WO2023151563A1

WO2023151563A1 - Auxiliary positioning method and communication apparatus

Info

Publication number: WO2023151563A1
Application number: PCT/CN2023/074841
Authority: WO
Inventors: 李俊; 李雪茹
Original assignee: 华为技术有限公司
Priority date: 2022-02-09
Filing date: 2023-02-07
Publication date: 2023-08-17

Abstract

The present application relates to the technical field of wireless communications. Provided are an auxiliary positioning method and a communication apparatus, by means of which a positioning integrity protection level (PL) can be predicted, a positioning scheme is selected by means of the predicted positioning integrity PL, such that the predicted PL corresponding to the selected positioning scheme meets a positioning integrity performance index, and the selected positioning scheme has relatively low processing complexity. The method comprises: a first network device sending first information to a monitoring device, wherein the first information comprises a predicted location of a first user equipment; then, the first network device receiving positioning integrity auxiliary information from the monitoring device, wherein the positioning integrity auxiliary information is determined on the basis of the predicted location of the first user equipment; and then, the first network device predicting a positioning integrity PL according to the predicted location of the first user equipment and the positioning integrity auxiliary information.

Description

辅助定位方法及通信装置Auxiliary positioning method and communication device

本申请要求于2022年02月09日提交国家知识产权局、申请号为202210122261.5、申请名称为“一种定位方案确定方法”的中国专利申请的优先权，以及要求于2022年03月10日提交国家知识产权局、申请号为202210240750.0、申请名称为“辅助定位方法及通信装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application submitted to the State Intellectual Property Office on February 09, 2022, with the application number 202210122261.5, and the application name is "A Method for Determining a Positioning Scheme", and is required to be submitted on March 10, 2022 The State Intellectual Property Office, the priority of the Chinese patent application with the application number 202210240750.0 and the application name "Auxiliary positioning method and communication device", the entire content of which is incorporated in this application by reference.

技术领域technical field

本申请涉及无线通信领域，尤其涉及一种辅助定位方法及通信装置。The present application relates to the field of wireless communication, in particular to an auxiliary positioning method and a communication device.

背景技术Background technique

第三代合作伙伴计划(the third generation partnership project，3GPP)中无线接入技术依赖(radio access technology，RAT-dependent)的定位场景下，网络设备对定位完好性保护水平(protection level，PL)和告警边界(alert limit，AL)进行比较，以得到定位完好性(positioning integrity)结果。其中，PL是网络设备基于定位测量数据和参***的坐标、误差方差等信息确定的，定位测量数据和误差方差信息与定位方式相关。In the third generation partnership project (the third generation partnership project, 3GPP) radio access technology dependent (radio access technology, RAT-dependent) positioning scenario, the network equipment protection level of positioning integrity (protection level, PL) and The alert limit (alert limit, AL) is compared to obtain the positioning integrity (positioning integrity) result. Wherein, the PL is determined by the network device based on information such as positioning measurement data and reference device coordinates, error variance, etc., and the positioning measurement data and error variance information are related to the positioning mode.

然而，若网络设备选择的参***不合适(如参***的位置、数量等不合适)或定位方式不合适，则PL无法满足定位完好性性能指标，或者，定位测量数据量大，也就加大了数据处理复杂度。However, if the reference equipment selected by the network equipment is inappropriate (such as the location and quantity of the reference equipment are inappropriate) or the positioning method is inappropriate, the PL cannot meet the positioning integrity performance index, or the positioning measurement data volume is large, which will increase the Increased data processing complexity.

发明内容Contents of the invention

本申请提供一种辅助定位方法及通信装置，能够预测定位完好性保护水平PL，通过预测的定位完好性保护水平PL选择定位方案，以使得被选择的定位方案对应的预测PL满足定位完好性性能指标，且使得被选择的定位方案有较低的处理复杂度。The present application provides an auxiliary positioning method and a communication device, which can predict the positioning integrity protection level PL, and select a positioning scheme based on the predicted positioning integrity protection level PL, so that the predicted PL corresponding to the selected positioning scheme meets the positioning integrity performance index, and make the selected positioning scheme have lower processing complexity.

为达到上述目的，本申请采用如下技术方案：In order to achieve the above object, the application adopts the following technical solutions:

第一方面，提供一种辅助定位方法，该方法的执行主体可以是第一网络设备，也可以是应用于第一网络设备中的芯片。下面以执行主体是第一网络设备为例进行描述。该方法包括：第一网络设备向监测设备发送第一信息。其中，第一信息包括第一用户设备的预测位置。之后，第一网络设备接收来自监测设备的定位完好性辅助信息。其中，定位完好性辅助信息是基于第一用户设备的预测位置确定的。然后，第一网络设备根据第一用户设备的预测位置和定位完好性辅助信息，预测定位完好性保护水平PL。In a first aspect, an assisted positioning method is provided, and the execution body of the method may be a first network device, or may be a chip applied in the first network device. The description below takes the execution subject as an example of the first network device. The method includes: the first network device sends first information to the monitoring device. Wherein, the first information includes the predicted location of the first user equipment. Afterwards, the first network device receives the positioning integrity assistance information from the monitoring device. Wherein, the positioning integrity assistance information is determined based on the predicted position of the first user equipment. Then, the first network device predicts the location integrity protection level PL according to the predicted location of the first user equipment and the location integrity assistance information.

由于定位完好性辅助信息是基于第一用户设备的预测位置确定的，所以，定位完好性辅助信息能够更好地体现第一用户设备所处环境的真实情况，并且，该辅助定位方法增加了预测PL的过程，预测的PL可以是至少两个定位方案的PL，所以，第一网络设备既可基于预测的PL，来选择定位方案，以使得被选择的定位方案对应的预测PL满足定位完好性性能指标，且使得被选择的定位方案有较低的处理复杂度。Since the positioning integrity auxiliary information is determined based on the predicted location of the first user equipment, the positioning integrity auxiliary information can better reflect the real situation of the environment where the first user equipment is located, and the assisted positioning method increases the prediction In the PL process, the predicted PL can be the PL of at least two positioning schemes, so the first network device can select a positioning scheme based on the predicted PL, so that the predicted PL corresponding to the selected positioning scheme satisfies the positioning integrity performance index, and make the selected positioning scheme have lower processing complexity.

在一种可能的设计中，该方法还包括：第一网络设备接收来自第一用户设备的第二信息，其中，第二信息包括定位完好性性能指标、第一用户设备的预测位置和第一用户设备的误差方差信息。第一网络设备根据第一用户设备的预测位置和定位完好性辅助信息，预测定位完好性保护水平PL，具体包括：根据第二信息和定位完好性辅助信息，预测定位完好性保护水平PL。In a possible design, the method further includes: the first network device receives the first Two pieces of information, wherein the second piece of information includes a positioning integrity performance indicator, a predicted location of the first user equipment, and error variance information of the first user equipment. The first network device predicts the location integrity protection level PL according to the predicted location of the first user equipment and the location integrity auxiliary information, which specifically includes: predicting the location integrity protection level PL according to the second information and the location integrity auxiliary information.

也就是说，第一网络设备通过接收第二信息来获取第一用户设备的预测位置，并且，第一网络设备还能够兼顾第一用户设备的误差方差信息和噪声误差信息来预测PL，有助于提高预测PL的准确性。That is to say, the first network device obtains the predicted location of the first user equipment by receiving the second information, and the first network device can also predict the PL by taking into account the error variance information and noise error information of the first user equipment, which is helpful To improve the accuracy of predicting PL.

在一种可能的设计中，第一网络设备根据第二信息和定位完好性辅助信息，预测定位完好性保护水平PL，具体包括：根据第二信息和定位完好性辅助信息，预测第一PL和第二PL。该方法还包括：第一网络设备根据第一PL和第二PL，确定用于定位第一用户设备的定位方式和参***。In a possible design, the first network device predicts the location integrity protection level PL according to the second information and the location integrity auxiliary information, which specifically includes: predicting the first PL and PL according to the second information and the location integrity auxiliary information Second PL. The method further includes: the first network device determines, according to the first PL and the second PL, a positioning method and a reference device for locating the first user equipment.

也就是说，预测的PL是至少两个定位方案的PL，所以，第一网络设备既可基于预测的PL，从至少两个定位方案中选择一个定位方案，以使得被选择的定位方案对应的预测PL满足定位完好性性能指标，且使得被选择的定位方案有较低的处理复杂度。That is to say, the predicted PL is the PL of at least two positioning schemes, so the first network device can select one positioning scheme from at least two positioning schemes based on the predicted PL, so that the selected positioning scheme corresponds to Predicting PL satisfies the positioning integrity performance index and enables the selected positioning scheme to have lower processing complexity.

在一种可能的设计中，定位完好性辅助信息包括第一参***的误差方差信息，以及第二参***的误差方差信息。第一网络设备根据第二信息和定位完好性辅助信息，预测第一PL和第二PL，包括：根据第二信息和第一参***的误差方差信息，预测第一PL，根据第二信息和第二参***的误差方差信息，预测第二PL。其中，第一参***与第二参***相同，第一参***的误差方差信息与第二参***的误差方差信息不同。或者，第一参***与第二参***不同。In a possible design, the positioning integrity auxiliary information includes error variance information of the first reference device and error variance information of the second reference device. The first network device predicts the first PL and the second PL according to the second information and the positioning integrity auxiliary information, including: predicting the first PL according to the second information and error variance information of the first reference device, and predicting the first PL according to the second information and The second PL is predicted with reference to the error variance information of the device. Wherein, the first reference device is the same as the second reference device, and the error variance information of the first reference device is different from the error variance information of the second reference device. Alternatively, the first reference device is different from the second reference device.

其中，误差方差信息与定位方式有关，定位方式可以是通信协议中定义的定位技术。也就是说，第一网络设备选择了不同的定位方式，和/或，选择了不同的参***，也就意味着，第一网络设备选择了不同的定位方案。不同的定位方案对应的PL不同，所以，第一网络设备既可预测不同定位方案的PL，以使第一网络设备从不同定位方案中选择较优的定位方案，以满足定位完好性指标，又有助于降低实际定位测量时的数据处理复杂度。Wherein, the error variance information is related to a positioning method, and the positioning method may be a positioning technology defined in a communication protocol. That is to say, the first network device selects different positioning methods, and/or selects different reference devices, which means that the first network device selects different positioning solutions. Different positioning schemes correspond to different PLs. Therefore, the first network device can predict the PLs of different positioning schemes, so that the first network device can select a better positioning scheme from different positioning schemes to meet the positioning integrity index. It helps to reduce the complexity of data processing during actual positioning measurement.

在一种可能的设计中，监测设备是第一参***或第二参***。也就是说，监测设备除了具备监测功能之外，还能够作为参考点，以使第一网络设备基于参考点对第一用户设备进行定位。In a possible design, the monitoring device is the first reference device or the second reference device. That is to say, in addition to having a monitoring function, the monitoring device can also serve as a reference point, so that the first network device locates the first user equipment based on the reference point.

在一种可能的设计中，在接收来自第一用户设备的第二信息之前，该方法还包括：第一网络设备向第一用户设备发送第一请求消息，其中，第一请求消息用于请求第一用户设备发送第二信息。如此，即使第一用户设备未主动向第一网络设备提供第二信息，第一用户设备也可以响应于第一请求消息，向第一网络设备提供第二信息，从而使得第一网络设备及时预测PL。In a possible design, before receiving the second information from the first user equipment, the method further includes: the first network device sends a first request message to the first user equipment, where the first request message is used to request The first user equipment sends the second information. In this way, even if the first user equipment does not actively provide the second information to the first network device, the first user equipment may respond to the first request message and provide the second information to the first network device, so that the first network device can predict in time pl.

在一种可能的设计中，监测设备是第二网络设备，如监测设备是接入网设备。In a possible design, the monitoring device is a second network device, for example, the monitoring device is an access network device.

在一种可能的设计中，第一信息是定位信息请求消息。也就是说，第一网络设备通过定位信息请求消息向监测设备发送第一信息。In a possible design, the first information is a positioning information request message. That is to say, the first network device sends the first information to the monitoring device through a location information request message.

在一种可能的设计中，第一信息是收发节点信息请求消息。也就是说，第一网络设备通过收发节点信息请求消息向监测设备发送第一信息。 In a possible design, the first information is a sending and receiving node information request message. That is to say, the first network device sends the first information to the monitoring device by sending and receiving a node information request message.

在一种可能的设计中，第一信息承载于完好性信息请求信元，以通过完好性信息请求信元传输第一信息。In a possible design, the first information is carried in the integrity information request information element, so that the first information is transmitted through the integrity information request information element.

在一种可能的设计中，监测设备是第二用户设备，其中，第二用户设备与第一用户设备不同。In a possible design, the monitoring device is a second user device, where the second user device is different from the first user device.

在一种可能的设计中，第一信息是位置请求消息。也就是说，第一网络设备通过位置请求消息向监测设备发送第一信息。In a possible design, the first information is a location request message. That is to say, the first network device sends the first information to the monitoring device through a location request message.

在一种可能的设计中，第一信息承载于完好性信息辅助数据信元，以通过完好性信息辅助数据信元传输第一信息。In a possible design, the first information is carried in the integrity information auxiliary data cell, so that the first information is transmitted through the integrity information auxiliary data cell.

