术效果，此处不再赘述。
第九方面，提供一种通信装置。该通信装置包括：处理模块和收发模块。其中，处理模块，用于确定第二收发时间差。收发模块，用于发送第二收发时间差。其中，第二收发时间差为第三参考信号的接收时间与第四参考信号的发送时间的时间差，第三参考信号为第一设备接收的第二设备的参考信号，第四参考信号为第一设备发送的参考信号。
其中，收发模块，可以用于向第三设备发送第二收发时间差，该第三设备例如可以是定位管理设备(比如LMF网元)。
在一些可能的设计中，处理模块，还用于确定第一设备的位移矢量。收发模块，还用于发送第一设备的位移矢量。第一设备的位移矢量为第一设备在第二收发时间差对应时间段内的位移。其中，收发模块，还用于向第三设备发送第一设备的位移矢量，该第三设备例如可以是定位管理设备(比如LMF网元)。
其中，第二收发时间差和第一设备的位移矢量可以承载于一个信息中，或者分别承载于两个信息中，对此不作限定。
可选地，收发模块可以包括接收模块和发送模块。其中，接收模块用于实现第九方面所述的通信装置的接收功能，发送模块用于实现第九方面所述的通信装置的发送功能。
可选地，第九方面所述的通信装置还可以包括存储模块，该存储模块存储有程序或指令。当处理模块执行该程序或指令时，使得该通信装置可以执行第四方面所述的定位方法。
需要说明的是，第九方面所述的通信装置可以是第一设备，该第一设备例如可以是终端设备，也可以是设置于终端设备中的芯片(系统)或其他部件或组件，还可以是包含终端设备的装置，本申请对此不做限定。
此外，第九方面所述的通信装置的技术效果可以参考第四方面所述的定位方法的技术效果，此处不再赘述。
第十方面，提供一种通信装置。该通信装置包括：处理模块和收发模块。其中，处理模块，用于确定第一收发时间差和第二设备的位移矢量。收发模块，用于发送第一收发时间差和第二设备的位移矢量。其中，第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，第一参考信号为第二设备接收的第一设备的参考信号，第二参考信号为第二设备发送的参考信号，第二设备的位移矢量为第二设备在第一收发时间差对应时间段内的位移。
其中，收发模块，可以用于向第一设备发送第一收发时间差和第二设备的位移矢量，或者可以用于向第三设备发送第一收发时间差和第二设备的位移矢量，该第三设备例如可以是定位管理设备(比如LMF网元)，本申请对此不作限定。
可选地，收发模块可以包括接收模块和发送模块。其中，接收模块用于实现第十方面所述的通信装置的接收功能，发送模块用于实现第十方面所述的通信装置的发送功能。
可选地，第十方面所述的通信装置还可以包括存储模块，该存储模块存储有程序或指令。当处理模块执行该程序或指令时，使得该通信装置可以执行第五方面所述的定位方法。
需要说明的是，第十方面所述的通信装置可以是第二设备，该第二设备例如可以是终端设备或者是接入网设备，也可以是设置于终端设备中的芯片(系统)或其他部件或组件，还可以是包含终端设备的装置，本申请对此不做限定。
此外，第十方面所述的通信装置的技术效果可以参考第五方面所述的定位方法的技术效果，此处不再赘述。
第十一方面，提供一种通信装置。该通信装置用于执行第一方面至第五方面中任意一种实现方式所述的定位方法。
在本申请中，第十一方面所述的通信装置可以为第一设备、第二设备或第三设备，第一设备例如可以是终端设备，第二设备例如可以是终端设备或者是接入网设备，第三设备例如可以是定位管理设备(比如LMF网元)。也可以是设置于第一设备、第二设备或第三设备中的芯片(系统)或其他部件或组件，还可以是包含第一设备、第二设备或第三设备的装置，本申请对此不做限定。其中，第一设备用于执行第一方面、第四方面中任一种可能的实现方式所述的定位方法，第二设备用于执行第五方面中任一种可能的实现方式所述的定位方法，第三设备用于执行第二方面、第三方面中任一种可能的实现方式所述的定位方法。
应理解，第十一方面所述的通信装置包括实现上述第一方面至第五方面中任一方面所述的定位方法相应的模块、单元、或手段(means)，该模块、单元、或手段可以通过硬件实现，软件实现，或者通过硬件执行相应的软件实现。该硬件或软件包括一个或多个用于执行上述定位方法所涉及的功能的模块或单元。
此外，第十一方面所述的通信装置的技术效果可以参考第一方面至第五方面中任一方面所述的定位方法的技术效果，此处不再赘述。
第十二方面，提供一种通信装置。该通信装置包括：处理器，该处理器用于执行第一方面至第五方面中任意一种可能的实现方式所述的定位方法。
一种可能的设计方案中，第十二方面所述的通信装置还可以包括收发器。该收发器可以为收发电路或接口电路。该收发器可以用于第十二方面所述的通信装置与其他通信装置通信。
一种可能的设计方案中，第十二方面所述的通信装置还可以包括存储器。该存储器可以与处理器集成在一起，也可以分开设置。该存储器可以用于存储第一方面至第五方面中任一方面所述的定位方法所涉及的计算机程序和/或数据。
在本申请中，第十二方面所述的通信装置可以为第一设备、第二设备或第三设备，第一设备例如可以是终端设备，第二设备例如可以是终端设备或者是接入网设备，第三设备例如可以是定位管理设备(比如LMF网元)。也可以是设置于第一设备、第二设备或第三设备中的芯片(系统)或其他部件或组件，还可以是包含第一设备、第二设备或第三设备的装置，本申请对此不做限定。其中，第一设备用于执行第一方面、第四方面中任一种可能的实现方式所述的定位方法，第二设备用于执行第五方面中任一种可能的实现方式所述的定位方法，第三设备用于执行第二方面、第三方面中任一种可能的实现方式所述的定位方法。
此外，第十二方面所述的通信装置的技术效果可以参考第一方面至第五方面中任意一种实现方式所述的定位方法的技术效果，此处不再赘述。
第十三方面，提供一种通信装置。该通信装置包括：处理器，该处理器与存储器耦合，该处理器用于执行存储器中存储的计算机程序，以使得该通信装置执行第一方面至第五方面中任意一种可能的实现方式所述的定位方法。
一种可能的设计方案中，第十三方面所述的通信装置还可以包括收发器。该收发器可以为收发电路或接口电路。该收发器可以用于第十三方面所述的通信装置与其他通信装置通信。
在本申请中，第十三方面所述的通信装置可以为第一设备、第二设备或第三设备，第一设备例如可以是终端设备，第二设备例如可以是终端设备或者是接入网设备，第三设备例如可以是定位管理设备(比如LMF网元)。也可以是设置于第一设备、第二设备或第三设备中的芯片(系统)或其他部件或组件，还可以是包含第一设备、第二设备或第三设备的装置，本申请对此不做限定。其中，第一设备用于执行第一方面、第四方面中任一种可能的实现方式所述的定位方法，第二设备用于执行第五方面中任一种可能的实现方式所述的定位方法，第三设备用于执行第二方面、第三方面中任一种可能的实现方式所述的定位方法。
此外，第十三方面所述的通信装置的技术效果可以参考第一方面至第五方面中任意一种实现方式所述的定位方法的技术效果，此处不再赘述。
第十四方面，提供一种通信装置。该通信装置包括：包括：处理器和接口电路。其中，接口电路，用于接收代码指令并传输至所述处理器。处理器用于运行上述代码指令以执行第一方面至第五方面中任意一种实现方式所述的定位方法。
一种可能的设计方案中，第十四方面所述的通信装置还可以包括存储器。该存储器可以与处理器集成在一起，也可以分开设置。该存储器可以用于存储第一方面至第五方面中任一方面所述的定位方法所涉及的计算机程序和/或数据。
在本申请中，第十四方面所述的通信装置可以为第一设备、第二设备或第三设备，第一设备例如可以是终端设备，第二设备例如可以是终端设备或者是接入网设备，第三设备例如可以是定位管理设备(比如LMF网元)。也可以是设置于第一设备、第二设备或第三设备中的芯片(系统)或其他部件或组件，还可以是包含第一设备、第二设备或第三设备的装置，本申请对此不做限定。其中，第一设备用于执行第一方面、第四方面中任一种可能的实现方式所述的定位方法，第二设备用于执行第五方面中任一种可能的实现方式所述的定位方法，第三设备用于执行第二方面、第三方面中任一种可能的实现方式所述的定位方法。
此外，第十四方面所述的通信装置的技术效果可以参考第一方面至第五方面中任意一种实现方式所述的定位方法的技术效果，此处不再赘述。
第十五方面，提供一种通信装置。该通信装置包括处理器和存储介质，该存储介质存储有指令，该指令被处理器运行时，使得第一方面至第五方面中任意一种可能的实现方式所述的定位方法被实现。
在本申请中，第十五方面所述的通信装置可以为第一设备、第二设备或第三设备，第一设备例如可以是终端设备，第二设备例如可以是终端设备或者是接入网设备，第三设备例如可以是定位管理设备(比如LMF网元)。也可以是设置于第一设备、第二设备或第三设备中的芯片(系统)或其他部件或组件，还可以是包含第一设备、第二 设备或第三设备的装置，本申请对此不做限定。其中，第一设备用于执行第一方面、第四方面中任一种可能的实现方式所述的定位方法，第二设备用于执行第五方面中任一种可能的实现方式所述的定位方法，第三设备用于执行第二方面、第三方面中任一种可能的实现方式所述的定位方法。
此外，第十五方面所述的通信装置的技术效果可以参考第一方面至第五方面中任意一种实现方式所述的定位方法的技术效果，此处不再赘述。
第十六方面，提供一种处理器。其中，处理器用于执行第一方面至第五方面中任意一种可能的实现方式所述的定位方法。
第十七方面，提供一种通信系统。该通信系统包括第一设备、第二设备，第一设备例如可以是终端设备，第二设备例如可以是终端设备或者是接入网设备。其中，第一设备用于执行第一方面、第四方面中任一种可能的实现方式所述的定位方法，第二设备用于执行第五方面中任一种可能的实现方式所述的定位方法。
可选地，该通信系统还可以包括第三设备，第三设备例如可以是定位管理设备(比如LMF网元)。其中，第三设备用于执行第二方面、第三方面中任一种可能的实现方式所述的定位方法。
第十八方面，提供一种计算机可读存储介质，该计算机可读存储介质包括计算机程序或指令，当该计算机程序或指令被处理器运行时，使得第一方面至第五方面中任意一种可能的实现方式所述的定位方法被实现。
第十九方面，提供一种计算机程序产品，该计算机程序产品包括指令，当该指令被处理器运行时，使得第一方面至第五方面中任意一种可能的实现方式所述的定位方法被实现。
第二十方面，提供一种芯片，该芯片包括处理逻辑电路和接口电路。其中，处理逻辑电路的数量可以是一个或多个，接口电路的数量可以是多个。
其中，接口电路，用于接收代码指令并传输至所述处理逻辑电路。处理逻辑电路用于运行上述代码指令以执行第一方面至第五方面中任意一种实现方式所述的定位方法。
可选的，该芯片可以包括存储器，该存储器可以与处理逻辑电路集成在一起，也可以分开设置。该存储器可以用于存储第一方面至第五方面中任一方面所述的定位方法所涉及的计算机程序和/或数据。
在本申请中，第二十方面所述的芯片可以位于一个通信系统中的第一设备、第二设备或第三设备，第一设备例如可以是终端设备，第二设备例如可以是终端设备或者是接入网设备，第三设备例如可以是定位管理设备(比如LMF网元)。其中，芯片位于第一设备时用于执行第一方面、第四方面中任一种可能的实现方式所述的定位方法，芯片位于第二设备时用于执行第五方面中任一种可能的实现方式所述的定位方法，芯片位于第三设备时用于执行第二方面、第三方面中任一种可能的实现方式所述的定位方法。
第二十一方面，提供一种通信系统，包括第一设备和第二设备；其中，第一设备，用于接收第一收发时间差和第二设备的位移矢量，第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，第一参考信号为第二设备接收的第一 设备的参考信号，第二参考信号为第二设备发送的参考信号，第二设备的位移矢量为第二设备在第一收发时间差对应时间段内的位移；第一设备，还用于根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置；第二收发时间差为第三参考信号的接收时间与第四参考信号的发送时间的时间差，第三参考信号为第一设备接收的第二设备的参考信号，第四参考信号为第一设备发送的参考信号。
在一些可能的实施例中，第二设备，用于确定第一收发时间差和第二设备的位移矢量；第二设备，还用于发送第一收发时间差和第二设备的位移矢量。
在一些可能的实施例中，第二十一方面所述的通信系统还包括第三设备；其中，第三设备，用于接收第二设备的第一收发时间差和第二设备的位移矢量，第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，第一参考信号为第二设备接收的第一设备的参考信号，第四参考信号为第二设备发送的参考信号，第二设备的位移矢量为第二设备在第一收发时间差对应时间段内的位移；第三设备，还用于向第一设备发送第一收发时间差和第二设备的位移矢量。
在一些可能的实施例中，第一设备，还用于根据第一收发时间差、第二设备的位移矢量、第二收发时间差和第一设备的位移矢量，确定第一设备的位置，第一设备的位移矢量为第一设备在第二收发时间差对应时间段内的位移。
在一些可能的实施例中，第一设备的位置位于第一区域。其中，第一区域的形状为椭球或椭圆，第一区域的两个焦点为第一矢量的首尾端点，第一区域的长轴的长度为第二收发时间差和第一收发时间差之和对应的距离，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和。
在一些可能的设计中，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和，假设第一矢量的首尾端点坐标分别为(x0,y0)和(-x0,-y0)，那么第一设备的位置位于第一区域，第一区域可以根据如下公式(1)确定：
Figure PCTCN2022119719-appb-000033
其中，
Figure PCTCN2022119719-appb-000034
L为第二收发时间差和第一收发时间差之和对应的距离，a表示第一区域的半长轴，b表示第一区域的半短轴。并且，公式(1)中x′和y′与x、y(x、y为第一区域表达式中的变量和因变量)的关系可以根据以下公式(2)确定：
Figure PCTCN2022119719-appb-000035
在另一些可能的设计中，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和，假设第一矢量的首尾端点坐标分别为(x0,y0)和(-x0,-y0)，那么第一设备的位置位于第一区域，第一区域可以根据如下公式(3)确定：
Figure PCTCN2022119719-appb-000036
其中，
Figure PCTCN2022119719-appb-000037
L为第二收发时间差和第一收发时间差之和对应的距离，a表示第一区域的半长轴，b表示第一区域的半短轴。x、y为第一区域表达式中的变量和因变量。
可选地，若第二设备的数量为N个，N为大于1的整数，那么每个第二设备均对应一个第二区域，第一设备的位置位于N个第二区域的交点。其中，N个第二设备中第i个第二设备对应的第i个第二区域的形状为椭球或椭圆，第i个第二区域的两个焦点为第二矢量的首尾端点，第i个第二区域的长轴的长度为第二收发时间差和第i个第二设备的第一收发时间差之和对应的距离，第二矢量为第一设备的位移矢量与第i个第二设备的位移矢量之和，i为正整数，且i≤N。
可选地，第一设备的位置由第一区域以及第一参考信号的到达角确定；和/或，第一设备的位置由第一区域以及第三参考信号的到达角确定。
将第三参考信号的到达角记为AoA1，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(4)，或者联立公式(3)、公式(4)确定。公式(4)如下：
Figure PCTCN2022119719-appb-000038
将第一参考信号的到达角记为AoA2，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(5)，或者公式(3)、公式(5)。公式(5)如下：
Figure PCTCN2022119719-appb-000039
将第三参考信号的到达角记为AoA1，将第一参考信号的到达角记为AoA2，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(6)，或者联立公式(3)、公式(6)确定。公式(6)如下：
Figure PCTCN2022119719-appb-000040
在一些可能的实施例中，第一收发时间差为：第一参考信号的接收时间与第二参考信号的发送时间的差对第一数值取模后的值。第二收发时间差为：第三参考信号的接收时间与第四参考信号的发送时间的差对第一数值取模后的值。
第二十二方面，提供一种通信系统，包括第一设备和第二设备；其中，第三设备，用于接收第一设备的第二收发时间差；第二收发时间差为第三参考信号的接收时间与第四参考信号的发送时间的时间差，第三参考信号为第一设备接收的第二设备的参考信号，第四参考信号为第一设备发送的参考信号；第三设备，还用于接收第二设备的第一收发时间差和第二设备的位移矢量；第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，第一参考信号为第二设备接收的第一设备的参考信号，第四参考信号为第二设备发送的参考信号，第二设备的位移矢量为第二设备在第一收发时间差对应时间段内的位移；第三设备，还用于根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置。
在一些可能的实施例中，第二设备，用于确定第一收发时间差和第二设备的位移矢量；第二设备，还用于发送第一收发时间差和第二设备的位移矢量。
在一些可能的实施例中，第一设备，用于确定第二收发时间差；第一设备，还用于向第三设备发送第二收发时间差。
在一些可能的实施例中，第三设备，还用于根据第一收发时间差、第二设备的位移矢量、第二收发时间差和第一设备的位移矢量，确定第一设备的位置，第一设备的位移矢量为第一设备在第二收发时间差对应时间段内的位移。
在一些可能的实施例中，第一设备，还用于确定第一设备的位移矢量；第一设备 的位移矢量为第一设备在第二收发时间差对应时间段内的位移；第一设备，还用于向第三设备发送第二收发时间差。
在一些可能的实施例中，第一设备的位置位于第一区域。其中，第一区域的形状为椭球或椭圆，第一区域的两个焦点为第一矢量的首尾端点，第一区域的长轴的长度为第二收发时间差和第一收发时间差之和对应的距离，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和。
在一些可能的设计中，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和，假设第一矢量的首尾端点坐标分别为(x0,y0)和(-x0,-y0)，那么第一设备的位置位于第一区域，第一区域可以根据如下公式(1)确定：
Figure PCTCN2022119719-appb-000041
其中，
Figure PCTCN2022119719-appb-000042
L为第二收发时间差和第一收发时间差之和对应的距离，a表示第一区域的半长轴，b表示第一区域的半短轴。并且，公式(1)中x′和y′与x、y(x、y为第一区域表达式中的变量和因变量)的关系可以根据以下公式(2)确定：
Figure PCTCN2022119719-appb-000043
