CN116406520A

CN116406520A - Triggering method of positioning mode and communication device

Info

Publication number: CN116406520A
Application number: CN202180049201.9A
Authority: CN
Inventors: 黄伟; 李雪茹
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2020-07-28
Filing date: 2021-07-20
Publication date: 2023-07-07
Also published as: CN114007183A; WO2022022341A1; CN114007183B

Abstract

The embodiment of the application provides a triggering method of a positioning mode and a communication device, and belongs to the technical field of positioning. The triggering method comprises the following steps: transmitting a first positioning measurement reference signal to a target node; receiving a positioning feedback message sent by a target node, wherein the positioning feedback message comprises first indication information, and the first indication information is used for indicating whether a line-of-sight LOS condition is met between a source node and the target node; and determining a positioning mode between the source node and the target node according to the first indication information. According to the triggering method, the source node judges the positioning mode specifically adopted by the subsequent positioning flow according to whether the LOS path exists between the source node and the target node, so that a large amount of system overhead can be avoided on the basis of ensuring the positioning accuracy, and the positioning efficiency is improved.

Description

Triggering method of positioning mode and communication device

The present application claims priority from the national intellectual property office, application number 202010740596.4, application name "a method of displaying 5G icons" filed on 28 th month of 2020, and the national intellectual property office, application number 202010942759.7, application name "triggering method of positioning mode and communication device" filed on 09 th month of 2020, the entire contents of which are incorporated herein by reference.

Technical Field

The present disclosure relates to the field of communications technologies, and in particular, to a triggering method of a positioning manner and a communication device.

Background

The existing car networking, intelligent driving, indoor navigation and positioning, intelligent factories and intelligent storage all have strong requirements on high-precision positioning. In addition to these vertical industries, consumer terminal devices have new demands for high-precision positioning, including item positioning tracking, accurate data transmission, smart payment, smart pushing, smart keys, and the like.

In many scenarios, the source node and the target node to be located do not need absolute positioning information (e.g., absolute coordinates) with respect to each other but only relative positioning information (e.g., distance information or angle information). However, in many practical situations, a line of sight (LOS) path does not exist between two parties with a relative positioning requirement, so that positioning accuracy of the relative positioning is reduced. However, at the same time, although the LOS path does not exist between the two opposite positioning parties, if the cooperation can be based on the surrounding equipment, the multi-hop cooperation mode with the LOS path can be artificially constructed through necessary signaling interaction. The cooperative positioning can break through the limit of LOS diameter in relative positioning, and further improve the positioning precision of relative positioning in non-line-of-sight (non line of sight, NLOS) environment. However, with the increase of the nodes participating in cooperative positioning, a certain system overhead is inevitably brought.

Disclosure of Invention

The application provides a triggering method of a positioning mode, which can solve the problem of high system overhead by determining to adopt a relative positioning mode or a cooperative positioning mode applicable to the current scene by combining positioning capability based on the existence state of an LOS path between a source node to be positioned and a target node.

In a first aspect, a triggering method of a positioning manner is provided, which is applied to a source node, and includes: transmitting a first positioning measurement reference signal to a target node; receiving a positioning feedback message sent by the target node, wherein the positioning feedback message comprises first indication information, and the first indication information is used for indicating whether a line-of-sight LOS condition is met between the source node and the target node; when the LOS condition is not met between the source node and the target node according to the first indication information, determining that the source node and the target node adopt cooperative positioning; and when the LOS condition is met between the source node and the target node according to the first indication information, determining a positioning mode between the source node and the target node according to the positioning capability of the source node and/or the target node.

The source node may be a terminal device to be positioned, such as a mobile phone, a computer, a tablet computer, a wearable device, a data card, a sensor, and the like.

Alternatively, the source node and the target node may communicate via a 3GPP side-link (sidelink) communication, or by Wi-Fi, bluetooth, ultra-wideband UWB, or the like.

Alternatively, the first positioning measurement reference signal may be an aperiodic reference signal for positioning measurement as referred to herein. Specifically, the positioning measurement reference signals include, but are not limited to: aperiodic PRS signals, aperiodic CSI-RS signals, aperiodic TRS signals, and the like.

Optionally, the target node determines whether the LOS path condition is satisfied between the target node and the source node according to the first positioning measurement reference signal, and sends a first indication information bearer for indicating whether the LOS path condition is satisfied between the source node and the target node to the source node through a positioning feedback message.

It should be appreciated that whether the LOS condition is satisfied between the source node and the target node may refer to: whether there is an LOS path between the source node and the target node. When the LOS path condition is met between the source node and the target node, the LOS path exists between the source node and the target node; when the LOS path condition is satisfied between the source node and the target node, it represents that no LOS path exists between the source node and the target node.

It should be understood that, when there is an obstacle between the source node and the target node that obscures the wireless communication signal, the wireless signal cannot be transmitted between the source node and the target node without being obscured, and at this time, if the source node and the target node adopt relative positioning, positioning accuracy is greatly reduced. Therefore, determining whether an LOS path exists between the source node and the target node is an important factor in determining whether relative positioning or cooperative positioning is adopted between the source node and the target node.

Positioning modes described in the embodiments of the present application may include a cooperative positioning mode and a relative positioning mode. After the adopted positioning mode is determined, the positioning can be realized by utilizing a specific positioning method corresponding to the positioning mode.

For example, when a cooperative positioning manner is adopted between the source node and the target node, the following positioning methods may be specifically adopted, including but not limited to: deterministic cooperative positioning, probabilistic cooperative positioning, time cooperative positioning, or spatial cooperative positioning, etc.

When a non-cooperative positioning (i.e., relative positioning) manner is adopted between the source node and the target node, the following positioning methods may be specifically adopted, including but not limited to: positioning is performed according to an arrival angle AOA and an arrival time TOA, positioning is performed according to an AOA, a departure angle AOD and an arrival time, multi-arrival angle (multi-AOA) positioning or multi-arrival time (multi-RTT) positioning is performed.

According to the triggering method, the source node judges the positioning mode specifically adopted by the subsequent positioning process according to whether the LOS path exists between the source node and the target node, so that a large amount of system overhead can be avoided on the basis of ensuring the positioning accuracy, and the positioning efficiency is improved.

With reference to the first aspect, in certain implementations of the first aspect, the positioning capability includes a number of antennas; the determining a positioning manner between the source node and the target node according to the positioning capability of the source node and the target node specifically includes: when the number of the antennae of the source node and/or the target node is larger than or equal to a first threshold value, determining that the source node and the target node adopt a relative positioning mode; or when the number of the antennae of the source node and the target node is smaller than the first threshold, determining that the source node and the target node adopt the multi-node cooperative positioning mode.

Alternatively, the positioning capability herein may refer to the number of antennas of the node. Still further, it may also include bandwidth supported by the node, etc. The source node and/or the target node may support multiple antenna capabilities, with the nodes having a stronger positioning capability when the number of antennas is greater.

Alternatively, the first threshold here may be, for example, 3.

It should be understood that when the number of antennas of the target node is greater, the antennas have strong capability and enough capability to determine whether there is an LOS path currently based on the first positioning measurement reference signal sent by the source node; or when the number of the antennas of the source node is large, the antennas have strong capability and enough capability to judge whether the LOS path exists or not based on the second positioning measurement reference signal sent by the target node. Therefore, when the number of the antennas is large, the accuracy of selecting the positioning mode can be improved. Moreover, when the antenna capacity of the source node and the target node is strong, high-precision relative positioning can be realized under the condition that the LOS path exists. Therefore, in order to realize the high positioning accuracy, the optimal positioning mode strategy is determined, and besides whether the LOS path state is satisfied between the source node and the target node, the antenna capability of the source node and/or the target node is also an important factor to be considered.

Further, when the number of antennas of the source node and/or the target node is large (e.g., greater than or equal to 3), the source node and/or the target node can execute a relative positioning manner according to the arrival angle AOA and the arrival time TOA, or according to the AOA, the departure angle AOD and the arrival time TOA, or multiple arrival angle (multi-AOA) positioning or multiple arrival time (multi-RTT) positioning methods, so as to obtain an accurate positioning result.

In addition, the architecture of the cooperative positioning negotiation mechanism of the embodiments of the present application may be as shown in fig. 1. When the LOS path does not exist between the source node and the target node, namely the wireless communication signal cannot be directly transmitted without being blocked, if the LOS path condition is met between the source node and other surrounding equipment, the source node can be positioned relatively to the other equipment, and the positioning with the target node is realized under the cooperation of the surrounding equipment.

According to the triggering method, when no LOS path exists between the source node and the target node, cooperative positioning is adopted; and when the LOS path exists between the source node and the target node, whether the cooperative positioning or the relative positioning is adopted is further judged based on the positioning capability of the source node and the target node.

With reference to the first aspect, in certain implementation manners of the first aspect, the method further includes: transmitting positioning capability request information to the target node, wherein the positioning capability request information is used for requesting to query the positioning capability of the target node; and receiving second indicating information sent by the target node, wherein the second indicating information is used for indicating the positioning capability of the target node.

Wherein, the second indication information may be positioning capability feedback information (capability response) sent by the target node.

Optionally, the second indication information may be carried in a positioning feedback message; it may also be designed to send a separate signaling flow to the source node.

How to send the second indication information can be determined according to the positioning capability of the source node and the target node, the number of supported positioning modes, and the like. If the number of the positioning methods supported by the target node is greater, the number of positioning information books that may be included in the second instruction information is greater, and at this time, for simplifying the positioning feedback message, the second instruction information may be sent separately, without carrying the second instruction information in the positioning feedback message.

With reference to the first aspect, in certain implementation manners of the first aspect, the method further includes: and sending a positioning request message to the target node, wherein the positioning request message comprises third indication information, and the third indication information is used for indicating a first time-frequency resource corresponding to the first positioning measurement reference signal.

The first positioning measurement reference signal is a reference signal which is sent to the target node by the source node and used for enabling the target node to judge whether an LOS path exists between the target node and the source node.

The first time-frequency resource is a time-frequency resource corresponding to the first positioning measurement reference signal. In other words, the source node may send the indication information of the first time-frequency resource to the target node before sending the first positioning measurement reference signal, indicating that the target is receiving the first positioning measurement reference signal on the specific time-frequency resource.

With reference to the first aspect, in certain implementations of the first aspect, the positioning request message includes positioning capability request information, where the positioning capability request information is used to request to query a positioning capability of the target node.

Optionally, when the number of specific positioning methods corresponding to different positioning manners supported by the source node and the target node is small, the corresponding positioning capability indication information is generally not too much, and at this time, the source node may load the positioning capability request information sent to the target node in the positioning request message.

It should be understood that the positioning capability request information is carried in the positioning request message and sent to the target node, so that the communication flow can be simplified, and the communication efficiency can be improved.

With reference to the first aspect, in certain implementation manners of the first aspect, the positioning feedback message includes second indication information, where the second indication information is used to indicate positioning capability of the target node, and the method further includes: and determining the positioning capability of the target node according to the second indication information.

Optionally, when the number of specific positioning methods supported by the source node and the target node and corresponding to different positioning manners is small, the corresponding positioning capability indication information is generally not too much, and at this time, the target node may carry the second indication information sent to the source node in the positioning feedback message.

It should be understood that the second indication information is carried in the positioning feedback message and sent to the source node, so that the communication flow can be simplified, and the communication efficiency can be improved.

With reference to the first aspect, in certain implementation manners of the first aspect, the positioning request message further includes fourth indication information, where the fourth indication information is used to indicate positioning capability of the source node.

Optionally, the source node may also send its own positioning capability to the target node when requesting to query the positioning capability of the target node.

With reference to the first aspect, in certain implementation manners of the first aspect, the relative positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second time-frequency resource corresponding to a second positioning measurement reference signal; the method further comprises the steps of: receiving the second positioning measurement reference signal sent by the target node at the second time-frequency resource according to the fifth indication information; and judging whether the LOS condition is met between the source node and the target node according to the second positioning measurement reference signal.

Alternatively, when the capability of the target node is weak or the antenna capability is insufficient, even if the source node transmits the first positioning measurement reference signal to the target node, the capability of the target node is insufficient to support it to determine whether or not there is an LOS path according to the first positioning measurement reference signal. At this time, the target node sends a second positioning measurement reference signal to the source node and indicates its corresponding second time-frequency resource.

The second time-frequency resource is a time-frequency resource corresponding to a second positioning measurement reference signal sent by the target node to the source node. In other words, the target node may send the indication information of the second time-frequency resource to the source node before sending the second positioning measurement reference signal, and instruct the source node to receive the second positioning measurement reference signal on the specific time-frequency resource.

It should be appreciated that the second positioning measurement reference signal time-frequency resource may be a reference signal that the target node transmits to the source node for the source node to determine whether there is an LOS path between the source node and the target node.

Optionally, when the source node parses that the information sent by the target node is the time-frequency resource indication information of the second positioning measurement reference signal, it may be determined that the first indication information carried by the target node in the positioning feedback message is invalid or unreliable.

Optionally, after the source node receives the second positioning measurement reference signal on the second time-frequency resource, the source node determines whether an LOS path exists between the source node and the target node according to the second positioning measurement reference signal.

Specifically, after the source node completes LOS path detection, the source node can only select the detection result of the source node to determine the existence state of the LOS path; alternatively, the existence state of the LOS path may be determined by combining the detection result of the detection device and the first instruction information. In other words, when the LOS path existence state indication information judged by the target node is invalid or unreliable, the source node may not refer to or partially refer to the indication information sent by the target node at this time.

It is understood that by the method, the accuracy of the judging result of the existence state of the LOS path can be improved, and the method is favorable for accurately selecting a proper positioning mode, so that the accuracy of positioning is improved.

With reference to the first aspect, in certain implementation manners of the first aspect, the first indication information is characterized by 1-bit information, where when the first indication information indicates that the LOS path condition is satisfied, the first indication information is 1; when the first indication information indicates that the LOS path condition is not met, the first indication information is 0; or when the first indication information indicates that the LOS path condition is met, the first indication information is 0; and when the first indication information indicates that the LOS path condition is not met, the first indication information is 1.

With reference to the first aspect, in certain implementations of the first aspect, the positioning measurement reference signals include, but are not limited to, at least one of: positioning reference signals PRS, channel state information reference signals CSI-RS and time frequency domain tracking reference signals TRS.

Optionally, the positioning request message may be transmitted to the target access node by at least one of the following means, including: physical measurement link control channel PSCCH, physical side-link shared channel PSCCH, bluetooth, UWB signals, etc.

In a second aspect, a triggering method of a positioning manner is provided, which is applied to a target node, and includes: receiving a first positioning measurement reference signal sent by the source node; determining whether a line-of-sight LOS condition is met between the source node and the target node according to the first positioning measurement reference signal; and sending a positioning feedback message to the source node, wherein the positioning feedback message comprises first indication information, and the first indication information is used for indicating whether the line-of-sight LOS condition is met between the source node and the target node.

With reference to the second aspect, in certain implementations of the second aspect, the method further includes: receiving positioning capability request information sent by a source node, wherein the positioning capability request information is used for requesting to inquire the positioning capability of the target node; determining the positioning capability of the target node according to the positioning capability request message; and sending second indicating information to the source node, wherein the second indicating information is used for indicating the positioning capability of the target node.