第二方面，提供一种辅助定位方法，该方法的执行主体可以是监测设备，也可以是应用于监测设备中的芯片。下面以执行主体是监测设备为例进行描述。该方法包括：监测设备接收来自第一网络设备的第一信息，其中，第一信息包括第一用户设备的预测位置，之后，监测设备向第一网络设备发送定位完好性辅助信息，其中，定位完好性辅助信息是基于第一用户设备的预测位置确定的，定位完好性辅助信息用于预测定位完好性保护水平PL。In the second aspect, an auxiliary positioning method is provided, and the execution subject of the method may be a monitoring device, or may be a chip applied in the monitoring device. The following description is made by taking the execution subject as a monitoring device as an example. The method includes: the monitoring device receives first information from the first network device, wherein the first information includes the predicted location of the first user equipment, and then the monitoring device sends positioning integrity assistance information to the first network device, wherein the positioning The integrity assistance information is determined based on the predicted location of the first user equipment, and the location integrity assistance information is used to predict the location integrity protection level PL.

在一种可能的设计中，定位完好性辅助信息包括第一参***的误差方差信息，以及第二参***的误差方差信息。In a possible design, the positioning integrity auxiliary information includes error variance information of the first reference device and error variance information of the second reference device.

在一种可能的设计中，监测设备是第一参***或第二参***。In a possible design, the monitoring device is the first reference device or the second reference device.

在一种可能的设计中，监测设备是第二网络设备。In a possible design, the monitoring device is a second network device.

在一种可能的设计中，第一信息是定位信息请求消息。In a possible design, the first information is a positioning information request message.

在一种可能的设计中，第一信息是收发节点信息请求消息。In a possible design, the first information is a sending and receiving node information request message.

在一种可能的设计中，第一信息承载于完好性信息请求信元。In a possible design, the first information is carried in an integrity information request information element.

在一种可能的设计中，第一信息是位置请求消息。In a possible design, the first information is a location request message.

在一种可能的设计中，第一信息承载于完好性信息辅助数据信元。In a possible design, the first information is carried in an integrity information auxiliary data cell.

第三方面，提供一种辅助定位方法，该方法的执行主体可以是第一网络设备，也可以是应用于第一网络设备中的芯片。下面以执行主体是第一网络设备为例进行描述。该方法包括：第一网络设备向监测设备发送第一信息，其中，第一信息包括第一用户设备的预测位置。然后，第一网络设备接收来自监测设备的定位完好性辅助信息，其中，定位完好性辅助信息是基于第一用户设备的预测位置确定的。In a third aspect, an assisted positioning method is provided, and the execution subject of the method may be the first network device, or may be a chip applied in the first network device. The description below takes the execution subject as an example of the first network device. The method includes: the first network device sends first information to the monitoring device, wherein the first information includes a predicted location of the first user equipment. Then, the first network device receives positioning integrity assistance information from the monitoring device, where the positioning integrity assistance information is determined based on the predicted location of the first user equipment.

由于定位完好性辅助信息是基于第一用户设备的预测位置确定的，所以，定位完好性辅助信息能够更好地体现第一用户设备所处环境的真实情况，并且，定位完好性辅助信息可以用于预测PL，预测的PL可以是至少两个定位方案的PL，以为第一网络设备选择较优的定位方案奠定基础。其中，较优的定位方案，可以理解为，被选择的定位方案对应的预测PL满足定位完好性性能指标，且被选择的定位方案有较低的定位处理复杂度。Since the positioning integrity auxiliary information is determined based on the predicted location of the first user equipment, the positioning integrity auxiliary information can better reflect the real situation of the environment where the first user equipment is located, and the positioning integrity auxiliary information can be used Regarding the predicted PL, the predicted PL may be the PL of at least two positioning schemes, so as to lay a foundation for the first network device to select a better positioning scheme. Wherein, the better positioning scheme can be understood as that the predicted PL corresponding to the selected positioning scheme satisfies the positioning integrity performance index, and the selected positioning scheme has lower positioning processing complexity.

在一种可能的设计中，该方法还包括：第一网络设备根据第一用户设备的预测位置和定位完好性辅助信息，预测定位完好性保护水平PL。In a possible design, the method further includes: the first network device predicts the location integrity protection level PL according to the predicted location of the first user equipment and the location integrity assistance information.

在一种可能的设计中，定位完好性辅助信息包括第一参***的误差方差信息，以及第二参***的误差方差信息。第一网络设备根据第二信息和定位完好性辅助信息，预测第一PL和第二PL，具体包括：根据第二信息和第一参***的误差方差信息，预测第一PL；根据第二信息和第二参***的误差方差信息，预测第二PL。其中，第一参***与第二参***相同，第一参***的误差方差信息与第二参***的误差方差信息不同。或者，第一参***与第二参***不同。In a possible design, the positioning integrity auxiliary information includes error variance information of the first reference device and error variance information of the second reference device. The first network device predicts the first PL and the second PL according to the second information and the positioning integrity auxiliary information, specifically including: predicting the first PL according to the second information and the error variance information of the first reference device; according to the second information and the error variance information of the second reference device to predict the second PL. Wherein, the first reference device is the same as the second reference device, and the error variance information of the first reference device is different from the error variance information of the second reference device. Alternatively, the first reference device is different from the second reference device.

在一种可能的设计中，在接收来自第一用户设备的第二信息之前，该方法还包括：第一网络设备向第一用户设备发送第一请求消息。其中，第一请求消息用于请求第一用户设备发送第二信息。In a possible design, before receiving the second information from the first user equipment, the method further includes: the first network device sends a first request message to the first user equipment. Wherein, the first request message is used to request the first user equipment to send the second information.

第四方面，提供一种辅助定位方法，该方法的执行主体可以是第一用户设备，也可以是应用于第一用户设备中的芯片。下面以执行主体是第一用户设备为例进行描述。该方法包括：第一用户设备接收来自监测设备的定位完好性辅助信息，之后，根据第一用户设备的预测位置和定位完好性辅助信息，预测定位完好性保护水平PL。In a fourth aspect, an assisted positioning method is provided, and the method may be executed by a first user equipment, or may be a chip applied in the first user equipment. The following description is made by taking the execution subject as an example of the first user equipment. The method includes: the first user equipment receives the positioning integrity auxiliary information from the monitoring device, and then predicts the positioning integrity protection level PL according to the predicted position of the first user equipment and the positioning integrity auxiliary information.

如此，上述定位完好性辅助信息能够更好地体现第一用户设备所处环境的真实情况，并且，该辅助定位方法增加了预测PL的过程，预测的PL可以是至少两个定位方案的PL，所以，第一用户设备既可基于预测的PL，来向第一网络设备建议定位方案，以使被建议的定位方案对应的预测PL满足定位完好性性能指标，又使得被建议的定位方案有较低的处理复杂度。In this way, the above positioning integrity assistance information can better reflect the real situation of the environment where the first user equipment is located, and the assisted positioning method adds a process of predicting PL, and the predicted PL can be the PL of at least two positioning schemes, Therefore, the first user equipment can suggest a positioning scheme to the first network device based on the predicted PL, so that the predicted PL corresponding to the proposed positioning scheme meets the positioning integrity performance index, and the proposed positioning scheme has a better performance. Low processing complexity.

在一种可能的设计中，第一用户设备根据第一用户设备的预测位置和定位完好性辅助信息，预测定位完好性保护水平PL，具体包括：根据定位完好性性能指标、第一用户设备的误差方差信息、第一用户设备的预测位置和定位完好性辅助信息，预测第一PL和第二PL。该方法还包括：第一用户设备根据第一PL和第二PL，确定用于定位第一用户设备的定位方式和参***。In a possible design, the first user equipment predicts the location integrity protection level PL according to the predicted location of the first user equipment and the location integrity auxiliary information, which specifically includes: according to the location integrity performance index, the first user equipment's The error variance information, the predicted location of the first user equipment and the positioning integrity assistance information predict the first PL and the second PL. The method further includes: the first user equipment determines, according to the first PL and the second PL, a positioning method and a reference device for locating the first user equipment.

在一种可能的设计中，定位完好性辅助信息包括第一参***的误差方差信息，以及第二参***的误差方差信息。第一用户设备根据定位完好性性能指标、第一用户设备的误差方差信息、第一用户设备的预测位置和定位完好性辅助信息，预测第一PL和第二PL，具体包括：根据定位完好性性能指标、第一用户设备的误差方差信息、第一用户设备的预测位置和第一参***的误差方差信息，预测第一PL；根据定位完好性性能指标、第一用户设备的误差方差信息、第一用户设备的预测位置和第二参***的误差方差信息，预测第二PL。其中，第一参***与第二参***相同，第一参***的误差方差信息与第二参***的误差方差信息不同。或者，第一参*** 与第二参***不同。In a possible design, the positioning integrity auxiliary information includes error variance information of the first reference device and error variance information of the second reference device. The first user equipment predicts the first PL and the second PL according to the positioning integrity performance index, the error variance information of the first user equipment, the predicted position of the first user equipment, and the positioning integrity auxiliary information, specifically including: according to the positioning integrity The performance index, the error variance information of the first user equipment, the predicted position of the first user equipment, and the error variance information of the first reference equipment, and predict the first PL; according to the positioning integrity performance index, the error variance information of the first user equipment, The predicted position of the first user equipment and the error variance information of the second reference equipment are used to predict the second PL. Wherein, the first reference device is the same as the second reference device, and the error variance information of the first reference device is different from the error variance information of the second reference device. Alternatively, the first reference device Different from the second reference device.

在一种可能的设计中，该方法还包括：第一用户设备向第一网络设备发送第一信息，其中，第一信息包括用于定位第一用户设备的定位方式和参***的信息。In a possible design, the method further includes: the first user equipment sends first information to the first network device, where the first information includes a positioning method for locating the first user equipment and information of a reference device.

在一种可能的设计中，监测设备是第二用户设备。第二用户设备与第一用户设备不同。In a possible design, the monitoring device is the second user equipment. The second user equipment is different from the first user equipment.

第五方面，提供一种通信装置，该通信装置可以为上述第一方面或第一方面任一种可能的设计中的第一网络设备，或者实现上述第一网络设备功能的芯片；所述通信装置包括实现上述方法相应的模块、单元、或手段(means)，该模块、单元、或means可以通过硬件实现，软件实现，或者通过硬件执行相应的软件实现。该硬件或软件包括一个或多个与上述功能相对应的模块或单元。In the fifth aspect, a communication device is provided, which may be the first network device in the above first aspect or any possible design of the first aspect, or a chip that implements the functions of the above first network device; the communication The device includes corresponding modules, units, or means (means) for realizing the above methods, and the modules, units, or means can be implemented by hardware, software, or by executing corresponding software on hardware. The hardware or software includes one or more modules or units corresponding to the above functions.

该通信装置包括处理单元、发送单元和接收单元。其中，发送单元，用于向监测设备发送第一信息，其中，第一信息包括第一用户设备的预测位置。接收单元，用于接收来自监测设备的定位完好性辅助信息，其中，定位完好性辅助信息是基于第一用户设备的预测位置确定的。处理单元，用于根据第一用户设备的预测位置和定位完好性辅助信息，预测定位完好性保护水平PL。The communication device includes a processing unit, a sending unit and a receiving unit. Wherein, the sending unit is configured to send the first information to the monitoring device, where the first information includes the predicted location of the first user equipment. The receiving unit is configured to receive positioning integrity assistance information from the monitoring device, wherein the positioning integrity assistance information is determined based on the predicted position of the first user equipment. A processing unit, configured to predict a location integrity protection level PL according to the predicted location of the first user equipment and the location integrity assistance information.

在一种可能的设计中，接收单元，还用于接收来自第一用户设备的第二信息，其中，第二信息包括定位完好性性能指标、第一用户设备的预测位置和第一用户设备的误差方差信息。处理单元，用于根据第一用户设备的预测位置和定位完好性辅助信息，预测定位完好性保护水平PL，具体包括：根据第二信息和定位完好性辅助信息，预测定位完好性保护水平PL。In a possible design, the receiving unit is further configured to receive second information from the first user equipment, where the second information includes a positioning integrity performance index, a predicted position of the first user equipment, and a location of the first user equipment. Error variance information. The processing unit is configured to predict the location integrity protection level PL according to the predicted location of the first user equipment and the location integrity auxiliary information, specifically including: predicting the location integrity protection level PL according to the second information and the location integrity auxiliary information.

在一种可能的设计中，处理单元，用于根据第二信息和定位完好性辅助信息，预测定位完好性保护水平PL，具体包括：根据第二信息和定位完好性辅助信息，预测第一PL和第二PL。处理单元，还用于根据第一PL和第二PL，确定用于定位第一用户设备的定位方式和参***。In a possible design, the processing unit is configured to predict the location integrity protection level PL according to the second information and the location integrity auxiliary information, specifically including: predicting the first PL according to the second information and the location integrity auxiliary information and a second pl. The processing unit is further configured to determine, according to the first PL and the second PL, a positioning method and a reference device for locating the first user equipment.

在一种可能的设计中，定位完好性辅助信息包括第一参***的误差方差信息，以及第二参***的误差方差信息。处理单元，用于根据第二信息和定位完好性辅助信息，预测第一PL和第二PL，包括：根据第二信息和第一参***的误差方差信息，预测第一PL；根据第二信息和第二参***的误差方差信息，预测第二PL。其中，第一参***与第二参***相同，第一参***的误差方差信息与第二参***的误差方差信息不同。或者，第一参***与第二参***不同。In a possible design, the positioning integrity auxiliary information includes error variance information of the first reference device and error variance information of the second reference device. The processing unit is configured to predict the first PL and the second PL according to the second information and the positioning integrity auxiliary information, including: predicting the first PL according to the second information and the error variance information of the first reference device; according to the second information and the error variance information of the second reference device to predict the second PL. Wherein, the first reference device is the same as the second reference device, and the error variance information of the first reference device is different from the error variance information of the second reference device. Alternatively, the first reference device is different from the second reference device.