在另一些可能的设计中，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和，假设第一矢量的首尾端点坐标分别为(x0,y0)和(-x0,-y0)，那么第一设备的位置位于第一区域，第一区域可以根据如下公式(3)确定：
Figure PCTCN2022119719-appb-000044
其中，
Figure PCTCN2022119719-appb-000045
L为第二收发时间差和第一收发时间差之和对应的距离，a表示第一区域的半长轴，b表示第一区域的半短轴。x、y为第一区域表达式中的变量和因变量。
可选地，若第二设备的数量为N个，N为大于1的整数，那么每个第二设备均对应一个第二区域，第一设备的位置位于N个第二区域的交点。其中，N个第二设备中第i个第二设备对应的第i个第二区域的形状为椭球或椭圆，第i个第二区域的两个焦点为第二矢量的首尾端点，第i个第二区域的长轴的长度为第二收发时间差和第i个第二设备的第一收发时间差之和对应的距离，第二矢量为第一设备的位移矢量与第i个第二设备的位移矢量之和，i为正整数，且i≤N。
可选地，第一设备的位置由第一区域以及第一参考信号的到达角确定；和/或，第一设备的位置由第一区域以及第三参考信号的到达角确定。
将第三参考信号的到达角记为AoA1，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(4)，或者联立公式(3)、公式(4)确定。公式(4)如下：
Figure PCTCN2022119719-appb-000046
将第一参考信号的到达角记为AoA2，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(5)，或者公式(3)、公式(5)。公式(5)如下：
Figure PCTCN2022119719-appb-000047
将第三参考信号的到达角记为AoA1，将第一参考信号的到达角记为AoA2，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(6)，或者联立公式(3)、公式(6)确定。公式(6)如下：
Figure PCTCN2022119719-appb-000048
在一些可能的实施例中，第一收发时间差为：第一参考信号的接收时间与第二参考信号的发送时间的差对第一数值取模后的值。第二收发时间差为：第三参考信号的接收时间与第四参考信号的发送时间的差对第一数值取模后的值。
第六方面至第二十二方面中的任一种实现方式所带来的技术效果可参见第一方面至第五方面中对应实现方式所带来的技术效果，此处不再赘述。
本申请在上述各方面提供的实现方式的基础上，还可以进行进一步组合以提供更多实现方式。
附图说明
图1为本申请实施例提供的终端设备和接入网设备对参考信号的测量示意图；
图2为本申请实施例提供的3个接入网设备确定终端设备位置的示意图；
图3为本申请实施例提供的V2X场景下两车定位的测量示意图；
图4为本申请实施例提供的NTN场景下终端设备定位的测量示意图；
图5为本申请实施例提供的一种通信系统的示意图；
图6为在5G系统中应用本申请实施例的定位方法的一种通信系统的架构示意图；
图7为在5G系统中应用本申请实施例的定位方法的另一种通信系统的架构示意图；
图8为图5中终端设备与NG-RAN连接的一种示意图；
图9为本申请实施例提供的RAN与核心网连接的一种示意图；
图10为图5中终端设备、NG-RAN与核心网连接的一种示意图；
图11为图5中终端设备、NG-RAN与核心网连接的另一种示意图；
图12为本申请实施例提供的通信装置的一种结构示意图；
图13为本申请实施例提供的一种定位方法的流程示意图；
图14为本申请实施例提供的一种对UE1进行定位的场景示意图；
图15为本申请实施例提供的第一区域在坐标系中的示意图；
图16为在图15所示坐标系中标注到达角AoA3的示意图；
图17为本申请实施例提供的坐标系中存在多个第二区域的示意图；
图18为本申请实施例提供的另一种定位方法的流程示意图；
图19为本申请实施例提供的另一种定位方法的流程示意图；
图20为本申请实施例提供的另一种定位方法的流程示意图；
图21为本申请实施例提供的另一种定位方法的流程示意图；
图22为本申请实施例提供的另一种定位方法的流程示意图；
图23为本申请实施例提供的另一种定位方法的流程示意图；
图24为本申请实施例提供的通信装置的一种结构示意图；
图25为本申请实施例提供的通信装置的另一种结构示意图。
具体实施方式
为了方便理解本申请实施例中的方案，首先给出相关技术的简要介绍。
1、Multi-RTT定位技术
Multi-RTT定位技术是一种多站点定位技术，实现定位的过程中至少需要两个站点，这里的站点可以为接入网设备。在利用Multi-RTT定位技术实现对终端设备的定位过程中，多个站点对终端设备进行测量或终端设备对多个站点进行测量才能确定终端设备的位置。
示例性地，以一个接入网设备、一个终端设备举例，接入网设备需要对终端设备发送的参考信号(reference signal，RS)进行测量，终端设备也需要对接入网设备发送的参考信号进行测量。终端设备和接入网设备对参考信号的测量示意图如图1所示，终端设备发送参考信号的时间记为TTx1，终端设备接收参考信号的时间记为TRx1；接入网设备发送参考信号的时间记为TTx2，接入网设备接收参考信号的时间记为TRx2。终端设备测得参考信号接收发送时间差为T1＝TRx1-TTx1，接入网设备测得参考信号接收发送时间差为T2＝TRx2-TTx2。接入网设备和终端设备均向LMF网元上报测得的参考信号接收发送时间差，LMF网元可以测得参考信号在终端设备和接入网设备之间往返传播的时间RTT＝T1+T2，从而根据距离、时间和光速的关系可计算出接入网设备和终端设备的距离。
例如，可以根据如下公式计算出接入网设备和终端设备的距离：
Figure PCTCN2022119719-appb-000049
其中，RTT＝T1+T2，c为光速，d为接入网设备和终端设备的距离。
在定位计算时，根据测得的RTT值以每个接入网设备位置作为圆心能确定一个圆，该圆的半径为RTT对应距离。两个RTT就能确定两个圆，两个圆的交点就是终端设备的位置。若有更多的接入网设备可以确定更多的圆，终端的位置可以更准确。如图2所示，三个基站对应三个圆，三个圆的交点为终端设备的位置。
可以看出，如果将上述定位技术应用于参与定位的设备处于移动状态的场景中，比如V2X场景、卫星定位场景等，由于这些场景中的终端设备(比如汽车)或接入网设备(比如卫星)通常处于移动状态，参与定位的设备间相对位置会发生变化，导致终端设备或接入网设备测得的参考信号接收发送时间差与设备间的实际距离不对应，从而导致这些场景下的定位精度下降，不能满足高精度定位的需求。换句话说，上述定位技术的缺点在于，参与定位的设备之间相对距离不变，其中，如果接入网设备为静止的基站，则要求终端设备也处于静止状态才能实现对终端设备的准确定位。
示例性地，如图3所示，在V2X场景下，两辆车之间为了测距和定位，其中一辆车(车1)向另一辆车(车2)发送RS1，车2随后向车1发送RS2。但是，由于两车之间存在高速的相对移动，车1接收RS2时已经不在发送RS1时所在的位置，例如，假设车1与车2对向移动，对向速度为240千米每小时(kilometer per hour，km/h)，约合75米每秒(meter per second，m/s)，RS2和RS1的发送时间相差10毫秒(millisecond，ms)，那么车1接收RS2时车2的位置已经移动了75厘米(centimetre，cm)，导致参考信号接收发送时间差与两辆车之间的实际距离不对应，从而导致定位精度下降。
如图4所示，在非陆地通信网络(non-terrestrial network，NTN)通信系统场景下， 卫星先向终端设备发送RS1，终端设备随后发送RS2。对于低轨卫星，假设卫星高度为600km，移动速度为7.56km/s，传播时延至少为2ms～4ms(具体值取决于卫星的俯仰角)，那么即使终端设备接收到RS1之后立刻发送RS2，RS2到达卫星时刻与卫星发送RS1的时刻也相差4ms～8ms。在此期间，卫星因为移动会发生30m到60m的位移，导致参考信号接收发送时间差与卫星、终端设备间的实际距离不对应，从而导致定位精度下降。
为了解决上述问题，本申请实施例提供一种技术方案，该技术方案包括通信系统、应用于该通信系统的定位方法和通信装置等。下面将结合附图，对本申请提供的技术方案进行说明。
本申请提供的技术方案可以应用于各种通信系统。例如：长期演进(long term evolution，LTE)系统、LTE频分双工(frequency division duplex，FDD)系统、LTE时分双工(time division duplex，TDD)系统、通用移动通信系统(universal mobile telecommunication system，UMTS)、全球互联微波接入(worldwide interoperability for microwave access，WiMAX)通信系统、第五代(5th generation，5G)系统或新无线(new radio，NR)、NR(New Radio)车联网(vehicle-to-everything，V2X)系统、NTN通信系统等，本申请中涉及的5G系统包括非独立组网(non-standalone，NSA)的5G系统或独立组网(standalone，SA)的5G系统。本申请提供的技术方案还可以应用于未来的通信系统，如第六代移动通信系统。通信系统还可以是陆上公用移动通信网(public land mobile network，PLMN)网络、设备到设备(device-to-device，D2D)通信系统、机器到机器(machine to machine，M2M)通信系统、物联网(Internet of Things，IoT)通信系统或者其他通信系统，对此不作限定。
本申请提供的技术方案可以应用于各种通信场景，例如可以应用于以下通信场景中的一种或多种：eMBB、URLLC、MTC、mMTC、设备到设备(device to device，D2D)、V2X、车辆到车辆(vehicle to vehicle，V2V)、IoT、卫星定位等。
图5为本申请实施例提供的一种通信系统的示意图。如图5所示，该通信系统包括终端设备、一个或多个接入网设备(图5以一个接入网设备为例进行示意)以及定位管理设备。其中，终端设备、接入网设备或者定位管理设备两两之间可以直接通信，也可以通过其他设备的转发进行通信，本申请实施例对此不作具体限定。虽然未示出，该通信系统还可以包括移动管理网元等其他网元，比如接入和移动性管理功能(access and mobility management function，AMF)网元，本申请实施例对此不做具体限定。
其中，本申请提供的定位方法中的第一设备可以为图5中的终端设备，本申请提供的定位方法中的第二设备可以为图5中的终端设备或接入网设备，本申请提供的定位方法中的第三设备可以为图5中的定位管理设备。
可选地，本申请实施例中的定位管理设备可以是LMF网元或者定位管理组件(location management component，LMC)网元，或者可以是位于网络设备中的本地定位管理功能(local location management function，LLMF)网元。
可选地，图5中的接入网设备所对应的网元或者实体可以为5G系统中的下一代无线接入网(next-generation radio access network，NG-RAN)设备。上述的定位管理设备所对应的网元或者实体可以为5G系统中的AMF网元，本申请实施例对此不作具 体限定。接入网设备也可以称为接入网网元。
示例性地，图6为在5G系统中应用本申请实施例的定位方法的一种通信系统的架构示意图。如图6所示，该通信系统中，终端设备通过LTE-Uu和/或NR-Uu接口分别经由下一代演进型节点B(next-generation evolved NodeB，ng-eNB)和下一代节点B(generation node B，gNB)连接到NG-RAN；NG-RAN通过NG-C接口经由AMF网元连接到核心网。其中，NG-RAN可以包括一个或多个ng-eNB(图6以一个ng-eNB为例进行示意)；NG-RAN也可以包括一个或多个gNB(图6以一个gNB为例进行示意)；NG-RAN还可以包括一个或多个ng-eNB以及一个或多个gNB。ng-eNB为接入5G核心网的LTE基站，gNB为接入5G核心网的5G基站。核心网可以包括AMF网元与LMF网元。其中，AMF网元用于实现接入管理等功能，LMF网元用于实现定位或定位辅助等功能。AMF网元与LMF网元之间通过NLs接口连接。
示例性地，图7为在5G系统中应用本申请实施例的定位方法的另一种通信系统的架构示意图。图7与图6的通信系统架构的区别在于，图6的定位管理功能的装置或组件(比如LMF网元)部署在核心网中，图7的定位管理功能的装置或组件(比如LMC网元)可以部署在NG-RAN设备中。如图7所示，gNB中包含LMC网元。LMC网元是LMF网元的部分功能组件，可以集成在NG-RAN设备的gNB中。
示例性地，图8为图5中终端设备与NG-RAN连接的一种示意图。如图8所示，终端设备可以通过Uu接口与NG-RAN中的gNB连接，不同的gNB之间可以通过Xn接口连接，不同的终端设备之间可以通过PC5接口连接。其中，终端设备通过Uu接口与NG-RAN连接可以理解为NG-RAN内覆盖(inside NG-RAN coverage)，不同的终端设备之间通过PC5接口连接可以理解为NG-RAN外覆盖(outside NG-RAN coverage)。在图8中，本申请提供的定位方法中的第一设备可以为图8中的终端设备，本申请提供的定位方法中的第二设备可以为图8中的终端设备或接入网设备。
示例性地，图9为本申请实施例提供的RAN与核心网连接的一种示意图。图9的(a)中，AMF/UPF可以通过NG接口与NG-RAN中的gNB连接，不同的gNB之间可以通过Xn接口连接。图9的(b)中，移动性管理实体(mobility management entity，MME)/主服务网关(serving primary gateway，S-PGW)可以通过S1接口与演进型通用陆地无线接入网(evolved universal terrestrial radio access network，E-UTRAN)中的gNB连接，MME/S-PGW还可以通过S1接口与MeNB连接，MME/S-PGW还可以通过S1-U接口与IAB授主连接，gNB与MeNB之间可以通过X2接口连接，MeNB可以通过X2-C接口与IAB授主(IAB-donor)连接，MeNB可以通过LET Uu接口与IAB节点连接。在图9的(a)和图9的(b)中，gNB可以作为接入回传一体化(integrated access and backhaul，IAB)授主或IAB节点(IAB-node)，IAB授主与IAB节点之间可以通过F1接口或NR Uu接口连接，不同IAB节点之间可以通过NR Uu接口连接。在图9中，本申请提供的定位方法中的第一设备可以为图9中的终端设备，本申请提供的定位方法中的第二设备可以为图9中的终端设备或接入网设备。
示例性地，图10为图5中终端设备、NG-RAN与核心网连接的一种示意图。如图10所示，网络(也可以称为数据网络)中包括NG-RAN和核心网，网络通过网关(比如卫星地面站)与卫星连接，卫星与终端设备连接。卫星可以通过网关向NG-RAN和 核心网转发来自终端设备的信息，或者可以向终端设备转发来自NG-RAN和核心网的信息。其中，图10也可以理解为基于透明净荷的非地面网络场景(non-terrestrial network typical scenario based on transparent payload)。在图10中，本申请提供的定位方法中的第一设备可以为图10中的终端设备，本申请提供的定位方法中的第二设备可以为图10中的卫星，本申请提供的定位方法中的第三设备可以为图10中网络的核心网中的LMF网元(图10中未示出)。
示例性地，图11为图5中终端设备、NG-RAN与核心网连接的另一种示意图。如图11所示，网络(也可以称为数据网络)中包括NG-RAN和核心网，网络通过网关(比如卫星地面站)与卫星2连接，卫星2与卫星1通过卫星间链路(inter-satellite link，ISL)连接，卫星1与终端设备连接。卫星1、卫星2可以实现向终端设备转发来自NG-RAN和核心网的信息，或者向NG-RAN和核心网转发来自终端设备的信息。其中，如果图11中的卫星1与卫星2之间未建立ISL，那么卫星1也可以与网关通信，此时，终端设备、卫星1、网关、网络之间的连接与上述图10相同。图11也可以理解为基于再生有效载荷的非地面网络场景(non-terrestrial network typical scenario based on regenerative payload)。在图11中，本申请提供的定位方法中的第一设备可以为图11中的终端设备，本申请提供的定位方法中的第二设备可以为图11中的卫星，本申请提供的定位方法中的第三设备可以为图11中网络的核心网中的LMF网元(图11中未示出)。
应理解，上述图5～图11所示的通信系统中包括的设备或功能节点只是示例性地描述，并不对本申请实施例构成限定，事实上，图5～图11的通信系统中还可以包含其他与图中示意的设备或功能节点具有交互关系的网元或设备或功能节点，这里不作具体限定。在实现本申请提供的定位方法时，上述图5～图11的通信系统也可以被称为定位系统。
应理解，上述图5～图11中的各个接口仅是一种可行的示例，随着通信技术的演进，图5～图11中的各个接口的命名或功能可以发生改变，对此不作限定。
作为示例而非限定，在本申请实施例中，终端设备(terminal device)可以称为UE、移动台(mobile station，MS)或者移动终端设备(mobile terminal，MT)等。终端设备可以是手持终端、工业应用终端、家用终端、交通工具终端等。终端设备还可以是手机、平板电脑、带无线收发功能的电脑、虚拟现实终端设备、增强现实终端设备、工业控制中的无线终端、无人驾驶中的无线终端、远程手术中的无线终端、智能电网中的无线终端、运输安全中的无线终端、智慧城市中的无线终端、智慧家庭中的无线终端、载人设备中的无线终端、机器类型通信(machine type communication，MTC)终端、无人机、机器人等。载人设备可以是汽车、火车、高铁、动车、轮船、飞机等。
作为示例而非限定，在本申请实施例中，可穿戴设备也可以称为穿戴式智能设备，是应用穿戴式技术对日常穿戴进行智能化设计、开发出可以穿戴的设备的总称，如眼镜、手套、手表、服饰及鞋等。可穿戴设备即直接穿在身上，或是整合到用户的衣服或配件的一种便携式设备。可穿戴设备不仅仅是一种硬件设备，更是通过软件支持以及数据交互、云端交互来实现强大的功能。广义穿戴式智能设备包括功能全、尺寸大、可不依赖智能手机实现完整或者部分的功能，例如：智能手表或智能眼镜等，以及只 专注于某一类应用功能，需要和其它设备如智能手机配合使用，如各类进行体征监测的智能手环、智能首饰等。
此外，在本申请实施例中，终端设备还可以是IoT系统中的终端设备，IoT是未来信息技术发展的重要组成部分，其主要技术特点是将物品通过通信技术与网络连接，从而实现人机互连，物物互连的智能化网络。在本申请实施例中，IOT技术可以通过例如窄带(narrow band，NB)技术，做到海量连接，深度覆盖，终端省电。