With reference to the second aspect, in certain implementations of the second aspect, the method further includes: and receiving a positioning request message sent by the source node, wherein the positioning request message comprises third indication information, and the third indication information is used for indicating a first time-frequency resource corresponding to the first positioning measurement reference signal.

With reference to the second aspect, in certain implementations of the second aspect, the location request message includes location capability request information, where the location capability request information is used to request to query the location capability of the target node.

With reference to the second aspect, in certain implementations of the second aspect, the positioning request message further includes fourth indication information, where the fourth indication information is used to indicate positioning capabilities of the source node.

With reference to the second aspect, in certain implementation manners of the second aspect, the relative positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second time-frequency resource corresponding to a second positioning measurement reference signal; the method further comprises the steps of: and the second positioning measurement reference signal is sent to the source node and is used for judging whether the LOS condition is met between the source node and the target node by the source node.

With reference to the second aspect, in certain implementations of the second aspect, the first indication information is characterized by 1-bit information, where when the first indication information indicates that the LOS path condition is satisfied, the first indication information is 1; when the first indication information indicates that the LOS path condition is not met, the first indication information is 0; or when the first indication information indicates that the LOS path condition is met, the first indication information is 0; and when the first indication information indicates that the LOS path condition is not met, the first indication information is 1.

With reference to the second aspect, in certain implementations of the second aspect, the positioning measurement reference signals include, but are not limited to, at least one of: positioning reference signals PRS, channel state information reference signals CSI-RS and time frequency domain tracking reference signals TRS.

In a third aspect, a triggering method of a positioning manner is provided, which is applied to a source node, and includes: transmitting a first positioning measurement reference signal to a target node; receiving a positioning feedback message sent by the target node, wherein the positioning feedback message comprises first indication information and fifth indication information, the first indication information is used for indicating whether a line-of-sight LOS condition is met between the source node and the target node, and the fifth indication information is used for indicating a second time-frequency resource corresponding to a second positioning measurement reference signal; receiving the second positioning measurement reference signal sent by the target node at the second time-frequency resource according to the fifth indication information; when the LOS condition is not met between the source node and the target node according to the second positioning measurement reference signal, determining that the source node and the target node adopt a cooperative positioning mode; and when the LOS condition is met between the source node and the target node according to the second positioning measurement reference signal, determining a positioning mode between the source node and the target node according to the positioning capability of the source node and/or the target node.

With reference to the third aspect, in certain implementations of the third aspect, the positioning capability includes a number of antennas; the determining a positioning manner between the source node and the target node according to the positioning capability of the source node and the target node specifically includes: when the number of the antennae of the source node and/or the target node is larger than or equal to a first threshold value, determining that the source node and the target node adopt a relative positioning mode; or when the number of the antennae of the source node and the target node is smaller than the first threshold, determining that the source node and the target node adopt the cooperative positioning mode.

With reference to the third aspect, in certain implementations of the third aspect, the method further includes: transmitting positioning capability request information to the target node, wherein the positioning capability request information is used for requesting to query the positioning capability of the target node; and receiving second indicating information sent by the target node, wherein the second indicating information is used for indicating the positioning capability of the target node.

With reference to the third aspect, in certain implementations of the third aspect, the method further includes: and sending a positioning request message to the target node, wherein the positioning request message comprises third indication information, and the third indication information is used for indicating a first time-frequency resource corresponding to the first positioning measurement reference signal.

With reference to the third aspect, in some implementations of the third aspect, the positioning request message includes positioning capability request information, where the positioning capability request information is used to request to query the positioning capability of the target node.

With reference to the third aspect, in certain implementations of the third aspect, the positioning feedback message includes second indication information, where the second indication information is used to indicate positioning capabilities of the target node, the method further includes: and determining the positioning capability of the target node according to the second indication information.

With reference to the third aspect, in some implementations of the third aspect, the positioning request message further includes fourth indication information, where the fourth indication information is used to indicate positioning capabilities of the source node.

With reference to the third aspect, in certain implementations of the third aspect, the first indication information is characterized by 1-bit information, where the first indication information is 1 when the first indication information indicates that the LOS condition is satisfied; when the first indication information indicates that the LOS condition is not met, the first indication information is 0; or when the first indication information indicates that the LOS condition is satisfied, the first indication information is 0; when the first indication information indicates that the LOS condition is not satisfied, the first indication information is 1.

With reference to the third aspect, in certain implementations of the third aspect, the positioning measurement reference signals include, but are not limited to, at least one of: positioning reference signals PRS, channel state information reference signals CSI-RS and time frequency domain tracking reference signals TRS.

In a fourth aspect, a triggering method of a positioning manner is provided, which is applied to a target node, and includes: receiving a first positioning measurement reference signal sent by the source node; transmitting a positioning feedback message to the source node according to the first positioning measurement reference signal, wherein the positioning feedback message comprises fifth indication information, and the fifth indication information is used for indicating a second time-frequency resource corresponding to a second positioning measurement reference signal; and sending the second positioning measurement reference signal to the source node.

With reference to the fourth aspect, in certain implementations of the fourth aspect, the method further includes: receiving positioning capability request information sent by a source node, wherein the positioning capability request information is used for requesting to inquire the positioning capability of the target node; and sending second indicating information to the source node according to the positioning capability request information, wherein the second indicating information is used for indicating the positioning capability of the target node.

With reference to the fourth aspect, in certain implementations of the fourth aspect, the method further includes: and receiving a positioning request message sent by the source node, wherein the positioning request message comprises third indication information, and the third indication information is used for indicating a first time-frequency resource corresponding to the first positioning measurement reference signal.

With reference to the fourth aspect, in some implementations of the fourth aspect, the positioning request message includes positioning capability request information, where the positioning capability request information is used to request to query the positioning capability of the target node.

With reference to the fourth aspect, in some implementations of the fourth aspect, the positioning request message further includes fourth indication information, where the fourth indication information is used to indicate positioning capabilities of the source node.

With reference to the fourth aspect, in certain implementations of the fourth aspect, the first indication information is characterized by 1-bit information, wherein when the first indication information indicates that the LOS condition is satisfied, the first indication information is 1; when the first indication information indicates that the LOS condition is not met, the first indication information is 0; or when the first indication information indicates that the LOS condition is satisfied, the first indication information is 0; when the first indication information indicates that the LOS condition is not satisfied, the first indication information is 1.

With reference to the fourth aspect, in certain implementations of the fourth aspect, the positioning measurement reference signals include, but are not limited to, at least one of: positioning reference signals PRS, channel state information reference signals CSI-RS and time frequency domain tracking reference signals TRS.

In a fifth aspect, there is provided a communication node comprising: a transmitting unit, configured to transmit a first positioning measurement reference signal to a target node; the receiving unit is used for receiving a positioning feedback message sent by the target node, wherein the positioning feedback message comprises first indication information which is used for indicating whether a line-of-sight LOS condition is met between the source node and the target node; and the processing unit is used for determining a positioning mode between the source node and the target node according to the first indication information.

With reference to the fifth aspect, in certain implementation manners of the fifth aspect, the processing unit is specifically configured to: when the LOS condition is not met between the source node and the target node according to the first indication information, determining that the source node and the target node adopt multi-node cooperative positioning; and when the LOS condition is met between the source node and the target node according to the first indication information, determining a positioning mode between the source node and the target node according to the positioning capability of the source node and the target node.

With reference to the fifth aspect, in certain implementations of the fifth aspect, the positioning capability includes a number of antennas; the processing unit further includes: when the number of the antennae of the source node and/or the target node is larger than or equal to a first threshold value, determining that the source node and the target node adopt a relative positioning mode; or when the number of the antennae of the source node and the target node is smaller than the first threshold, determining that the source node and the target node adopt the multi-node cooperative positioning mode.

With reference to the fifth aspect, in certain implementation manners of the fifth aspect, the sending unit is further configured to send location capability request information to the target node, where the location capability request information is used to request to query a location capability of the target node; the receiving unit is further configured to receive second indication information sent by the target node, where the second indication information is used to indicate positioning capability of the target node.

With reference to the fifth aspect, in some implementations of the fifth aspect, the sending unit is further configured to send a positioning request message to the target node, where the positioning request message includes third indication information, where the third indication information is used to indicate a first time-frequency resource corresponding to the first positioning measurement reference signal.

With reference to the fifth aspect, in certain implementations of the fifth aspect, the positioning request message includes positioning capability request information, where the positioning capability request information is used to request to query the positioning capability of the target node.

With reference to the fifth aspect, in certain implementation manners of the fifth aspect, the positioning feedback message includes second indication information, where the second indication information is used to indicate a positioning capability of the target node, and the processing module is further configured to determine the positioning capability of the target node according to the second indication information.

With reference to the fifth aspect, in certain implementations of the fifth aspect, the positioning request message further includes fourth indication information, where the fourth indication information is used to indicate positioning capabilities of the source node.

With reference to the fifth aspect, in certain implementation manners of the fifth aspect, the positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second time-frequency resource corresponding to a second positioning measurement reference signal; the receiving unit is further configured to receive, at the second time-frequency resource, the second positioning measurement reference signal sent by the target node according to the fifth indication information; the processing unit is further configured to determine, according to the second positioning measurement reference signal, whether the LOS condition is satisfied between the source node and the target node.

With reference to the fifth aspect, in certain implementations of the fifth aspect, the first indication information is characterized by 1-bit information, where when the first indication information indicates that the LOS path condition is satisfied, the first indication information is 1; when the first indication information indicates that the LOS path condition is not met, the first indication information is 0; or when the first indication information indicates that the LOS path condition is met, the first indication information is 0; and when the first indication information indicates that the LOS path condition is not met, the first indication information is 1.

With reference to the fifth aspect, in certain implementations of the fifth aspect, the positioning request message is transmitted to the target node over a physical measurement link control channel PSCCH; and/or the positioning measurement reference signal is transmitted to the target node through a physical side uplink shared channel PSSCH.

In a sixth aspect, there is provided a communication node comprising: a receiving unit, configured to receive a first positioning measurement reference signal sent by the source node; a processing unit, configured to determine, according to the first positioning measurement reference signal, whether a line-of-sight LOS condition is satisfied between the source node and the target node; and the sending unit is used for sending a positioning feedback message to the source node, wherein the positioning feedback message comprises first indication information, and the first indication information is used for indicating whether the line-of-sight LOS condition is met between the source node and the target node.

With reference to the sixth aspect, in some implementations of the sixth aspect, the receiving unit is further configured to receive positioning capability request information sent by a source node, where the positioning capability request information is used to request to query a positioning capability of the target node; the processing unit is further configured to determine a positioning capability of the target node according to the positioning capability request message; the sending unit is further configured to send second indication information to the source node, where the second indication information is used to indicate positioning capability of the target node.

With reference to the sixth aspect, in some implementations of the sixth aspect, the receiving unit is further configured to receive a positioning request message sent by the source node, where the positioning request message includes third indication information, where the third indication information is used to indicate a first time-frequency resource corresponding to the first positioning measurement reference signal.

With reference to the sixth aspect, in certain implementations of the sixth aspect, the positioning request message includes positioning capability request information, where the positioning capability request information is used to request to query the positioning capability of the target node.

With reference to the sixth aspect, in certain implementations of the sixth aspect, the positioning request message further includes fourth indication information, where the fourth indication information is used to indicate positioning capabilities of the source node.

With reference to the sixth aspect, in certain implementation manners of the sixth aspect, the relative positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second time-frequency resource corresponding to a second positioning measurement reference signal; the sending unit is further configured to send the second positioning measurement reference signal to the source node, where the second positioning measurement reference signal is used by the source node to determine whether the LOS condition is satisfied between the source node and the target node.

With reference to the sixth aspect, in certain implementations of the sixth aspect, the first indication information is characterized by 1-bit information, where when the first indication information indicates that the LOS path condition is satisfied, the first indication information is 1; when the first indication information indicates that the LOS path condition is not met, the first indication information is 0; or when the first indication information indicates that the LOS path condition is met, the first indication information is 0; and when the first indication information indicates that the LOS path condition is not met, the first indication information is 1.

With reference to the sixth aspect, in certain implementations of the sixth aspect, the positioning request message is transmitted to the target node over a PSCCH; and/or, the positioning measurement reference signal is transmitted to the target node through the PSSCH.

In a seventh aspect, a communication node is provided, which includes: a transmitting unit, configured to transmit a first positioning measurement reference signal to a target node; the receiving unit is used for receiving a positioning feedback message sent by the target node, wherein the positioning feedback message comprises first indication information and fifth indication information, the first indication information is used for indicating whether the line-of-sight LOS condition is met between the source node and the target node, and the fifth indication information is used for indicating a second time-frequency resource corresponding to a second positioning measurement reference signal; the second positioning reference; the receiving unit is further configured to: receiving the second positioning measurement reference signal sent by the target node at the second time-frequency resource according to the fifth indication information; when the LOS condition is not met between the source node and the target node according to the second positioning measurement reference signal, determining that the source node and the target node adopt a cooperative positioning mode; and when the LOS condition is met between the source node and the target node according to the second positioning measurement reference signal, determining a positioning mode between the source node and the target node according to the positioning capability of the source node and/or the target node.

With reference to the seventh aspect, in certain implementations of the seventh aspect, the positioning capability includes a number of antennas; the processing unit is specifically configured to: when the number of the antennae of the source node or the target node is larger than or equal to a first threshold value, determining that the source node and the target node adopt a relative positioning mode; or when the number of the antennae of the source node and the target node is smaller than the first threshold, determining that the source node and the target node adopt the cooperative positioning mode.

With reference to the seventh aspect, in certain implementation manners of the seventh aspect, the sending unit is further configured to: transmitting positioning capability request information to the target node, wherein the positioning capability request information is used for requesting to query the positioning capability of the target node; the receiving unit is further configured to receive second indication information sent by the target node, where the second indication information is used to indicate positioning capability of the target node.

With reference to the seventh aspect, in some implementations of the seventh aspect, the sending unit is further configured to send a positioning request message to the target node, where the positioning request message includes third indication information, where the third indication information is used to indicate a first time-frequency resource corresponding to the first positioning measurement reference signal.

With reference to the seventh aspect, in certain implementations of the seventh aspect, the positioning request message includes positioning capability request information, where the positioning capability request information is used to request to query the positioning capability of the target node.

With reference to the seventh aspect, in certain implementations of the seventh aspect, the positioning feedback message includes second indication information, where the second indication information is used to indicate positioning capabilities of the target node, and the processing unit is further configured to: and determining the positioning capability of the target node according to the second indication information.

With reference to the seventh aspect, in certain implementations of the seventh aspect, the positioning request message further includes fourth indication information, where the fourth indication information is used to indicate positioning capabilities of the source node.

With reference to the seventh aspect, in certain implementations of the seventh aspect, the first indication information is characterized by 1-bit information, wherein when the first indication information indicates that the LOS condition is satisfied, the first indication information is 1; when the first indication information indicates that the LOS condition is not met, the first indication information is 0; or when the first indication information indicates that the LOS condition is satisfied, the first indication information is 0; when the first indication information indicates that the LOS condition is not satisfied, the first indication information is 1.