在一种可能的设计中，在接收来自第一用户设备的第二信息之前，发送单元，还用于向第一用户设备发送第一请求消息，其中，第一请求消息用于请求第一用户设备发送第二信息。In a possible design, before receiving the second information from the first user equipment, the sending unit is further configured to send a first request message to the first user equipment, where the first request message is used to request the first user equipment The device sends the second information.

在一种可能的设计中，第一信息是收发节点信息请求消息。 In a possible design, the first information is a sending and receiving node information request message.

第六方面，提供一种通信装置，该通信装置可以为上述第二方面或第二方面任一种可能的设计中的监测设备，或者实现上述监测设备功能的芯片；所述通信装置包括实现上述方法相应的模块、单元、或手段(means)，该模块、单元、或means可以通过硬件实现，软件实现，或者通过硬件执行相应的软件实现。该硬件或软件包括一个或多个与上述功能相对应的模块或单元。According to the sixth aspect, there is provided a communication device, which may be the monitoring device in any possible design of the above-mentioned second aspect or the second aspect, or a chip that realizes the functions of the above-mentioned monitoring device; the communication device includes the above-mentioned The corresponding module, unit, or means (means) of the method, the module, unit, or means can be realized by hardware, software, or by executing corresponding software by hardware. The hardware or software includes one or more modules or units corresponding to the above functions.

该通信装置包括处理单元、发送单元和接收单元。其中，处理单元，用于控制接收单元接收来自第一网络设备的第一信息，其中，第一信息包括第一用户设备的预测位置。处理单元，还用于控制发送单元向第一网络设备发送定位完好性辅助信息，其中，定位完好性辅助信息是基于第一用户设备的预测位置确定的，定位完好性辅助信息用于预测定位完好性保护水平PL。The communication device includes a processing unit, a sending unit and a receiving unit. Wherein, the processing unit is configured to control the receiving unit to receive the first information from the first network device, where the first information includes the predicted location of the first user equipment. The processing unit is further configured to control the sending unit to send positioning integrity auxiliary information to the first network device, wherein the positioning integrity auxiliary information is determined based on the predicted position of the first user equipment, and the positioning integrity auxiliary information is used to predict the positioning integrity Sexual protection level PL.

在一种可能的设计中，通信装置是第一参***或第二参***。In a possible design, the communication device is the first reference device or the second reference device.

在一种可能的设计中，通信装置是第二网络设备。In a possible design, the communication device is a second network device.

在一种可能的设计中，通信装置是第二用户设备，其中，第二用户设备与第一用户设备不同。In a possible design, the communication device is a second user equipment, where the second user equipment is different from the first user equipment.

第七方面，提供一种通信装置，该通信装置可以为上述第三方面或第三方面任一种可能的设计中的第一网络设备，或者实现上述第一网络设备功能的芯片；所述通信装置包括实现上述方法相应的模块、单元、或手段(means)，该模块、单元、或means可以通过硬件实现，软件实现，或者通过硬件执行相应的软件实现。该硬件或软件包括一个或多个与上述功能相对应的模块或单元。In the seventh aspect, there is provided a communication device, which may be the first network device in the third aspect or any possible design of the third aspect, or a chip that implements the functions of the first network device above; the communication The device includes corresponding modules, units, or means (means) for realizing the above methods, and the modules, units, or means can be implemented by hardware, software, or by executing corresponding software on hardware. The hardware or software includes one or more modules or units corresponding to the above functions.

该通信装置包括处理单元、发送单元和接收单元。其中，处理单元，用于控制发送单元向监测设备发送第一信息，其中，第一信息包括第一用户设备的预测位置。处理单元，还用于控制接收单元接收来自监测设备的定位完好性辅助信息，其中，定位完好性辅助信息是基于第一用户设备的预测位置确定的。The communication device includes a processing unit, a sending unit and a receiving unit. Wherein, the processing unit is configured to control the sending unit to send the first information to the monitoring device, where the first information includes the predicted location of the first user equipment. The processing unit is further configured to control the receiving unit to receive positioning integrity assistance information from the monitoring device, wherein the positioning integrity assistance information is determined based on the predicted position of the first user equipment.

在一种可能的设计中，处理单元，还用于根据第一用户设备的预测位置和定位完好性辅助信息，预测定位完好性保护水平PL。In a possible design, the processing unit is further configured to predict the location integrity protection level PL according to the predicted location of the first user equipment and the location integrity assistance information.

在一种可能的设计中，定位完好性辅助信息包括第一参***的误差方差信息，以及第二参***的误差方差信息。处理单元，用于根据第二信息和定位完好性辅助信息，预测第一PL和第二PL，具体包括：根据第二信息和第一参***的误差方差信息，预测第一PL；根据第二信息和第二参***的误差方差信息，预测第二PL；其中，第一参***与第二参***相同，第一参***的误差方差信息与第二参***的误差方差信息不同；或者，第一参***与第二参***不同。In a possible design, the positioning integrity auxiliary information includes error variance information of the first reference device and error variance information of the second reference device. The processing unit is configured to predict the first PL and the second PL according to the second information and the positioning integrity auxiliary information, specifically including: predicting the first PL according to the second information and the error variance information of the first reference device; Information and error variance information of the second reference device to predict the second PL; wherein, the first reference device is the same as the second reference device, and the error variance information of the first reference device is different from the error variance information of the second reference device; or, The first reference device is different from the second reference device.

在一种可能的设计中，发送单元，还用于在接收来自第一用户设备的第二信息之前，向第一用户设备发送第一请求消息，其中，第一请求消息用于请求第一用户设备发送第二信息。In a possible design, the sending unit is further configured to send a first request message to the first user equipment before receiving the second information from the first user equipment, where the first request message is used to request the first user equipment The device sends the second information.

第八方面，提供一种通信装置，该通信装置可以为上述第四方面或第四方面任一种可能的设计中的第一用户设备，或者实现上述第一用户设备功能的芯片；所述通信装置包括实现上述方法相应的模块、单元、或手段(means)，该模块、单元、或means可以通过硬件实现，软件实现，或者通过硬件执行相应的软件实现。该硬件或软件包括一个或多个与上述功能相对应的模块或单元。In an eighth aspect, there is provided a communication device, which may be the first user equipment in the fourth aspect or any possible design of the fourth aspect, or a chip that implements the functions of the first user equipment; the communication The device includes corresponding modules, units, or means (means) for realizing the above methods, and the modules, units, or means can be implemented by hardware, software, or by executing corresponding software on hardware. The hardware or software includes one or more modules or units corresponding to the above functions.

该通信装置包括处理单元、发送单元和接收单元。其中，接收单元，用于接收来自监测设备的定位完好性辅助信息。处理单元，用于根据通信装置的预测位置和定位完好性辅助信息，预测定位完好性保护水平PL。The communication device includes a processing unit, a sending unit and a receiving unit. Wherein, the receiving unit is configured to receive the positioning integrity auxiliary information from the monitoring device. The processing unit is configured to predict the location integrity protection level PL according to the predicted location of the communication device and the location integrity auxiliary information.

在一种可能的设计中，处理单元，用于根据通信装置的预测位置和定位完好性辅助信息，预测定位完好性保护水平PL，具体包括：根据定位完好性性能指标、通信装置的误差方差信息、通信装置的预测位置和定位完好性辅助信息，预测第一PL和第二PL。处理单元，还用于根据第一PL和第二PL，确定用于定位通信装置的定位方式和参***。In a possible design, the processing unit is configured to predict the positioning integrity protection level PL according to the predicted position of the communication device and the positioning integrity auxiliary information, specifically including: according to the positioning integrity performance index and the error variance information of the communication device , the predicted position of the communication device and the positioning integrity auxiliary information, predicting the first PL and the second PL. The processing unit is further configured to determine, according to the first PL and the second PL, a positioning method and a reference device for locating the communication device.

在一种可能的设计中，定位完好性辅助信息包括第一参***的误差方差信息，以及第二参***的误差方差信息。处理单元，用于根据定位完好性性能指标、通信装置的误差方差信息、通信装置的预测位置和定位完好性辅助信息，预测第一PL和第二PL，具体包括：根据定位完好性性能指标、通信装置的误差方差信息、通信装置的预测位置和第一参***的误差方差信息，预测第一PL；根据定位完好性性能指标、通信装置的误差方差信息、通信装置的预测位置和第二参***的误差方差信息，预测第二PL。其中，第一参***与第二参***相同，第一参***的误差方差信息与第二参***的误差方差信息不同。或者，第一参***与第二参***不同。In a possible design, the positioning integrity auxiliary information includes error variance information of the first reference device and error variance information of the second reference device. The processing unit is configured to predict the first PL and the second PL according to the positioning integrity performance index, the error variance information of the communication device, the predicted position of the communication device, and the positioning integrity auxiliary information, specifically including: according to the positioning integrity performance index, The error variance information of the communication device, the predicted position of the communication device and the error variance information of the first reference device are used to predict the first PL; according to the positioning integrity performance index, the error variance information of the communication device, the predicted position of the communication device and the second reference The error variance information of the device, predicts the second PL. Wherein, the first reference device is the same as the second reference device, and the error variance information of the first reference device is different from the error variance information of the second reference device. Alternatively, the first reference device is different from the second reference device.

在一种可能的设计中，发送单元，还用于向第一网络设备发送第一信息，其中，第一信息包括用于定位通信装置的定位方式和参***的信息。In a possible design, the sending unit is further configured to send the first information to the first network device, where, The first information includes information about a positioning method and a reference device for locating the communication device.

在一种可能的设计中，监测设备是第二用户设备，其中，第二用户设备与通信装置不同。In a possible design, the monitoring device is a second user device, wherein the second user device is different from the communication device.

第九方面，提供了一种通信装置，包括：处理器和存储器；该存储器用于存储计算机指令，当该处理器执行该指令时，使得该通信装置执行上述任一方面或任一方面任一种可能的设计中第一网络设备所执行的方法。该通信装置可以为上述第一方面或第一方面任一种可能的设计中的第一网络设备，或者，可以为上述第三方面或第三方面任一种可能的设计中的第一网络设备，或者实现上述第一网络设备功能的芯片。In a ninth aspect, a communication device is provided, including: a processor and a memory; the memory is used to store computer instructions, and when the processor executes the instructions, the communication device performs any of the above-mentioned aspects or any of the aspects. A method performed by the first network device in one possible design. The communication device may be the first network device in the above first aspect or any possible design of the first aspect, or may be the first network device in the above third aspect or any possible design of the third aspect , or a chip that implements the functions of the above-mentioned first network device.

第十方面，提供了一种通信装置，包括：处理器；所述处理器与存储器耦合，用于读取存储器中的指令并执行，以使该通信装置执行如上述任一方面或任一方面任一种可能的设计中的第一网络设备所执行的方法。该通信装置可以为上述第一方面或第一方面任一种可能的设计中的第一网络设备，或者，可以为上述第三方面或第三方面任一种可能的设计中的第一网络设备，或者实现上述第一网络设备功能的芯片。In a tenth aspect, a communication device is provided, including: a processor; the processor is coupled to a memory, and is used to read and execute instructions in the memory, so that the communication device performs any or all of the above-mentioned aspects A method performed by the first network device in any possible design. The communication device may be the first network device in the above first aspect or any possible design of the first aspect, or may be the first network device in the above third aspect or any possible design of the third aspect , or a chip that implements the functions of the above-mentioned first network device.

第十一方面，提供一种芯片，包括处理电路和输入输出接口。其中，输入输出接口用于与芯片之外的模块通信，例如，该芯片可以为实现上述第一方面或第一方面任一种可能的设计中的第一网络设备功能的芯片。处理电路用于运行计算机程序或指令，以实现以上第一方面或第一方面任一种可能的设计中的方法。再如，该芯片可以为实现上述第三方面或第三方面任一种可能的设计中的第一网络设备功能的芯片。处理电路用于运行计算机程序或指令，以实现以上第三方面或第三方面任一种可能的设计中的方法。In an eleventh aspect, a chip is provided, including a processing circuit and an input/output interface. Wherein, the input and output interface is used to communicate with modules other than the chip, for example, the chip may be a chip that implements the function of the first network device in the first aspect or any possible design of the first aspect. The processing circuit is used to run computer programs or instructions to implement the method in the above first aspect or any possible design of the first aspect. For another example, the chip may be a chip that implements the function of the first network device in the third aspect or any possible design of the third aspect. The processing circuit is used to run computer programs or instructions to implement the method in the above third aspect or any possible design of the third aspect.

第十二方面，提供了一种通信装置，包括：处理器和存储器；该存储器用于存储计算机指令，当该处理器执行该指令时，使得该通信装置执行上述任一方面或任一方面任一种可能的设计中监测设备所执行的方法。该通信装置可以为上述第二方面或第二方面任一种可能的设计中的监测设备，或者实现上述监测设备功能的芯片。In a twelfth aspect, a communication device is provided, including: a processor and a memory; the memory is used to store computer instructions, and when the processor executes the instructions, the communication device performs any of the above-mentioned aspects or any of the aspects. One possible design monitors the method implemented by the device. The communication device may be the monitoring device in the above-mentioned second aspect or any possible design of the second aspect, or a chip that realizes the functions of the above-mentioned monitoring device.