此外，在本申请实施例中，终端设备还可以包括智能打印机、火车探测器、加油站等传感器，主要功能包括收集数据(部分终端设备)、接收接入网设备的控制信息与下行数据，并发送电磁波，向接入网设备传输上行数据。
可选的，本申请实施例中的接入网设备可以是用于与终端设备通信的任意一种具有无线收发功能的通信设备。该接入网设备包括但不限于：演进型节点B(evolved node B,eNB)，基带单元(baseband unit，BBU)，无线保真(wireless fidelity，WIFI)系统中的接入点(access point，AP)、无线中继节点、无线回传节点、传输点(transmission point，TP)或者传输接收点(transmission reception point，TRP)等。该接入网设备还可以为5G系统中的gNB或TRP或TP，或者5G系统中的基站的一个或一组(包括多个天线面板)天线面板。此外，该接入网设备还可以为构成gNB或TP的网络节点，如BBU，或分布式单元(distributed unit，DU)等。
在一些部署中，gNB可以包括集中式单元(centralized unit，CU)和DU。此外，gNB还可以包括有源天线单元(active antenna unit，AAU)。CU实现gNB的部分功能，DU实现gNB的部分功能。比如，CU负责处理非实时协议和服务，实现无线资源控制(radio resource control，RRC)，分组数据汇聚层协议(packet data convergence protocol，PDCP)层的功能。DU负责处理物理层协议和实时服务，实现无线链路控制(radio link control，RLC)层、媒体接入控制(media access control，MAC)层和物理(physical，PHY)层的功能。AAU实现部分物理层处理功能、射频处理及有源天线的相关功能。由于RRC层的信息最终会变成PHY层的信息，或者，由PHY层的信息转变而来，因而，在这种架构下，高层信令，如RRC层信令，也可以认为是由DU发送的，或者，由DU+AAU发送的。可以理解的是，接入网设备可以为包括CU节点、DU节点、AAU节点中一项或多项的设备。
可选的，本申请实施例中的接入网设备和终端设备之间可以通过授权频谱进行通信，也可以通过免授权频谱进行通信，也可以同时通过授权频谱和免授权频谱进行通信。例如，接入网设备和终端设备之间可以通过6千兆赫(gigahertz，GHz)以下的频谱进行通信，也可以通过6GHz以上的频谱进行通信，还可以同时使用6GHz以下的频谱和6GHz以上的频谱进行通信。本申请的实施例对接入网设备和终端设备101之间所使用的频谱资源不做限定。
可选的，本申请实施例中的终端设备、接入网设备或者定位管理设备可以部署在陆地上，包括室内或室外、手持或车载；也可以部署在水面上；还可以部署在空中的飞机、气球和人造卫星上。本申请的实施例对终端设备、接入网设备或者定位管理设备的应用场景不做限定。
可选的，在本申请实施例中，终端设备或接入网设备或定位管理设备可以包括硬 件层、运行在硬件层之上的操作系统层，以及运行在操作系统层上的应用层。该硬件层包括中央处理器(central processing unit，CPU)、内存管理单元(memory management unit，MMU)和内存(也称为主存)等硬件。该操作系统可以是任意一种或多种通过进程(process)实现业务处理的计算机操作系统，例如，Linux操作系统、Unix操作系统、Android操作系统、iOS操作系统或windows操作系统等。该应用层包含浏览器、通讯录、文字处理软件、即时通信软件等应用。并且，本申请实施例并未对本申请实施例提供的方法的执行主体的具体结构特别限定，只要能够通过运行记录有本申请实施例的提供的方法的代码的程序，以根据本申请实施例提供的方法进行通信即可，例如，本申请实施例提供的定位方法的执行主体可以是终端设备或接入网设备或定位管理设备，或者，是终端设备或接入网设备或定位管理设备中能够调用程序并执行程序的功能模块。
换言之，本申请实施例中的终端设备、接入网设备或者定位管理设备的相关功能可以由一个设备实现，也可以由多个设备共同实现，还可以是由一个设备内的一个或多个功能模块实现，本申请实施例对此不作具体限定。可以理解的是，上述功能既可以是硬件设备中的网络元件，也可以是在专用硬件上运行的软件功能，或者是硬件与软件的结合，或者是平台(例如，云平台)上实例化的虚拟化功能。
例如，本申请实施例中的终端设备、接入网设备或者定位管理设备的相关功能可以通过图12中的通信装置1200来实现。图12所示为本申请实施例提供的通信装置1200的一种结构示意图。该通信装置1200包括一个或多个处理器1201，通信线路1202，以及至少一个通信接口(图12中仅是示例性的以包括通信接口1204，以及一个处理器1201为例进行说明)，可选的还可以包括存储器1203。
处理器1201可以是一个CPU，微处理器，特定应用集成电路(application-specific integrated circuit，ASIC)，或一个或多个用于控制本申请方案程序执行的集成电路。
通信线路1202可包括一通路，用于连接不同组件之间。
通信接口1204，可以是收发模块用于与其他设备或通信网络通信，如以太网，接入网(radio access network，RAN)，无线局域网(wireless local area networks，WLAN)等。例如，所述收发模块可以是收发器、收发机一类的装置。可选的，所述通信接口1204也可以是位于处理器1201内的收发电路，用以实现处理器的信号输入和信号输出。通信接口1204可以是收发器，可以包括接收器和发射器，其中，接收器用于实现通信装置1200的发送功能，接收器用于实现通信装置1200的接收功能。
存储器1203可以是具有存储功能的装置。例如可以是只读存储器(read-only memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(random access memory，RAM)或者可存储信息和指令的其他类型的动态存储设备，也可以是电可擦可编程只读存储器(electrically erasable programmable read-only memory，EEPROM)、只读光盘(compact disc read-only memory，CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。存储器可以是独立存在，通过通信线路1202与处理器相连接。存储器也可以和处理器集成在一起。
其中，存储器1203用于存储执行本申请方案的计算机执行指令，并由处理器1201来控制执行。处理器1201用于执行存储器1203中存储的计算机执行指令，从而实现本申请实施例中提供的定位方法。
或者，本申请实施例中，也可以是处理器1201执行本申请下述实施例提供的定位方法中的处理相关的功能，通信接口1204负责与其他设备或通信网络通信，本申请实施例对此不作具体限定。
本申请实施例中的计算机执行指令也可以称之为应用程序代码，本申请实施例对此不作具体限定。
在具体实现中，作为一种实施例，处理器1201可以包括一个或多个CPU，例如图12中的CPU0和CPU1。
在具体实现中，作为一种实施例，通信装置1200可以包括多个处理器，例如图12中的处理器1201和处理器1208。这些处理器中的每一个可以是一个单核(single-CPU)处理器，也可以是一个多核(multi-CPU)处理器。这里的处理器可以指一个或多个设备、电路、和/或用于处理数据(例如计算机程序指令)的处理核。
在具体实现中，作为一种实施例，通信装置1200还可以包括输出设备1205和输入设备1206。输出设备1205和处理器1201通信，可以以多种方式来显示信息。
上述的通信装置1200可以是一个通用装置或者是一个专用装置。例如通信装置1200可以是台式机、便携式电脑、网络服务器、掌上电脑(personal digital assistant，PDA)、移动手机、平板电脑、无线终端设备、嵌入式设备或具有图12中类似结构的设备。本申请实施例不限定通信装置1200的类型。在实现本申请提供的定位方法时，上述通信装置也可以被称为通信装置。
以上对本申请实施例提供的通信系统进行了介绍，下面将结合附图对本申请实施例提供的定位方法进行说明。
本申请实施例提供的定位方法可以应用于上述图5～图11所示的通信系统，可以由第一设备、第二设备或第三设备执行。本申请实施例提供的定位方法能够结合参考信号在第一设备与第二设备之间传输的距离和两设备之间的相对位移进行定位解算，这样可以将影响定位精度的参数——参与定位的设备间的相对位移，加入到定位解算中，从而能够准确地对处于移动状态的第一设备进行定位，使得处于移动状态的设备实现高精度定位的目的。
其中，根据解算第一设备的位置的执行主体的不同，本申请实施例提供的定位方法可以分为两种：第一种，第一设备对自身的位置进行定位解算；第二种，第三设备对第一设备的位置进行定位解算，下面分别说明。
第一种，第一设备对自身的位置进行定位解算：
请参照图13，图13为本申请实施例的提供的一种定位方法的流程示意图，该定位方法可以由第一设备、第二设备或第三设备执行，其中，第三设备为可选的(可选情况可以参照下述S1302的相关说明)，图13中以虚线框示出。图13所示的定位方法可以包括S1301～S1303，下面依次说明：
S1301，第二设备确定第一收发时间差和第二设备的位移矢量。
第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差。 第一参考信号为第二设备接收的第一设备的参考信号，第二参考信号为第二设备发送的参考信号。第二设备的位移矢量为第二设备在第一收发时间差对应时间段内的位移。其中，第一收发时间差和第二设备的位移矢量可以承载于一个信息中，或者分别承载于两个信息中，对此不作限定。
其中，第一参考信号和第二参考信号可以是用于定位的参考信号。示例性地，第一参考信号和第二参考信号可以是侧行(sidelink，SL)RS，例如SL信道状态信息参考信号(channel state information reference signal，CSI-RS)或SL定位参考信号(positioning reference signal，PRS)；或者，第一参考信号和第二参考信号也可以是上行(uplink，UL)RS，例如UL探测参考信号(sounding reference signal，SRS)；又或者，第一参考信号和第二参考信号也可以是下行(downlink，DL)RS，例如DL PRS。示例性地，当第一设备和第二设备均为终端设备时，第一参考信号和第二参考信号可以为SL RS；当第一设备为终端设备、第二设备为接入网设备时，第一参考信号可以为UL RS，第二参考信号为DL RS。可以理解，本申请实施例对于第一参考信号和第二参考信号的类型不作限定，在实际应用过程中，可以根据需求确定其类型。例如，在V2X场景中，第一参考信号和第二参考信号可以是SL RS；在车辆－道路设施(vehicle-to-infrastructure，V2I)场景中，第一参考信号和第二参考信号可以是UL PRS或DL PRS。
可选地，第一参考信号的接收时间可以为第二设备接收的第一设备的参考信号的子帧起始时刻，第二参考信号的发送时间可以为第二设备发送的参考信号的子帧起始时刻。或者，换句话说，第一参考信号的接收时间可以为第二设备接收的第一设备的参考信号的子帧边界(subframe boundary)，第二参考信号的发送时间可以为第二设备发送的参考信号的子帧边界。本申请实施例中，子帧边界可以理解为子帧中第一个符号的起始时间或最后一个符号的结束时间。
下面结合示例对第二设备确定第一收发时间差和第二设备的位移矢量的过程进行说明。
示例性地，图14为本申请实施例提供的一种对UE1进行定位的场景示意图。在图14中，UE1为第一设备，UE2为第二设备，UE2在T1时刻发送RS1，UE1在T1+t1时刻接收到UE2的RS1，UE1在T2时刻发送RS2，UE2在T2+t2时刻接收到UE1的RS2，d1为UE1在T2时刻到T1+t1时刻的位移向量，d2为UE2在T1时刻到T2+t2时刻的位移向量，在此统一对图14的内容进行说明，下文不再赘述。
如图14所示，站在UE2的角度，UE2在T1时刻向UE1发送第二参考信号(图14中记为RS1)，UE2在T2+t2时刻接收UE1的第一参考信号(图14中记为RS2)，从而UE2可以确定第一收发时间差为T2+t2-T1。其中，T1时刻可以是UE2向UE1发送RS1的子帧起始时刻，T2+t2时刻可以是UE2接收UE1的RS2的子帧起始时刻。例如，如果UE2接收UE1的RS2的子帧起始时刻为8(时):59(分):38(秒):009(毫秒):060(微秒)，也即是T2+t2时刻为8:59:38:009:060，UE2向UE1发送RS1的子帧起始时刻为8(时):59(分):38(秒):000(毫秒):030(微秒)，也即是T1时刻为8:59:38:000:030，那么UE2可以确定第一收发时间差为T2+t2-T1＝8:59:38:009:060-8:59:38:000:030＝9.03ms。
在图14中，第一收发时间差对应时间段为T1时刻到T2+t2时刻，UE2还可以根据自身的移动信息(比如移动速度)，确定在T1时刻到T2+t2时刻之间的位移，例如，可以利用加速度传感器测量T1时刻到T2+t2时刻之间的位移，从而得到第二设备的位移矢量。
其中，第二设备的位移矢量的起点可以为第二设备在发送第二参考信号时刻所在的位置，第二设备的位移矢量的终点可以为第二设备在接收第一参考信号时刻所在的位置；或者，第二设备的位移矢量的起点可以为第二设备在接收第一参考信号时刻所在的位置，第二设备的位移矢量的终点可以为第二设备在发送第二参考信号时刻所在的位置，本申请对此不作限定。示例性地，在图14中，UE2的位移矢量的起点可以为T1时刻UE2所处的位置，UE2的位移矢量的终点可以为T2+t2时刻所处的位置，也即是第二设备的位移矢量为图14中的向量d2＝(x2,y2,z2)；或者，UE2的位移矢量的起点可以为T2+t2时刻UE2所处的位置，UE2的位移矢量的终点可以为T1时刻所处的位置。为了便于理解，在没有特殊说明的情况下，本申请实施例中的第二设备的位移矢量的起点为第二设备在发送第二参考信号时刻所在的位置，第二设备的位移矢量的终点为第二设备在接收第一参考信号时刻所在的位置。
需要说明的是，本申请对第二设备的位移矢量所对应的坐标系不作限定，第二设备的位移矢量所对应的坐标系可以是全局坐标系，例如，全局坐标系可以是指：将正北方向定义为x轴方向，正西方向定义为y轴方向，正上方定义为z轴方向；也可以是局部坐标系，例如，局部坐标系可以是指：将设备前进的方向定义为x轴方向，设备前进方向的左向定义为y轴方向，正上方向定义为z轴方向。为了便于理解，在没有特殊说明的情况下，本申请实施例中以第二设备的位移矢量所对应的坐标系为全局坐标系进行举例以说明对第一设备的定位过程。
可选地，在S1301中，第二设备还可以测量第一参考信号的到达角，以及向第一设备发送测得的第一参考信号的到达角。其中，第一收发时间差、第二设备的位移矢量和第一参考信号的到达角均可以承载于一个信息中，或者分别承载于不同信息中，对此不作限定。
示例性地，在图14中，UE2可以测量RS2的到达角，然后UE2可以向UE1发送RS2的到达角。其中，ZOA也是到达角的一种，也即是说，第一参考信号的到达角可以是第一参考信号的AOA或者是ZOA，本申请对此不作限定。这样，在确定第一设备的位置时，还可以结合参考信号在第一设备与第二设备之间传输的距离、两设备之间的相对位移，以及第一参考信号的到达角进行定位解算，从而能够进一步提高定位精度，以及能够简化定位解算过程，关于其具体实现方式可以参照下文过程1～过程3中的相关描述，在此不予赘述。
当然，为了便于理解，在没有特殊说明的情况下，本申请实施例中第一参考信号的到达角可以理解为第一参考信号的AOA。
S1302，第二设备发送第一收发时间差和第二设备的位移矢量。相应地，第一设备接收第二设备的第一收发时间差和第二设备的位移矢量。
可选地，如图13所示，S1302可以包括S1302A，第二设备向第一设备发送第一收发时间差和第二设备的位移矢量。第一设备接收来自第二设备的第一收发时间差和 第二设备的位移矢量。
可选地，当应用图13所示定位方法的通信系统还包括第三设备，图13所示的定位方法还由第三设备执行时，如图13所示，S1302可以包括S1302B，第二设备向第三设备发送第一收发时间差和第二设备的位移矢量，第三设备接收来自第二设备的第一收发时间差和第二设备的位移矢量；第三设备向第一设备发送第一收发时间差和第二设备的位移矢量，第一设备接收来自第三设备的第一收发时间差和第二设备的位移矢量。
换句话说，第二设备发送的第一收发时间差和第二设备的位移矢量可以向第一设备发送(如S1302A)，或者可以通过转发的方式经第三设备发送到第一设备(如S1302B)，本申请对第一收发时间差和第二设备的位移矢量的发送方式不作限定。
S1303，第一设备根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置。
第二收发时间差为第三参考信号的接收时间与第四参考信号的发送时间的时间差，第三参考信号为第一设备接收的第二设备的参考信号，第四参考信号为第一设备发送的参考信号。
其中，第三参考信号和第四参考信号均可以是用于定位的参考信号。示例性地，第三参考信号和第四参考信号可以是SL RS，例如SL CSI-RS或SL PRS；或者，第三参考信号和第四参考信号也可以是UL RS，例如UL SRS；又或者，第三参考信号和第四参考信号也可以是DL RS，例如DL PRS。示例性地，当第一设备和第二设备均为终端设备时，第三参考信号和第四参考信号可以为SL RS；当第一设备为终端设备、第二设备为接入网设备时，第三参考信号可以为DL RS，第四参考信号为UL RS。可以理解，本申请实施例对于第三参考信号和第四参考信号的类型不作限定，在实际应用过程中，可以根据需求确定其类型。例如，在V2X场景中，第三参考信号和第四参考信号可以是SL RS；在V2I场景中，第三参考信号和第四参考信号可以是UL PRS或DL PRS。
可选地，第三参考信号的接收时间可以为第一设备接收的第二设备的参考信号的子帧起始时刻，第四参考信号的发送时间可以为第一设备发送的参考信号的子帧起始时刻。或者，换句话说，第三参考信号的接收时间可以为第一设备接收的第二设备的参考信号的子帧边界，第四参考信号的发送时间可以为第一设备发送的参考信号的子帧边界。
在执行S1303时，第一设备可以先确定第二收发时间差，然后根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置。下面首先结合示例对第一设备确定第二收发时间差中的第二收发时间差的过程进行说明：