With reference to the seventh aspect, in certain implementations of the seventh aspect, the positioning measurement reference signals include, but are not limited to, at least one of: positioning reference signals PRS, channel state information reference signals CSI-RS and time frequency domain tracking reference signals TRS.

An eighth aspect provides a communication node comprising: a receiving unit, configured to receive a first positioning measurement reference signal sent by the source node; a sending unit, configured to send a positioning feedback message to the source node according to the first positioning measurement reference signal, where the positioning feedback message includes fifth indication information, where the fifth indication information is used to indicate a second time-frequency resource corresponding to a second positioning measurement reference signal; and sending the second positioning measurement reference signal to the source node.

With reference to the eighth aspect, in certain implementation manners of the eighth aspect, the receiving unit is further configured to receive positioning capability request information sent by a source node, where the positioning capability request information is used to request to query a positioning capability of the target node; and the sending unit is further used for sending second indication information to the source node according to the positioning capability request information, wherein the second indication information is used for indicating the positioning capability of the target node.

With reference to the eighth aspect, in some implementations of the eighth aspect, a receiving unit is configured to receive a positioning request message sent by the source node, where the positioning request message includes third indication information, where the third indication information is used to indicate a first time-frequency resource corresponding to the first positioning measurement reference signal.

With reference to the eighth aspect, in certain implementations of the eighth aspect, the positioning request message includes positioning capability request information, where the positioning capability request information is used to request to query the positioning capability of the target node.

With reference to the eighth aspect, in certain implementations of the eighth aspect, the positioning request message further includes fourth indication information, where the fourth indication information is used to indicate positioning capabilities of the source node.

With reference to the eighth aspect, in certain implementations of the eighth aspect, the first indication information is characterized by 1-bit information, wherein when the first indication information indicates that the LOS condition is satisfied, the first indication information is 1; when the first indication information indicates that the LOS condition is not met, the first indication information is 0; or when the first indication information indicates that the LOS condition is satisfied, the first indication information is 0; when the first indication information indicates that the LOS condition is not satisfied, the first indication information is 1.

With reference to the eighth aspect, in certain implementations of the eighth aspect, the positioning measurement reference signals include, but are not limited to, at least one of: positioning reference signals PRS, channel state information reference signals CSI-RS and time frequency domain tracking reference signals TRS.

A ninth aspect provides a communication device comprising at least one processor and a communication interface for information interaction with other communication devices, the program instructions, when executed in the at least one processor, causing the communication device to implement the functionality of a method as described in any of the preceding first to fourth aspects on any node: the source node and the target node.

In a tenth aspect, there is provided a computer readable storage medium having program instructions which, when executed directly or indirectly, cause the implementation of the functions as in any of the preceding first to fourth aspects on any of the following means: the source node and the target node.

In an eleventh aspect, there is provided a chip system comprising at least one processor, wherein program instructions, when executed in the at least one processor, cause the triggering method as in any one of the preceding first to fourth aspects to be implemented as a function on any one of the following devices: the source node and the target node.

In a twelfth aspect, there is provided a computer program which, when executed in at least one processor, causes the triggering method as in any one of the preceding first to fourth aspects to be carried out as a function on any one of the following devices: the source node and the target node.

According to the triggering method of the positioning mode provided by the embodiment of the application, the target node feeds back LOS path existence state information and positioning capability information to the source node, and the source node determines which positioning mode is adopted for positioning flow in the follow-up concrete mode based on the information, namely, before the positioning flow is executed, the positioning mode which is more suitable for the current positioning scene is selected based on a certain signaling flow, so that unnecessary and large amount of system overhead can be avoided under the condition of ensuring the precision, and the positioning efficiency is improved.

Drawings

Fig. 1 is a schematic diagram of cooperative positioning according to an embodiment of the present application.

Fig. 2 is a schematic diagram of a possible application scenario provided in an embodiment of the present application.

Fig. 3 is a schematic diagram of another possible application scenario provided in an embodiment of the present application.

Fig. 4 is a schematic flowchart of a triggering method of a positioning manner provided in an embodiment of the present application.

Fig. 5 is a schematic flowchart of a triggering method of another positioning manner provided in an embodiment of the present application.

Fig. 6 is a schematic flowchart of a triggering method of another positioning manner provided in an embodiment of the present application.

Fig. 7 is a schematic flowchart of a triggering method of another positioning manner provided in an embodiment of the present application.

Fig. 8 is a schematic block diagram of a positioning request signal according to an embodiment of the present application.

Fig. 9 is a schematic block diagram of a positioning feedback signal provided in an embodiment of the present application.

Fig. 10 is a schematic flowchart of a triggering method of another positioning manner provided in an embodiment of the present application.

Fig. 11 is a schematic block diagram of another positioning request signal provided in an embodiment of the present application.

Fig. 12 is a schematic block diagram of another positioning feedback signal provided by an embodiment of the present application.

Fig. 13 is a schematic flowchart of a triggering method of another positioning manner provided in an embodiment of the present application.

Fig. 14 is a schematic block diagram of yet another positioning feedback signal provided by an embodiment of the present application.

Fig. 15 is a schematic structural diagram of a communication node provided in an embodiment of the present application.

Fig. 16 is a schematic structural diagram of another communication node provided in an embodiment of the present application.

Fig. 17 is a schematic structural diagram of a communication device provided in an embodiment of the present application.

Detailed Description

Embodiments of the present application are described below with reference to the accompanying drawings in the embodiments of the present application. The terminology used in the description of the embodiments of the application is for the purpose of describing particular embodiments of the application only and is not intended to be limiting of the application. In the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B; "and/or" and you in this document are an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, which may represent: a exists alone, A and B exist together, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more, and "a plurality" means two or more.

The terms "first" and "second" are used below for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying an implicit indication of the number of technical features indicated. Thus, a definition of "a first", "a second" feature may explicitly or implicitly include one or more of such features.

The technical solution of the embodiment of the application can be used for various communication systems, for example: wireless local area network (wireless local area network, WLAN) systems, long term evolution (long term evolution, LTE) systems, LTE frequency division duplex (frequency division duplex, FDD) systems, LTE time division duplex (time division duplex, TDD), universal mobile telecommunications system (universal mobile telecommunication system, UMTS), worldwide interoperability for microwave access (worldwide interoperability for microwave access, wiMAX) telecommunications systems, fifth generation (5G) mobile telecommunications systems or New Radio (NR) systems, and the like.

The node in the embodiment of the present application is a communication device with a wireless transceiver function, and may represent a redistribution point (redistribution point) or a communication endpoint (such as a terminal device). A node may be, for example, a user equipment, a terminal, a wireless communication device, a user agent, or a user device. The node may also be a cellular telephone, a cordless telephone, a session initiation protocol (session initiation protocol, SIP) phone, a wireless local loop (wireless local loop, WLL) station, a personal digital processing (personal digital assistant, PAD), a handheld device with wireless communication capabilities, a computing device or other processing device connected to a wireless modem, a car-mounted device, a wearable device, a terminal device in a 5G network or a terminal device in a public land mobile network (public land mobile network, PLMN), or a node in a WLAN system, etc. From a product morphology, the node in the embodiment of the application may be a device with wireless communication capability (sidelink, wiFi, bluetooth, UWB, etc.), especially a terminal device, such as a mobile phone, a computer, a tablet, a bracelet, a smart watch, a data card, a sensor, etc. The embodiment of the present application is described by taking a node as an example, but the present application is not limited thereto.

With the development of intelligence, more and more scenes need to rely on accurate positioning. The third generation partnership project (3rd generation partnership project,3GPP) standard TS 22.804 positioning service performance requirement in vertical domain defines a class 8 positioning scenario, the positioning requirements of which include absolute positioning and relative positioning requirements, the positioning accuracy requirements covering from 5 meters to 20 centimeters, and the requirements for reliability of 90% -99.9% also being raised. In the research phase (SI) of Rel-17 NR Positioning in 3gpp ran#86 conference, the goals are: in a general commercial scene, the positioning precision meets the sub-meter positioning precision, and the positioning time delay is 100ms; in the industrial Internet (industrial internet of things, IIOT), the positioning accuracy needs to reach 20cm, and the positioning time delay needs to reach 10 ms. Based on such requirements, the 3GPP standards are actively conducting standardization work, including wireless positioning technology (radio access technology (RAT) dependent positioning) based on 3GPP cellular network, positioning technology (global navigation satellite system, GNSS) based on satellite positioning, positioning technology based on non-3 GPP terrestrial network, such as: wireless fidelity (wireless fidelity, wi-Fi) positioning, bluetooth positioning, terrestrial beacon system (terrestrial beacon system, TBS) positioning, ultra Wideband (UWB) positioning, and hybrid positioning techniques, among others.

Regardless of the positioning technique, multipath interference, clock synchronization errors, and the need for rich positioning anchors (3 and more anchors) can become key factors limiting positioning accuracy. The synchronization error in the positioning process includes synchronization errors between multiple anchor points such as a base station/satellite/Access Point (AP), and synchronization errors between an anchor point (base station/satellite/AP) and a User Equipment (UE) to be positioned. The observation time difference (observed time difference of arrival, OTDOA) technology can effectively solve the problem of synchronization deviation between a positioning anchor point and a positioning terminal by measuring the arrival observation time difference of different anchor points through UE, but strict synchronization is required between the anchor points, otherwise, the positioning accuracy is poor; and a multi-round trip time (multi-RTT) estimates RTT between the UE and a plurality of anchors by transmitting and receiving signals and estimates the position of the UE using a trilateration algorithm, wherein the advantage of using RTT to estimate the distance location between the anchor and the UE is that synchronization errors between anchors do not need to be considered, but the disadvantage is that additional positioning measurement reference signals need to be used, thereby increasing resource overhead.

In addition, since most of the existing positioning technologies are based on trilateration or triangulation, the number of related anchors is required to be 3 or more, which may lead to an increase in deployment cost and insufficient anchors under the constraint of frequency efficiency. Taking cellular positioning as an example, two major limiting constraint factors exist in multi-anchor positioning are: (1) The frequency spectrum of a cell considered during the deployment of the base station is maximized (the same frequency interference is controlled), so that a large number of areas exist, and only 1-2 cells can be seen; (2) uncertainty of base station position (antenna position). Thus, if single anchor/single station positioning can be achieved, this is very advantageous for ease of use and cost of cellular positioning.

In addition, multipath effects and signal shadowing are major factors affecting the accuracy of time of arrival (TOA)/time difference of arrival (time difference of arrival, TDOA) measurements. Although the time resolution of the time domain is higher as the bandwidth of the wireless positioning system is wider, the resolution after the correlation processing of the multipath signals is higher, the problem of positioning errors caused by multipath is still unavoidable. The influence of multipath during the signal propagation process can lead the receiver to be incapable of distinguishing LOS and NLOS, and the related peak value is shifted during the processing, so that the TOA estimation is error; or, the direct path is blocked in the signal propagation process, and the receiver receives reflected, refracted and diffracted wireless signals, which also causes the TOA measurement to deviate; or, the result of the coherent processing is below the threshold and is not available due to the weak direct path signal, and accurate TOA data cannot be obtained.

In order to eliminate the influence of multipath effects on positioning, related technologies are: (1) The sensitivity and the dynamic range of the system are improved, and the multipath error is reduced due to the fact that the tolerance of the radio frequency front end with the large dynamic range to noise interference is larger. But this approach requires relatively high hardware requirements for the device. (2) The LOS path and the NLOS path of the channel are identified, and weighting processing is performed in the positioning calculation. But this approach requires the receiver to be able to accurately resolve the LOS/NLOS path. (3) The positioning error caused by the NLOS path is directly corrected. However, this method requires knowledge of the angles of the obstacle reflection, refraction, diffraction signals, and adopts optical principles and plane geometry to convert the NLOS propagation path into equivalent LOS propagation.

In general, the advantages of relative positioning over absolute positioning include mainly the following:

1. from the probability point of view, the distance between the source node and the target node between the opposite positioning is relatively close, and the probability of existence of an LOS path is high, so that the potential positioning accuracy is relatively high; 2. because the relative positioning only occurs between the source node and the target node, and no third party participation such as a positioning server is needed, the signaling interaction flow is simpler, and the positioning time delay can be shorter.

Essentially, relative positioning is a single anchor positioning technique, i.e., only one anchor is needed to achieve UE positioning. Technically, the single anchor point positioning method based on multipath assistance can realize high-precision relative positioning. The preconditions for achieving high precision relative positioning based on single anchor point technology generally include: 1. the receiving and transmitting end can distinguish LOS path and NLOS path, and based on the distinguished LOS path, TOA measurement or RTT measurement is carried out; 2. the transceiver must have multiple antenna capability (typically 3 or more antennas are required) at one end, so that angle of arrival (AOA) or angle of departure (angle of departure, AOD) measurements can be performed, and hybrid positioning can be performed in conjunction with time of arrival (TOA) on the LOS path.

In addition, in the relative positioning, if the source node and the target node cannot directly perform signaling interaction, LOS path positioning is realized, and a multi-hop cooperative positioning mode of the LOS path can also be realized by means of cooperation of other equipment. The multi-hop collaboration of LOS paths is shown in fig. 1: a wants to make a relative positioning with B, but there is no LOS path between a and B due to the presence of a shroud between a and B. However, C, E, F is present around A and B, and an LOS path exists between A, C and C, B, and an LOS path h exists between C, B _C，B Between A, E there is an LOS path h _A，E Between E, F there is an LOS path h _E，F Between F, B there is an LOS path h _F，B . Therefore, the source node A can be positioned relatively with the C, then the source node A can be positioned relatively with the B, and the source node A and the source node B can obtain the relative positioning information of the opposite side after proper information interaction; in addition, the source node A can also perform relative positioning with E, E and F, F and B, and high-precision relative positioning between A and B can be realized through signaling interaction between A, E, F, B.

The cooperative positioning can break through the limit of LOS diameter in relative positioning, and further improve the positioning accuracy of relative positioning in NLOS environment. However, at the same time, with the increase of the cooperative positioning nodes, a certain system overhead is inevitably brought, including: (1) The signaling cost is increased, the signaling interaction exists between the source node and the target node, and the signaling interaction exists between the nodes participating in the cooperative positioning and the source node and the target node, so that the signaling cost is greatly increased; (2) The positioning time delay is increased, and the cooperative positioning essence is relative positioning under the condition of multi-hop, so that the positioning time delay is increased; (3) The power consumption is increased, and the nodes participating in cooperative positioning need to perform signaling analysis and reference signal measurement, so that the additional power consumption increase is unavoidable. Therefore, once the source node and the target node have relative positioning requirements, a certain criterion based on which to choose whether to directly perform the relative positioning process or enter the cooperative positioning process is needed, so that the trade-off between the relative positioning precision and the cost overhead is realized.