第十三方面，提供了一种通信装置，包括：处理器；所述处理器与存储器耦合，用于读取存储器中的指令并执行，以使该通信装置执行如上述任一方面或任一方面任一种可能的设计中的监测设备所执行的方法。该通信装置可以为上述第二方面或第二方面任一种可能的设计中的监测设备，或者实现上述监测设备功能的芯片。In a thirteenth aspect, a communication device is provided, including: a processor; the processor is coupled with a memory, and is used to read and execute instructions in the memory, so that the communication device performs any of the above-mentioned aspects or any The method performed by the monitoring device in any possible design of the aspect. The communication device may be the monitoring device in the above-mentioned second aspect or any possible design of the second aspect, or a chip that realizes the functions of the above-mentioned monitoring device.

第十四方面，提供一种芯片，包括处理电路和输入输出接口。其中，输入输出接口用于与芯片之外的模块通信，例如，该芯片可以为实现上述第二方面或第二方面任一种可能的设计中的监测设备功能的芯片。处理电路用于运行计算机程序或指令，以实现以上第二方面或第二方面任一种可能的设计中的方法。In a fourteenth aspect, a chip is provided, including a processing circuit and an input/output interface. Wherein, the input and output interfaces are used for communicating with modules other than the chip, for example, the chip may be a chip that implements the function of the monitoring device in the above-mentioned second aspect or any possible design of the second aspect. The processing circuit is used to run computer programs or instructions to implement the method in the above second aspect or any possible design of the second aspect.

第十五方面，提供了一种通信装置，包括：处理器和存储器；该存储器用于存储计算机指令，当该处理器执行该指令时，使得该通信装置执行上述任一方面或任一方面任一种可能的设计中第一用户设备所执行的方法。该通信装置可以为上述第四方面或第四方面任一种可能的设计中的第一用户设备，或者实现上述第一用户设备功能的芯片。In a fifteenth aspect, a communication device is provided, including: a processor and a memory; the memory is used to store computer instructions, and when the processor executes the instructions, the communication device performs any of the above-mentioned aspects or any of the aspects. A method performed by a first user equipment in one possible design. The communication device may be the first user equipment in the fourth aspect or any possible design of the fourth aspect, or a chip implementing the functions of the first user equipment.

第十六方面，提供了一种通信装置，包括：处理器；所述处理器与存储器耦合，用于读取存储器中的指令并执行，以使该通信装置执行如上述任一方面或任一方面任一种可能的设计中的第一用户设备所执行的方法。该通信装置可以为上述第四方面或第四方面任一种可能的设计中的第一用户设备，或者实现上述第一用户设备功能的芯片。In a sixteenth aspect, a communication device is provided, including: a processor; the processor is coupled to a memory, It is used to read and execute the instruction in the memory, so that the communication device executes the method executed by the first user equipment in any possible design of any aspect or any aspect above. The communication device may be the first user equipment in the fourth aspect or any possible design of the fourth aspect, or a chip implementing the functions of the first user equipment.

第十七方面，提供一种芯片，包括处理电路和输入输出接口。其中，输入输出接口用于与芯片之外的模块通信，例如，该芯片可以为实现上述第四方面或第四方面任一种可能的设计中的第一用户设备功能的芯片。处理电路用于运行计算机程序或指令，以实现以上第四方面或第四方面任一种可能的设计中的方法。In a seventeenth aspect, a chip is provided, including a processing circuit and an input/output interface. Wherein, the input and output interface is used to communicate with modules other than the chip, for example, the chip may be a chip that implements the function of the first user equipment in the fourth aspect or any possible design of the fourth aspect. The processing circuit is used to run computer programs or instructions to implement the method in the above fourth aspect or any possible design of the fourth aspect.

第十八方面，提供一种计算机可读存储介质，该计算机可读存储介质中存储有指令，当其在计算机上运行时，使得计算机可以执行上述任一方面中任一项的方法。In an eighteenth aspect, a computer-readable storage medium is provided. Instructions are stored in the computer-readable storage medium. When the computer-readable storage medium is run on a computer, the computer can execute the method in any one of the above-mentioned aspects.

第十九方面，提供一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机可以执行上述任一方面中任一项的方法。In a nineteenth aspect, there is provided a computer program product containing instructions, which, when run on a computer, enable the computer to execute the method in any one of the above aspects.

第二十方面，提供一种电路***，电路***包括处理电路，处理电路被配置为执行如上述任一方面中任一项的方法。In a twentieth aspect, a circuit system is provided, and the circuit system includes a processing circuit configured to execute the method according to any one of the above aspects.

其中，第五方面至第二十方面中任一种设计所带来的技术效果可参考上文所提供的对应的方法中的有益效果，此处不再赘述。Wherein, for the technical effect brought about by any one of the designs in the fifth aspect to the twentieth aspect, reference may be made to the beneficial effects in the corresponding method provided above, which will not be repeated here.

附图说明Description of drawings

图1为本申请实施例提供的一种定位***的架构示意图；FIG. 1 is a schematic structural diagram of a positioning system provided by an embodiment of the present application;

图2a为本申请实施例提供的一种定位方式的工作原理图；Figure 2a is a working principle diagram of a positioning method provided by the embodiment of the present application;

图2b为本申请实施例提供的再一种定位方式的工作原理图；Fig. 2b is a working principle diagram of another positioning method provided by the embodiment of the present application;

图3为本申请实施例提供的一种确定定位完好性结果的方法流程图；Fig. 3 is a flow chart of a method for determining the positioning integrity result provided by the embodiment of the present application;

图4为本申请实施例提供的一种辅助定位方法的方法流程图；FIG. 4 is a method flowchart of an assisted positioning method provided in an embodiment of the present application;

图5为本申请实施例提供的再一种辅助定位方法的方法流程图；Fig. 5 is a method flowchart of another auxiliary positioning method provided by the embodiment of the present application;

图6为本申请实施例提供的又一种辅助定位方法的方法流程图；FIG. 6 is a method flow chart of another auxiliary positioning method provided in the embodiment of the present application;

图7为本申请实施例提供的再一种确定定位完好性结果的方法流程图；FIG. 7 is a flowchart of another method for determining the result of positioning integrity provided by the embodiment of the present application;

图8为本申请实施例提供的又一种辅助定位方法的方法流程图；FIG. 8 is a method flow chart of another auxiliary positioning method provided in the embodiment of the present application;

图9为本申请实施例提供的又一种辅助定位方法的方法流程图；FIG. 9 is a method flow chart of another auxiliary positioning method provided in the embodiment of the present application;

图10为本申请实施例提供的一种通信装置的结构示意图；FIG. 10 is a schematic structural diagram of a communication device provided by an embodiment of the present application;

图11为本申请实施例提供的再一种通信装置的结构示意图。FIG. 11 is a schematic structural diagram of another communication device provided by an embodiment of the present application.

具体实施方式Detailed ways

本申请的说明书以及附图中的术语“第一”和“第二”等是用于区别不同的对象，或者用于区别对同一对象的不同处理，而不是用于描述对象的特定顺序。此外，本申请的描述中所提到的术语“包括”和“具有”以及它们的任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、***、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括其他没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。需要说明的是，本申请实施例中，“示例性的”或者“例如”等词用于表示作例子、例证或说明。本申请实施例中被描述为“示例性的”或者“例如”的任何实施例或设计方案不应被解释为比其它实施例或设计方案更优选或更具优势。确切而言，使用“示例性的”或者“例如”等词旨在以具体方式呈现相关概念。The terms "first" and "second" in the specification and drawings of the present application are used to distinguish different objects, or to distinguish different processes for the same object, rather than to describe a specific sequence of objects. In addition, the terms "including" and "having" mentioned in the description of the present application and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes other unlisted steps or units, or optionally also includes Other steps or elements inherent to the process, method, product or apparatus are included. It should be noted that, in the embodiments of the present application, words such as "exemplary" or "for example" are used as examples, illustrations or descriptions. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application shall not be interpreted as being more preferred or more advantageous than other embodiments or design solutions. Specifically, the use of "exemplary" or "example Words such as "are intended to present related concepts in a concrete way.

图1为本申请实施例提供的一种定位***的架构示意图。如图1所示，该定位***包括用户设备(user equipment，UE)11、参***12、监测设备13和核心网设备14。FIG. 1 is a schematic structural diagram of a positioning system provided by an embodiment of the present application. As shown in FIG. 1 , the positioning system includes user equipment (user equipment, UE) 11, reference equipment 12, monitoring equipment 13 and core network equipment 14.

用户设备11，包括向用户提供语音和/或数据连通性的设备，具体的，包括向用户提供语音的设备，或包括向用户提供数据连通性的设备，或包括向用户提供语音和数据连通性的设备。例如可以包括具有无线连接功能的手持式设备、或连接到无线调制解调器的处理设备。该用户设备可以经无线接入网(radio access network，RAN)与核心网进行通信，与RAN交换语音或数据，或与RAN交互语音和数据。该用户设备可以包括终端设备、无线用户设备、移动用户设备、设备到设备通信(device-to-device，D2D)用户设备、车到一切(vehicle to everything，V2X)用户设备、机器到机器/机器类通信(machine-to-machine/machine-type communications，M2M/MTC)用户设备、物联网(internet of things，IoT)用户设备、签约单元(subscriber unit)、签约站(subscriber station)，移动站(mobile station)、远程站(remote station)、接入点(access point，AP)、远程终端(remote terminal)、接入终端(access terminal)、用户终端(user terminal)、用户代理(user agent)、或用户装备(user device)等。例如，可以包括移动电话(或称为“蜂窝”电话)，具有移动用户设备的计算机，便携式、袖珍式、手持式、计算机内置的移动装置等。例如，个人通信业务(personal communication service，PCS)电话、无绳电话、会话发起协议(session initiation protocol，SIP)话机、无线本地环路(wireless local loop，WLL)站、个人数字助理(personal digital assistant，PDA)等设备。还包括受限设备，例如功耗较低的设备，或存储能力有限的设备，或计算能力有限的设备等。例如包括条码、射频识别(radio frequency identification，RFID)、传感器、全球定位***(global positioning system，GPS)、激光扫描器等信息传感设备。User equipment 11 includes equipment that provides voice and/or data connectivity to users, specifically, equipment that provides voice to users, or equipment that provides data connectivity to users, or equipment that provides voice and data connectivity to users device of. Examples may include a handheld device with wireless connectivity, or a processing device connected to a wireless modem. The user equipment can communicate with the core network via a radio access network (radio access network, RAN), exchange voice or data with the RAN, or exchange voice and data with the RAN. The user equipment may include terminal equipment, wireless user equipment, mobile user equipment, device-to-device communication (device-to-device, D2D) user equipment, vehicle to everything (vehicle to everything, V2X) user equipment, machine-to-machine/machine communication (machine-to-machine/machine-type communications, M2M/MTC) user equipment, Internet of things (internet of things, IoT) user equipment, subscriber unit (subscriber unit), subscriber station (subscriber station), mobile station ( mobile station), remote station (remote station), access point (access point, AP), remote terminal (remote terminal), access terminal (access terminal), user terminal (user terminal), user agent (user agent), Or user equipment (user device), etc. For example, may include mobile telephones (or "cellular" telephones), computers with mobile user equipment, portable, pocket, hand-held, computer built-in mobile devices, and the like. For example, personal communication service (PCS) telephone, cordless telephone, session initiation protocol (session initiation protocol, SIP) telephone, wireless local loop (wireless local loop, WLL) station, personal digital assistant (personal digital assistant, PDA) and other devices. Also includes constrained devices, such as devices with low power consumption, or devices with limited storage capabilities, or devices with limited computing capabilities, etc. For example, it includes barcodes, radio frequency identification (radio frequency identification, RFID), sensors, global positioning system (global positioning system, GPS), laser scanners and other information sensing devices.

而如上介绍的各种用户设备，如果位于车辆上(例如放置在车辆内或安装在车辆内)，都可以认为是车载用户设备，车载用户设备例如也称为车载单元(on-board unit，OBU)。However, if the various user equipments described above are located on the vehicle (for example, placed in the vehicle or installed in the vehicle), they can be considered as vehicle-mounted user equipment, and the vehicle-mounted user equipment is also called an on-board unit (OBU). ).

本申请实施例中，用户设备还可以包括中继(relay)。或者理解为，能够与基站进行数据通信的都可以看作用户设备。In this embodiment of the present application, the user equipment may further include a relay (relay). Or it can be understood that all those capable of performing data communication with the base station can be regarded as user equipment.

本申请实施例中，用于实现用户设备的功能的装置可以是用户设备，也可以是能够支持用户设备实现该功能的装置，例如芯片***，该装置可以被安装在用户设备中。本申请实施例中，芯片***可以由芯片构成，也可以包括芯片和其他分立器件。本申请实施例提供的技术方案中，以用于实现终端的功能的装置是用户设备为例，进行介绍。In this embodiment of the present application, the device for implementing the function of the user equipment may be the user equipment, or may be a device capable of supporting the user equipment to implement the function, such as a chip system, and the device may be installed in the user equipment. In the embodiment of the present application, the system-on-a-chip may be composed of chips, or may include chips and other discrete devices. In the technical solutions provided in the embodiments of the present application, the device for implementing the functions of the terminal is taken as an example to introduce the user equipment.