示例性地，如图14所示，UE1为第一设备，UE2为第二设备。站在UE1的角度，UE1在T1+t1时刻接收UE2的第三参考信号(图14中记为RS1)，UE1在T2时刻向UE2发送第四参考信号(图14中记为RS2)，从而UE1可以确定第二收发时间差为T1+t1-T2。其中，T1+t1时刻可以是UE1接收UE2的RS1的子帧起始时刻，T2时刻可以是UE1向UE2发送RS2的子帧起始时刻。例如，如果UE1接收UE2的RS1的子帧起始时刻为8(时):59(分):38(秒):000(毫秒):010(微秒)，也即是T1+t1 时刻为8:59:38:000:010，UE1向UE2发送RS2的子帧起始时刻为8(时):59(分):38(秒):009(毫秒):000(微秒)，也即是T2时刻为8:59:38:009:000，那么UE1可以确定第二收发时间差为T1+t1-T2＝8:59:38:000:010-8:59:38:009:000＝-8.99ms。
可选地，第一设备还可以确定第一设备的位移矢量，第一设备的位移矢量为第一设备在第二收发时间差对应时间段内的位移。这样，可以提供一种确定第一设备与第二设备之间的相对位移的实现方式，例如，第一设备可以根据第二设备的位移矢量和第一设备的位移矢量确定第一设备与第二设备之间的相对位移，以使得第一设备可以结合参考信号在第一设备与第二设备之间传输的距离和两设备之间的相对位移进行定位解算，从而能够对处于移动状态的第一设备进行准确定位，更详细的说明可以参照下述过程1～过程3，在此不予赘述。
例如，在图14中，第二收发时间差对应时间段为T1+t1时刻到T2时刻，UE1还可以根据自身的移动信息，确定在T1+t1时刻到T2时刻之间的位移，例如，可以利用加速度传感器测量T1+t1时刻到T2时刻之间的位移，从而得到第一设备的位移矢量。
其中，与第二设备的位移矢量类似，第一设备的位移矢量的起点可以为第一设备在发送第四参考信号时刻所在的位置，第一设备的位移矢量的终点可以为第一设备在接收第三参考信号时刻所在的位置；或者，第一设备的位移矢量的起点可以为第一设备在接收第三参考信号时刻所在的位置，第一设备的位移矢量的终点可以为第一设备在发送第四参考信号时刻所在的位置，本申请对此不作限定。示例性地，在图14中，UE1的位移矢量的起点可以为T2时刻UE1所处的位置，UE1的位移矢量的终点可以为T1+t1时刻所处的位置，也即是第一设备的位移矢量为图14中的向量d1；或者，UE1的位移矢量的起点可以为T1+t1时刻UE1所处的位置，UE1的位移矢量的终点可以为T2时刻所处的位置。为了便于理解，在没有特殊说明的情况下，本申请实施例中的第一设备的位移矢量的起点为第一设备在发送第四参考信号时刻所在的位置，第一设备的位移矢量的终点为第一设备在接收第三参考信号时刻所在的位置。
其中，为了第一设备的位移矢量与第二设备的位移矢量之和能够正确表示两设备之间的相对位移，本申请实施例中，在收发参考信号之间，一个设备的位移矢量的起点为接收参考信号的时刻所在的位置，一个设备的位移矢量的终点为发送参考信号的时刻所在的位置；或者，一个设备的位移矢量的起点为发送参考信号的时刻所在的位置，一个设备的位移矢量的终点为接收参考信号的时刻所在的位置。以第一设备、第二设备举例，当第一设备的位移矢量的起点为第一设备在发送第四参考信号时刻所在的位置，第一设备的位移矢量的终点为第一设备在接收第三参考信号时刻所在的位置时，第二设备的位移矢量的起点为第二设备在发送第二参考信号时刻所在的位置，第二设备的位移矢量的终点为第二设备在接收第一参考信号时刻所在的位置。相应地，当第一设备的位移矢量的起点为第一设备在接收第三参考信号时刻所在的位置，第一设备的位移矢量的终点为第一设备在发送第四参考信号时刻所在的位置时，第二设备的位移矢量的起点为第二设备在接收第一参考信号时刻所在的位置，第二设备的位移矢量的终点为第二设备在发送第二参考信号时刻所在的位置。
当然，可选地，如果在收发参考信号之间，一个设备的位移矢量的起点为收发参考信号过程中最早的时刻所在的位置，一个设备的位移矢量的终点为收发参考信号过 程中最晚的时刻所在的位置，那么第一设备与第二设备之间的相对位移也可以为第一设备的位移向量与第二设备的位移向量之差。
需要说明的是，本申请对第一设备的位移矢量所对应的坐标系也不作限定，第一设备的位移矢量所对应的坐标系可以是全局坐标系，或者是局部坐标系。为了便于理解，在没有特殊说明的情况下，本申请实施例中以第一设备的位移矢量所对应的坐标系为全局坐标系进行举例以说明对第一设备的定位过程。
可选地，换句话说，在S1303中，第一设备还可以测量第三参考信号的到达角。示例性地，在图14中，UE1可以测量RS1的到达角。其中，ZOA也是到达角的一种，也即是说，第三参考信号的到达角可以是第三参考信号的AOA或者是ZOA，本申请对此不作限定。这样，在确定第一设备的位置时，还可以结合参考信号在第一设备与第二设备之间传输的距离、两设备之间的相对位移，以及第三参考信号的到达角进行定位解算，从而能够进一步提高定位精度，以及能够简化定位解算过程，关于其具体实现方式可以参照下文过程1～过程3中的相关描述，在此不予赘述。
当然，为了便于理解，在没有特殊说明的情况下，本申请实施例中第三参考信号的到达角可以理解为第三参考信号的AOA。
在S1303中，第一设备确定第二收发时间差后，根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置的方式可以如下过程1～过程3，下面依次介绍：
过程1，第一设备根据第二设备的位移矢量确定第一设备与第二设备之间的相对位移。
可选地，第一设备处于静止状态，那么第一设备可以将第二设备的位移矢量确定为第一设备与第二设备之间的相对位移。在此情况下，第二设备可以处于移动状态或静止状态，对此不作限定。
可选地，根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置，可以包括：根据第一收发时间差、第二设备的位移矢量、第二收发时间差和第一设备的位移矢量，确定第一设备的位置。其中，第一设备可以根据第一设备的位移矢量和第二设备的位移矢量确定第一设备与第二设备之间的相对位移。例如，第一设备可以将第一设备的位移矢量与第二设备的位移矢量之和，确定为第一设备与第二设备之间的相对位移。然后，第一设备可以根据第一设备与第二设备之间的相对位移、第一收发时间差、第二收发时间差，确定第一设备的位置(参照以下过程2、过程3)。
示例性地，以在二维空间举例，如图14所示，UE1的位移矢量为d1，UE2的位移矢量为d2，那么可以确定UE1与UE2之间的相对位移为d1+d2。假设d1＝(x1，y1)，d2＝(x2，y2)，那么UE1与UE2之间的相对位移d1+d2＝(x1+x2，y1+y2)。其中，如果以UE1为参照物，则站在UE1的角度，根据向量间的几何关系，可以确定UE2相对于UE1的位移情况如图14所示。
过程2，第一设备根据第一收发时间差和第二收发时间差，确定参考信号在第一设备和第二设备时间传输的距离。
第一收发时间差与第二收发时间差之和表示参考信号在两个设备之间往返传播的 时间，根据距离、时间和光速的关系即可计算出参考信号在第一设备与第二设备之间传播的距离。比如，将参考信号在第一设备和第二设备时间传输的距离记为L，则L＝(第一收发时间差+第二收发时间差)×c，c为光速。
示例性地，如图14所示，假设第一收发时间差为T2+t2-T1＝9.03ms，第二收发时间差为T1+t1-T2＝-8.99ms，那么第一收发时间差和第二收发时间差之和为T2+t2-T1+T1+t1-T2＝t1+t2＝9.03ms-8.99ms＝40微秒(microsecond，μs)，又假设c＝3×108m/s，则参考信号在第一设备与第二设备之间传播的距离为L＝40μs×c＝12000m，也即是说，RS1传播的距离与RS2传播的距离之和为12000m。
可选地，第一收发时间差可以为第一参考信号的接收时间与第二参考信号的发送时间的差对第一数值取模后的值；第二收发时间差可以为第三参考信号的接收时间与第四参考信号的发送时间的差对第一数值取模后的值。换句话说，如果将第一参考信号的接收时间记为RX1，第二参考信号的发送时间记为TX1，第三参考信号的接收时间记为RX2，第四参考信号的发送时间记为TX2，那么上述S1301中，第二设备可以将(RX1-TX1)对第一数值取模，得到取模后的第一收发时间差；对应地，第一设备可以将(RX2-TX2)对第一数值取模，得到取模后的第二收发时间差。以及，第一设备可以根据取模后的第一收发时间差和第二收发时间差确定参考信号在第一设备和第二设备时间传输的距离。
其中，第一数值为网络设备配置给终端设备的值，或者为终端设备上报给网络设备的值，或者为预先约定(比如协议约定)的值，本申请对此不作限定。第一数值的大小可以为2ms、1ms、0.5ms等，本申请实施例以第一数据大小为1ms进行举例以说明对第一设备的定位过程，但并不表示将第一数据限定于1ms。当第一数值为1ms时，取模后的第一收发时间差或者取模后的第二收发时间差可以约束在一个长度为1ms的区间内，该区间的左右端点根据取模规则可以不同，例如，取模后的第一收发时间差的值可以约束在[0ms，1ms)之间，或者可以约束在[-0.5ms，0.5ms)之间，本申请对此不作限定，在实际应用中可以根据需求进行调整。为了便于说明，在没有特别指明的情况下，本申请实施例中以取模后的第一收发时间差的值可以约束在[0ms，1ms)之间进行举例以说明对第一设备的定位过程。
示例性地，如图14所示，假设第一数值为1ms，RX1为8:59:38:000:010，TX1为8:59:38:009:000，那么(RX1-TX1)＝8:59:38:000:010-8:59:38:009:000＝-8.99ms，将-8.99ms对1ms取模，取模后的值为0.01ms(10μs)，从而取模后的第一收发时间差为0.01ms(10μs)。假设RX2为8:59:38:009:060，TX2为8:59:38:000:030，那么(RX1-TX1)＝8:59:38:009:060-8:59:38:000:030＝9.03ms，将9.03ms对1ms取模，取模后的值为0.03ms(30μs)，从而得到取模后的第二收发时间差为0.03ms(30μs)，第一收发时间差与第二收发时间差之和为40μs，而未取模的第一收发时间差与第二收发时间差之和为9.03ms-8.99ms＝40μs。因此，取模后的第一收发时间差与第二收发时间差之和，与未取模的第一收发时间差与第二收发时间差之和的值相同。这样，取模后的第一收发时间差和第二收发时间差的位数会减少，这样，能够减小携带第一收发时间差和第二收发时间差的信令的比特数，减少通信过程中信令的开销，提升传输效率。
第一数值可以满足如下要求：第一数值为正数，第一数值与光速的乘积不超过两 设备间的最大距离。例如，假设地球上两个设备间的最大距离为3×105m，第一数值×c＜3×105m，从而第一数值不超过1ms。
过程3，第一设备根据参考信号在第一设备和第二设备时间传输的距离和第一设备与第二设备之间的相对位移，确定第一设备的位置。
结合图14，并根据参考信号在第一设备与第二设备之间传播的距离、第一设备与第二设备之间的相对位移的几何关系，可以得出，第一设备的位置位于第一区域。其中，该第一区域的形状为椭球或椭圆，第一区域的两个焦点为第一矢量的首尾端点。并且，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和，第一区域的长轴的长度为第二收发时间差和第一收发时间差之和对应的距离；或者说，第一矢量为第一设备与第二设备之间的相对位移，第一区域的长轴的长度为参考信号在第一设备和第二设备之间传输的距离。换句话说，第一设备位于根据参考信号在第一设备与第二设备之间传输的距离和相对位移确定的椭球或椭圆上，这样，可以提供一种确定第一设备的位置的实现方式，例如，第一设备可以根据参考信号在第一设备与第二设备之间传输的距离和两设备之间的相对位移建立形状为椭球或椭圆的第一区域的表达式，以使得第一设备可以结合参考信号在第一设备与第二设备之间传输的距离和两设备之间的相对位移进行定位解算，从而能够对处于移动状态的第一设备进行准确定位。
其中，第一设备的位置位于第一区域的边界上，例如，当第一区域的形状为椭球时，第一设备的位置位于椭球表面；当第一区域的形状为椭圆时，第一设备的位置位于椭圆圆周。
示例性地，过程3可以包括：第一设备可以根据参考信号在第一设备和第二设备之间传输的距离和第一设备与第二设备之间的相对位移，确定第一区域；然后根据第一区域确定第一设备的位置。
为了便于说明，本申请实施例中，将第一设备的位移矢量与第二设备的位移矢量之和记为第一矢量，在此统一说明，下文不再赘述。另外需要说明的是，在二维空间中，第一区域的形状可以为椭圆，也可以是椭圆圆周，在三维空间中，第一区域的形状可以为椭球，也可以是椭球曲面。另外，椭球是椭圆在三维空间的推广，在一些可能的设计中，椭球的概念可以包括三维空间中的椭球和二维空间中的椭圆。在一些情况下，第一区域可以是椭球或椭圆的一部分，例如可以先确定一个形状为椭球或椭圆的区域，然后利用无线信号传输特征(例如信号的覆盖方向)去除该区域中不合理的部分，将剩余部分作为第一区域。为了便于理解，在没有特殊说明的情况下，本申请实施例中以第一区域的形状为椭圆为例说明如何确定第一设备的位置，也即是第一设备和第二设备以及两个设备的运动轨迹位于同一个水平面，第一设备、第二设备的位移向量的z轴分量(高度分量)为0。还需要说明的是，本领域技术人员可以容易地将本实施例推广到三维空间中以确定第一设备的位置，故本申请实施例并不限定第一区域的形状为椭圆或椭球。
在上述过程3中，第一设备根据参考信号在第一设备和第二设备之间传输的距离和第一设备与第二设备之间的相对位移，确定第一区域的实施方式可以如下：
假设第一区域的中心点为坐标系的原点，第一区域的两个焦点为(x0,y0)和(-x0,-y0)，则可以利用如下公式(1)在坐标系中建立第一区域的表达式：
Figure PCTCN2022119719-appb-000050
表达式(1)中，
Figure PCTCN2022119719-appb-000051
其中，a表示第一区域的半长轴，L为参考信号在第一设备和第二设备时间传输的距离，b表示第一区域的半短轴。
表达式(1)中，x′和y′与x、y(x、y为第一区域表达式中的变量和因变量)的关系可以根据以下公式(2)确定：
Figure PCTCN2022119719-appb-000052
从而，联合(1)、(2)，可得第一区域的另一种表达式为如下公式(3)：
Figure PCTCN2022119719-appb-000053
可以理解，在实际应用中，既可以利用上述公式(1)、公式(2)表示第一区域，也可以利用公式(3)表示第一区域，本申请对此不作限定。
示例性地，假设第一设备和第二设备按照图14所示的场景运动，那么依据上述公式(1)、公式(2)，或者公式(3)，第一设备可以确定出如图15所示的第一区域，该第一区域的长轴AB的长度为RS1和RS2之和对应的距离，F1和F2为第一区域的两个焦点，且F1F2为第一矢量，OC为第一区域的半短轴(也即是上述公式中的b)。第一设备位于第一区域上的某一个位置。此时，站在第一设备的角度，第一设备暂时还不能确定第一区域上的哪个点为自身的位置，还需要进一步根据第一区域确定第一设备的位置。
在过程3中，第一设备根据第一区域确定第一设备的位置的实施方式可以包括如下方式1～方式3：
方式1，在第一设备还测量第三参考信号的到达角的情况下，第一设备根据第一区域以及第三参考信号的到达角确定第一设备位于第一区域上的位置。或者换句话说，第一设备的位置由第一区域以及第三参考信号的到达角确定。
示例性地，如图15所示，将第三参考信号的到达角记为AoA1，那么AoA1可以满足如下公式(4)：
Figure PCTCN2022119719-appb-000054
联立公式(1)、公式(2)、公式(4)，或者公式(3)、公式(4)，可以求解(x,y)，也即确定第一设备的位置。其中，在一些情况下，在联立公式(1)、公式(2)、公式(4)，或者公式(3)、公式(4)求解(x,y)时，可能有多个解，此时可以利用AoA1的象限排除多余的解，从而得到正确的第一设备的位置。
方式2，在第二设备还向第一设备发送测得的第一参考信号的到达角的情况下，第一设备根据第一区域以及第一参考信号的到达角确定第一设备位于第一区域上的位置。或者换句话说，第一设备的位置由第一区域以及第一参考信号的到达角确定。
示例性地，如图15所示，将第一参考信号的到达角记为AoA2，那么AoA2可以满足如下公式(5)：
Figure PCTCN2022119719-appb-000055
联立公式(1)、公式(2)、公式(5)，或者公式(3)、公式(5)，可以求解(x,y)，也即确定第一设备的位置。其中，在一些情况下，在联立公式(1)、公式(2)、公式(5)，或者公式(3)、公式(5)求解(x,y)时，可能有多个解，此时可以利用AoA2的象限排除多余的解，从而得到正确的第一设备的位置。
方式3，在第二设备还向第一设备发送测得的第一参考信号的到达角、第一设备还测量第三参考信号的到达角的情况下，第一设备根据第一区域、第一参考信号的到达角和第三参考信号的到达角确定第一设备位于第一区域上的位置。或者换句话说，第一设备的位置由第一区域、第一参考信号的到达角和第三参考信号的到达角确定。
在方式3中，可选地，第一设备可以分别利用上述方式1和方式2确定一个第一设备的位置，然后将这两个位置的平均值作为第一设备的位置。例如，假设利用方式1确定的第一设备的位置为(x1,y1)，利用方式2确定的第一设备的位置为(x2,y2)，那么最终确定的第一设备的位置为((x1+x2)/2,(y1+y2)/2)。
或者可选地，图16为在图15所示坐标系中标注到达角AoA3的示意图，如图16所示，将第三参考信号的到达角记为AoA1，第一参考信号的到达角记为AoA2，那么AoA1和AoA2可以满足如下公式(6)：
Figure PCTCN2022119719-appb-000056
联立公式(1)、公式(2)、公式(6)，或者公式(3)、公式(6)，可以求解(x,y)，也即确定第一设备的位置。其中，在一些情况下，在联立公式(1)、公式(2)、公式(6)，或者公式(3)、公式(6)求解(x,y)时，可能有多个解，此时可以利用
Figure PCTCN2022119719-appb-000057
(记为AoA3)的象限排除多余的解，从而得到正确的第一设备的位置。
可以理解，如图16所示，如果将
Figure PCTCN2022119719-appb-000058
记为AoA3，那么AoA3表示的是UE1与坐标系圆心之间的角度关系。
示例性地，上述方式1～方式3中，利用AoA(包括上述AoA1、AoA2、AoA3)的象限排除多余的解可以通过以下判断实现：
若AoA在0到π/2之间，则对应的-y0-y>0，-x0-x>0；
若AoA在π/2到π之间，则对应的-y0-y>0，-x0-x<0；
若AoA在π到3*π/2之间，则对应的-y0-y<0，-x0-x<0；
在AoA在3*π/2到2*π之间，则对应的-y0-y<0，-x0-x>0。
方式4，如果第二设备的数量为多个，也即是第一设备可以接收到多个第二设备的第一收发时间差和第二设备的位移矢量，那么对于每个第二设备，通过利用上述“根据参考信号在第一设备和第二设备之间传输的距离和第一设备与第二设备之间的相对位移，确定第一区域”，可以为每个第二设备确定一个对应的第一区域(为了便于区分，将该区域记为第二区域)，也即是可以得到多个第二区域。第一设备可以将这多个第二区域的交点确定为第一设备的位置。