Aiming at the problems, the embodiment of the application provides a triggering method of a positioning mode. The relative positioning feedback signal (relative positioning response) fed back to the source node by the target node is designed to carry indication information for indicating whether the relative positioning feedback signal and the target node meet LOS positioning conditions, and the source node is combined with the positioning capability of the source node and/or the target node to judge whether the next positioning process adopts a relative positioning mode or a cooperative positioning mode, so that the system overhead is reduced on the premise of meeting the effective relative positioning precision.

It should be understood that, in the embodiment of the present application, the relative positioning refers to a positioning manner in which a source node and a target node to be positioned are directly positioned by the source node and the target node without assistance of other surrounding nodes, for example, when no obstacle exists between a and B in fig. 1, the source node and the target node can be directly positioned relatively; and the cooperative positioning refers to the relative positioning process between the source node and the target node with the assistance of surrounding nodes as shown in fig. 1, wherein the cooperative positioning can be applied to the NLOS path scene or the scene with LOS path, but the positioning capability of the source node and the target node does not support direct relative positioning. For ease of description, relative positioning and cooperative positioning are used herein to represent the two positioning means, respectively.

Exemplary, as shown in fig. 2, a schematic diagram of an application scenario provided in an embodiment of the present application is shown. The method and the device can be used for relative positioning and cooperative positioning scenes between devices with side link (sidelink), wi-Fi, ultra Wideband (UWB), bluetooth and other wireless communication technologies.

Each node participating in cooperative positioning may transmit a positioning reference signal (positioning reference signal, PRS), a channel state information reference signal (channel state information reference signal, CSI-RS), a time-frequency domain tracking reference signal (time/frequency tracking signal, TRS), and other positioning measurement reference signals, and may have multiple antenna capability.

From the network topology, if the positioning is based on the relative positioning and the cooperative positioning of the cellular sidelink, each node can be located within the coverage area of the base station or outside the coverage area of the base station (as shown in (a) of fig. 2); if the relative positioning and the cooperative positioning are based on Wi-Fi, each node can be located within the coverage area of the AP or outside the coverage area of the AP (as shown in (b) diagram in fig. 2); if the positioning is based on bluetooth or UWB, the node may be located within the coverage area of the anchor point or outside the coverage area of the anchor point (as shown in fig. 2 (c)).

In a possible implementation manner, the triggering method of the positioning manner provided by the embodiment of the application can be applied to an indoor positioning scene. As shown in fig. 3, taking the positioning of the smart speakers as an example, when a user uses two smart speakers (the smart effect 1 and the smart speaker 2) to play stereo, the smart speaker 1 and the smart speaker 2 need to know the positions of each other, but because there may be shielding of other devices such as a television between the two speakers, there is no LOS path between the smart speakers. At this time, the intelligent sound box 1 can perform cooperative positioning through other devices in the room, such as a mobile phone, a tablet computer, a smart watch, a router and the like. In other words, as shown in fig. 3, the intelligent sound box 1 can be positioned relatively with the tablet computer, the tablet computer is positioned relatively with the mobile phone or the intelligent watch of the user, the mobile phone or the intelligent watch is positioned relatively with the intelligent sound box 2, and finally the positioning between the intelligent sound box 1 and the intelligent sound box 2 is realized.

For example, the above-mentioned cooperative positioning manner between the smart speakers may occur during the initial connection. In addition, the source node and the target node in the embodiment of the present application may also be various other devices, for example, the source node and the target node are mobile phones of the same user or different users, and in this case, the collaboration node may be devices such as a smart watch, a tablet computer, and the like.

The source node and the target node in the embodiments of the present application may be various terminals having a positioning function and wireless communication capability, and are not limited to the devices mentioned in the above examples.

It should be understood that, in the triggering method of the positioning mode provided in the embodiment of the present application, before positioning, the source node determines whether there is an LOS path between the source node and the target node based on the information fed back by the target node, and selects the positioning mode based on the determination result, so as to realize the trade-off between the positioning precision and the cost overhead, and improve the positioning efficiency.

An exemplary embodiment, as shown in fig. 4, is a schematic diagram of a triggering method of a positioning manner provided in an embodiment of the present application. The method is applied to a source node and a target node, and comprises the following steps:

s401, transmitting a first positioning measurement reference signal to a target node.

The source node may be a node to be located that transmits a location measurement reference signal.

Alternatively, the source node and/or the target node may be a terminal with multi-antenna capability.

The first positioning measurement reference signal here may be a PRS, CSI-RS, TRS, or the like. Specifically, the first positioning measurement reference signal herein may be, for example, an aperiodic PRS signal, an aperiodic CSI-RS, an aperiodic TRS signal, or the like.

Furthermore, the first positioning measurement reference signal may be carried in a positioning request message, such as a relative positioning request message (relative positioning request); or after the source node sends the positioning request message to the target node, the positioning request message can be used as a separate signaling flow to be sent to the target node.

S402, receiving a positioning feedback message sent by a target node, wherein the positioning feedback message comprises first indication information, and the first indication information is used for indicating whether a line-of-sight LOS condition is met between a source node and the target node.

Optionally, when the source node sends a relative positioning request message (relative positioning request) to the target node, the positioning feedback message may be a relative positioning feedback message (relative positioning response) correspondingly.

The first indication information is used for indicating whether LOS conditions are met between the source node and the target node. Specifically, the first indication information may be LOS path status indication information or LOS presence status indication information. The LOS path condition referred to in this application may be whether there is an LOS path between the source node and the target node. When the LOS condition is met, an LOS path exists between the source node and the target node; when the LOS condition is not satisfied, no LOS path exists between the source node and the target node.

Alternatively, the target node may determine whether the LOS path condition is satisfied between the source node and the target node based on the first positioning measurement reference signal received in step S301.

The determination of the LOS path by the target node may be performed in a variety of manners, including but not limited to the following manners: (1) Judging based on the conditional probability density and the threshold according to two statistical characteristic values of the Lais factor and the bias of the positioning measurement reference signal effective signal; (2) Searching the variance change rule of the phase difference between the NLOS path antenna and the LOS path antenna according to the phase angle; (3) Judging NLOS and LOS paths according to the phase variance factors among the antennas; (4) LOS path identification and the like are performed based on artificial intelligence (artificial intelligence, AI) technology. The flow of the determination of the LOS path by the target node may refer to the prior art, and will not be described herein.

S403, when the fact that the LOS condition is not met between the source node and the target node is determined according to the first indication information, determining that the source node and the target node adopt a cooperative positioning mode; and when the LOS condition is met between the source node and the target node according to the first indication information, determining a positioning mode between the source node and the target node according to the positioning capability of the source node and/or the target node.

Optionally, when the source node judges that the source node and the target node meet the LOS path condition according to the first indication information, the positioning can be determined to be performed by adopting a relative positioning mode; or when the source node judges that the LOS path condition is not satisfied between the source node and the target node according to the first indication information, the positioning adopting the cooperative positioning mode can be further determined according to the positioning capability of the source node and/or the target node.

The positioning capability in the embodiment of the present application may mainly refer to the number of antennas of the node. In addition, the positioning capability may also include a positioning bandwidth supported by the node, which may affect the positioning method finally adopted after determining the positioning mode. Taking relative positioning as an example, if the positioning bandwidth of the source node and the target node is large (for example, supporting 100 MHz), this also means that the time resolution is strong, so positioning methods such as TOA/TDOA/RTT can be adopted; if the positioning bandwidths of the source node and the target node are small, this means that the time resolution of the signals is weak, so that carrier phase positioning and angle positioning methods can be adopted.

According to the method for selecting the positioning mode, which is provided by the embodiment of the application, the source node determines the subsequently adopted positioning mode through the LOS path state indication information fed back by the target node, so that the signaling overhead can be saved on the basis of ensuring the positioning precision.

It should be appreciated that in addition to the LOS diameter, the positioning capability of the two ends of the relative positioning is also an important factor affecting the positioning accuracy. In order to ensure the positioning accuracy between the source node and the target node, the source node can also combine the LOS path condition with the positioning capability of the source node and the target node to perform the judgment besides determining the positioning mode based on the LOS path condition.

Fig. 5 is a schematic diagram of another triggering method of positioning according to an embodiment of the present application. The method may further comprise the following steps in addition to the steps shown in fig. 4:

s501, sending location capability request information to the target node, where the location capability request information is used to request to query the location capability of the target node.

Alternatively, the source node may send a location request message to the target node prior to location, which may be a relative location request message (relative position request), for example.

The positioning request message may include third indication information for indicating a first time-frequency resource corresponding to the first positioning measurement reference signal. The third indication information may be, for example, aperiodic relative positioning measurement reference signal video resource indication information.

Optionally, the source node sends a first positioning measurement reference signal to the target node, and the target node receives the first positioning measurement reference signal on the designated first time-frequency resource.

Optionally, the source node may also send location capability request information (capability request) to the target node. Wherein, the positioning capability request information can be carried in a positioning request message; or may be designed as a separate signaling flow.

For example, when the positioning capability of the source node and the target node is stronger, the supported positioning modes are more, and the corresponding positioning capability information amount is larger, in this case, in order to simplify the positioning request message, the positioning capability request message may be designed as an independent signaling flow; or when the positioning capability of the source node and the target node is weaker, the supported positioning modes are fewer, and accordingly the amount of positioning capability indication information is smaller, in order to simplify the positioning process, the positioning capability request information can be carried in the request message and sent to the target node.

Further, the source node may further carry fourth indication information in the positioning capability request information, where the fourth indication information may be positioning capability indication information of the source node, and is used to indicate, to the target node, positioning capability supported by the source node.

Optionally, the positioning capability in the embodiment of the present application is the number of antennas of the node, and may also include positioning bandwidth supported by the node, and so on.

S502, receiving second indication information sent by the target node, wherein the second indication information is used for indicating the positioning capability of the target node.

The target node sends second indication information, which may be target node location capability feedback information (capability response), to the source node indicating the location capability of the target node based on the location request information.

Optionally, the second indication information may be carried in a positioning feedback message sent by the target node to the source node; alternatively, a separate signaling flow may be devised.

For example, when the positioning capability request information sent by the source node to the target node is carried in the positioning request message, the target node may carry the second indication information in the positioning feedback message; alternatively, when the source node separately transmits the location capability request information to the target node, the target node may also separately transmit the second indication information to the source node.

S503, determining a positioning mode between the source node and the target node according to the first indication information and the second indication information.

Optionally, the source node may respectively analyze the information of the existence state of the LOS path and the positioning capability information of the target node according to the positioning feedback message and the second indication information, so as to further determine, when the LOS path exists, a positioning manner with the target node according to the positioning capability of the source node and/or the target node and based on a preset criterion.

It should be understood that the positioning means described in the embodiments of the present application may include relative positioning or cooperative positioning.

It should also be understood that the positioning capability in the embodiments of the present application mainly refers to the positioning capability of the relevant node, but may also include other aspects, such as the positioning bandwidth supported by the node, and so on.

In addition, the preset criteria for the source node to determine the positioning manner may include the following:

when the source node judges that the condition of the LOS path (the LOS path exists) is met between the source node and the target node according to the first indication information, and the number of the antennas of the source node and/or the target node is greater than or equal to a first threshold value, the source node and the target node are determined to adopt a relative positioning mode, and then a relative positioning process can be entered.

Or when the source node judges that the condition of the LOS path between the source node and the target node is met (the LOS path exists) according to the first indication information, and the number of the antennas of the source node and the target node is smaller than a first threshold value, determining that the source node and the target node adopt a cooperative positioning mode, and then entering a cooperative positioning process.

Alternatively, the first threshold here may be, for example, 3.

From the above embodiments, it can be seen that the target node sends LOS path status indication information and positioning capability indication information to the source node according to the source node, and then the source node determines the subsequent positioning process according to these information. However, when the target node has weak capability and cannot determine whether the LOS path exists based on the measurement signal sent by the source node, a second time-frequency resource indication may also be sent to the source node, to instruct the source node to perform measurement of the positioning measurement reference signal on the second time-frequency resource, and the source end performs LOS path detection.

For example, the target node may carry fifth indication information in the positioning feedback message, where the fifth indication information may be indication information of a second time-frequency resource corresponding to the second positioning measurement reference signal, and is used to indicate the time-frequency resource corresponding to the second positioning measurement reference signal. The second positioning measurement reference signal is a reference signal which is sent to the source node by the target node and used for judging the LOS path state between the source node and the target node.

It should be appreciated that when the source node parses out the fifth indication information from the information sent by the target node, the fifth indication information may be used to indicate that the LOS path state indication information (i.e., the first indication information) in the positioning feedback message is invalid or not trusted.

After the source node completes LOS path detection, the source node can only select the result of detection judgment; or the source node may also determine the existence state of the LOS path by combining the LOS path state result of the detection and judgment and the LOS path state result analyzed from the positioning feedback message.

When the source node determines the positioning manner of the subsequent positioning process only according to the result of whether the LOS path detected by itself exists, as shown in fig. 6, the method may include the following steps:

s601, a first positioning measurement reference signal is sent to a target node.

S602, a positioning feedback message sent by a target node is received, wherein the positioning feedback message comprises first indication information and fifth indication information, the first indication information is used for indicating whether a line-of-sight LOS condition is met between a source node and the target node, and the fifth indication information is used for indicating a second time-frequency resource corresponding to a second positioning measurement reference signal.

And S603, receiving the second positioning measurement reference signal sent by the target node at a second time-frequency resource according to the fifth indication information.

S604, when the fact that the LOS condition is not met between the source node and the target node is determined according to the second positioning measurement reference signal, determining that a cooperative positioning mode is adopted between the source node and the target node; and when the LOS condition is met between the source node and the target node according to the second positioning measurement reference signal, determining a positioning mode between the source node and the target node according to the positioning capability of the source node and/or the target node.

The steps S601, S602, and S604 are similar to the steps S401 to S403, respectively, and the specific details can be found in the related description, which is not repeated here.

The communication flow before the positioning mode selection in different specific scenes will be described in detail below with reference to the accompanying drawings.

One of the possible scenarios is: the antenna capacity of the target node is relatively strong, the target node has enough capacity to judge whether a scene of an LOS path exists at present based on the measurement reference signal sent by the source node, the target node has the capacity to judge whether the LOS path exists between the target node and the source node according to the first positioning measurement reference signal sent by the source node, at the moment, the target node does not need to indicate a second time-frequency resource of a second positioning measurement reference signal in the positioning feedback message sent by the source node, and the source node does not need to carry out LOS path indication by itself, but directly obtains LOS path state indication information in the positioning feedback message.

Furthermore, if the positioning capabilities of the source node and the target node are stronger at this time, the supported positioning methods are more, so that the corresponding positioning capability information amount is larger, in order to simplify the relative positioning request signal and the response signal, the positioning capability request signal and the positioning capability response signal can be designed into separate signaling flows, instead of bearing the positioning capability request indication information and the positioning capability response indication information on the relative positioning request signal and the relative positioning response signal respectively.

As shown in fig. 7, a schematic flow chart of a triggering method applied to one positioning mode in the above scenario is provided. The method comprises the following steps:

s701, the source node sends a positioning request message to the target node.

Wherein the positioning request message may be a relative positioning request signal (relative positioning request).