参***12，用于提供定位参考点，以使核心网设备14基于参考点对用户设备11进行定位。作为一种可能的实现方式，参***12可以为接入网设备。其中，接入网设备可以是无线通信或者有线通信的接入点，例如收发节点(transmit and receive point、TRP)、路边单元(road side unit，RSU)、基站或基站控制器，无线保真(wireless-fidelity，wifi)的接入点或者wifi控制器，或者固网接入的接入点等。其中，所述基站可以包括各种类型的基站，例如：微基站(也称为小站)，宏基站，中继站，接入点等，本申请实施例对此不作具体限定。在本申请实施例中，所述基站可以是全球移动通信***(global system for mobile communication，GSM)、码分多址(code division multiple access，CDMA)中的基站(base transceiver station，BTS)，宽带码分多址(wideband code division multiple access，WCDMA)中的基站(node B)，长期演进(long term evolution，LTE)中的演进型基站(evolutional node B，eNB或e-NodeB)，物联网(internet of things，IoT)或者窄带物联网(narrow band-internet of things，NB-IoT)中的eNB，第五代(the fifth generation，5G)移动通信网络或者未来演进的公共陆地移动网络(public land mobile network，PLMN)中的基站，本申请实施例对此不作任何限制。此种情况下，用户设备11与参***12之间通过Uu接口进行通信。The reference device 12 is configured to provide a positioning reference point, so that the core network device 14 locates the user equipment 11 based on the reference point. As a possible implementation manner, the reference device 12 may be an access network device. Wherein, the access network device may be an access point for wireless communication or wired communication, such as a transmit and receive point (TRP), a roadside unit (road side unit, RSU), a base station or a base station controller, a wireless fidelity (wireless-fidelity, wifi) access point or wifi controller, or access point for fixed network access, etc. Wherein, the base station may include various types of base stations, for example: micro base stations (also called small stations), macro base stations, relay stations, access points etc., which are not specifically limited in this embodiment of the present application. In the embodiment of the present application, the base station may be a base transceiver station (BTS) in a global system for mobile communication (GSM), code division multiple access (CDMA), broadband Base station (node B) in code division multiple access (wideband code division multiple access, WCDMA), evolved base station (evolutional node B, eNB or e-NodeB) in long term evolution (long term evolution, LTE), IoT ( Internet of things (IoT) or eNB in narrowband-internet of things (NB-IoT), the fifth generation (5G) mobile communication network or future evolution of public land mobile network (public land mobile network) A base station in a mobile network (PLMN), which is not limited in this embodiment of the present application. In this case, the communication between the user equipment 11 and the reference equipment 12 is performed through the Uu interface.

作为另一种可能的实现方式，参***12可以为用户设备，具体可以参见用户设备11的介绍，此处不再赘述。此种情况下，用户设备11与参***12之间通过PC5接口进行通信。As another possible implementation manner, the reference device 12 may be a user device. For details, refer to the introduction of the user device 11 , which will not be repeated here. In this case, the communication between the user equipment 11 and the reference equipment 12 is performed through the PC5 interface.

需要说明的是，参***，也可以有其他名称，如参考站，在本申请实施例中，仅以参***为例进行介绍，在此作统一说明，后续不再赘述。It should be noted that the reference device may also have other names, such as reference station. In the embodiment of this application, only the reference device is used as an example for introduction, and a unified description will be made here, and will not be repeated in the future.

监测设备13，用于监测参***12。作为一种可能的实现方式，监测设备13可以为接入网设备，可以参见参***12的介绍，此处不再赘述。作为另一种可能的实现方式，监测设备13可以为用户设备，具体可以参见用户设备11的介绍，此处不再赘述。The monitoring device 13 is used for monitoring the reference device 12 . As a possible implementation manner, the monitoring device 13 may be an access network device, and reference may be made to the introduction of the reference device 12, which will not be repeated here. As another possible implementation manner, the monitoring device 13 may be a user device. For details, refer to the introduction of the user device 11 , which will not be repeated here.

需要说明的是，监测设备，也可以有其他名称，如监测站，在本申请实施例中，仅以监测设备为例进行介绍，在此作统一说明，后续不再赘述。It should be noted that monitoring equipment may also have other names, such as monitoring station. In this embodiment of the application, only monitoring equipment is used as an example for introduction, and a unified description will be made here, and will not be repeated hereafter.

核心网设备14，包括接入和移动性管理功能(access and mobility management function，AMF)网元、定位管理功能(location management function，LMF)网元等。其中，AMF网元可以实现网关等功能，LMF网元可以实现定位中心等功能，如根据其他网元的测量结果对UE进行定位计算，AMF网元与LMF网元可以进行通信。例如，AMF网元与LMF网元之间可以通过NLs接口连接。其中，AMF网元的主要功能包含：连接管理、移动性管理、注册管理、接入认证和授权、可达性管理、安全上下文管理等接入和移动性相关的功能。LMF网元是一种部署在核心网中为用户设备提供定位功能的装置或组件。The core network device 14 includes an access and mobility management function (access and mobility management function, AMF) network element, a location management function (location management function, LMF) network element, and the like. Among them, the AMF network element can realize functions such as a gateway, and the LMF network element can realize functions such as a positioning center, such as performing positioning calculation on the UE according to the measurement results of other network elements, and the AMF network element and the LMF network element can communicate. For example, an AMF network element and an LMF network element may be connected through an NLs interface. Among them, the main functions of the AMF network element include: connection management, mobility management, registration management, access authentication and authorization, reachability management, security context management and other functions related to access and mobility. The LMF network element is a device or component deployed in the core network to provide positioning functions for user equipment.

应理解，接入网设备和核心网设备均属于网络设备。在参***12实现为接入网设备，监测设备13也实现为接入网设备的情况下，参***12、监测设备13和核心网设备14属于网络设备。It should be understood that both the access network device and the core network device belong to network devices. In the case that the reference device 12 is implemented as an access network device, and the monitoring device 13 is also implemented as an access network device, the reference device 12, the monitoring device 13 and the core network device 14 belong to network devices.

为了便于理解本申请实施例，下面先对本申请实施例中涉及的术语做简单说明。应理解，这些说明仅为便于理解本申请实施例，而不应对本申请构成任何限定。In order to facilitate understanding of the embodiments of the present application, terms involved in the embodiments of the present application will be briefly described below. It should be understood that these descriptions are only for understanding the embodiments of the present application, and shall not constitute any limitation to the present application.

1、定位方式1. Positioning method

在本申请实施例中，定位方式是指，通信协议中定义的定位技术，如到达时间差(time difference of arrival，TDOA)定位技术、往返时延(round-trip time，RTT)定位技术等。In this embodiment of the application, the positioning method refers to the positioning technology defined in the communication protocol, such as time difference of arrival (TDOA) positioning technology, round-trip time (round-trip time, RTT) positioning technology, etc.

TDOA是通过测量用户设备和多个参***之间的传输时延差来实现定位的。TDOA realizes positioning by measuring the transmission delay difference between user equipment and multiple reference equipment.

如图2a所示，参***实现为基站。其中，参***1和参***2向用户设备发送定位参考信号(positioning reference signal，PRS)，从而得到参***1和参***2与用户设备之间的距离差为R21，得到以两个参***(即参***1和参***2)为焦点、与两个焦点的距离差恒为R21的双曲线2-1。用户设备位于双曲线2-1上。类似的，参***1和参***3向用户设备发送PRS，从而得到参***1和参***3与用户设备之间的距离差为R31，得到以两个参***(即参***1和参***3)为焦点、与两个焦点的距离差恒为R31的双曲线3-1。用户设备位于双曲线3-1上。双曲线2-1和双曲线3-1之间的交点代表用户设备的估计位置。由于需要准确的时延差，因此，参***1、参***2和参***3之间要求时钟同步。As shown in Figure 2a, the reference device is implemented as a base station. Among them, reference device 1 and reference device 2 send user equipment Send a positioning reference signal (positioning reference signal, PRS), so that the distance difference between the reference device 1 and the reference device 2 and the user equipment is R21, and the two reference devices (ie, the reference device 1 and the reference device 2) are the focus , The hyperbola 2-1 whose distance difference from the two focal points is always R21. The user equipment is located on the hyperbola 2-1. Similarly, the reference device 1 and the reference device 3 send PRS to the user equipment, so that the distance difference between the reference device 1 and the reference device 3 and the user equipment is R31, and the two reference devices (that is, the reference device 1 and the reference device 3) is the hyperbola 3-1 of the focal point, and the distance difference between the two focal points is always R31. The user equipment is located on the hyperbola 3-1. The intersection between the hyperbola 2-1 and the hyperbola 3-1 represents the estimated location of the user equipment. Since an accurate time delay difference is required, clock synchronization among the reference device 1 , the reference device 2 and the reference device 3 is required.

RTT是通过来回发送定位参考信号获取往返传输时间以实现定位，无需时钟同步。RTT is to obtain the round-trip transmission time by sending positioning reference signals back and forth to achieve positioning without clock synchronization.

如图2b所示，参***1和用户设备之间来回发送参考信号，以得到两个参***1和用户设备之间的飞行时间(time of flight，TOF)。其中，TOF满足如下公式：
As shown in Fig. 2b, reference signals are sent back and forth between the reference device 1 and the user equipment, so as to obtain the time of flight (time of flight, TOF) between the two reference devices 1 and the user equipment. Among them, TOF satisfies the following formula:

其中，TOF表示飞行时间，T_A1表示参***1向用户设备发送参考信号的时刻，T_B1表示用户设备接收来自参***1的参考信号的时刻，T_B2表示用户设备向参***1发送参考信号的时刻，T_A2表示参***1接收来自用户设备的参考信号的时刻。参***1和用户设备之间的飞行时间乘以光速，从而得到参***1和用户设备之间的距离。Among them, TOF represents the time of flight, _TA1 represents the time when the reference device 1 sends the reference signal to the user equipment, _TB1 represents the time when the user equipment receives the reference signal from the reference device 1, and _TB2 represents the time when the user device sends the reference signal to the reference device 1 T _A2 represents the time when reference device 1 receives the reference signal from the user equipment. The time of flight between the reference device 1 and the user device is multiplied by the speed of light to obtain the distance between the reference device 1 and the user device.

类似的，基于相同的处理方式，得到参***2和用户设备之间的距离，以及参***3和用户设备之间的距离。然后，基于三角定位原理，从而得到用户设备的估计位置。Similarly, based on the same processing manner, the distance between the reference device 2 and the user equipment, and the distance between the reference device 3 and the user equipment are obtained. Then, based on the principle of triangulation positioning, the estimated position of the user equipment is obtained.

2、定位完好性(positioning integrity)2. Positioning integrity

定位完好性，是指定位***的定位误差超过允许门限时，定位***能够及时给出告警信息的能力。定位完好性用于表征定位***对定位准确性的可信度度量。Positioning integrity refers to the ability of the positioning system to give an alarm message in time when the positioning error of the positioning system exceeds the allowable threshold. Positioning integrity is used to characterize the confidence measure of the positioning system for positioning accuracy.

下面，示例性介绍定位完好性性能指标：Below, an example of positioning integrity performance indicators is introduced:

告警边界(alert limit，AL)，是指定位***满足预期的应用要求所允许的最大定位误差。其中，AL是预设的，与具体业务相关，如不同业务对应不同的AL。示例性的，业务1对应的AL记为AL1，业务2对应的AL记为AL2。The alert limit (alert limit, AL) refers to the maximum positioning error allowed by the positioning system to meet the expected application requirements. Wherein, AL is preset and related to specific services, for example, different services correspond to different ALs. Exemplarily, the AL corresponding to service 1 is denoted as AL1, and the AL corresponding to service 2 is denoted as AL2.

保护水平(protection level，PL)，是指满足定位完好性性能指标下的定位误差的统计上限。其中，PL是计算得到的，与定位方式和参***有关。例如，选择的定位方式不同，计算得到的PL不同。选择的参***不同，计算得到的PL也不同。The protection level (PL) refers to the statistical upper limit of the positioning error under the positioning integrity performance index. Among them, PL is calculated and related to the positioning method and reference equipment. For example, the selected positioning methods are different, and the calculated PL is different. The selected reference equipment is different, and the calculated PL is also different.

示例性的，如图3所示，定位观测数据与定位方式相关。示例性的，以TDOA定位技术为例，定位观测数据可以包括上述距离差R21和上述距离差R31。以RTT定位技术为例，定位观测数据可以包括上述飞行时间TOF，或者，定位观测数据可以包括上述时刻T_A1、时刻T_A2、时刻T_B1和时刻T_B2。定位观测数据可以由用户设备监测，以提供给网络设备(如LMF网元)，也可以由参***监测，以提供给网络设备。参***坐标是参***的位置坐标。误差方差信息σ²可以是参***的误差方差，如在TDOA定位方式下，误差方差信息σ²可以包括时钟同步误差方差和多径误差方差。在RTT定位方式下，误差方差信息σ²可以包括多径误差方差。网络设备可以基于定位观测数据和参***坐标确定伪距观测线性化模型，然后基于伪距观测线性化模型确定斜率(SLOPE)。网络设备基于误差方差信息σ²、漏检概率、虚警概率和自由度信息确定p_bias，然后基于p_bias和斜率(SLOPE)确定定位完好性PL。在PL＞AL时，网络设备确定定位方案不可用。反之，在PL≤AL时，网络设备确定定位方案可用。Exemplarily, as shown in FIG. 3 , the positioning observation data is related to the positioning mode. Exemplarily, taking the TDOA positioning technology as an example, the positioning observation data may include the above distance difference R21 and the above distance difference R31. Taking the RTT positioning technology as an example, the positioning observation data may include the above-mentioned time of flight TOF, or the positioning observation data may include the above-mentioned time T _A1 , time T _A2 , time T _B1 and time T _B2 . The positioning observation data can be monitored by the user equipment to provide to the network device (such as the LMF network element), and can also be monitored by the reference device to be provided to the network device. The reference device coordinates are the position coordinates of the reference device. The error variance information σ ² may be the error variance of the reference device. For example, in the TDOA positioning mode, the error variance information σ ² may include clock synchronization error variance and multipath error variance. set in RTT In bit mode, error variance information σ ² may include multipath error variance. The network device may determine a pseudo-range observation linearization model based on the positioning observation data and the reference device coordinates, and then determine a slope (SLOPE) based on the pseudo-range observation linearization model. The network device determines p _bias based on error variance information σ ² , miss detection probability, false alarm probability and degree of freedom information, and then determines positioning integrity PL based on p _bias and slope (SLOPE). When PL>AL, the network device determines that the positioning solution is unavailable. On the contrary, when PL≦AL, the network device determines that the positioning solution is available.