或者换句话说，若第二设备的数量为N个，N为大于1的整数，那么每个第二设备均对应一个第二区域，第一设备的位置位于N个第二区域的交点。其中，N个第二设备中第i个第二设备对应的第i个第二区域的形状为椭球或椭圆，第i个第二区域的两个焦点为第二矢量的首尾端点，第i个第二区域的长轴的长度为第二收发时间差和第i个第二设备的第一收发时间差之和对应的距离，第二矢量为第一设备的位移矢量 与第i个第二设备的位移矢量之和，i为正整数，且i≤N。这样，在第二设备的数量有多个时，可以提供一种确定第一设备的位置的实现方式，例如，第一设备可以根据参考信号在第一设备与多个第二设备之间传输的距离和第一设备与多个第二设备的相对位移，建立形状为椭球或椭圆的多个第二区域的表达式，第一设备的位置位于这多个第二区域的交点，从而使得第一设备可以结合参考信号在第一设备与多个第二设备之间传输的距离和第一设备与多个第二设备的相对位移进行定位解算，提高第一设备的定位精度。
示例性地，如图17所示，假设存在3个第二设备，通过利用上述“根据参考信号在第一设备和第二设备之间传输的距离和第一设备与第二设备之间的相对位移，确定第一区域”，为每个第二设备确定一个对应的第二区域，分别为区域1、区域2、区域3，那么根据几何关系，可以确定区域1、区域2、区域3共同的交点即为第一设备的位置。
当然，上述方式4还可以与方式1～方式3中的任意一种结合，也即是在利用方式4确定出第一设备的位置之后，再利用方式1～方式3中的任意一种修正第一设备的位置，以进一步提升第一设备的定位精度。
图15为图14所示场景中UE1和UE2在坐标系中的示意图，在图15中，通过上述方式1～方式4获取第一设备的位置(x,y)之后，由于UE2在T1和T2+t2时刻分别在(-x 0,y 0,0)和(x 0,y 0,0)上，UE1可以进一步确定在相应时刻UE1相对于UE2的位置，或UE2相对于UE1的位置。例如，在T1时刻，UE1相对于UE2的位置为(x+x 0,y+y 0,0)，UE2相对于UE1的位置为(-x 0-x,-y 0-y,0)，二者之间的距离为
Figure PCTCN2022119719-appb-000059
在T2+t2时刻，UE1相对于UE2的位置为(x-x 0,y-y 0,0)，UE2相对于UE1的位置为(x 0-x,y 0-y,0)，二者之间的距离为
Figure PCTCN2022119719-appb-000060
需要说明的是，上述过程1～过程3中，第一设备的位移矢量、第二设备的位移向量、到达角均基于相同的坐标系。在一些情况下，如果第一设备的位移矢量、第二设备的位移向量、到达角基于的坐标系不同，则第一设备可以利用坐标系转换公式将第一设备的位移矢量、第二设备的位移向量、到达角所基于的坐标系转换为相同的坐标系。坐标系转换公式的转换方式以及第一设备如何获取坐标系转换公式，本申请对此不作限定。
在上述S1301～S1303中，第一设备在确定自身的位置时，可以根据第一收发时间差、第二收发时间差和第二设备的位移矢量进行定位解算。其中，根据第一收发时间差和第二收发时间差可以确定参考信号在第一设备与第二设备之间传输的距离，根据第二设备的位移矢量可以确定第一设备与第二设备之间的相对位移。换句话说，第一设备可以结合参考信号在第一设备与第二设备之间传输的距离和两设备之间的相对位移进行定位解算，这样可以将影响定位精度的参数——参与定位的设备间的相对位移，加入到定位解算中，从而不论参与定位的设备(包括上述第一设备和第二设备)是否处于移动状态，均能实现对第一设备的准确定位。
需要说明的是，在执行上述S1301～S1303的过程中，第一设备与第二设备之间会互相收发参考信号，以进行收发时间差(Rx-Tx time difference)的测量，从而分别确定第一收发时间差和第二收发时间差。如上述的S1301中，第二设备会接收来自第一 设备的第一参考信号、向第一设备发送第二参考信号，然后将第一参考信号的接收时间与第二参考信号的发送时间的时间差确定为第一收发时间差；上述S1303中，第一设备会接收来自第二设备的第三参考信号、向第二设备发送第四参考信号，然后将第三参考信号的接收时间与第四参考信号的发送时间的时间差确定为第二收发时间差。本申请实施例中并未限定第一设备与第二设备之间互相收发参考信号的先后顺序，例如，如图14所示，第二设备可以先向第一设备发送第二参考信号(图14中的RS1)，然后第一设备向第二设备发送第四参考信号(图14中的RS2)；或者，第一设备可以先向第二设备发送第四参考信号，然后第二设备向第一设备发送第二参考信号，本申请对此不作限定。当然，为了便于理解，在没有特殊说明的情况下，本申请实施例中以第二设备先向第一设备发送第二参考信号，然后第一设备向第二设备发送第四参考信号为例说明第一设备的定位过程。
在一些可能的实施例中，第一参考信号可以为第四参考信号，第二参考信号可以为第三参考信号；或者，换句话说，第三参考信号可以是上述第二设备发送给第一设备的参考信号，比如是上述第二参考信号；第四参考信号可以是上述第二设备接收的来自第一设备的参考信号，比如是上述第一参考信号。其中，为了便于理解，在没有特殊说明的情况下，本申请实施例中，第一参考信号为第四参考信号，第二参考信号为第三参考信号。
在一些可能的实施例中，对于上述第一参考信号～第四参考信号，第一参考信号、第四参考信号可以是不同周期的参考信号，第二参考信号和第三参考信号可以是不同周期的参考信号。
结合上述图5～图11所示的通信系统，可以理解，在图13中，第一设备可以是终端设备，第二设备可以是终端设备或接入网设备，第三设备可以是定位管理设备(比如LMF网元)。
在具体应用时，根据第二设备的类别以及是否通过第三设备转发第一收发时间差和第二设备的位移矢量，图13所示的定位方法可以分为以下几个可能的实施方式：
方式5，在第二设备为终端设备且未通过第三设备转发第一收发时间差和第二设备的位移矢量的情况下，第一设备接收来自第二设备的第一收发时间差和第二设备的位移矢量，并对自身的位置进行定位解算。
示例性地，图18为本申请实施例的提供的另一种定位方法的流程示意图，该定位方法可以由第一设备、第二设备执行，其中，第一设备为终端设备(图18中记为UE1)，第二设备为终端设备(图18中记为UE2)。图18所示的定位方法可以包括S1801～S1803，下面分别介绍：
S1801，UE2确定第一收发时间差和第二设备的位移矢量。
可以理解，S1801的实施方式及效果可以参照上述S1301中的对应内容，在此不再赘述。
S1802，UE2向UE1发送第一收发时间差和第二设备的位移矢量。相应地，UE1接收来自UE2的第一收发时间差和第二设备的位移矢量。
可以理解，S1802的实施方式及效果可以参照上述S1302A中的对应内容，在此不再赘述。
S1803，UE1根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置。
可以理解，S1803的实施方式及效果可以参照上述S1303中的对应内容，在此不再赘述。
其中，UE1和UE2的运动状态不作限定，可以是移动状态或静止状态，通过应用本申请实施例提供的定位方法，均能够对UE1的位置进行准确定位。
其中，S1801～S1803的实施方式及效果可以分别参照上述S1301～S1303中的对应内容，在此不再赘述。
应理解，方式5中执行定位解算的主体为第一设备。方式5可以应用于V2X场景，可以帮助V2X场景中的两个存在相对移动的终端设备进行准确定位。
方式6，在第二设备为终端设备或接入网设备且通过第三设备转发第一收发时间差和第二设备的位移矢量的情况下，第一设备接收来自第三设备的第一收发时间差和第二设备的位移矢量，并对自身的位置进行定位解算。
示例性地，图19为本申请实施例的提供的另一种定位方法的流程示意图，该定位方法可以由第一设备、第二设备和第三设备执行，其中，第一设备为终端设备(图19中记为UE1)，第二设备为终端设备或接入网设备(图19中记为UE2/接入网设备)，第三设备为LMF网元(图19中记为LMF网元)。图19所示的定位方法可以包括S1901～S1903，下面分别介绍：
S1901，UE2或接入网设备，确定第一收发时间差和第二设备的位移矢量。
可以理解，S1901的实施方式及效果可以参照上述S1301中的对应内容，在此不再赘述。
S1902，UE2或接入网设备，向LMF网元发送第一收发时间差和第二设备的位移矢量。相应地LMF网元接收来自UE2或接入网设备的第一收发时间差和第二设备的位移矢量。LMF网元向UE1发送第一收发时间差和第二设备的位移矢量。相应地，UE1接收来自LMF网元的第一收发时间差和第二设备的位移矢量。
可以理解，S1902的实施方式及效果可以参照上述S1302B中的对应内容，在此不再赘述。
S1903，UE1根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置。
可以理解，S1903的实施方式及效果可以参照上述S1303中的对应内容，在此不再赘述。
其中，S1901～S1903的实施方式及效果可以分别参照上述S1301～S1303中的对应内容，在此不再赘述。
应理解，方式6中执行定位解算的主体为第一设备。方式6中的接入网设备可以是基站、TRP、路侧单元(road side unit，RSU)等，并且，接入网设备的数量可以是多个。方式6中的UE2/接入网设备的位置可以是静止的，UE1可以是移动或静止的，对此不作限定。第一设备在确定出自身的位置时，可以将自身的位置与GPS融合，并利用导航程序在地图上实时显示自身位置，并展示出加速度等信息，可以提升用户体验。
方式6中，当UE2/接入网设备静止时，可以利用上述方式4对第一设备的位置进行解算。
方式7，在第二设备为卫星且通过第三设备转发第一收发时间差和第二设备的位移矢量的情况下，第一设备接收来自第三设备的第一收发时间差和第二设备的位移矢量，并对自身的位置进行定位解算。
示例性地，图20为本申请实施例的提供的另一种定位方法的流程示意图，该定位方法可以由第一设备、第二设备和第三设备执行，其中，第一设备为终端设备(图20中记为UE1)，第二设备为卫星(图20中记为卫星)，第三设备为LMF网元(图20中记为LMF网元)。图20所示的定位方法可以包括S2001～S2003，下面分别介绍：
S2001，卫星确定第一收发时间差和第二设备的位移矢量。
可以理解，S2001的实施方式及效果可以参照上述S1301中的对应内容，在此不再赘述。
S2002，卫星向LMF网元发送第一收发时间差和第二设备的位移矢量。相应地LMF网元接收来自卫星的第一收发时间差和第二设备的位移矢量。LMF网元向UE1发送第一收发时间差和第二设备的位移矢量。相应地，UE1接收来自LMF网元的第一收发时间差和第二设备的位移矢量。
可以理解，S2002的实施方式及效果可以参照上述S1302B中的对应内容，在此不再赘述。
S2003，UE1根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置。
可以理解，S2003的实施方式及效果可以参照上述S1303中的对应内容，在此不再赘述。
其中，S2001～S2003的实施方式及效果可以分别参照上述S1301～S1303中的对应内容，在此不再赘述。
应理解，方式7中执行定位解算的主体为第一设备。方式7可以用于卫星、无人机、飞机对地面终端进行定位，也即是说，第一设备可以是终端设备，第二设备可以是卫星、无人机、飞机等(图20中以卫星举例)，多颗卫星将各自测量的第一收发时间差和第二设备的位移矢量反馈给网络，例如基站、核心网LMF、或V2X服务器，网络将卫星的第一收发时间差和第二设备的位移矢量转发给第一设备，用于第一设备计算自己的位置。
第二种，第三设备对第一设备的位置进行定位解算：
请参照图21，图21为本申请实施例的提供的另一种定位方法的流程示意图，该定位方法由第三设备对第一设备的位置进行定位解算。该定位方法可以包括S2101～S2105，下面依次说明。
S2101，第二设备确定第一收发时间差和第二设备的位移矢量。
可以理解，S2101的实施方式及效果可以参照上述S1301中的对应内容，在此不再赘述。
S2102，第一设备确定第二收发时间差。
可以理解，S2102的实施方式及效果可以参照上述图13所示方法实施例中的“第 一设备确定第二收发时间差”的内容，在此不再赘述。
S2103，第二设备向第三设备发送第一收发时间差和第二设备的位移矢量。相应地，第三设备接收来自第二设备的第一收发时间差和第二设备的位移矢量。
S2104，第一设备向第三设备发送第二收发时间差。相应地，第三设备接收来自第一设备的第二收发时间差。
S2105，第三设备根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置。
可以理解，S2105的实施方式及效果可以参照上述S1303中的对应内容，替换执行主体即可，在此不再赘述。
其中，S2101～S2105的实施方式及效果可以分别参照上述S1301～S1303中的对应内容，在此不再赘述。其中，第三设备根据第一收发时间差和第二设备的位移矢量和第二收发时间差确定第一设备的位置的原理及效果，可以参照上述S1303中第一设备根据第一收发时间差和第二设备的位移矢量和第二收发时间差确定第一设备的位置的原理及效果，在此不再赘述。
结合上述图5～图11所示的通信系统，可以理解，在图21中，第一设备可以是终端设备，第二设备可以是终端设备或接入网设备，第三设备可以是定位管理设备(比如LMF网元)。
在具体应用时，根据第二设备的类别，图21所示的定位方法可以分为以下几个可能的实施方式：
方式8，在第二设备为终端设备的情况下，第三设备根据第一收发时间差、第二设备的位移矢量和第二收发时间差对第一设备的位置进行定位解算。
示例性地，图22为本申请实施例的提供的另一种定位方法的流程示意图，该定位方法可以由第一设备、第二设备、第三设备执行，其中，第一设备为终端设备(图22中记为UE1)，第二设备为终端设备(图22中记为UE2)，第三设备为LMF网元(图22中记为LMF网元)。图22所示的定位方法可以包括S2201～S2205，下面分别介绍：
S2201，UE2确定第一收发时间差和第二设备的位移矢量。
可以理解，S2201的实施方式及效果可以参照上述S2101中的对应内容，在此不再赘述。
S2202，UE1确定第二收发时间差。
可以理解，S2202的实施方式及效果可以参照上述S2102中的对应内容，在此不再赘述。
S2203，UE2向LMF网元发送第一收发时间差和第二设备的位移矢量。相应地，LMF网元接收来自UE2的第一收发时间差和第二设备的位移矢量。
S2204，UE1向LMF网元发送第一收发时间差和第二设备的位移矢量。相应地，LMF网元接收来自UE1的第一收发时间差和第二设备的位移矢量。
S2205，LMF网元根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置。
可以理解，S2205的实施方式及效果可以参照上述S2105中的对应内容，在此不再赘述。
其中，S2201～S2205的实施方式及效果可以分别参照上述S1301～S1303中的对应内容，在此不再赘述。
在方式8中，两个UE在分别确定出第一收发时间差、第二设备的位移矢量和第二收发时间差后，可以各自将第一收发时间差、第二设备的位移矢量和第二收发时间差反馈给网络(例如基站、LMF网元、或V2X服务器等，图22以网络为LMF网元举例)，用于网络计算两个UE之间的位置。
方式9，在第二设备为终端设备或接入网设备的情况下，第三设备根据第一收发时间差和第二设备的位移矢量和第二收发时间差对第一设备的位置进行定位解算。
示例性地，图23为本申请实施例的提供的另一种定位方法的流程示意图，该定位方法可以由第一设备、第二设备、第三设备执行，其中，第一设备为终端设备(图23中记为UE1)，第二设备为终端设备或接入网设备(图23中记为UE2/接入网设备)，第三设备为LMF网元(图23中记为LMF网元)。图23所示的定位方法可以包括S2301～S2305，下面分别介绍：
S2301，UE2或接入网设备确定第一收发时间差和第二设备的位移矢量。
可以理解，S2301的实施方式及效果可以参照上述S2101中的对应内容，在此不再赘述。
S2302，UE1确定第二收发时间差。
可以理解，S2302的实施方式及效果可以参照上述S2102中的对应内容，在此不再赘述。
S2303，UE2或接入网设备向LMF网元发送第一收发时间差和第二设备的位移矢量。相应地，LMF网元接收来自UE2或接入网设备的第一收发时间差和第二设备的位移矢量。
S2304，UE1向LMF网元发送第一收发时间差和第二设备的位移矢量。相应地，LMF网元接收来自UE1的第一收发时间差和第二设备的位移矢量。
S2305，LMF网元根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置。
可以理解，S2305的实施方式及效果可以参照上述S2105中的对应内容，在此不再赘述。
其中，S2301～S2305的实施方式及效果可以分别参照上述S1301～S1303中的对应内容，在此不再赘述。
在方式9中，接入网设备可以是基站、TRP、RSU、路侧单元等，并且，接入网设备的数量可以是多个。方式9中的UE2/接入网设备的位置可以是静止的，UE1可以是移动或静止的，对此不作限定。UE1和UE2/接入网设备均将测量的第一收发时间差和第二设备的位移矢量或第二收发时间差反馈给网络(例如基站、LMF网元、或V2X服务器等，图23以网络为LMF网元举例)，由网络计算UE1的位置。
方式9中，当UE2/接入网设备静止时，可以利用上述方式4对第一设备的位置进行解算。
以上结合图13～图23详细说明了本申请实施例提供的定位方法。以下结合图24～图25详细说明用于执行本申请实施例提供的定位方法的通信装置。
示例性地，图24是本申请实施例提供的通信装置的一种结构示意图。如图24所示，通信装置2400包括：处理模块2401和收发模块2402。为了便于说明，图24仅示出了该通信装置的主要部件。
在一些实施例中，通信装置2400可适用于图5～图11所示出的通信系统中，执行图13、图18～图20中所示出的定位方法中第一设备的功能。
其中，收发模块2402，用于接收第一收发时间差和第二设备的位移矢量。处理模块2401，用于根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置。其中，第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，第一参考信号为第二设备接收的第一设备的参考信号，第二参考信号为第二设备发送的参考信号，第二设备的位移矢量为第二设备在第一收发时间差对应时间段内的位移。第二收发时间差为第三参考信号的接收时间与第四参考信号的发送时间的时间差，第三参考信号为第一设备接收的第二设备的参考信号，第四参考信号为第一设备发送的参考信号。
其中，收发模块2402，还用于接收来自第二设备的第一收发时间差和第二设备的位移矢量，或者收发模块2402，还用于接收来自第三设备的第一收发时间差和第二设备的位移矢量。
其中，第一收发时间差和第二设备的位移矢量可以承载于一个信息中，或者分别承载于两个信息中，对此不作限定。
在一些可能的设计中，处理模块2401，还用于根据第一收发时间差、第二设备的位移矢量、第二收发时间差和第一设备的位移矢量，确定第一设备的位置。
在一些可能的设计中，第一设备的位置位于第一区域。其中，第一区域的形状为椭球或椭圆，第一区域的两个焦点为第一矢量的首尾端点，第一区域的长轴的长度为第二收发时间差和第一收发时间差之和对应的距离，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和。