The positioning request message may at least carry third indication information, where the third indication information is indication information of a first time-frequency resource corresponding to the first positioning measurement reference signal, for example, time-frequency resource indication information of the aperiodic relative positioning measurement reference signal.

Alternatively, the schematic structure of the positioning request signal may be as shown in fig. 8, where the source node carries the time-frequency resource indication information needed for the target node to perform the positioning measurement reference signal in the relative positioning request message, and tells the target terminal.

S702, the source node sends a first positioning measurement reference signal to the target node.

Wherein the first positioning measurement reference signal may be a positioning measurement reference signal including, but not limited to: aperiodic PRS signals, aperiodic CSI-RS signals, aperiodic TRS signals, and the like.

S703, the target node sends a positioning feedback message to the source node, where the positioning feedback message carries the first indication information.

Optionally, the target node receives the positioning request message and receives the first positioning measurement reference signal on the specified first time-frequency resource. The target node determines whether an LOS path exists between the source node and the target node based on the received first positioning measurement reference signal.

The target node sends a positioning feedback message to the source node, wherein the positioning feedback message at least carries first indication information to indicate whether an LOS path condition is met between the source node and the target node, namely whether an LOS path exists.

The target terminal node may determine whether the LOS path exists or not according to, for example, an aperiodic measurement reference signal sent by the source node, and feedback the determined result to the source node in a positioning feedback message.

Alternatively, an exemplary structure of the location feedback message is shown in fig. 9, where the LOS path existence status indication in the location feedback message fed back by the target node to the source node may specifically refer to indication information about whether there is an LOS path between the source node and the target node.

Still further, the target node and the source node may characterize the LOS path presence state with 1-bit indication information. For example, if there is an LOS path, it is represented by bit "1"; if no LOS path exists, it is indicated by a bit of "0". Of course, if there is an LOS path, it may be represented by a bit "0"; if no LOS path exists, it is indicated by bit "1".

S704, the source node sends positioning capability request information to the target node.

The positioning capability request information may be, for example, a relative positioning capability request signal (capability request).

Optionally, the positioning capability request information may further carry fourth indication information, where the fourth indication information may be positioning capability indication information of the source node itself, and is used to indicate the positioning capability of the source node to the target node.

S705, the target node sends positioning capability feedback information to the source node.

The target node receives the positioning capability request information sent by the source node, and responds to the positioning capability request information to send positioning capability feedback information to the source node.

Wherein the positioning capability feedback information carries second indication information, which may be target node positioning capability indication information (capability response), for indicating the positioning capability of the target node to the source node.

S706, the source node judges the positioning mode according to the first indication information and the positioning capability feedback information.

The source node respectively analyzes the LOS path existence state information and the target node positioning capability information according to the positioning feedback message received in the step S703 and the positioning capability feedback information received in the step S705, and determines whether to enter the relative positioning process or the cooperative positioning process subsequently based on a preset criterion.

The preset criteria for the source node to judge that the positioning mode is adopted may include the following contents:

(1) When the condition that the LOS condition is not met between the source node and the target node is determined, namely, the LOS path is not existed, the source node and the target node are determined to adopt multi-node cooperative positioning, and then the cooperative positioning flow can be entered;

(2) When the condition that the LOS condition is met between the source node and the target node, namely the LOS path exists, the positioning capability of the source node and the target node is further judged, and the positioning mode adopted in the subsequent positioning process is determined according to the positioning capability. The positioning capability here may be mainly the number of antennas of the source node and/or the target node, wherein:

when the number of the antennas of the source node and/or the target node is greater than or equal to a first threshold, determining that the source node and the target node adopt a relative positioning mode, and then entering a relative positioning process.

Or when the number of the antennas of the source node and the target node is smaller than the first threshold, determining that the source node and the target node adopt a cooperative positioning mode, and then entering a cooperative positioning process.

Alternatively, the first threshold here may be, for example, 3.

It may be understood that, in this embodiment, the positioning request message sent by the source node does not carry positioning capability request information, and the positioning feedback message fed back by the target node does not carry second indication information for indicating the positioning capability of the target node, so that the source node may request to query the positioning capability of the target node by independently sending the positioning capability request information, and the target node may independently send the second indication information to the source node, so that the source node obtains the positioning capability information of the target node. The specific bearer manner may refer to the indication manner of the capability request (request capabilities) and the capability feedback (provid capabilities) in the cellular/base station positioning in the R16 version, which is not described herein.

Further, specific signaling bearers and measurement reference signal designs are illustrated with respect to the positioning of the 3GPP side links (sidelink). Wherein the relative positioning request signal may be carried over a 2nd-SCI in a physical side link control channel PSCCH (Physical sidelink control channel, PSCCH) channel, and the aperiodic positioning measurement reference signal may be an aperiodic PRS signal, an aperiodic CSI-RS or an aperiodic TRS signal and carried over a physical side link shared channel (Physical sidelink share channel, PSSCH). The source node can configure the time-frequency resources of the aperiodic CSI-RS measurement reference signal and the aperiodic CSI report of the target terminal through PC5-RRC signaling, and the corresponding CSI reporting and the relative positioning response signal can be completed through MAC-CE. Furthermore, such a flow design and signaling format is not only applicable to the relative positioning of the sidelink in the out-of-network-coverage mode (model 2), but also applicable to the relative positioning of the sidelink in the in-network-coverage mode (model 1).

According to the triggering method of the positioning mode provided by the embodiment of the application, the target node feeds back LOS path existence state information and positioning capability information to the source node, and the source node determines which positioning mode is adopted for positioning flow in the follow-up concrete mode based on the information, namely, before the positioning flow is executed, the positioning mode which is more suitable for the current positioning scene is selected based on a certain signaling flow, so that unnecessary large amount of system overhead can be avoided under the condition of ensuring the precision.

Another possible scenario among others is: when the number of the positioning modes supported by the source node and the target node is small, and the corresponding positioning capability indication information is small, the positioning capability request information and the positioning capability feedback information can be respectively loaded in the positioning request message and the positioning feedback message in order to simplify the positioning process.

As shown in fig. 10, a schematic flow chart of a triggering method applied to one positioning mode in the above scenario is provided. The method comprises the following steps:

s1001, the source node sends a positioning request message to the target node.

The positioning request message may be a relative positioning request signal (relative positioning request), and the request message may at least carry third indication information, where the third indication information is indication information of a first time-frequency resource corresponding to the first positioning measurement reference signal, such as non-periodic relative positioning measurement reference signal time-frequency resource indication information.

The location request message also carries location capability request information (capability request) for requesting a query of the target node for its location capability.

It should be appreciated that the exemplary structure of the positioning request signal may be as shown in fig. 11, where the positioning request message includes positioning capability request information, that is, positioning capability indication information indicating that the target node provides self-support to the source node, in addition to the positioning measurement reference signal indication information.

Optionally, the positioning capability request information may also include positioning capability supported by the source node itself, for providing the target node with the positioning capability supported by the source node.

S1002, the source node transmits a positioning first positioning measurement reference signal to the target node.

Wherein the first positioning measurement reference signal may include, but is not limited to: aperiodic PRS signals, aperiodic CSI-RS signals, aperiodic TRS signals, and the like.

S1003, the target node sends a positioning feedback message to the source node, wherein the positioning feedback message carries first indication information and second indication information.

The first indication information may be LOS path existence state indication information, which is used to indicate whether an LOS path condition is satisfied between the source node and the target node, that is, whether an LOS path exists. The second indication information may be positioning capability indication information of the target node for indicating the positioning capability supported by the target node.

The target node sends a positioning feedback message to the source node, wherein the positioning feedback message at least carries first indication information and second indication information to indicate whether LOS path conditions are met between the source node and the target node, namely whether LOS paths exist or not, and the positioning capability of the target node.

The target node may determine whether an LOS path exists between the target node and the source node according to, for example, an aperiodic positioning measurement reference signal sent by the source node, and feedback the determined result to the source node in a relative positioning feedback message.

Alternatively, an exemplary structure of the positioning feedback message may be as shown in fig. 12, where the indication of the existence state of the LOS path in the positioning feedback message fed back by the target node to the source node may specifically refer to indication information about whether the source node and the target node exist an LOS path, which is used to indicate whether the LOS path condition is satisfied between the source node and the target node; the positioning capability feedback information is used to indicate the positioning capabilities supported by the target node.

In some embodiments, the LOS path presence status may be characterized by 1 bit indication information. For example, if there is an LOS path, it is represented by bit "1"; if no LOS path exists, it is indicated by a bit of "0". Of course, if there is an LOS path, it may be represented by a bit "0"; if no LOS path exists, it is indicated by bit "1".

S1004, the source node judges the positioning mode according to the positioning feedback information.

The source node analyzes the LOS path existence state information and the target node positioning capability information according to the positioning feedback message received in the step S803, and judges whether to enter the relative positioning process or the cooperative positioning process subsequently based on a preset criterion.

(1) When the LOS path is determined to be not existed between the source node and the target node, namely the LOS condition is not satisfied, the source node and the target node are determined to adopt multi-node cooperative positioning, and then the cooperative positioning flow can be entered;

(2) When determining that an LOS path exists between the source node and the target node, namely an LOS condition is met, further judging the positioning capability of the source node and the target node, wherein:

Alternatively, the first threshold may be, for example, 3.

It should be appreciated that the positioning capability request message and the positioning capability feedback message may be designed with reference to the bearer manner of the capability request (request capabilities) and the capability feedback (provid capabilities) in the cellular/base station positioning in the R16 version, and will not be described herein.

In contrast to the scenario shown in fig. 7, in which the positioning capability request information and the positioning capability feedback information are carried by additional separate signaling, the embodiment shown in fig. 10 carries the positioning capability request information and the positioning capability feedback information in the positioning request message and the positioning feedback signal, respectively. The design can simplify the flow of the relative positioning-cooperative positioning negotiation.

According to the triggering method of the positioning mode provided by the embodiment of the application, the target node feeds back LOS path existence state information and positioning capability information to the source node, and the source node determines which positioning mode is adopted for positioning flow in the follow-up concrete mode based on the information, namely, before the positioning flow is executed, the positioning mode which is more suitable for the current positioning scene is selected based on a certain signaling flow, so that redundant system overhead can be avoided under the condition of ensuring the precision.

Yet another possible scenario among others is: due to the weak target node capability or insufficient antenna capability, even if the source node sends a reference signal for positioning measurements to the target node, the target node's capability is insufficient to support its determination of whether or not an LOS path exists based on the measured reference signal. In this case, the target node may instruct the source node to make positioning measurement reference signal measurements on the corresponding time-frequency resources in a positioning feedback message to the node, with the source node performing the detection of the LOS path.

In this scenario, if the source node parses the indication information of the time-frequency resource (such as the time-frequency resource of the aperiodic relative positioning measurement reference signal) of the positioning measurement reference signal in the signaling sent by the target node, it indicates that the LOS path state information (i.e., the first indication information) in the feedback message is invalid or not trusted. At this time, the source node can detect the existence state of the LOS path between the source node and the target node according to the time-frequency resource indication information and the positioning measurement reference signal sent by the target node. After the source node completes LOS path detection, the source node can only select the result of detection judgment; optionally, the source node may also determine the existence state of the LOS path by combining the LOS path state result of its detection and judgment and the LOS path state result analyzed from the feedback message. The present embodiment may be implemented based on the scene of the embodiment corresponding to fig. 7, or may be implemented based on the scene of the embodiment corresponding to fig. 10. The following is a description of a scenario based on the corresponding embodiment of fig. 10.

As shown in fig. 13, a schematic flow chart of a triggering method applied to one positioning mode in the above scenario is provided. The method comprises the following steps:

s1301, the source node sends a positioning request message to the target node.

S1302, the source node sends a positioning measurement reference signal to the target node.

S1303, the target node sends a positioning feedback message to the source node, wherein the positioning feedback message carries first indication information, second indication information and fifth indication information.

The steps S1301 to S1303 are similar to the steps S1001 to S1003, and the detailed description of the corresponding steps can be referred to in the description of the foregoing, and the details are not repeated here.

However, it should be noted that the positioning feedback message in step S1303 carries the first indication information and the second indication information, which are used to indicate the LOS path existence state between the target node and the source node and the positioning capability of the target node, respectively, and also carries the fifth indication information. The fifth indication information may be second time-frequency resource indication information corresponding to the second positioning measurement reference signal, and is used for indicating time-frequency resources corresponding to the second positioning measurement reference signal of the source node.

Optionally, the second positioning measurement reference signal is a positioning measurement reference signal sent by the target node to the source node, and is used for enabling the source node to judge whether an LOS path exists between the source node and the target node according to the second positioning measurement reference signal, that is, whether an LOS path condition is met between the source node and the target node.

After the source node analyzes the fifth indication information in the positioning feedback message, the source node can indicate that the existing state of the LOS path indicated by the first indication information received currently is invalid or not trusted.

Unlike the embodiment shown in fig. 10, in this embodiment, since the capability of the target node is insufficient to support the existence state of the LOS path between the target node and the source node based on the positioning measurement reference signal, the first indication information carried in the positioning feedback message sent to the source node in step S1303 may be invalid or unreliable, so that the target node may send the positioning measurement reference signal for LOS path determination to the source node.

S1304, the target node transmits a second positioning measurement reference signal to the source node.

The source node receives corresponding second positioning measurement reference signals at the designated second time-frequency resources based on the received fifth indication information sent by the target node.

Optionally, the second positioning measurement reference signal may include, but is not limited to: aperiodic PRS signals, aperiodic CSI-RS signals, aperiodic TRS signals, and the like.

S1305, the source node determines the positioning mode according to the second indication information and the LOS path existence state information acquired by combining the self measurement.

The source node combines the positioning capability feedback information in the analyzed positioning feedback information according to the LOS path existence state information acquired based on the positioning reference signal positioning measurement reference signal, and judges whether to enter a relative positioning process or a cooperative positioning process next based on a preset criterion.

Optionally, the source node may further combine the first indication information and the second indication information in the positioning feedback message, and LOS path existence status information acquired based on the positioning measurement reference signal, and determine whether to enter the relative positioning procedure or the cooperative positioning procedure next based on a preset criterion.

Optionally, as shown in fig. 14, the structure of the positioning feedback message in this embodiment may include, in addition to LOS path existence status indication information and positioning capability feedback information, positioning measurement reference signal time-frequency resource indication information for determining the LOS path by the source node, where the positioning measurement reference signal may be, for example, an aperiodic measurement reference signal.

Unlike the signaling flow design and the relative positioning response signal design in the embodiments shown in fig. 7 and 10, the present embodiment also transmits the positioning measurement reference signal for the source node to determine whether the LOS path exists after the target node transmits the positioning feedback message, and indicates the time-frequency resource of the aperiodic measurement reference signal in the positioning feedback message. The embodiment can well solve the problem that whether the LOS path exists or not cannot be judged based on the relative positioning measurement reference signal due to weak capacity of the target node or insufficient capacity of the antenna.