有鉴于此，本申请实施例提供两种辅助定位方法(即下述第一种辅助定位方法和第二种辅助定位方法)，本申请实施例辅助定位方法适用于图1所示的***，如RAT-dependent的定位场景。在本申请实施例中，定位方式是指，通信协议中定义的定位技术，如TDOA定位技术、RTT定位技术等。定位方案是指，在一定的定位方式下，通过多个参***提供的信息进行定位。也就是说，选择的定位方式不同，则定位方案不一样，和/或，选择的参***不同，则定位方案也不一样。本申请下述实施例中各个网元之间的消息名字或消息中各参数的名字等只是一个示例，具体实现中也可以是其他的名字。在此统一说明，以下不再赘述。In view of this, the embodiment of the present application provides two auxiliary positioning methods (namely, the first auxiliary positioning method and the second auxiliary positioning method described below). The auxiliary positioning method in the embodiment of the present application is applicable to the system shown in FIG. 1, such as RAT-dependent positioning scenarios. In the embodiment of the present application, the positioning method refers to the positioning technology defined in the communication protocol, such as the TDOA positioning technology, the RTT positioning technology, and the like. The positioning scheme refers to positioning based on information provided by multiple reference devices in a certain positioning mode. That is to say, if the selected positioning methods are different, the positioning schemes will be different, and/or if the selected reference devices are different, the positioning schemes will be different. The names of messages between network elements or the names of parameters in messages in the following embodiments of the present application are just examples, and may be other names in specific implementations. The description is unified here, and will not be described in detail below.

本申请实施例提供的第一种辅助定位方法，该方法应用于第一网络设备。在本申请实施例提供的第一种辅助定位方法中，第一网络设备向监测设备发送第一信息，其中，第一信息包括第一UE的预测位置。之后，第一网络设备接收来自监测设备的定位完好性辅助信息，其中，定位完好性辅助信息是基于第一UE的预测位置确定的。然后，第一网络设备根据第一UE的预测位置和定位完好性辅助信息，预测不同定位方案对应的定位完好性PL。最后，第一网络设备基于预测PL，选择预测定位完好性PL满足定位完好性性能指标且定位处理复杂度较低的定位方案。本申请实施例提供的第一种辅助定位方法的好处在于，一方面，定位完好性辅助信息是基于第一UE的预测位置确定的，所以，定位完好性辅助信息能够更好地体现第一UE所处环境的真实情况。另一方面，本申请实施例提供的第一种辅助定位方法增加了预测PL的过程，基于预测的PL来选择定位方案，即用于定位第一UE的定位方式和参***，从而既兼顾了定位完好性性能指标，又考虑了定位处理复杂度。The first auxiliary positioning method provided by the embodiment of the present application is applied to the first network device. In the first assisted positioning method provided in the embodiment of the present application, the first network device sends first information to the monitoring device, where the first information includes a predicted position of the first UE. Afterwards, the first network device receives the positioning integrity assistance information from the monitoring device, where the positioning integrity assistance information is determined based on the predicted position of the first UE. Then, the first network device predicts the positioning integrity PL corresponding to different positioning schemes according to the predicted position of the first UE and the positioning integrity assistance information. Finally, based on the predicted PL, the first network device selects a positioning scheme whose predicted positioning integrity PL satisfies the positioning integrity performance index and has low positioning processing complexity. The advantage of the first assisted positioning method provided by the embodiment of the present application is that, on the one hand, the positioning integrity auxiliary information is determined based on the predicted position of the first UE, so the positioning integrity auxiliary information can better reflect the first UE reality of the environment. On the other hand, the first assisted positioning method provided by the embodiment of the present application adds the process of predicting PL, and selects a positioning scheme based on the predicted PL, that is, the positioning method and reference equipment used to locate the first UE, thus taking into account both The positioning integrity performance index also considers the positioning processing complexity.

下面，结合图4至图7，对本申请实施例提供的第一种辅助定位方法进行介绍：Next, with reference to FIG. 4 to FIG. 7 , the first auxiliary positioning method provided by the embodiment of the present application is introduced:

如图4所示，本申请实施例提供的第一种辅助定位方法400包括如下步骤：As shown in FIG. 4, the first auxiliary positioning method 400 provided in the embodiment of the present application includes the following steps:

S401、第一网络设备向监测设备发送第一信息。相应的，监测设备接收来自第一网络设的第一信息。S401. The first network device sends first information to the monitoring device. Correspondingly, the monitoring device receives first information from the first network device.

其中，第一信息包括第一UE的预测位置信息。示例性的，第一UE的预测位置信息可以为预测坐标，记为 Wherein, the first information includes predicted location information of the first UE. Exemplarily, the predicted location information of the first UE may be the predicted coordinates, denoted as

示例性的，第一网络设备可以是LMF网元，或者为其他具备定位功能的网元，本申请实施例对此不作限定。监测设备可以为第二网络设备，如接入网设备，也可以为第二UE。其中，第一UE和第二UE不同。Exemplarily, the first network device may be an LMF network element, or another network element with a positioning function, which is not limited in this embodiment of the present application. The monitoring device may be a second network device, such as an access network device, or a second UE. Wherein, the first UE is different from the second UE.

作为一种可能的实现方式，在监测设备为第二网络设备的情况下，S401中的第一信息承载于完好性信息请求(Integrity Information Request)信元(information element， IE)。其中，完好性信息请求信元是以下消息中的一个信元：定位信息请求(POSITIONING INFORMATION REQUEST)消息，或收发节点信息请求(TRP INFORMATION REQUEST)消息。也就是说，第一网络设备通过定位信息请求消息向监测设备发送第一信息。或者，第一网络设备通过收发节点信息请求消息向监测设备发送第一信息。As a possible implementation, when the monitoring device is the second network device, the first information in S401 is carried in an integrity information request (Integrity Information Request) information element (information element, ie). Wherein, the integrity information request information element is an information element in the following messages: a positioning information request (POSITIONING INFORMATION REQUEST) message, or a sending and receiving node information request (TRP INFORMATION REQUEST) message. That is to say, the first network device sends the first information to the monitoring device through a location information request message. Alternatively, the first network device sends the first information to the monitoring device by sending and receiving a node information request message.

作为另一种可能的实现方式，在监测设备为第二UE的情况下，S401中的第一信息承载于完好性信息辅助数据(Integrity assisted data)信元。其中，完好性信息辅助数据信元是位置请求(Request Location Information)消息中的信元。也就是说，第一网络设备通过位置请求消息向监测设备发送第一信息。As another possible implementation manner, in the case that the monitoring device is the second UE, the first information in S401 is carried in an integrity information assisted data (Integrity assisted data) information element. Wherein, the integrity information auxiliary data cell is a cell in a request location information (Request Location Information) message. That is to say, the first network device sends the first information to the monitoring device through a location request message.

应理解，除上述介绍的信元或消息之外，第一信息也可以承载于其他信元，或其他消息，本申请实施例对此不作限定。It should be understood that, in addition to the information element or message introduced above, the first information may also be carried in other information elements or other messages, which is not limited in this embodiment of the present application.

可选的，如图5所示，第一网络设备还执行S404：Optionally, as shown in FIG. 5, the first network device also performs S404:

S404、第一UE向第一网络设备发送第二信息。相应的，第一网络设备接收来自第一UE的第二信息。S404. The first UE sends the second information to the first network device. Correspondingly, the first network device receives the second information from the first UE.

其中，第二信息至少包括第一UE的预测位置。示例性的，第一UE的预测位置可以参见S401中第一信息介绍，此处不再赘述。Wherein, the second information includes at least the predicted location of the first UE. Exemplarily, for the predicted location of the first UE, refer to the introduction of the first information in S401, which will not be repeated here.

在一些实施例中，第一UE可以通过如下两种方式(如下述方式1和方式2)确定第一UE的预测位置。In some embodiments, the first UE may determine the predicted location of the first UE in the following two manners (such as the following manner 1 and manner 2).

方式1，第一UE的预测位置可以是通过测量估算的坐标。示例性的，第一UE结合当前时刻之前的位置信息，以及惯导的测量信息估算当前时刻的位置。将时刻1第一UE所处的位置记为位置1，时刻1是当前时刻之前的一个时刻。惯导的测量信息可以包括第一UE的速度。第一UE基于当前时刻与时刻1之间的时间长度，以及第一UE的速度，估计第一UE在当前时刻的位置，即第一UE的预测位置。Mode 1, the predicted position of the first UE may be a coordinate estimated through measurement. Exemplarily, the first UE estimates the location at the current moment by combining the location information before the current moment and the measurement information of the inertial navigation system. The position of the first UE at time 1 is recorded as position 1, and time 1 is a time before the current time. The measurement information of the inertial navigation may include the speed of the first UE. The first UE estimates the position of the first UE at the current time based on the time length between the current time and time 1 and the speed of the first UE, that is, the predicted position of the first UE.

方式2，基于固定路线和当前时刻确定的坐标。例如，针对物料跟踪等应用，在特定时刻，物料出现在特定位置，如此，第一UE基于时刻点，确定预测位置。此种情况下，预测位置是指，物料预计出现的位置。在本申请实施例中，物料预计出现的位置，可以理解为，第一UE的预测位置。Mode 2, based on the fixed route and the coordinates determined at the current moment. For example, for applications such as material tracking, at a specific moment, the material appears at a specific location, so the first UE determines the predicted location based on the time point. In this case, the predicted location is the location where the material is expected to appear. In the embodiment of the present application, the location where the material is expected to appear may be understood as the predicted location of the first UE.

可选的，第二信息还包括定位完好性性能指标和/或第一UE的误差方差信息。示例性的，定位完好性性能指标包括以下至少一项：AL、漏检概率和虚警概率。第二信息中的AL、漏检概率和虚警概率与第一UE的业务相关。以AL为例，第一UE进行的业务包括业务1。相应的，第二信息中的AL与业务1相关。在本申请实施例中，虚警概率，也可以描述为误检概率，本申请实施例中，仅以虚警概率为例进行介绍。Optionally, the second information further includes a positioning integrity performance index and/or error variance information of the first UE. Exemplarily, the positioning integrity performance index includes at least one of the following: AL, probability of missed detection, and probability of false alarm. The AL, probability of missed detection, and probability of false alarm in the second information are related to the service of the first UE. Taking AL as an example, the services performed by the first UE include service 1. Correspondingly, AL in the second information is related to service 1. In the embodiment of the present application, the false alarm probability may also be described as the false detection probability. In the embodiment of the present application, only the false alarm probability is used as an example for introduction.

示例性的，第一UE的误差方差信息包括第一UE的测量误差方差信息和第一UE的噪声误差方差信息在定位方式为TDOA的情况下，第一UE的测量误差方差信息可以包括，第一UE对PRS进行测量(如PRS的接收时刻)所产生的误差，例如，第一UE测量得到T_B1和T_B2所产生的误差。第一UE的噪声误差方差信息为第一UE的热噪声引起的定位误差方差，与第一UE的硬件性能有关，此处不再赘述。Exemplarily, the error variance information of the first UE includes measurement error variance information of the first UE and the noise error variance information of the first UE In the case where the positioning method is TDOA, the measurement error variance information of the first UE It may include an error generated by the first UE measuring the PRS (such as the receiving moment of the PRS), for example, an error generated by the first UE measuring T _B1 and T _B2 . Noise error variance information of the first UE The positioning error variance caused by the thermal noise of the first UE is related to the hardware performance of the first UE, and will not be repeated here.

可选的，S404中的第二信息可以承载于定位请求消息，即第一UE通过定位请求消息向第一网络设备发送第二信息。相应的，第一网络设备通过定位请求消息接收来自第一UE的第二信息。或者，S404中的第二信息也可以承载于完好性信息(Integrity Information)信元。其中，完好性信息信元是位置信息提供(Provide Location Information)消息中的一个信元。也就是说，第一UE通过位置信息提供消息向第一网络设备发送第二信息。当然，第二信息也可以承载于其他信元，或其他消息，本申请实施例对此不作限定。Optionally, the second information in S404 may be carried in a location request message, that is, the first UE requests The message sends the second information to the first network device. Correspondingly, the first network device receives the second information from the first UE through a location request message. Alternatively, the second information in S404 may also be carried in an integrity information (Integrity Information) information element. Wherein, the integrity information information element is an information element in a Provide Location Information (Provide Location Information) message. That is to say, the first UE sends the second information to the first network device through the location information providing message. Certainly, the second information may also be carried in other information elements or other messages, which is not limited in this embodiment of the present application.