其中，在二维空间中，第一区域的形状可以为椭圆，也可以是椭圆圆周，在三维空间中，第一区域的形状可以为椭球，也可以是椭球曲面。另外，椭球是椭圆在三维空间的推广，在一些可能的设计中，椭球的概念可以包括三维空间中的椭球和二维空间中的椭圆。在一些情况下，第一区域可以是椭球或椭圆的一部分，例如可以先确定一个形状为椭球或椭圆的区域，然后利用无线信号传输特征(例如信号的覆盖方向)去除该区域中不合理的部分，将剩余部分作为第一区域。
在一些可能的设计中，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和，假设第一矢量的首尾端点坐标分别为(x0,y0)和(-x0,-y0)，那么第一设备的位置位于第一区域，第一区域可以根据如下公式(1)确定：
Figure PCTCN2022119719-appb-000061
其中，
Figure PCTCN2022119719-appb-000062
L为第二收发时间差和第一收发时间差之和对应的距离，a表示第一区域的半长轴，b表示第一区域的半短轴。并且，公式(1)中x′和y′与x、y(x、y为第一区域表达式中的变量和因变量)的关系可以根据以下公式(2)确定：
Figure PCTCN2022119719-appb-000063
在另一些可能的设计中，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和，假设第一矢量的首尾端点坐标分别为(x0,y0)和(-x0,-y0)，那么第一设备的位置位于第一区域，第一区域可以根据如下公式(3)确定：
Figure PCTCN2022119719-appb-000064
其中，
Figure PCTCN2022119719-appb-000065
L为第二收发时间差和第一收发时间差之和对应的距离，a表示第一区域的半长轴，b表示第一区域的半短轴。x、y为第一区域表达式中的变量和因变量。
可选地，若第二设备的数量为N个，N为大于1的整数，那么每个第二设备均对应一个第二区域，第一设备的位置位于N个第二区域的交点。其中，N个第二设备中第i个第二设备对应的第i个第二区域的形状为椭球或椭圆，第i个第二区域的两个焦点为第二矢量的首尾端点，第i个第二区域的长轴的长度为第二收发时间差和第i个第二设备的第一收发时间差之和对应的距离，第二矢量为第一设备的位移矢量与第i个第二设备的位移矢量之和，i为正整数，且i≤N。
可选地，第一设备的位置由第一区域以及第一参考信号的到达角确定；和/或，第一设备的位置由第一区域以及第三参考信号的到达角确定。
将第三参考信号的到达角记为AoA1，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(4)，或者联立公式(3)、公式(4)确定。公式(4)如下：
Figure PCTCN2022119719-appb-000066
将第一参考信号的到达角记为AoA2，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(5)，或者公式(3)、公式(5)。公式(5)如下：
Figure PCTCN2022119719-appb-000067
将第三参考信号的到达角记为AoA1，将第一参考信号的到达角记为AoA2，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(6)，或者联立公式(3)、公式(6)确定。公式(6)如下：
Figure PCTCN2022119719-appb-000068
可选地，第一设备的位置由第一参考信号的到达角和第三参考信号的到达角确定。
在一些可能的设计中，第一收发时间差为：第一参考信号的接收时间与第二参考信号的发送时间的差对第一数值取模后的值。第二收发时间差为：第三参考信号的接收时间与第四参考信号的发送时间的差对第一数值取模后的值。
其中，第一数值为网络设备配置给终端设备的值，或者为终端设备上报给网络设备的值，或者为预先约定(比如协议约定)的值，本申请对此不作限定。
在另一些实施例中，通信装置2400可适用于图5～图11中所示出的通信系统中，执行图21～图23中所示出的定位方法中第三设备的功能。
其中，收发模块2402，用于接收第一设备的第二收发时间差。收发模块2402，还 用于接收第二设备的第一收发时间差和第二设备的位移矢量。处理模块2401，用于根据第一收发时间差、第二设备的位移矢量和第二收发时间差确定第一设备的位置。其中，第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，第一参考信号为第二设备接收的第一设备的参考信号，第二参考信号为第二设备发送的参考信号，第二设备的位移矢量为第二设备在第一收发时间差对应时间段内的位移。第二收发时间差为第三参考信号的接收时间与第四参考信号的发送时间的时间差，第三参考信号为第一设备接收的第二设备的参考信号，第四参考信号为第一设备发送的参考信号。
在一些可能的设计中，处理模块2401，还用于根据第一收发时间差、第二设备的位移矢量、第二收发时间差和第一设备的位移矢量，确定第一设备的位置。
在一些可能的设计中，第一设备的位置位于第一区域。其中，第一区域的形状为椭球或椭圆，第一区域的两个焦点为第一矢量的首尾端点，第一区域的长轴的长度为第二收发时间差和第一收发时间差之和对应的距离，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和。
在一些可能的设计中，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和，假设第一矢量的首尾端点坐标分别为(x0,y0)和(-x0,-y0)，那么第一设备的位置位于第一区域，第一区域可以根据如下公式(1)确定：
Figure PCTCN2022119719-appb-000069
其中，
Figure PCTCN2022119719-appb-000070
L为第二收发时间差和第一收发时间差之和对应的距离，a表示第一区域的半长轴，b表示第一区域的半短轴。并且，公式(1)中x′和y′与x、y(x、y为第一区域表达式中的变量和因变量)的关系可以根据以下公式(2)确定：
Figure PCTCN2022119719-appb-000071
在另一些可能的设计中，第一矢量为第一设备的位移矢量与第二设备的位移矢量之和，假设第一矢量的首尾端点坐标分别为(x0,y0)和(-x0,-y0)，那么第一设备的位置位于第一区域，第一区域可以根据如下公式(3)确定：
Figure PCTCN2022119719-appb-000072
其中，
Figure PCTCN2022119719-appb-000073
L为第二收发时间差和第一收发时间差之和对应的距离，a表示第一区域的半长轴，b表示第一区域的半短轴。x、y为第一区域表达式中的变量和因变量。
可选地，若第二设备的数量为N个，N为大于1的整数，那么每个第二设备均对应一个第二区域，第一设备的位置位于N个第二区域的交点。其中，N个第二设备中第i个第二设备对应的第i个第二区域的形状为椭球或椭圆，第i个第二区域的两个焦点为第二矢量的首尾端点，第i个第二区域的长轴的长度为第二收发时间差和第i个第二设备的第一收发时间差之和对应的距离，第二矢量为第一设备的位移矢量与第i个第二设备的位移矢量之和，i为正整数，且i≤N。
可选地，第一设备的位置由第一区域以及第一参考信号的到达角确定；和/或，第一设备的位置由第一区域以及第三参考信号的到达角确定。
可选地，第一设备的位置由第一参考信号的到达角和第三参考信号的到达角确定。
将第三参考信号的到达角记为AoA1，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(4)，或者联立公式(3)、公式(4)确定。公式(4)如下：
Figure PCTCN2022119719-appb-000074
将第一参考信号的到达角记为AoA2，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(5)，或者公式(3)、公式(5)。公式(5)如下：
Figure PCTCN2022119719-appb-000075
将第三参考信号的到达角记为AoA1，将第一参考信号的到达角记为AoA2，可选地，第一设备的位置(x，y)可以联立公式(1)、公式(2)、公式(6)，或者联立公式(3)、公式(6)确定。公式(6)如下：
Figure PCTCN2022119719-appb-000076
在一些可能的设计中，第一收发时间差为：第一参考信号的接收时间与第二参考信号的发送时间的差对第一数值取模后的值。第二收发时间差为：第三参考信号的接收时间与第四参考信号的发送时间的差对第一数值取模后的值。
其中，第一数值为网络设备配置给终端设备的值，或者为终端设备上报给网络设备的值，或者为预先约定(比如协议约定)的值，本申请对此不作限定。
在另一些实施例中，通信装置2400可适用于图5～图11中所示出的通信系统中，执行图21～图23中所示出的定位方法中第一设备的功能。
其中，处理模块2401，用于确定第二收发时间差。收发模块2402，用于发送第二收发时间差。其中，第二收发时间差为第三参考信号的接收时间与第四参考信号的发送时间的时间差，第三参考信号为第一设备接收的第二设备的参考信号，第四参考信号为第一设备发送的参考信号。
其中，收发模块2402，可以用于向第三设备发送第二收发时间差，该第三设备例如可以是定位管理设备(比如LMF网元)。
在一些可能的设计中，处理模块2401，还用于确定第一设备的位移矢量。收发模块2402，还用于发送第一设备的位移矢量。第一设备的位移矢量为第一设备在第二收发时间差对应时间段内的位移。其中，收发模块2402，还用于向第三设备发送第一设备的位移矢量，该第三设备例如可以是定位管理设备(比如LMF网元)。
其中，第二收发时间差和第一设备的位移矢量可以承载于一个信息中，或者分别承载于两个信息中，对此不作限定。
在另一些实施例中，通信装置2400可适用于图5～图11中所示出的通信系统中，执行图13、图18～图20或图21～图23中所示出的定位方法中第二设备的功能。
其中，处理模块2401，用于确定第一收发时间差和第二设备的位移矢量。收发模块2402，用于发送第一收发时间差和第二设备的位移矢量。其中，第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，第一参考信号为第二设备接收的第一设备的参考信号，第二参考信号为第二设备发送的参考信号，第二设 备的位移矢量为第二设备在第一收发时间差对应时间段内的位移。
其中，收发模块2402，可以用于向第一设备发送第一收发时间差和第二设备的位移矢量，或者可以用于向第三设备发送第一收发时间差和第二设备的位移矢量，该第三设备例如可以是定位管理设备(比如LMF网元)，本申请对此不作限定。
可选地，收发模块2402可以包括接收模块和发送模块(图24中未示出)。其中，发送模块用于实现通信装置2400的发送功能，接收模块用于实现通信装置2400的接收功能，接收模块也可以称为接收器，发送模块也可以称为发射器。
可选地，通信装置2400还可以包括存储模块(图24中未示出)，该存储模块存储有程序或指令。当处理模块2401执行该程序或指令时，使得通信装置2400可以执行图13、图18～图23中任一项所示出的定位方法中第一设备、第二设备或第三设备的功能。
应理解，通信装置2400中涉及的处理模块2401可以由处理器或处理器相关电路组件实现，可以为处理器或处理单元；收发模块2402可以由收发器或收发器相关电路组件实现，可以为收发器或收发单元。
需要说明的是，通信装置2400可以是第一设备、第二设备或第三设备，也可以是设置于第一设备、第二设备或第三设备中的芯片(系统)或其他部件或组件，还可以是包含第一设备、第二设备或第三设备的装置，本申请对此不做限定。其中，第一设备用于执行图13、图18～图23中任一种可能的实现方式所述的定位方法，第二设备用于执行图13、图18～图23中任一种可能的实现方式所述的定位方法，第三设备用于执行图13、图19～图23中任一种可能的实现方式所述的定位方法。
此外，通信装置2400的技术效果可以参考图13、图18～图23中任一项所示出的定位方法的技术效果，此处不再赘述。
如果本申请实施例提供的通信装置2400是芯片，那么通信装置2400中的收发模块2402可以分别对应芯片输入输出，比如，收发模块2402中的接收模块对应芯片的输入接口，收发模块2402中的发送模块对应芯片的输出接口，本申请对此不作限定。
示例性地，图25是本申请实施例提供的通信装置的另一种结构示意图。如图25所示，通信装置2500包括：接收模块2501和发送模块2502。为了便于说明，图25仅示出了该通信装置的主要部件。
在另一些实施例中，通信装置2500可适用于图5～图11中所示出的通信系统中，执行图13、图18～图20中所示出的定位方法中第三设备的功能。
其中，接收模块2501，用于接收第二设备的第一收发时间差和第二设备的位移矢量。发送模块2502，用于向第一设备发送第一收发时间差和第二设备的位移矢量。其中，第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，第一参考信号为第二设备接收的第一设备的参考信号，第二参考信号为第二设备发送的参考信号，第二设备的位移矢量为第二设备在第一收发时间差对应时间段内的位移。
可选地，通信装置2500中接收模块2501和发送模块2502可以由一个模块实现，比如，收发模块或收发器。换句话说，收发模块可以用于实现通信装置2500的接收功能和发送功能。接收模块2501也可以称为接收器，发送模块2502也可以称为发射器。
可选地，通信装置2500还可以包括处理模块和存储模块，该存储模块存储有程序 或指令。当处理模块执行该程序或指令时，使得该通信装置可以执行图13、图19、图20中任意一种可能的实现方式所述的定位方法。
本申请实施例还提供一种芯片系统，包括：处理器，所述处理器与存储器耦合，所述存储器用于存储程序或指令，当所述程序或指令被所述处理器执行时，使得该芯片系统实现上述任一方法实施例中的方法。
可选地，该芯片系统中的处理器可以为一个或多个。该处理器可以通过硬件实现也可以通过软件实现。当通过硬件实现时，该处理器可以是逻辑电路、集成电路等。当通过软件实现时，该处理器可以是一个通用处理器，通过读取存储器中存储的软件代码来实现。
可选地，该芯片系统中的存储器也可以为一个或多个。该存储器可以与处理器集成在一起，也可以和处理器分离设置，本申请并不限定。示例性的，存储器可以是非瞬时性处理器，例如只读存储器ROM，其可以与处理器集成在同一块芯片上，也可以分别设置在不同的芯片上，本申请对存储器的类型，以及存储器与处理器的设置方式不作具体限定。
示例性的，该芯片系统可以是现场可编程门阵列(field programmable gate array，FPGA)，可以是ASIC，还可以是系统芯片(system on chip，SoC)，还可以是CPU，还可以是网络处理器(network processor，NP)，还可以是数字信号处理电路(digital signal processor，DSP)，还可以是微控制器(micro controller unit，MCU)，还可以是可编程控制器(programmable logic device，PLD)或其他集成芯片。
本申请实施例提供一种通信系统。该通信系统包括第一设备、第二设备，该第一设备和第二设备结合起来可以执行上述图13、图18～图23所示的方法实施例，具体执行过程可以参照上述方法实施例，在此不再赘述。可选地，该通信系统还可以包括第三设备，该第一设备、第二设备和第三设备结合起来可以执行上述图13、图19～图23所示的方法实施例，具体执行过程可以参照上述方法实施例，在此不再赘述。
本申请还提供了一种计算机可读存储介质，其上存储有计算机程序，该计算机可读存储介质被计算机执行时实现上述任一方法实施例的功能。
本申请还提供了一种计算机程序产品，该计算机程序产品被计算机执行时实现上述任一方法实施例的功能。
应理解，在本申请实施例中的处理器可以是CPU，该处理器还可以是其他通用处理器、DSP、ASIC、FPGA或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
还应理解，本申请实施例中的存储器可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是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)、EEPROM或闪存。易失性存储器可以是RAM，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(static RAM，SRAM)、动态随机存取存储器(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， DDR SDRAM)、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(synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(direct rambus RAM，DR RAM)。
上述实施例，可以全部或部分地通过软件、硬件(如电路)、固件或其他任意组合来实现。当使用软件实现时，上述实施例可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令或计算机程序。在计算机上加载或执行所述计算机指令或计算机程序时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以为通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集合的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质。半导体介质可以是固态硬盘。
本申请说明书和权利要求书及上述附图中的术语“第一”、“第二”和“第三”等是用于区别不同对象，而不是用于限定特定顺序。
应理解，本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况，其中A，B可以是单数或者复数。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系，但也可能表示的是一种“和/或”的关系，具体可参考前后文进行理解。
本申请中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a，b，c中的至少一项(个)，可以表示：a，b，c，a-b，a-c，b-c，或a-b-c，其中a，b，c可以是单个，也可以是多个。
应理解，在本申请的各种实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如 多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。根据这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (44)