According to the triggering method of the positioning mode provided by the embodiment of the application, the target node sends the positioning measurement reference signal and the time-frequency resource corresponding to the reference signal to the source node, the source node judges whether the LOS path exists between the target node and the target node based on the information, and then determines which positioning mode is adopted for the subsequent positioning process by combining the positioning capability of the related node, namely, before the positioning process is executed, the positioning mode which is more suitable for the current positioning scene is selected based on a certain signaling process, so that redundant system overhead can be avoided under the condition of ensuring the precision.

The embodiment of the application also provides a schematic structural diagram of a communication node, as shown in fig. 15, where the communication node 1500 includes a sending unit 1501, a receiving unit 1502 and a processing unit 1503.

In one implementation, the sending unit 1501 may be configured to send the first positioning measurement reference signal to the target node.

The receiving unit 1502 may be configured to receive a positioning feedback message sent by a target node, where the positioning feedback message includes first indication information, where the first indication information is used to indicate whether a line of sight LOS condition is met between a source node and the target node.

The processing unit 1503 may be configured to determine a positioning manner between the source node and the target node according to the first indication information.

In one implementation, the processing unit 1503 may be specifically configured to: when the LOS condition is not met between the source node and the target node according to the first indication information, determining that the source node and the target node adopt multi-node cooperative positioning; and when the LOS condition is met between the source node and the target node according to the first indication information, determining a positioning mode between the source node and the target node according to the positioning capability of the source node and the target node.

In one implementation, the positioning capability includes the number of antennas; the processing unit 1503 may be further configured to: when the number of the antennas of the source node and/or the target node is larger than or equal to a first threshold value, determining that the source node and the target node adopt a relative positioning mode; or when the number of the antennas of the source node and the target node is less than the first threshold, determining that the source node and the target node adopt a cooperative positioning mode.

In one implementation, the sending unit 1501 may be further configured to send location capability request information to the target node, where the location capability request information is used to request to query the location capability of the target node.

The receiving unit 1502 may be further configured to receive second indication information sent by the target node, where the second indication information is used to indicate positioning capability of the target node.

In one implementation, the sending unit 1501 may be further configured to send a location request message to the target node, where the location request message includes third indication information, where the third indication information is used to indicate a first time-frequency resource corresponding to the first location measurement reference signal.

In one implementation, the location request message includes location capability request information for requesting a query for location capabilities of the target node.

In one implementation, the positioning feedback message includes second indication information indicating the positioning capabilities of the target node. The processing module 1503 may be further configured to determine a positioning capability of the target node according to the second indication information.

In one implementation, the positioning request message further includes fourth indication information for indicating positioning capabilities of the source node.

In one implementation, the positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second time-frequency resource corresponding to the second positioning measurement reference signal; the receiving unit 1502 may be further configured to receive, according to the fifth indication information, the second positioning measurement reference signal sent by the target node at a second time-frequency resource.

The processing unit 1503 may be further configured to determine whether an LOS condition is satisfied between the source node and the target node according to the second positioning measurement reference signal.

In one implementation, the first indication information is characterized by 1-bit information, wherein when the first indication information indicates that the LOS path condition is satisfied, the first indication information is 1; when the first indication information indicates that the LOS path condition is not met, the first indication information is 0; or when the first indication information indicates that the LOS path condition is met, the first indication information is 0; and when the first indication information indicates that the LOS path condition is not met, the first indication information is 1.

In one implementation, the positioning request message is transmitted to the target node over a physical measurement link control channel PSCCH; and/or, the positioning measurement reference signal is transmitted to the target node through a physical side uplink shared channel PSSCH.

Fig. 16 shows a schematic structural diagram of another communication node according to an embodiment of the present application. The communication node 1600 includes a receiving unit 1601, a processing unit 1602 and a transmitting unit 1603.

In one implementation, the receiving unit 1601 may be configured to receive a first positioning measurement reference signal sent by a source node.

The processing unit 1602 may be configured to determine whether a line of sight LOS condition is met between the source node and the target node based on the first positioning measurement reference signal.

The sending unit 1603 may be configured to send a positioning feedback message to the source node, where the positioning feedback message includes first indication information, where the first indication information is used to indicate whether a line-of-sight LOS condition is satisfied between the source node and the target node.

In one implementation, the receiving unit 1601 may be further configured to receive positioning capability request information sent by the source node, where the positioning capability request information is used to request to query the positioning capability of the target node.

The processing unit 1602 may also be configured to determine a positioning capability of the target node based on the positioning capability request message.

The sending unit 1603 may be further configured to send second indication information to the source node, where the second indication information is used to indicate the positioning capability of the target node.

In one implementation, the receiving unit 1601 may be further configured to receive a positioning request message sent by a source node, where the positioning request message includes third indication information, where the third indication information is used to indicate a first time-frequency resource corresponding to the first positioning measurement reference signal.

In one implementation, the positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second time-frequency resource corresponding to the second positioning measurement reference signal; the sending unit 1603 may be further configured to send a second positioning measurement reference signal to the source node, where the second positioning measurement reference signal is used by the source node to determine whether the LOS condition is satisfied between the source node and the target node.

In one implementation, the first indication information is characterized by 1-bit information, wherein the first indication information is 1 when the first indication information indicates that the LOS path condition is satisfied; when the first indication information indicates that the LOS path condition is not met, the first indication information is 0; or when the first indication information indicates that the LOS path condition is met, the first indication information is 0; when the first indication information indicates that the LOS path condition is not satisfied, the first indication information is 1.

In one implementation, a positioning request message is transmitted to a target node over a PSCCH; and/or, the positioning measurement reference signal is transmitted to the target node through the PSSCH.

Fig. 17 shows a schematic structural diagram of a communication device provided in an embodiment of the present application. The communication device 1700 includes at least one processor 1701, a communication interface 1702 for information interaction with other communication devices, and a memory 1703 storing computer program instructions that, when executed in the at least one processor, cause the communication device to implement the function of the triggering method of the positioning method described above on any node: the source node and the target node.

In which a processor 1701, a communication interface 1702, and a memory 1703 are connected to each other through a bus 1704. The bus 1704 may be a PCI bus or an EISA bus, among others. The bus 1704 may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, only one thick line is shown in fig. 17, but not only one bus or one type of bus.

The embodiments of the present application also provide a nonvolatile storage medium having one or more program codes stored therein, which when executed by the processor 1701 of the communication apparatus 1700, the communication apparatus 1700 performs the function of the triggering method of the positioning method described above on any node as follows: the source node and the target node.

The detailed description of each unit or module in the communication apparatus 1700 provided in the embodiment of the present application and the technical effects brought by each unit after executing the relevant method steps executed by the source node or the target node in any method embodiment of the present application may refer to the relevant description in the method embodiment of the present application, which is not repeated herein.

Embodiments also provide a computer readable storage medium having instructions stored therein, which when run on a computer or processor, cause the computer or processor to perform one or more steps of any of the methods described above.

Embodiments of the present application also provide a computer program product comprising instructions. The computer program product, when run on a computer or processor, causes the computer or processor to perform one or more steps of any of the methods described above.

The communication node, the communication device, the computer readable storage medium, the computer program product, and the chip provided in the embodiments of the present application are all configured to perform the method provided above, so that the advantages achieved by the method provided above can be referred to the advantages corresponding to the method provided above, and are not described herein again.

In combination with the above, the present application also provides the following embodiments:

embodiment 1 provides a triggering method of a positioning manner, where the triggering method is applied to a source node and includes:

transmitting a first positioning measurement reference signal to a target node;

receiving a positioning feedback message sent by the target node, wherein the positioning feedback message comprises first indication information which is at least used for indicating whether a line-of-sight LOS condition is met between the source node and the target node;

when the LOS condition is determined not to be met between the source node and the target node according to the first indication information, determining that the source node and the target node adopt a cooperative positioning mode;

and when the LOS condition is met between the source node and the target node according to the first indication information, determining a positioning mode between the source node and the target node according to the positioning capability of the source node and/or the target node.

Embodiment 2, the triggering method according to embodiment 1, wherein the positioning capability includes the number of antennas; the determining a positioning manner between the source node and the target node according to the positioning capability of the source node and the target node specifically includes:

When the number of the antennae of the source node and/or the target node is larger than or equal to a first threshold value, determining that the source node and the target node adopt a relative positioning mode; or,

and when the number of the antennae of the source node and the target node is smaller than the first threshold, determining that the source node and the target node adopt the cooperative positioning mode.

Embodiment 3, the triggering method according to embodiment 1 or embodiment 2, wherein the method further comprises:

transmitting positioning capability request information to the target node, wherein the positioning capability request information is used for requesting to query the positioning capability of the target node;

and receiving second indicating information sent by the target node, wherein the second indicating information is used for indicating the positioning capability of the target node.

Embodiment 4, the triggering method according to any one of embodiments 1-3, wherein the method further comprises:

and sending a positioning request message to the target node, wherein the positioning request message comprises third indication information, and the third indication information is used for indicating a first time-frequency resource corresponding to the first positioning measurement reference signal.

Embodiment 5 of the triggering method according to embodiment 4, wherein the positioning request message includes positioning capability request information, and the positioning capability request information is used for requesting to query the positioning capability of the target node.

Embodiment 6 of the triggering method according to any of embodiments 1-5, wherein the positioning feedback message includes second indication information, the second indication information being used to indicate positioning capabilities of the target node, the method further comprising:

and determining the positioning capability of the target node according to the second indication information.

Embodiment 7 is the triggering method according to any one of embodiments 4-6, wherein the positioning request message further includes fourth indication information, where the fourth indication information is used to indicate positioning capabilities of the source node.

An embodiment 8 of the triggering method according to any one of embodiments 1 to 7, wherein the relative positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second time-frequency resource corresponding to a second positioning measurement reference signal; the method further comprises the steps of:

receiving the second positioning measurement reference signal sent by the target node at the second time-frequency resource according to the fifth indication information;

and judging whether the LOS condition is met between the source node and the target node according to the second positioning measurement reference signal.

Embodiment 9, according to the triggering method of any one of embodiments 1-8, the first indication information is characterized by 1-bit information, wherein:

when the first indication information indicates that the LOS condition is met, the first indication information is 1;

when the first indication information indicates that the LOS condition is not met, the first indication information is 0; or,

when the first indication information indicates that the LOS condition is met, the first indication information is 0;

when the first indication information indicates that the LOS condition is not satisfied, the first indication information is 1.

Embodiment 10, the method of any of embodiments 1-9, wherein locating measurement reference signals includes, but is not limited to, at least one of:

positioning reference signals PRS, channel state information reference signals CSI-RS and time frequency domain tracking reference signals TRS.

Embodiment 11, a triggering method of a positioning manner, where the triggering method is applied to a target node, includes:

receiving a first positioning measurement reference signal sent by a source node;

determining whether an LOS condition is met between the source node and the target node according to the first positioning measurement reference signal;

and sending a positioning feedback message to the source node, wherein the positioning feedback message comprises first indication information, and the first indication information is used for indicating whether the LOS condition is met between the source node and the target node.

Embodiment 12, the triggering method according to embodiment 11, wherein the method further includes:

receiving positioning capability request information sent by a source node, wherein the positioning capability request information is used for requesting to inquire the positioning capability of the target node;

and sending second indicating information to the source node according to the positioning capability request information, wherein the second indicating information is used for indicating the positioning capability of the target node.

Embodiment 13, the triggering method according to embodiment 11 or 12, wherein the method further comprises:

and receiving a positioning request message sent by the source node, wherein the positioning request message comprises third indication information, and the third indication information is used for indicating a first time-frequency resource corresponding to the first positioning measurement reference signal.

Embodiment 14 is the triggering method according to embodiment 13, wherein the positioning request message includes positioning capability request information, and the positioning capability request information is used to request to query the positioning capability of the target node.

An embodiment 15 of the triggering method according to any of the embodiments 12-14, wherein the positioning request message further includes fourth indication information, where the fourth indication information is used to indicate a positioning capability of the source node.

An embodiment 16 of the triggering method according to any one of embodiments 11 to 15, wherein the positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second time-frequency resource corresponding to a second positioning measurement reference signal; the method further comprises the steps of:

and the second positioning measurement reference signal is sent to the source node and is used for judging whether the LOS condition is met between the source node and the target node by the source node.

Embodiment 17, the triggering method according to any one of embodiments 11-16, wherein the first indication information is characterized by 1-bit information, wherein:

Embodiment 18, the triggering method according to any of embodiments 11-17, wherein the positioning measurement reference signals include, but are not limited to, at least one of:

Embodiment 19, a triggering method of a positioning manner, where the triggering method is applied to a source node, includes:

transmitting a first positioning measurement reference signal to a target node;

receiving a positioning feedback message sent by the target node, wherein the positioning feedback message comprises first indication information and fifth indication information, the first indication information is used for indicating whether a line-of-sight LOS condition is met between the source node and the target node, and the fifth indication information is used for indicating a second time-frequency resource corresponding to a second positioning measurement reference signal;

when the LOS condition is not met between the source node and the target node according to the second positioning measurement reference signal, determining that the source node and the target node adopt a cooperative positioning mode;

and when the LOS condition is met between the source node and the target node according to the second positioning measurement reference signal, determining a positioning mode between the source node and the target node according to the positioning capability of the source node and/or the target node.

Embodiment 20, the triggering method of embodiment 19, wherein the positioning capability includes a number of antennas; the determining a positioning manner between the source node and the target node according to the positioning capability of the source node and the target node specifically includes:

Embodiment 21, the triggering method according to embodiment 19 or 20, wherein the method further comprises:

Embodiment 22, the method of triggering according to any of embodiments 19-21, wherein the method further comprises:

Embodiment 23 of the triggering method according to embodiment 22, wherein the positioning request message includes positioning capability request information, and the positioning capability request information is used to request to query the positioning capability of the target node.

Embodiment 24 of the triggering method according to any of embodiments 19-23, wherein the positioning feedback message includes second indication information, the second indication information being used to indicate positioning capabilities of the target node, the method further comprising:

An embodiment 25 of the triggering method according to any of the embodiments 22-24, wherein the positioning request message further includes fourth indication information, where the fourth indication information is used to indicate a positioning capability of the source node.

Embodiment 26, the triggering method according to any one of embodiments 19-25, wherein the first indication information is characterized by 1-bit information, wherein:

Embodiment 27 is the triggering method of any one of embodiments 19-26, wherein the positioning measurement reference signals include, but are not limited to, at least one of:

Embodiment 28, a triggering method of a positioning manner, applied to a target node, includes:

transmitting a positioning feedback message to the source node according to the first positioning measurement reference signal, wherein the positioning feedback message comprises fifth indication information, and the fifth indication information is used for indicating a second time-frequency resource corresponding to a second positioning measurement reference signal;

and sending the second positioning measurement reference signal to the source node.

Embodiment 29 is the triggering method of embodiment 28, wherein the method further comprises:

Embodiment 30, the triggering method according to embodiment 28 or 29, wherein the method further comprises:

Embodiment 31 of the triggering method according to embodiment 30, wherein the positioning request message includes positioning capability request information, and the positioning capability request information is used to request to query the positioning capability of the target node.

An embodiment 32 of the triggering method according to any of embodiments 28-31, wherein the positioning request message further includes fourth indication information, where the fourth indication information is used to indicate a positioning capability of the source node.