应理解，S404是可选的步骤。在一些实施例中，第一UE对自身位置进行预测，以得到第一UE的预测位置。此种情况下，第一UE执行S404。在另一些实施例中，其他网元，如第一网络设备对第一UE所处位置进行预测，以得到第一UE的预测位置。此种情况下，S404无需执行。It should be understood that S404 is an optional step. In some embodiments, the first UE predicts its own location to obtain the predicted location of the first UE. In this case, the first UE performs S404. In other embodiments, other network elements, such as the first network device, predict the location of the first UE to obtain the predicted location of the first UE. In this case, S404 does not need to be executed.

需要说明的是，在S404被执行的情况下，作为一种可能的实现方式，如图5中“方式1”所在的虚线方框所示，第一UE需要对自身进行定位时，第一UE执行S404。或者，定位***预设第一UE上报第二信息的周期，第一UE按照预设周期执行S404。此种情况下，第一网络设备获取到更符合第一UE当前所处环境的第二信息。作为另一种可能的实现方式，如图5中“方式2”所在的虚线方框所示，第一网络设备需要对第一UE进行定位时，执行S405：It should be noted that, when S404 is executed, as a possible implementation manner, as shown in the dotted box in "Mode 1" in Figure 5, when the first UE needs to locate itself, the first UE Execute S404. Alternatively, the positioning system presets a period for the first UE to report the second information, and the first UE performs S404 according to the preset period. In this case, the first network device acquires second information that is more in line with the current environment where the first UE is located. As another possible implementation, as shown in the dotted box in "Mode 2" in Figure 5, when the first network device needs to locate the first UE, perform S405:

S405、第一网络设备向第一UE发送第一请求消息。相应的，第一UE接收来自第一网络设备的第一请求消息。S405. The first network device sends a first request message to the first UE. Correspondingly, the first UE receives the first request message from the first network device.

其中，第一请求消息用于请求第一UE发送第二信息。示例性的，第一请求消息可以是位置信息请求(Request Location Information)消息。其中，位置信息请求消息包括完好性信息请求(Integrity Information Request)信元，以请求第一UE发送第二信息。Wherein, the first request message is used to request the first UE to send the second information. Exemplarily, the first request message may be a request location information (Request Location Information) message. Wherein, the location information request message includes an integrity information request (Integrity Information Request) information element, so as to request the first UE to send the second information.

对于第一UE来说，第一UE响应于第一请求消息，执行S404，既能够使得第一网络设备及时获取到第二信息，又能够避免第二信息频繁上报导致传输资源利用率低的问题。For the first UE, the first UE executes S404 in response to the first request message, which can not only enable the first network device to obtain the second information in time, but also avoid the problem of low utilization of transmission resources caused by frequent reporting of the second information .

对于监测设备来说，监测设备接收第一信息之后，执行S402：For the monitoring device, after receiving the first information, the monitoring device executes S402:

S402、监测设备向第一网络设备发送定位完好性辅助信息。相应的，第一网络设备接收来自监测设备的定位完好性辅助信息。S402. The monitoring device sends positioning integrity auxiliary information to the first network device. Correspondingly, the first network device receives the positioning integrity assistance information from the monitoring device.

其中，定位完好性辅助信息是基于第一UE的预测位置信息确定的。Wherein, the positioning integrity assistance information is determined based on the predicted location information of the first UE.

示例性的，对于监测设备来说，监测设备接收第一信息之后，根据第一UE的预测位置确定k个参***，分别记为参***1、参***2、参***3、…、参***k。上述k个参***中每个参***与第一UE的预测位置之间的距离小于或等于预设值。定位完好性辅助信息包括上述多个参***中每个参***的误差方差信息。Exemplarily, for a monitoring device, after receiving the first information, the monitoring device determines k reference devices according to the predicted position of the first UE, which are respectively denoted as reference device 1, reference device 2, reference device 3, ..., reference device k. The distance between each of the k reference devices and the predicted position of the first UE is less than or equal to a preset value. The positioning integrity auxiliary information includes error variance information of each reference device in the plurality of reference devices.

示例性的，以一个参***(如第i个参***，其中，i是整数，1≤i≤k)的误差方差信息为例，对定位完好性辅助信息进行介绍：定位完好性辅助信息包括第i个参***的时钟同步误差方差信息第i个参***数据误差方差信息和第i个参***的多径误差方差信息其中，第i个参***的时钟同步误差方差信息可以理解为，第i个参***自身的时钟相对于绝对时钟之间的误差方差信息。第i个参***数据误差方差信息可以理解为，第i个参***的位置坐标与真实坐标之间的误差，以及第i个参***的高度等信息与真实高度之间的误差方差。第i个参***的多径误差方差信息可以理解为，第i个参***与监测设备之间的多径误差方差信息。其他参***的误差方差信息可以此类推。Exemplarily, taking the error variance information of a reference device (such as the i-th reference device, where i is an integer, 1≤i≤k) as an example, the positioning integrity auxiliary information is introduced: the positioning integrity auxiliary information includes The clock synchronization error variance information of the i-th reference device The i-th reference device data error variance information and the multipath error variance information of the i-th reference device Among them, the clock synchronization error variance information of the i-th reference device It can be understood as the error variance information between the i-th reference device's own clock and the absolute clock. The i-th reference device data error variance information It can be understood as the error between the position coordinates of the i-th reference device and the real coordinates, and the error variance between the height and other information of the i-th reference device and the real height. Multipath error variance information of the i-th reference device It can be understood as the multipath error variance information between the i-th reference device and the monitoring device. The error variance information of other reference devices can be deduced by analogy.

S403、第一网络设备根据第一UE的预测位置和定位完好性辅助信息，预测定位完好性PL。S403. The first network device predicts the location integrity PL according to the predicted location of the first UE and the location integrity assistance information.

其中，第一UE的预测位置可以参见S401的介绍，定位完好性辅助信息可以参见S402的介绍，此处不再赘述。For the predicted location of the first UE, refer to the introduction of S401, and for the positioning integrity assistance information, refer to the introduction of S402, which will not be repeated here.

示例性的，第一网络设备预先确定一种定位方式和选择的多个参***，然后，再从S402接收的定位完好性辅助信息中挑选所需的一部分信息，进行预测定位完好性PL。例如，仍以第i个参***为例，在定位方式为TDOA的情况下，用于预测定位完好性PL的定位完好性辅助信息包括第i个参***的时钟同步误差方差信息第i个参***数据误差方差信息和第i个参***的多径误差方差信息在定位方式为RTT的情况下，用于预测定位完好性PL的定位完好性辅助信息包括第i个参***数据误差方差信息和第i个参***的多径误差方差信息其他参***的误差方差信息可以此类推。i的取值与第一网络设备选择的参***有关。也就是说，第一网络设备选择的定位方式不同，则用于预测定位完好性PL的定位完好性辅助信息不一样。或者，第一网络设备选择的参***不同，则用于预测定位完好性PL的定位完好性辅助信息也不一样。Exemplarily, the first network device predetermines a positioning method and selected multiple reference devices, and then selects a required part of information from the positioning integrity auxiliary information received in S402 to predict the positioning integrity PL. For example, still taking the i-th reference device as an example, when the positioning method is TDOA, the positioning integrity auxiliary information used to predict the positioning integrity PL includes the clock synchronization error variance information of the i-th reference device The i-th reference device data error variance information and the multipath error variance information of the i-th reference device When the positioning method is RTT, the positioning integrity auxiliary information used to predict the positioning integrity PL includes the i-th reference device data error variance information and the multipath error variance information of the i-th reference device The error variance information of other reference devices can be deduced by analogy. The value of i is related to the reference device selected by the first network device. That is to say, if the positioning mode selected by the first network device is different, the positioning integrity auxiliary information used to predict the positioning integrity PL is different. Or, if the reference devices selected by the first network device are different, the positioning integrity auxiliary information used to predict the positioning integrity PL is also different.

可选的，如图5所示，在第一网络设备执行S404的情况下，S403实现为S4031：Optionally, as shown in FIG. 5, when the first network device executes S404, S403 is implemented as S4031:

S4031、第一网络设备根据第二信息和定位完好性辅助信息，预测定位完好性的PL。S4031. The first network device predicts the PL of the positioning integrity according to the second information and the positioning integrity auxiliary information.

其中，第二信息可以参见S404的介绍，此处不再赘述。Wherein, for the second information, refer to the introduction of S404, which will not be repeated here.

示例性的，S4031中预测的PL可以是两个或两个以上。以两个PL为例，分别记为第一PL和第二PL。也就是说，如图6所示，S4031实现为S40311：Exemplarily, the PL predicted in S4031 may be two or more. Taking two PLs as an example, they are respectively recorded as the first PL and the second PL. That is to say, as shown in Figure 6, S4031 is implemented as S40311:

S40311、第一网络设备根据第二信息和定位完好性辅助信息，预测第一PL和第二PL。S40311. The first network device predicts the first PL and the second PL according to the second information and the positioning integrity assistance information.

示例性的，S40311可以实现为步骤a和步骤b：Exemplarily, S40311 can be implemented as step a and step b:

步骤a、第一网络设备根据第二信息和第一参***的误差方差信息，预测第一PL。In step a, the first network device predicts the first PL according to the second information and the error variance information of the first reference device.

示例性的，仍以k个参***为例，第一参***可以包括上述k个参***中的一个或多个参***，如n个参***。例如，第一参***包括参***1、参***2、参***3…、参***n。Exemplarily, still taking k reference devices as an example, the first reference device may include one or more reference devices in the above k reference devices, for example, n reference devices. For example, the first reference device includes reference device 1, reference device 2, reference device 3..., reference device n.

示例性的，在定位方式为TDOA的情况下，第一参***的误差方差信息包括第一参***的时钟同步误差方差信息、第一参***数据误差方差信息和第一参***的多径误差方差信息。在定位方式为RTT的情况下，第一参***的误差方差信息包括第一参***数据误差方差信息和第一参***的多径误差方差信息。Exemplarily, when the positioning method is TDOA, the error variance information of the first reference device includes clock synchronization error variance information of the first reference device, data error variance information of the first reference device, and multipath error information of the first reference device variance information. In a case where the positioning mode is RTT, the error variance information of the first reference device includes data error variance information of the first reference device and multipath error variance information of the first reference device.

示例性的，如图7所示，针对某一定位方式和该定位方式下的参***，第一网络设备基于第一UE的预测位置(如第一UE的预测坐标)、参***的真实坐标和误差方差信息(如第一UE的误差方差信息和第一参***的误差方差信息之和)确定伪距观测线性化模型。示例性的，伪距观测线性化模型满足如下公式：Exemplarily, as shown in FIG. 7 , for a certain positioning mode and a reference device in this positioning mode, the first network device bases the predicted position of the first UE (such as the predicted coordinates of the first UE) on the basis of the real coordinates of the reference device. and error variance information (such as the sum of the error variance information of the first UE and the error variance information of the first reference device) determined Linearized model for pseudorange observations. Exemplarily, the pseudorange observation linearization model satisfies the following formula:

Y＝HX+ε 公式(2)Y＝HX+ε formula (2)

其中，Y表示第一UE的预测位置与参***的真实坐标之间的距离差，X表示第一UE的预测位置与第一UE的真实位置之差，H表示观测矩阵，ε表示误差方差信息。where Y represents the distance difference between the predicted position of the first UE and the real coordinates of the reference device, X represents the difference between the predicted position of the first UE and the real position of the first UE, H represents the observation matrix, and ε represents the error variance information .

其中，观测矩阵H满足如下公式：
Among them, the observation matrix H satisfies the following formula:

其中，表示第一UE在x轴的预测坐标，表示第一UE在y轴的预测坐标，表示第一UE在z轴的预测坐标，x_i表示第i个参***在x轴的真实坐标，y_i表示第i个参***在y轴的真实坐标，z_i表示第i个参***在z轴的真实坐标，i是整数，1≤i≤k。in, Indicates the predicted coordinates of the first UE on the x-axis, Indicates the predicted coordinates of the first UE on the y-axis, Represents the predicted coordinates of the first UE on the z-axis, x _i represents the real coordinates of the i-th reference device on the x-axis, y _i represents the real coordinates of the i-th reference device on the y-axis, z _i represents the i-th reference device on the The real coordinate of the z-axis, i is an integer, 1≤i≤k.

其中，误差方差信息ε满足如下公式：
Among them, the error variance information ε satisfies the following formula:

示例性的，在TDOA定位方式下，i是整数，1≤i≤k，表示第i个参***的时钟同步误差方差信息，表示第i个参***数据误差方差信息，表示第i个参***的多径误差方差信息，表示第一UE的测量误差方差信息，表示第一UE的噪声误差方差信息。Exemplarily, in the TDOA positioning mode, i is an integer, 1≤i≤k, Indicates the clock synchronization error variance information of the i-th reference device, Indicates the i-th reference device data error variance information, Indicates the multipath error variance information of the i-th reference device, Indicates the measurement error variance information of the first UE, Indicates noise error variance information of the first UE.

需要是说明的是，在申请实施例中，第一UE的误差方差信息，如和可以由第一UE向第一网络设备提供，详见S404中第二信息包括第一UE的误差方差信息的情况。当然，在第二信息不包括第一UE的误差方差信息的情况下，第一UE的误差方差信息也可以由第一网络设备自主确定，示例性的，第一网络设备选取一些通用数值，来表征第一UE的误差方差信息。其中，第一网络设备选取的通用数值可以是第一网络设备在历史预测PL过程中使用频率较高的数值。It should be noted that, in the embodiment of the application, the error variance information of the first UE, such as and It may be provided by the first UE to the first network device. For details, refer to the situation in S404 that the second information includes the error variance information of the first UE. Of course, in the case that the second information does not include the error variance information of the first UE, the error variance information of the first UE may also be determined by the first network device independently. For example, the first network device selects some general values to Error variance information characterizing the first UE. Wherein, the general value selected by the first network device may be a value frequently used by the first network device in the historical PL prediction process.