  1. 一种定位方法，其特征在于，应用于第一设备，所述方法包括：
    接收第一收发时间差和第二设备的位移矢量，所述第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，所述第一参考信号为所述第二设备接收的所述第一设备的参考信号，所述第二参考信号为所述第二设备发送的参考信号，所述第二设备的位移矢量为所述第二设备在所述第一收发时间差对应时间段内的位移；
    根据所述第一收发时间差、所述第二设备的位移矢量和第二收发时间差确定所述第一设备的位置；所述第二收发时间差为第三参考信号的接收时间与第四参考信号的发送时间的时间差，所述第三参考信号为所述第一设备接收的所述第二设备的参考信号，所述第四参考信号为所述第一设备发送的参考信号。
  2. 根据权利要求1所述的方法，其特征在于，根据所述第一收发时间差、所述第二设备的位移矢量和第二收发时间差确定所述第一设备的位置，包括：
    根据所述第一收发时间差、所述第二设备的位移矢量、所述第二收发时间差和所述第一设备的位移矢量，确定所述第一设备的位置，所述第一设备的位移矢量为所述第一设备在所述第二收发时间差对应时间段内的位移。
  3. 根据权利要求1或2所述的方法，其特征在于，所述第一设备的位置位于第一区域；
    其中，所述第一区域的形状为椭球或椭圆，所述第一区域的两个焦点为第一矢量的首尾端点，所述第一区域的长轴的长度为所述第二收发时间差和所述第一收发时间差之和对应的距离，所述第一矢量为所述第一设备的位移矢量与所述第二设备的位移矢量之和。
  4. 根据权利要求3所述的方法，其特征在于，若所述第二设备的数量为N个，N为大于1的整数，那么每个第二设备均对应一个第二区域，所述第一设备的位置位于N个所述第二区域的交点；
    其中，N个第二设备中第i个第二设备对应的第i个第二区域的形状为椭球或椭圆，所述第i个第二区域的两个焦点为第二矢量的首尾端点，所述第i个第二区域的长轴的长度为所述第二收发时间差和第i个第二设备的第一收发时间差之和对应的距离，所述第二矢量为所述第一设备的位移矢量与所述第i个第二设备的位移矢量之和，i为正整数，且i≤N。
  5. 根据权利要求3或4所述的方法，其特征在于，所述第一设备的位置由所述第一区域以及所述第一参考信号的到达角确定；
    和/或，所述第一设备的位置由所述第一区域以及所述第三参考信号的到达角确定。
  6. 根据权利要求1-5中任一项所述的方法，其特征在于，所述第一收发时间差为：所述第一参考信号的接收时间与所述第二参考信号的发送时间的差对第一数值取模后的值；
    所述第二收发时间差为：所述第三参考信号的接收时间与所述第四参考信号的发送时间的差对所述第一数值取模后的值。
  7. 一种定位方法，其特征在于，应用于第二设备，所述方法包括：
    确定第一收发时间差和所述第二设备的位移矢量；所述第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，所述第一参考信号为所述第二设备接收的第一设备的参考信号，所述第四参考信号为所述第二设备发送的参考信号，所述第二设备的位移矢量为所述第二设备在所述第一收发时间差对应时间段内的位移；
    发送所述第一收发时间差和所述第二设备的位移矢量。
  8. 一种定位方法，其特征在于，应用于第三设备，所述方法包括：
    接收第一设备的第二收发时间差；所述第二收发时间差为第三参考信号的接收时间与第四参考信号的发送时间的时间差，所述第三参考信号为所述第一设备接收的第二设备的参考信号，所述第四参考信号为所述第一设备发送的参考信号；
    接收所述第二设备的第一收发时间差和所述第二设备的位移矢量；所述第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，所述第一参考信号为所述第二设备接收的所述第一设备的参考信号，所述第四参考信号为所述第二设备发送的参考信号，所述第二设备的位移矢量为所述第二设备在所述第一收发时间差对应时间段内的位移；
    根据所述第一收发时间差、所述第二设备的位移矢量和所述第二收发时间差确定所述第一设备的位置。
  9. 根据权利要求8所述的方法，其特征在于，根据所述第一收发时间差、所述第二设备的位移矢量和所述第二收发时间差确定所述第一设备的位置，包括：
    根据所述第一收发时间差、所述第二设备的位移矢量、所述第二收发时间差和所述第一设备的位移矢量，确定所述第一设备的位置，所述第一设备的位移矢量为所述第一设备在所述第二收发时间差对应时间段内的位移。
  10. 根据权利要求8或9所述的方法，其特征在于，所述第一设备的位置位于第一区域；
    其中，所述第一区域的形状为椭球或椭圆，所述第一区域的两个焦点为第一矢量的首尾端点，所述第一区域的长轴的长度为所述第二收发时间差和所述第一收发时间差之和对应的距离，所述第一矢量为所述第一设备的位移矢量与所述第二设备的位移矢量之和。
  11. 根据权利要求10所述的方法，其特征在于，若所述第二设备的数量为N个，N为大于1的整数，那么每个第二设备均对应一个第二区域，所述第一设备的位置位于N个所述第二区域的交点；
    其中，N个第二设备中第i个第二设备对应的第i个第二区域的形状为椭球或椭圆，所述第i个第二区域的两个焦点为第二矢量的首尾端点，所述第i个第二区域的长轴的长度为所述第二收发时间差和第i个第二设备的第一收发时间差之和对应的距离，所述第二矢量为所述第一设备的位移矢量与所述第i个第二设备的位移矢量之和，i为正整数，且i≤N。
  12. 根据权利要求10或11所述的方法，其特征在于，所述第一设备的位置由所述第一区域以及所述第一参考信号的到达角确定；
    和/或，所述第一设备的位置由所述第一区域以及所述第三参考信号的到达角确定。
  13. 根据权利要求8-12中任一项所述的方法，其特征在于，所述第一收发时间差为：所述第一参考信号的接收时间与所述第二参考信号的发送时间的差对第一数值取模后的值；
    所述第二收发时间差为：所述第三参考信号的接收时间与所述第四参考信号的发送时间的差对所述第一数值取模后的值。
  14. 一种定位方法，其特征在于，应用于第三设备，所述方法包括：
    接收第二设备的第一收发时间差和所述第二设备的位移矢量，所述第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，所述第一参考信号为所述第二设备接收的第一设备的参考信号，所述第四参考信号为所述第二设备发送的参考信号，所述第二设备的位移矢量为所述第二设备在所述第一收发时间差对应时间段内的位移；
    向所述第一设备发送所述第一收发时间差和所述第二设备的位移矢量。
  15. 一种通信装置，其特征在于，所述通信装置包括：处理模块和收发模块；
    所述收发模块，用于接收第一收发时间差和第二设备的位移矢量，所述第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，所述第一参考信号为所述第二设备接收的第一设备的参考信号，所述第二参考信号为所述第二设备发送的参考信号，所述第二设备的位移矢量为所述第二设备在所述第一收发时间差对应时间段内的位移；
    所述处理模块，用于根据所述第一收发时间差、所述第二设备的位移矢量和第二收发时间差确定所述第一设备的位置；所述第二收发时间差为第三参考信号的接收时间与第四参考信号的发送时间的时间差，所述第三参考信号为所述第一设备接收的所述第二设备的参考信号，所述第四参考信号为所述第一设备发送的参考信号。
  16. 根据权利要求15所述的通信装置，其特征在于，所述处理模块，还用于根据所述第一收发时间差、所述第二设备的位移矢量、所述第二收发时间差和所述第一设备的位移矢量，确定所述第一设备的位置，所述第一设备的位移矢量为所述第一设备在所述第二收发时间差对应时间段内的位移。
  17. 根据权利要求15或16所述的通信装置，其特征在于，所述第一设备的位置位于第一区域；
    其中，所述第一区域的形状为椭球或椭圆，所述第一区域的两个焦点为第一矢量的首尾端点，所述第一区域的长轴的长度为所述第二收发时间差和所述第一收发时间差之和对应的距离，所述第一矢量为所述第一设备的位移矢量与所述第二设备的位移矢量之和。
  18. 根据权利要求17所述的通信装置，其特征在于，若所述第二设备的数量为N个，N为大于1的整数，那么每个第二设备均对应一个第二区域，所述第一设备的位置位于N个所述第二区域的交点；
    其中，N个第二设备中第i个第二设备对应的第i个第二区域的形状为椭球或椭圆，所述第i个第二区域的两个焦点为第二矢量的首尾端点，所述第i个第二区域的长轴的长度为所述第二收发时间差和第i个第二设备的第一收发时间差之和对应的距离，所述第二矢量为所述第一设备的位移矢量与所述第i个第二设备的位移矢量之和，i为 正整数，且i≤N。
  19. 根据权利要求17或18所述的通信装置，其特征在于，所述第一设备的位置由所述第一区域以及所述第一参考信号的到达角确定；
    和/或，所述第一设备的位置由所述第一区域以及所述第三参考信号的到达角确定。
  20. 根据权利要求15-19中任一项所述的通信装置，其特征在于，所述第一收发时间差为：所述第一参考信号的接收时间与所述第二参考信号的发送时间的差对第一数值取模后的值；
    所述第二收发时间差为：所述第三参考信号的接收时间与所述第四参考信号的发送时间的差对所述第一数值取模后的值。
  21. 一种通信装置，其特征在于，所述通信装置包括：处理模块和收发模块；
    所述处理模块，用于确定第一收发时间差和第二设备的位移矢量；所述第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，所述第一参考信号为所述第二设备接收的第一设备的参考信号，所述第四参考信号为所述第二设备发送的参考信号，所述第二设备的位移矢量为所述第二设备在所述第一收发时间差对应时间段内的位移；
    所述收发模块，用于发送所述第一收发时间差和所述第二设备的位移矢量。
  22. 一种通信装置，其特征在于，所述通信装置包括：处理模块和收发模块；
    所述收发模块，用于接收第一设备的第二收发时间差；所述第二收发时间差为第三参考信号的接收时间与第四参考信号的发送时间的时间差，所述第三参考信号为所述第一设备接收的第二设备的参考信号，所述第四参考信号为所述第一设备发送的参考信号；
    所述收发模块，还用于接收所述第二设备的第一收发时间差和所述第二设备的位移矢量；所述第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，所述第一参考信号为所述第二设备接收的所述第一设备的参考信号，所述第四参考信号为所述第二设备发送的参考信号，所述第二设备的位移矢量为所述第二设备在所述第一收发时间差对应时间段内的位移；
    所述处理模块，用于根据所述第一收发时间差、所述第二设备的位移矢量和所述第二收发时间差确定所述第一设备的位置。
  23. 根据权利要求22所述的通信装置，其特征在于，所述处理模块，还用于根据所述第一收发时间差、所述第二设备的位移矢量、所述第二收发时间差和所述第一设备的位移矢量，确定所述第一设备的位置，所述第一设备的位移矢量为所述第一设备在所述第二收发时间差对应时间段内的位移。
  24. 根据权利要求22或23所述的通信装置，其特征在于，所述第一设备的位置位于第一区域；
    其中，所述第一区域的形状为椭球或椭圆，所述第一区域的两个焦点为第一矢量的首尾端点，所述第一区域的长轴的长度为所述第二收发时间差和所述第一收发时间差之和对应的距离，所述第一矢量为所述第一设备的位移矢量与所述第二设备的位移矢量之和。
  25. 根据权利要求24所述的通信装置，其特征在于，若所述第二设备的数量为N 个，N为大于1的整数，那么每个第二设备均对应一个第二区域，所述第一设备的位置位于N个所述第二区域的交点；
    其中，N个第二设备中第i个第二设备对应的第i个第二区域的形状为椭球或椭圆，所述第i个第二区域的两个焦点为第二矢量的首尾端点，所述第i个第二区域的长轴的长度为所述第二收发时间差和第i个第二设备的第一收发时间差之和对应的距离，所述第二矢量为所述第一设备的位移矢量与所述第i个第二设备的位移矢量之和，i为正整数，且i≤N。
  26. 根据权利要求24或25所述的通信装置，其特征在于，所述第一设备的位置由所述第一区域以及所述第一参考信号的到达角确定；
    和/或，所述第一设备的位置由所述第一区域以及所述第三参考信号的到达角确定。
  27. 根据权利要求22-26中任一项所述的通信装置，其特征在于，所述第一收发时间差为：所述第一参考信号的接收时间与所述第二参考信号的发送时间的差对第一数值取模后的值；
    所述第二收发时间差为：所述第三参考信号的接收时间与所述第四参考信号的发送时间的差对所述第一数值取模后的值。
  28. 一种通信装置，其特征在于，所述通信装置包括：接收模块和发送模块；
    所述接收模块，用于接收第二设备的第一收发时间差和所述第二设备的位移矢量，所述第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，所述第一参考信号为所述第二设备接收的第一设备的参考信号，所述第四参考信号为所述第二设备发送的参考信号，所述第二设备的位移矢量为所述第二设备在所述第一收发时间差对应时间段内的位移；
    所述发送模块，用于向所述第一设备发送所述第一收发时间差和所述第二设备的位移矢量。
  29. 一种通信系统，其特征在于，包括第一设备和第二设备；其中，
    所述第一设备，用于接收第一收发时间差和第二设备的位移矢量，所述第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，所述第一参考信号为所述第二设备接收的所述第一设备的参考信号，所述第二参考信号为所述第二设备发送的参考信号，所述第二设备的位移矢量为所述第二设备在所述第一收发时间差对应时间段内的位移；
    所述第一设备，还用于根据所述第一收发时间差、所述第二设备的位移矢量和第二收发时间差确定所述第一设备的位置；所述第二收发时间差为第三参考信号的接收时间与第四参考信号的发送时间的时间差，所述第三参考信号为所述第一设备接收的所述第二设备的参考信号，所述第四参考信号为所述第一设备发送的参考信号。
  30. 根据权利要求29所述的通信系统，其特征在于，所述第二设备，用于确定所述第一收发时间差和所述第二设备的位移矢量；
    所述第二设备，还用于发送所述第一收发时间差和所述第二设备的位移矢量。
  31. 根据权利要求29或30所述的通信系统，其特征在于，还包括第三设备；其中，
    所述第三设备，用于接收第二设备的第一收发时间差和第二设备的位移矢量，所 述第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，所述第一参考信号为所述第二设备接收的第一设备的参考信号，所述第四参考信号为所述第二设备发送的参考信号，所述第二设备的位移矢量为所述第二设备在所述第一收发时间差对应时间段内的位移；
    所述第三设备，还用于向第一设备发送所述第一收发时间差和所述第二设备的位移矢量。
  32. 根据权利要求29-31中任一项所述的通信系统，其特征在于，所述第一设备，还用于根据所述第一收发时间差、所述第二设备的位移矢量、所述第二收发时间差和第一设备的位移矢量，确定所述第一设备的位置，所述第一设备的位移矢量为所述第一设备在所述第二收发时间差对应时间段内的位移。
  33. 一种通信系统，其特征在于，包括第一设备、第二设备和第三设备；其中，
    所述第三设备，用于接收第一设备的第二收发时间差；所述第二收发时间差为第三参考信号的接收时间与第四参考信号的发送时间的时间差，所述第三参考信号为所述第一设备接收的第二设备的参考信号，所述第四参考信号为所述第一设备发送的参考信号；
    所述第三设备，还用于接收所述第二设备的第一收发时间差和所述第二设备的位移矢量；所述第一收发时间差为第一参考信号的接收时间与第二参考信号的发送时间的时间差，所述第一参考信号为所述第二设备接收的第一设备的参考信号，所述第四参考信号为所述第二设备发送的参考信号，所述第二设备的位移矢量为所述第二设备在所述第一收发时间差对应时间段内的位移；
    所述第三设备，还用于根据所述第一收发时间差、所述第二设备的位移矢量和所述第二收发时间差确定所述第一设备的位置。
  34. 根据权利要求33所述的通信系统，其特征在于，所述第二设备，用于确定所述第一收发时间差和所述第二设备的位移矢量；
    所述第二设备，还用于发送所述第一收发时间差和所述第二设备的位移矢量。
  35. 根据权利要求33或34所述的通信系统，其特征在于，所述第一设备，用于确定所述第二收发时间差；
    所述第一设备，还用于向所述第三设备发送所述第二收发时间差。
  36. 根据权利要求33-35中任一项所述的通信系统，其特征在于，所述第三设备，还用于根据所述第一收发时间差、所述第二设备的位移矢量、所述第二收发时间差和第一设备的位移矢量，确定所述第一设备的位置，所述第一设备的位移矢量为所述第一设备在所述第二收发时间差对应时间段内的位移。
  37. 根据权利要求33-36中任一项所述的通信系统，其特征在于，所述第一设备，还用于确定所述第一设备的位移矢量；所述第一设备的位移矢量为所述第一设备在所述第二收发时间差对应时间段内的位移；
    所述第一设备，还用于向所述第三设备发送所述第二收发时间差。
  38. 根据权利要求33-37中任一项所述的通信系统，其特征在于，所述第一设备的位置位于第一区域；
    其中，所述第一区域的形状为椭球或椭圆，所述第一区域的两个焦点为第一矢量 的首尾端点，所述第一区域的长轴的长度为所述第二收发时间差和所述第一收发时间差之和对应的距离，所述第一矢量为所述第一设备的位移矢量与所述第二设备的位移矢量之和。
  39. 根据权利要求38所述的通信系统，其特征在于，若所述第二设备的数量为N个，N为大于1的整数，那么每个第二设备均对应一个第二区域，所述第一设备的位置位于N个所述第二区域的交点；
    其中，N个第二设备中第i个第二设备对应的第i个第二区域的形状为椭球或椭圆，所述第i个第二区域的两个焦点为第二矢量的首尾端点，所述第i个第二区域的长轴的长度为所述第二收发时间差和第i个第二设备的第一收发时间差之和对应的距离，所述第二矢量为所述第一设备的位移矢量与所述第i个第二设备的位移矢量之和，i为正整数，且i≤N。
  40. 根据权利要求38或39所述的通信系统，其特征在于，所述第一设备的位置由所述第一区域以及所述第一参考信号的到达角确定；
    和/或，所述第一设备的位置由所述第一区域以及所述第三参考信号的到达角确定。
  41. 根据权利要求33-40中任一项所述的通信系统，其特征在于，所述第一收发时间差为：所述第一参考信号的接收时间与所述第二参考信号的发送时间的差对第一数值取模后的值；
    所述第二收发时间差为：所述第三参考信号的接收时间与所述第四参考信号的发送时间的差对所述第一数值取模后的值。
  42. 一种通信装置，其特征在于，包括：处理器和存储器，当所述处理器执行所述存储器中的计算机程序或指令时，使得权利要求1-14中任一项的所述方法被执行。
  43. 一种计算机可读存储介质，其特征在于，包括计算机程序或指令，当所述计算机程序或指令在计算机上运行时，使得如权利要求1-14中任一项所述的方法被执行。
  44. 一种通信装置，其特征在于，包括：处理器，所述处理器用于执行存储器中的计算机程序或指令，使得权利要求1-14中任一项的所述方法被执行。
PCT/CN2022/119719 2021-09-28 2022-09-19 一种定位方法及装置 Ceased WO2023051310A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP22874697.0A EP4391596A4 (en) 2021-09-28 2022-09-19 POSITIONING METHOD AND APPARATUS
US18/616,175 US20240244577A1 (en) 2021-09-28 2024-03-26 Positioning method and apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202111144795.XA CN115884070A (zh) 2021-09-28 2021-09-28 一种定位方法及装置
CN202111144795.X 2021-09-28