Embodiment 33, the triggering method according to any one of embodiments 28-33, wherein the first indication information is characterized by 1-bit information, wherein:

Embodiment 34 is the triggering method of any one of embodiments 28-33, wherein the positioning measurement reference signals include, but are not limited to, at least one of:

Embodiment 35 provides a communication node, including:

a transmitting unit, configured to transmit a first positioning measurement reference signal to a target node;

the receiving unit is used for receiving a positioning feedback message sent by the target node, wherein the positioning feedback message comprises first indication information which is at least used for indicating whether the line-of-sight LOS condition is met between the source node and the target node;

The processing unit is used for determining that the source node and the target node adopt a cooperative positioning mode when the LOS condition is not met between the source node and the target node according to the first indication information; and when the LOS condition is met between the source node and the target node according to the first indication information, determining a positioning mode between the source node and the target node according to the positioning capability of the source node and/or the target node.

Embodiment 36, the communication node of embodiment 35, wherein the positioning capability includes a number of antennas; the processing unit is specifically configured to:

An embodiment 37 of the communication node according to embodiment 35 or embodiment 36, wherein the sending unit is further configured to send location capability request information to the target node, where the location capability request information is used to request to query a location capability of the target node;

The receiving unit is further configured to receive second indication information sent by the target node, where the second indication information is used to indicate positioning capability of the target node.

An embodiment 38 of the communication node according to any one of embodiments 35-37, wherein the sending unit is further configured to send a positioning request message to the target node, where the positioning request message includes third indication information, where the third indication information is used to indicate a first time-frequency resource corresponding to the first positioning measurement reference signal.

Embodiment 39 of the communication node of embodiment 38 wherein the location request message includes location capability request information for requesting to query the location capability of the target node.

An embodiment 40 is a communication node according to any of embodiments 35-39, wherein the positioning feedback message includes second indication information, the second indication information being used for indicating a positioning capability of the target node, and the processing unit is further configured to determine the positioning capability of the target node according to the second indication information.

Embodiment 41 is a communication node according to any of embodiments 38-40, wherein the positioning request message further comprises fourth indication information, the fourth indication information being used to indicate a positioning capability of the source node.

An embodiment 42 of the communication node according to any of the embodiments 35-41, wherein the relative positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second time-frequency resource corresponding to a second positioning measurement reference signal; the receiving unit is further configured to receive, at the second time-frequency resource, the second positioning measurement reference signal sent by the target node according to the fifth indication information;

the processing unit is further configured to determine, according to the second positioning measurement reference signal, whether the LOS condition is satisfied between the source node and the target node.

Embodiment 43, the communication node according to any one of embodiments 35-42, wherein the first indication information is characterized by 1-bit information, wherein:

Embodiment 44 is a communication node according to any of embodiments 35-43, wherein the positioning measurement reference signals include, but are not limited to, at least one of:

Embodiment 45, a communication node, comprising:

a receiving unit, configured to receive a first positioning measurement reference signal sent by a source node;

a processing unit, configured to determine whether an LOS condition is satisfied between the source node and the target node according to the first positioning measurement reference signal;

and the sending unit is used for sending a positioning feedback message to the source node, wherein the positioning feedback message comprises first indication information, and the first indication information is used for indicating whether the LOS condition is met between the source node and the target node.

Embodiment 46 is the communication node according to embodiment 45, wherein the receiving unit is further configured to receive positioning capability request information sent by the source node, where the positioning capability request information is used to request to query the positioning capability of the target node;

and the sending unit is further used for sending second indication information to the source node according to the positioning capability request information, wherein the second indication information is used for indicating the positioning capability of the target node.

An embodiment 47 of the communication node according to embodiment 45 or 46, wherein the receiving unit is further configured to receive a positioning request message sent by the source node, where the positioning request message includes third indication information, and the third indication information is used to indicate a first time-frequency resource corresponding to the first positioning measurement reference signal.

Embodiment 48 is the communication node of embodiment 47, wherein the location request message includes location capability request information for requesting to query the location capability of the target node.

Embodiment 49 is the communication node according to any of embodiments 46-48, wherein the positioning request message further comprises fourth indication information, the fourth indication information being used to indicate a positioning capability of the source node.

An embodiment 50 is a communication node according to any one of embodiments 45-49, wherein the positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second time-frequency resource corresponding to a second positioning measurement reference signal; the sending unit is further configured to send the second positioning measurement reference signal to the source node, where the second positioning measurement reference signal is used by the source node to determine whether the LOS condition is satisfied between the source node and the target node.

Embodiment 51, the communication node according to any of embodiments 45-50, wherein the first indication information is characterized by 1-bit information, wherein:

Embodiment 52 is a communication node according to any of embodiments 45-51, wherein the positioning measurement reference signals include, but are not limited to, at least one of:

Embodiment 53, a communication node, comprising:

the receiving unit is used for receiving a positioning feedback message sent by the target node, wherein the positioning feedback message comprises first indication information and fifth indication information, the first indication information is used for indicating whether the line-of-sight LOS condition is met between the source node and the target node, and the fifth indication information is used for indicating a second time-frequency resource corresponding to a second positioning measurement reference signal; receiving the second positioning measurement reference signal sent by the target node at the second time-frequency resource according to the fifth indication information;

The processing unit is used for determining that the source node and the target node adopt a cooperative positioning mode when the LOS condition is not met between the source node and the target node according to the second positioning measurement reference signal; and when the LOS condition is met between the source node and the target node according to the second positioning measurement reference signal, determining a positioning mode between the source node and the target node according to the positioning capability of the source node and/or the target node.

Embodiment 54, the communication node of embodiment 53, wherein the positioning capability includes a number of antennas; the processing unit is configured to determine a positioning manner between the source node and the target node according to positioning capabilities of the source node and the target node, and specifically includes:

the processing unit is specifically configured to determine that a relative positioning manner is adopted by the source node and the target node when the number of antennas of the source node and/or the target node is determined to be greater than or equal to a first threshold; or when the number of the antennae of the source node and the target node is smaller than the first threshold, determining that the source node and the target node adopt the cooperative positioning mode.

An embodiment 55, wherein the sending unit is further configured to send location capability request information to the target node, where the location capability request information is used to request to query the location capability of the target node;

An embodiment 56 of the communication node according to any one of embodiments 53-55, wherein the sending unit is further configured to send a positioning request message to the target node, where the positioning request message includes third indication information, where the third indication information is used to indicate a first time-frequency resource corresponding to the first positioning measurement reference signal.

Embodiment 57 is the communication node of embodiment 56, wherein the location request message includes location capability request information for requesting to query the location capability of the target node.

Embodiment 58 is the communication node according to any of embodiments 53-57, wherein the positioning feedback message includes second indication information, the second indication information being used for indicating a positioning capability of the target node, and the processing unit is further configured to determine the positioning capability of the target node according to the second indication information.

Embodiment 59 is a communication node according to any of embodiments 56-58, wherein the positioning request message further comprises fourth indication information, the fourth indication information being used to indicate a positioning capability of the source node.

Embodiment 60 is the communication node of any of embodiments 53-59, wherein the first indication information is characterized by 1-bit information, wherein:

Embodiment 61 is a communication node according to any of embodiments 53-60, wherein the positioning measurement reference signal includes, but is not limited to, at least one of:

Embodiment 62, a communication node, comprising:

A sending unit, configured to send a positioning feedback message to the source node according to the first positioning measurement reference signal, where the positioning feedback message includes fifth indication information, where the fifth indication information is used to indicate a second time-frequency resource corresponding to a second positioning measurement reference signal; and sending the second positioning measurement reference signal to the source node.

Embodiment 63 of the communication node according to embodiment 62, wherein the receiving unit is further configured to receive positioning capability request information sent by a source node, where the positioning capability request information is used to request to query a positioning capability of the target node;

the sending unit is further configured to send second indication information to the source node according to the positioning capability request information, where the second indication information is used to indicate the positioning capability of the target node.

An embodiment 64 of the communication node according to embodiment 62 or 63, wherein the receiving unit is further configured to receive a positioning request message sent by the source node, where the positioning request message includes third indication information, and the third indication information is used to indicate a first time-frequency resource corresponding to the first positioning measurement reference signal.

Embodiment 65 is the communication node of embodiment 64, wherein the location request message includes location capability request information for requesting to query the location capability of the target node.

Embodiment 66 is a communication node according to any of embodiments 62-65, wherein the positioning request message further comprises fourth indication information, the fourth indication information being used to indicate a positioning capability of the source node.

Embodiment 67 is a communication node according to any of embodiments 62-66, wherein the first indication information is characterized by 1-bit information, wherein:

Embodiment 68 is the triggering method of any of embodiments 62-67, wherein positioning measurement reference signals include, but are not limited to, at least one of:

Embodiment 69 provides a communication device, which may be a terminal or a chip or an off-top system in a terminal, comprising: at least one processor, a communication interface for communicating with other communication devices, and a memory storing stored instructions that, when executed by the processor, cause the communication devices to perform the steps of:

transmitting a first positioning measurement reference signal to a target node;

Embodiment 70, the communication device of embodiment 69, wherein the positioning capability includes a number of antennas; the instructions, when executed by the processor, cause the communication device to perform the steps of:

Embodiment 71, the communication device of embodiment 69 or embodiment 70, wherein the instructions, when executed by the processor, cause the communication device to:

Embodiment 72 is the communication device of any of embodiments 69-71, wherein the instructions, when executed by the processor, cause the communication device to:

Embodiment 73 is the communications apparatus of embodiment 72, wherein the positioning request message includes positioning capability request information for requesting to query the positioning capability of the target node.

Embodiment 74 is the communication device of any of embodiments 69-73, wherein the positioning feedback message includes second indication information indicating positioning capabilities of the target node, which when executed by the processor, causes the communication device to perform the steps of:

Embodiment 75 is the communication device according to any one of embodiments 72-74, wherein the positioning request message further includes fourth indication information, where the fourth indication information is used to indicate a positioning capability of the source node.

Embodiment 76 is the communication device according to any one of embodiments 69-75, wherein the relative positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second time-frequency resource corresponding to a second positioning measurement reference signal; the instructions, when executed by the processor, cause the communication device to perform the steps of:

Embodiment 77 is the communication device of any of embodiments 69-76, wherein the first indication information is characterized by 1-bit information, wherein:

Embodiment 78 is the communication device of any of embodiments 69-77, wherein the positioning measurement reference signal includes, but is not limited to, at least one of:

Embodiment 79, a communication device, which may be a terminal or a chip or an off-top system in a terminal, comprising: at least one processor, a communication interface for communicating with other communication devices, and a memory storing stored instructions that, when executed by the processor, cause the communication devices to perform the steps of:

Embodiment 80 is the communication device of embodiment 79, wherein the instructions, when executed by the processor, cause the communication device to:

Embodiment 81 is the communication device of embodiment 79 or 80, wherein the instructions, when executed by the processor, cause the communication device to:

Embodiment 82 is the communication apparatus of embodiment 81, wherein the positioning request message includes positioning capability request information for requesting to query the positioning capability of the target node.

Embodiment 83 of the communication device according to any of embodiments 80-82, wherein the positioning request message further includes fourth indication information, where the fourth indication information is used to indicate a positioning capability of the source node.

An embodiment 84, the communication device according to any one of embodiments 79-83, wherein the positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second time-frequency resource corresponding to a second positioning measurement reference signal; the instructions, when executed by the processor, cause the communication device to perform the steps of:

Embodiment 85, the communication device according to any of embodiments 79-84, wherein the first indication information is characterized by 1-bit information, wherein:

Embodiment 86, the communication device of any of embodiments 79-85, wherein the positioning measurement reference signal includes, but is not limited to, at least one of:

Embodiment 87, a communication device, which may be a terminal or a chip or an off-top system in a terminal, includes: at least one processor, a communication interface for communicating with other communication devices, and a memory storing stored instructions that, when executed by the processor, cause the communication devices to perform the steps of:

transmitting a first positioning measurement reference signal to a target node;

Receiving a positioning feedback message sent by the target node, wherein the positioning feedback message comprises first indication information and fifth indication information, the first indication information is used for indicating whether a line-of-sight LOS condition is met between the source node and the target node, and the fifth indication information is used for indicating a second time-frequency resource corresponding to a second positioning measurement reference signal; receiving the second positioning measurement reference signal sent by the target node at the second time-frequency resource according to the fifth indication information;

when the LOS condition is not met between the source node and the target node according to the second positioning measurement reference signal, determining that the source node and the target node adopt a cooperative positioning mode; and when the LOS condition is met between the source node and the target node according to the second positioning measurement reference signal, determining a positioning mode between the source node and the target node according to the positioning capability of the source node and/or the target node.

Embodiment 88, the communication device of embodiment 87, wherein the positioning capability comprises a number of antennas; the instructions, when executed by the processor, cause the communication device to perform the steps of:

Determining a positioning mode between the source node and the target node according to the positioning capability of the source node and the target node, specifically including:

when the number of the antennae of the source node and/or the target node is larger than or equal to a first threshold value, determining that the source node and the target node adopt a relative positioning mode;

or when the number of the antennae of the source node and the target node is smaller than the first threshold, determining that the source node and the target node adopt the cooperative positioning mode.

Embodiment 89, the communication device of embodiments 87 or 88, wherein the instructions, when executed by the processor, cause the communication device to:

Embodiment 90 is the communication device of any of embodiments 87-89, wherein the instructions, when executed by the processor, cause the communication device to:

Embodiment 91 the communication device of embodiment 90, wherein the location request message includes location capability request information for requesting to query the location capability of the target node.

Embodiment 92 is the communication device according to any of embodiments 87-91, wherein the positioning feedback message includes second indication information for indicating a positioning capability of the target node, which when executed by the processor, causes the communication device to perform the steps of:

An embodiment 93 of the communication device according to any of embodiments 89-91, wherein the positioning request message further includes fourth indication information, where the fourth indication information is used to indicate a positioning capability of the source node.

Embodiment 94 is the communication device of any of embodiments 87-93, wherein the first indication information is characterized by 1-bit information, wherein:

Embodiment 95 is the communication device of any of embodiments 87-94, wherein the positioning measurement reference signal includes, but is not limited to, at least one of:

Embodiment 96, a communication device, which may be a terminal or a chip or an off-top system in a terminal, includes: at least one processor, a communication interface for communicating with other communication devices, and a memory storing stored instructions that, when executed by the processor, cause the communication devices to perform the steps of:

According to the first positioning measurement reference signal, a positioning feedback message is sent to the source node, wherein the positioning feedback message comprises fifth indication information, and the fifth indication information is used for indicating a second time-frequency resource corresponding to a second positioning measurement reference signal; and sending the second positioning measurement reference signal to the source node.

Embodiment 97, the communication device of embodiment 96, wherein the instructions, when executed by the processor, cause the communication device to:

Embodiment 98, the communication device of embodiments 96 or 97, wherein the instructions, when executed by the processor, cause the communication device to:

Embodiment 99 provides the communication apparatus of embodiment 98, wherein the positioning request message includes positioning capability request information for requesting to query the positioning capability of the target node.

Embodiment 100 is the communication apparatus according to any one of embodiments 96-99, wherein the positioning request message further includes fourth indication information, where the fourth indication information is used to indicate positioning capabilities of the source node.

Embodiment 101 is the communication device of any one of embodiments 96-100, wherein the first indication information is characterized by 1-bit information, wherein:

Embodiment 102 is the triggering method of any one of embodiments 96-101, wherein the positioning measurement reference signals include, but are not limited to, at least one of:

Embodiment 103, a communication system includes a source node and a target node, wherein the source node is configured to send a first positioning measurement reference signal to the target node;

a target node receives a first positioning measurement reference signal sent by a source node; determining whether an LOS condition is met between the source node and the target node according to the first positioning measurement reference signal; the method comprises the steps that a positioning feedback message is sent to a source node, wherein the positioning feedback message comprises first indication information, and the first indication information is used for indicating whether the LOS condition is met between the source node and a target node;

the method comprises the steps that a source node receives a positioning feedback message sent by a target node, wherein the positioning feedback message comprises first indication information which is at least used for indicating whether a line-of-sight (LOS) condition is met between the source node and the target node; when the LOS condition is determined not to be met between the source node and the target node according to the first indication information, determining that the source node and the target node adopt a cooperative positioning mode; and when the LOS condition is met between the source node and the target node according to the first indication information, determining a positioning mode between the source node and the target node according to the positioning capability of the source node and/or the target node.

Embodiment 104 is the communication system of embodiment 103, wherein the positioning capability includes a number of antennas; the source node determines a positioning mode between the source node and the target node according to the positioning capability of the source node and/or the target node, and specifically comprises the following steps:

Embodiment 105, the communication system according to embodiment 103 and embodiment 104, wherein a source node sends positioning capability request information to the target node, where the positioning capability request information is used to request to query the positioning capability of the target node;

the method comprises the steps that a target node receives positioning capability request information sent by a source node, wherein the positioning capability request information is used for requesting to inquire the positioning capability of the target node; and sending second indicating information to the source node according to the positioning capability request information, wherein the second indicating information is used for indicating the positioning capability of the target node.

And the source node receives second indicating information sent by the target node, wherein the second indicating information is used for indicating the positioning capability of the target node.

An embodiment 106 is a communication system according to any one of embodiments 103 to 105, wherein a source node sends a positioning request message to the target node, the positioning request message including third indication information, where the third indication information is used to indicate a first time-frequency resource corresponding to the first positioning measurement reference signal.

The target node receives a positioning request message sent by the source node, wherein the positioning request message comprises third indication information, and the third indication information is used for indicating a first time-frequency resource corresponding to the first positioning measurement reference signal.

Embodiment 107 wherein the location request message comprises location capability request information for requesting to query the location capability of the target node according to embodiment 106.

Embodiment 108 of the communication system according to any one of embodiments 103 to 107, wherein the positioning feedback message includes second indication information, the second indication information being used to indicate a positioning capability of the target node, and the source node determines the positioning capability of the target node according to the second indication information.

Embodiment 109 is the communication system of any one of embodiments 106 to 108, wherein the positioning request message further includes fourth indication information, where the fourth indication information is used to indicate a positioning capability of the source node.

An embodiment 110 of the communication system according to any one of embodiments 103 to 109, wherein the relative positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second time-frequency resource corresponding to a second positioning measurement reference signal; and the target node sends the second positioning measurement reference signal to the source node, wherein the second positioning measurement reference signal is used for judging whether the LOS condition is met between the source node and the target node by the source node.

The source node receives the second positioning measurement reference signal sent by the target node at the second time-frequency resource according to the fifth indication information; and judging whether the LOS condition is met between the source node and the target node according to the second positioning measurement reference signal.

Embodiment 111, the communication system according to any of embodiments 103-110, wherein the first indication information is characterized by 1-bit information, wherein:

Embodiment 112 is the communication system of any of embodiments 103-111, the positioning measurement reference signal including, but not limited to, at least one of:

Embodiment 113, a communication system, comprising a source node and a target node, wherein the source node sends a first positioning measurement reference signal to the target node;

the target node receives a first positioning measurement reference signal sent by the source node; according to the first positioning measurement reference signal, a positioning feedback message is sent to the source node, wherein the positioning feedback message comprises fifth indication information, and the fifth indication information is used for indicating a second time-frequency resource corresponding to a second positioning measurement reference signal; transmitting the second positioning measurement reference signal to the source node;

The method comprises the steps that a source node receives a positioning feedback message sent by a target node, wherein the positioning feedback message comprises first indication information and fifth indication information, the first indication information is used for indicating whether a line-of-sight LOS condition is met between the source node and the target node, and the fifth indication information is used for indicating a second time-frequency resource corresponding to a second positioning measurement reference signal; receiving the second positioning measurement reference signal sent by the target node at the second time-frequency resource according to the fifth indication information; when the LOS condition is not met between the source node and the target node according to the second positioning measurement reference signal, determining that the source node and the target node adopt a cooperative positioning mode; and when the LOS condition is met between the source node and the target node according to the second positioning measurement reference signal, determining a positioning mode between the source node and the target node according to the positioning capability of the source node and/or the target node.

Embodiment 114, the positioning capability comprising a number of antennas, the communication system of embodiment 113; the source node is used for determining that the source node and the target node adopt a relative positioning mode when the number of the antennae of the source node and/or the target node is larger than or equal to a first threshold value; or when the number of the antennae of the source node and the target node is smaller than the first threshold, determining that the source node and the target node adopt the cooperative positioning mode.

Embodiment 115, the communication system of embodiment 113 or embodiment 114, a source node configured to send location capability request information to the target node, where the location capability request information is configured to request to query location capabilities of the target node;

the target node is used for receiving positioning capability request information sent by the source node, wherein the positioning capability request information is used for requesting to inquire the positioning capability of the target node; transmitting second indication information to the source node according to the positioning capability request information, wherein the second indication information is used for indicating the positioning capability of the target node;

and the source node is used for receiving second indication information sent by the target node, and the second indication information is used for indicating the positioning capability of the target node.

Embodiment 116, a source node, according to the communication system of any one of embodiments 113 to 115, is further configured to send a positioning request message to the target node, where the positioning request message includes third indication information, where the third indication information is used to indicate a first time-frequency resource corresponding to the first positioning measurement reference signal;

the target node is further configured to receive a positioning request message sent by the source node, where the positioning request message includes third indication information, and the third indication information is used to indicate a first time-frequency resource corresponding to the first positioning measurement reference signal.

Embodiment 117 is the communication system of any of embodiments 113-116, wherein the location request message includes location capability request information for requesting a query for location capabilities of the target node.

Embodiment 118, the communication system according to any one of embodiments 113-117, wherein the positioning feedback message includes second indication information, the second indication information being used to indicate positioning capabilities of the target node, and the source node being further configured to determine the positioning capabilities of the target node according to the second indication information.

Embodiment 119 is the communication system of any one of embodiments 116-118, wherein the location request message further includes fourth indication information, where the fourth indication information is used to indicate a location capability of the source node.

Embodiment 120 is the communication system of any one of embodiments 113-119, wherein the first indication information is characterized by 1-bit information, wherein:

Embodiment 121, the communication system of any of embodiments 113-120, the positioning measurement reference signal includes, but is not limited to, at least one of:

Embodiment 122, a computer program product, which when run on a computer, enables the computer to perform the method according to any of the embodiments 1 to 34 described above.

Embodiment 123, a computer readable storage medium having instructions stored therein, which when run on a computer, cause the computer to perform the method according to any of the embodiments 1 to 34 described above.

Embodiment 124, a chip comprising a processor for performing the method of any of embodiments 1 to 34 described above when the processor executes instructions. The instructions may come from memory internal to the chip or from memory external to the chip. Optionally, the chip further comprises an input-output circuit.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted across a computer-readable storage medium. The computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line), or wireless (e.g., 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, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a Solid State Disk (SSD)), or the like.

Those of ordinary skill in the art will appreciate that implementing all or part of the above-described method embodiments may be accomplished by a computer program to instruct related hardware, the program may be stored in a computer readable storage medium, and the program may include the above-described method embodiments when executed. And the aforementioned storage medium includes: ROM or random access memory RAM, magnetic or optical disk, etc.

The foregoing is merely a specific implementation of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the embodiments of the present application should be covered by the protection scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application shall be subject to the protection scope of the claims.

Claims

The triggering method of the positioning mode is characterized by being applied to a source node and comprising the following steps:

transmitting a first positioning measurement reference signal to a target node;

receiving a positioning feedback message sent by the target node, wherein the positioning feedback message comprises first indication information which is at least used for indicating whether a line-of-sight LOS condition is met between the source node and the target node;

When the LOS condition is determined not to be met between the source node and the target node according to the first indication information, determining that the source node and the target node adopt a cooperative positioning mode;

and when the LOS condition is met between the source node and the target node according to the first indication information, determining a positioning mode between the source node and the target node according to the positioning capability of the source node and/or the target node.
The triggering method as recited in claim 1, wherein the positioning capability includes a number of antennas; the determining a positioning manner between the source node and the target node according to the positioning capability of the source node and/or the target node specifically includes:

when the number of the antennae of the source node and/or the target node is larger than or equal to a first threshold value, determining that the source node and the target node adopt a relative positioning mode; or,

and when the number of the antennae of the source node and the target node is smaller than the first threshold, determining that the source node and the target node adopt the cooperative positioning mode.
The triggering method according to claim 1 or 2, wherein the method further comprises:

Transmitting positioning capability request information to the target node, wherein the positioning capability request information is used for requesting to query the positioning capability of the target node;

and receiving second indicating information sent by the target node, wherein the second indicating information is used for indicating the positioning capability of the target node.
A triggering method according to any one of claims 1-3, wherein the method further comprises:

and sending a positioning request message to the target node, wherein the positioning request message comprises third indication information, and the third indication information is used for indicating a first time-frequency resource corresponding to the first positioning measurement reference signal.
The triggering method of claim 4, wherein the location request message includes location capability request information for requesting a query for location capabilities of the target node.
The triggering method according to any one of claims 1-5, wherein the positioning feedback message includes second indication information indicating positioning capabilities of the target node, the method further comprising:

and determining the positioning capability of the target node according to the second indication information.
The triggering method according to any of claims 4-6, wherein the positioning request message further comprises fourth indication information, the fourth indication information being used to indicate positioning capabilities of the source node.
The triggering method according to any one of claims 1-7, wherein the positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second time-frequency resource corresponding to a second positioning measurement reference signal; the method further comprises the steps of:

receiving the second positioning measurement reference signal sent by the target node at the second time-frequency resource according to the fifth indication information;

and judging whether the LOS condition is met between the source node and the target node according to the second positioning measurement reference signal.
The triggering method as recited in any one of claims 1-8, wherein the first indication information is characterized by 1-bit information, wherein:

when the first indication information indicates that the LOS condition is met, the first indication information is 1;

when the first indication information indicates that the LOS condition is not met, the first indication information is 0; or,

When the first indication information indicates that the LOS condition is met, the first indication information is 0;

when the first indication information indicates that the LOS condition is not satisfied, the first indication information is 1.
The triggering method according to any one of claims 1-9, wherein positioning measurement reference signals include, but are not limited to, at least one of:

positioning reference signals PRS, channel state information reference signals CSI-RS and time frequency domain tracking reference signals TRS.
The triggering method of the positioning mode is characterized by being applied to a source node and comprising the following steps:

transmitting a first positioning measurement reference signal to a target node;

receiving a positioning feedback message sent by the target node, wherein the positioning feedback message comprises first indication information and fifth indication information, the first indication information is used for indicating whether a line-of-sight LOS condition is met between the source node and the target node, and the fifth indication information is used for indicating a second time-frequency resource corresponding to a second positioning measurement reference signal;

receiving the second positioning measurement reference signal sent by the target node at the second time-frequency resource according to the fifth indication information;

when the LOS condition is not met between the source node and the target node according to the second positioning measurement reference signal, determining that the source node and the target node adopt a cooperative positioning mode;

And when the LOS condition is met between the source node and the target node according to the second positioning measurement reference signal, determining a positioning mode between the source node and the target node according to the positioning capability of the source node and/or the target node.
The triggering method of claim 11, wherein the positioning capability includes a number of antennas; the determining a positioning manner between the source node and the target node according to the positioning capability of the source node and the target node specifically includes:

when the number of the antennae of the source node and/or the target node is larger than or equal to a first threshold value, determining that the source node and the target node adopt a relative positioning mode; or,

and when the number of the antennae of the source node and the target node is smaller than the first threshold, determining that the source node and the target node adopt the cooperative positioning mode.
The triggering method as recited in claim 11 or 12, wherein the method further comprises:

transmitting positioning capability request information to the target node, wherein the positioning capability request information is used for requesting to query the positioning capability of the target node;

And receiving second indicating information sent by the target node, wherein the second indicating information is used for indicating the positioning capability of the target node.
The triggering method as recited in any one of claims 11-13, wherein the method further comprises:

and sending a positioning request message to the target node, wherein the positioning request message comprises third indication information, and the third indication information is used for indicating a first time-frequency resource corresponding to the first positioning measurement reference signal.
The triggering method of claim 14, wherein the location request message includes location capability request information for requesting a query for location capabilities of the target node.
The triggering method according to any one of claims 11-15, wherein the positioning feedback message includes second indication information for indicating positioning capabilities of the target node, the method further comprising:

and determining the positioning capability of the target node according to the second indication information.
The triggering method according to any of the claims 14-16, wherein the positioning request message further comprises fourth indication information, the fourth indication information being used for indicating the positioning capabilities of the source node.
The triggering method as recited in any one of claims 11-17, wherein the first indication information is characterized by 1-bit information, wherein:

when the first indication information indicates that the LOS condition is met, the first indication information is 1;

when the first indication information indicates that the LOS condition is not met, the first indication information is 0; or,

when the first indication information indicates that the LOS condition is met, the first indication information is 0;

when the first indication information indicates that the LOS condition is not satisfied, the first indication information is 1.
The triggering method according to any one of claims 11-18, wherein positioning measurement reference signals include, but are not limited to, at least one of:

positioning reference signals PRS, channel state information reference signals CSI-RS and time frequency domain tracking reference signals TRS.
A communication device comprising at least one processor, a communication interface for the communication device to interact with other communication devices, and a memory storing computer program instructions which, when executed in the at least one processor, cause the communication device to implement the functionality of the triggering method of any one of claims 1 to 10 or 11 to 19 on any one of the following nodes: the source node and the target node.
A computer readable storage medium having program instructions which, when executed directly or indirectly, cause the triggering method of any one of claims 1 to 10 or 11 to 19 to be implemented as a function on any one of the following nodes: the source node and the target node.
A chip system comprising at least one processor, wherein program instructions, when executed in the at least one processor, cause the triggering method of any one of claims 1 to 10 or 11 to 19 to be implemented as a function on any one of the following: the source node and the target node.
A computer program, which, when executed in at least one processor, causes the triggering method of any one of claims 1 to 10 or 11 to 19 to be implemented as a function on any one of the following nodes: the source node and the target node.