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/616,175 Continuation US20240244577A1 (en) 2021-09-28 2024-03-26 Positioning method and apparatus

Publications (1)

Publication Number Publication Date
WO2023051310A1 true WO2023051310A1 (zh) 2023-04-06

Family

ID=85763617

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/119719 Ceased WO2023051310A1 (zh) 2021-09-28 2022-09-19 一种定位方法及装置

Country Status (4)

Country Link
US (1) US20240244577A1 (zh)
EP (1) EP4391596A4 (zh)
CN (1) CN115884070A (zh)
WO (1) WO2023051310A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025091530A1 (zh) * 2023-11-03 2025-05-08 上海移远通信技术股份有限公司 无线通信方法和通信设备

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025065170A1 (zh) * 2023-09-25 2025-04-03 上海移远通信技术股份有限公司 侧行定位方法和通信设备
WO2025097443A1 (en) * 2023-11-10 2025-05-15 Nec Corporation Devices, methods, and medium for communication

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104904287A (zh) * 2013-03-13 2015-09-09 华为技术有限公司 用于定位无线设备的系统和方法
US20160095080A1 (en) * 2014-09-25 2016-03-31 Intel Corporation Device-to-device assisted positioning in wireless cellular technologies
CN110692260A (zh) * 2017-06-30 2020-01-14 北京嘀嘀无限科技发展有限公司 终端设备定位系统和方法
WO2021138127A1 (en) * 2019-12-30 2021-07-08 Qualcomm Incorporated Nr-light user equipment based positioning with round trip time procedure
CN113261331A (zh) * 2019-01-11 2021-08-13 高通股份有限公司 多往返时间定位中用户设备测量的组报告
CN113347572A (zh) * 2020-02-18 2021-09-03 仲川 利用空中基站实现终端定位的方法和系统

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2965445A1 (fr) * 2010-09-29 2012-03-30 Alcatel Lucent Procede de gestion des ressources radio dans une infrastructure de reseau de radiocommunication cellulaire
US9485623B2 (en) * 2011-08-18 2016-11-01 Rivada Research, Llc Method and system for providing enhanced location based trilateration
EP3833997A1 (en) * 2018-08-07 2021-06-16 Taber Innovations Group LLC Personnel location and monitoring system
US11382058B2 (en) * 2019-02-14 2022-07-05 Qualcomm Incorporated Systems and methods for location by a mobile device in a fifth generation wireless network
CN111090113A (zh) * 2019-12-31 2020-05-01 南京泰通科技股份有限公司 基于北斗、uwb及惯导的高精度列车定位终端及定位方法
US11736946B2 (en) * 2020-04-01 2023-08-22 Higher Ground Llc Satellite relaying for geolocation and mitigation of GNSS denial
US11609299B2 (en) * 2021-02-02 2023-03-21 Qualcomm Incorporated Positioning reference signal measurement for joint positioning
US12019148B2 (en) * 2021-09-14 2024-06-25 Qualcomm Incorporated Methods and apparatus for reception point positioning measurements

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104904287A (zh) * 2013-03-13 2015-09-09 华为技术有限公司 用于定位无线设备的系统和方法
US20160095080A1 (en) * 2014-09-25 2016-03-31 Intel Corporation Device-to-device assisted positioning in wireless cellular technologies
CN110692260A (zh) * 2017-06-30 2020-01-14 北京嘀嘀无限科技发展有限公司 终端设备定位系统和方法
CN113261331A (zh) * 2019-01-11 2021-08-13 高通股份有限公司 多往返时间定位中用户设备测量的组报告
WO2021138127A1 (en) * 2019-12-30 2021-07-08 Qualcomm Incorporated Nr-light user equipment based positioning with round trip time procedure
CN113347572A (zh) * 2020-02-18 2021-09-03 仲川 利用空中基站实现终端定位的方法和系统

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
NOKIA, NOKIA SHANGHAI BELL: "Measurements for NR Positioning", 3GPP DRAFT; R1-1908348 MEASUREMENTS FOR NR POSITIONING, 3RD GENERATION PARTNERSHIP PROJECT (3GPP), MOBILE COMPETENCE CENTRE ; 650, ROUTE DES LUCIOLES ; F-06921 SOPHIA-ANTIPOLIS CEDEX ; FRANCE, vol. RAN WG1, no. Prague, CZ; 20190826 - 20190830, 16 August 2019 (2019-08-16), Mobile Competence Centre ; 650, route des Lucioles ; F-06921 Sophia-Antipolis Cedex ; France , XP051764957 *
See also references of EP4391596A4

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025091530A1 (zh) * 2023-11-03 2025-05-08 上海移远通信技术股份有限公司 无线通信方法和通信设备

Also Published As

Publication number Publication date
EP4391596A4 (en) 2025-01-08
EP4391596A1 (en) 2024-06-26
US20240244577A1 (en) 2024-07-18
CN115884070A (zh) 2023-03-31

Similar Documents

Publication Publication Date Title
KR102347722B1 (ko) 무선 통신 시스템에서 위치 측정을 위한 장치 및 방법
WO2023051310A1 (zh) 一种定位方法及装置
WO2021031714A1 (zh) 一种基于相对角度的定位方法及装置
US20250081156A1 (en) Method and apparatus for supporting ultra wideband positioning in wireless communication system
KR20230044912A (ko) 영상과 무선 전파를 이용하는 측위 방법 및 장치
WO2024088043A1 (zh) 相对定位方法及通信装置
WO2023116273A1 (zh) 定位方法及装置、存储介质、程序产品
US20250287369A1 (en) Communication method, apparatus, storage medium, and computer program product
WO2022267846A1 (zh) 时钟频率确定方法及装置
WO2025098436A1 (zh) 一种波束控制方法和装置
CN115225188B (zh) 时间同步方法及装置
US12041512B2 (en) Method and apparatus for positioning using image and radio signals
WO2025241324A1 (en) Method, apparatus and system for reference point indication in integrated sensing and communication networks
WO2025241322A1 (en) Method, apparatus, and system for coherence distance definition and indication for user equipment sensing and tracking
WO2026051908A1 (zh) 一种通信方法及装置
WO2024178594A1 (zh) 一种定位方法及装置
CN121240124A (zh) 通信方法及相关产品
WO2026031845A1 (zh) 一种非地面网络通信方法和装置
WO2026066973A1 (zh) 通信方法及装置
WO2025035357A1 (zh) 目标检测方法、装置及系统
WO2026086591A1 (zh) 一种感知方法及装置
WO2025098435A1 (zh) 一种信道质量评估方法和装置
CN121174277A (zh) 感知方法和通信装置
CN121397681A (zh) 信道图谱的获取方法和通信装置
CN120881722A (zh) 一种信息传输方法及通信装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22874697

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2022874697

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 2022874697

Country of ref document: EP

Effective date: 20240321

NENP Non-entry into the national phase

Ref country code: DE