然后，第一网络设备基于误差方法信息(如第一UE的误差方差信息与第一参***的误差方差信息之和)、漏检概率、自由度、虚警概率和伪距观测线性化模型预测第一PL。示例性的，第一PL满足如下公式：
Then, the first network device predicts based on the error method information (such as the sum of the error variance information of the first UE and the error variance information of the first reference device), missed detection probability, degree of freedom, false alarm probability and pseudo-range observation linearization model First PL. Exemplarily, the first PL satisfies the following formula:

其中，表示第一PL，表示从n个参数中取最大值运算符，表示矩阵A中第一行、第i列的元素的平方值，表示矩阵A中第二行、第i列的元素的平方值，表示矩阵A中第三行、第i列的元素的平方值，S_ii表示矩阵S中第i行、第i列的元素， λ表示自由度为n-a的非中心卡方分布的非中心参数，λ可以基于漏检概率和虚警概率确定。in, denotes the first PL, Represents the maximum value operator from n parameters, Indicates the square value of the elements in the first row and i-th column in the matrix A, Indicates the square value of the element in the second row and column i in the matrix A, Indicates the square value of the element in the third row and column i in matrix A, S _ii indicates the element in row i and column i in matrix S, λ represents the non-central parameter of the non-central chi-square distribution with degrees of freedom na, and λ can be determined based on the probability of missed detection and the probability of false alarm.

需要说明的是，在本申请实施例中，自由度的说明如下：自由度为n-a。其中，n表示第一参***的数量，a表示常数。例如，在确定第一UE的二维坐标时，a的取值为3。相应的，n是正整数，且n≥3。再如，在确定第一UE的三维坐标时，a的取值为4。相应的，n是正整数，且n≥4。在本申请实施例中，仅以三维坐标定位为例，进行介绍。It should be noted that, in the embodiment of the present application, the description of the degree of freedom is as follows: the degree of freedom is n−a. Wherein, n represents the number of first reference devices, and a represents a constant. For example, when determining the two-dimensional coordinates of the first UE, the value of a is 3. Correspondingly, n is a positive integer, and n≥3. For another example, when determining the three-dimensional coordinates of the first UE, the value of a is 4. Correspondingly, n is a positive integer, and n≥4. In the embodiment of the present application, only three-dimensional coordinate positioning is taken as an example for introduction.

在本申请实施例中，漏检概率的介绍如下：漏检概率可以由第一UE向第一网络设备提供，详见S404中第二信息包括定位完好性性能指标，且第二信息中的定位完好性性能指标包括漏检概率的情况。当然，在第二信息不包括漏检概率的情况下，漏检概率也可以由第一网络设备自主确定。示例性的，不同业务与漏检概率之间存在对应关系，如业务1对应漏检概率1，业务2对应漏检概率2。在第一网络设备已获知第一UE的业务时，如第一UE的业务为上述业务1，第一网络设备再结合不同业务与漏检概率之间的对应关系，确定漏检概率为上述漏检概率1。类似的，在不同业务与虚警概率之间存在对应关系的情况下，即使第二信息不包括虚警概率，第一网络设备也可以通过上述过程自主确定虚警概率。在不同业务与AL之间存在对应关系的情况下，即使第二信息不包括AL，第一网络设备也可以通过上述过程自主确定AL。其中，矩阵A满足如下公式：In the embodiment of this application, the introduction of the missed detection probability is as follows: the missed detection probability can be provided by the first UE to the first network device. For details, see the second information in S404 including the positioning integrity performance index, and the positioning integrity performance index in the second information. Integrity performance indicators include probability of missed detection. Certainly, in the case that the second information does not include the probability of missed detection, the probability of missed detection may also be determined by the first network device independently. Exemplarily, there is a corresponding relationship between different services and missed detection probabilities, for example, service 1 corresponds to missed detection probability 1, and service 2 corresponds to missed detection probability 2. When the first network device has learned the service of the first UE, if the service of the first UE is the above-mentioned service 1, the first network device then combines the corresponding relationship between different services and the missed detection probability to determine the missed detection probability as the above missed detection probability Detection probability 1. Similarly, if there is a corresponding relationship between different services and the false alarm probability, even if the second information does not include the false alarm probability, the first network device can independently determine the false alarm probability through the above process. In the case that there is a corresponding relationship between different services and the AL, even if the second information does not include the AL, the first network device can independently determine the AL through the above process. Among them, the matrix A satisfies the following formula:

A＝(H^TWH)^-1H^TW 公式(6)A＝(H ^T WH) ^-1 H ^T W Formula (6)

其中，H表示观测矩阵，具体计算过程可以参见公式(3)， Among them, H represents the observation matrix, the specific calculation process can refer to the formula (3),

其中，矩阵S是基于公式(2)至公式(4)确定的伪距残差矩阵确定的。其中，伪距残差矩阵满足如下公式：
ω＝(I-H(H^TWH)^-1H^TW)ε＝Sε＝(H^TWH)^-1H^TW 公式(7)Wherein, the matrix S is determined based on the pseudorange residual matrix determined based on formula (2) to formula (4). Among them, the pseudorange residual matrix satisfies the following formula:
ω＝(IH(H ^T WH) ^-1 H ^T W)ε＝Sε＝(H ^T WH) ^-1 H ^T W Formula (7)

其中，ω表示伪距残差矩阵，I表示单位矩阵，H表示观测矩阵，W可以参见公式(6)的介绍，ε表示误差方差信息，可以参见公式(3)的介绍，此处不再赘述。Among them, ω represents the pseudorange residual matrix, I represents the identity matrix, H represents the observation matrix, W can refer to the introduction of formula (6), ε represents the error variance information, can refer to the introduction of formula (3), and will not repeat them here .

基于公式(7)，矩阵S满足如下公式：Based on formula (7), the matrix S satisfies the following formula:

S＝I-H(H^TWH)^-1H^TW 公式(8)S＝IH(H ^T WH) ^-1 H ^T W formula (8)

其中，I表示单位矩阵，H表示观测矩阵，W可以参见公式(6)的介绍，此处不再赘述。Wherein, I represents the identity matrix, H represents the observation matrix, W can refer to the introduction of formula (6), and will not be repeated here.

步骤b、第一网络设备根据第二信息和第二参***的误差方差信息，预测第二PL。Step b. The first network device predicts the second PL according to the second information and the error variance information of the second reference device.

其中，作为一种可能的实现方式，第一参***与第二参***相同，第一参***的误差方差信息与第二参***的误差方差信息不同。Wherein, as a possible implementation manner, the first reference device is the same as the second reference device, and the error variance information of the first reference device is different from the error variance information of the second reference device.

示例性的，仍以k个参***为例，第一参***包括上述参***1、参***2和参***3。相应的，第二参***包括上述参***1、参***2和参考设备3。在步骤a采用定位方式TDOA的情况下，步骤b采用的定位方式可以为RTT。相应的，第一参***的误差方差信息包括第一参***的时钟同步误差方差信息、第一参***数据误差方差信息和第一参***的多径误差方差信息。第二参***的误差方差信息包括第二参***数据误差方差信息和第二参***的多径误差方差信息。在步骤a采用定位方式RTT的情况下，步骤b采用的定位方式可以为TDOA。相应的，第一参***的误差方差信息包括第一参***数据误差方差信息和第一参***的多径误差方差信息。第二参***的误差方差信息包括第二参***的时钟同步误差方差信息、第二参***数据误差方差信息和第二参***的多径误差方差信息。Exemplarily, still taking k reference devices as an example, the first reference device includes the above-mentioned reference device 1 , reference device 2 and reference device 3 . Correspondingly, the second reference device includes the above-mentioned reference device 1, reference device 2 and reference device Prepare 3. In the case that the positioning mode TDOA is adopted in step a, the positioning mode adopted in step b may be RTT. Correspondingly, the error variance information of the first reference device includes clock synchronization error variance information of the first reference device, data error variance information of the first reference device, and multipath error variance information of the first reference device. The error variance information of the second reference device includes data error variance information of the second reference device and multipath error variance information of the second reference device. In the case that the positioning mode RTT is adopted in step a, the positioning mode adopted in step b may be TDOA. Correspondingly, the error variance information of the first reference device includes data error variance information of the first reference device and multipath error variance information of the first reference device. The error variance information of the second reference device includes clock synchronization error variance information of the second reference device, data error variance information of the second reference device, and multipath error variance information of the second reference device.

其中，作为另一种可能的实现方式，第一参***与第二参***不同，可以理解为，第一参***与第二参***的数量不同。或者，第一参***与第二参***的数量相同，但第一参***与第二参***包括的具体参***不同。Wherein, as another possible implementation manner, the first reference device is different from the second reference device, and it may be understood that the number of the first reference device is different from that of the second reference device. Alternatively, the number of the first reference device and the second reference device are the same, but specific reference devices included in the first reference device and the second reference device are different.

示例性的，仍以k个参***为例，第一参***包括上述参***1、参***2和参***3，第二参***包括上述参***1和参***2，或者，第二参***包括上述参***2和参***3，或者，第二参***包括上述参***3和参***4，或者，第二参***包括上述参***2、参***3和参***4，或者，第二参***包括上述参***1、参***2、参***3和参***4。Exemplarily, still taking k reference devices as an example, the first reference device includes the above-mentioned reference device 1, reference device 2, and reference device 3, and the second reference device includes the above-mentioned reference device 1 and reference device 2, or, the second reference device The device includes the above reference device 2 and the reference device 3, or the second reference device includes the above reference device 3 and the reference device 4, or the second reference device includes the above reference device 2, the reference device 3 and the reference device 4, or, the second reference device The two reference devices include the above reference device 1 , reference device 2 , reference device 3 and reference device 4 .

示例性的，在定位方式为TDOA的情况下，第二参***的误差方差信息包括第二参***的时钟同步误差方差信息、第二参***数据误差方差信息和第二参***的多径误差方差信息。在定位方式为RTT的情况下，第二参***的误差方差信息包括第二参***数据误差方差信息和第二参***的多径误差方差信息。Exemplarily, when the positioning method is TDOA, the error variance information of the second reference device includes clock synchronization error variance information of the second reference device, data error variance information of the second reference device, and multipath error information of the second reference device variance information. In a case where the positioning mode is RTT, the error variance information of the second reference device includes data error variance information of the second reference device and multipath error variance information of the second reference device.

示例性的，步骤b中计算第二PL的过程，可以参见步骤a的介绍，此处不再赘述。Exemplarily, for the process of calculating the second PL in step b, refer to the introduction of step a, which will not be repeated here.

相应的，在第一网络设备执行S40311的情况下，第一网络设备还执行S406：Correspondingly, when the first network device executes S40311, the first network device also executes S406:

S406、第一网络设备根据第一PL和第二PL，确定用于定位第一UE的定位方式和参***。S406. The first network device determines, according to the first PL and the second PL, a positioning manner and a reference device for locating the first UE.

示例性的，第一网络设备根据预设条件，从第一PL和第二PL中选择一个PL，将被选择的PL对应的定位方式作为定位第一UE的定位方式，将被选择的PL对应的参***作为定位第一UE的参***。其中，被选择的PL满足的预设条件包括以下一项或多项：Exemplarily, the first network device selects a PL from the first PL and the second PL according to preset conditions, uses the positioning method corresponding to the selected PL as the positioning method for locating the first UE, and uses the selected PL corresponding to The reference device of is used as a reference device for locating the first UE. Among them, the preset conditions satisfied by the selected PL include one or more of the following:

预设条件1，被选择的PL小于或等于AL。示例性的，以被选择的PL是第一PL为例，第一PL小于AL，或者，第一PL等于AL。Preset condition 1, the selected PL is less than or equal to AL. Exemplarily, taking the selected PL as an example, the first PL is smaller than AL, or the first PL is equal to AL.

预设条件2，被选择的PL对应的参***数量较小。示例性的，仍以被选择的PL是第一PL为例，第一PL对应的参***，可以是指，步骤a中的第一参***。相应的，未被选择的PL可以是上述第二PL。第二PL对应的参***，可以是指，步骤b中的第二参***。第一参***的参***数量小于第二参***的参***数量。Preset condition 2, the number of reference devices corresponding to the selected PL is small. Exemplarily, still using the example that the selected PL is the first PL, the reference device corresponding to the first PL may refer to the first reference device in step a. Correspondingly, the unselected PL may be the above-mentioned second PL. The reference device corresponding to the second PL may refer to the second reference device in step b. The number of reference devices of the first reference device is smaller than the number of reference devices of the second reference device.

预设条件3，被选择的PL对应定位方案的测量次数较少。示例性的，在定位方式为TDOA的情况下，第一UE与每个参***之间进行一次PRS的测量，如图2a所示。在定位方式为RTT的情况下，第一UE与每个参***之间进行两次PRS的测量，如图2b所示。如此，以第一PL和第二PL对应的参***数量相同为例，若第一PL对应上述TDOA定位方式，第二PL对应上述RTT定位方式，则被选择的PL为上述第一PL。Preset condition 3, the number of measurements of the selected PL corresponding to the positioning scheme is relatively small. Exemplarily, when the positioning method is TDOA, a PRS measurement is performed between the first UE and each reference device, as shown in FIG. 2a Show. When the positioning mode is RTT, two PRS measurements are performed between the first UE and each reference device, as shown in FIG. 2b. In this way, taking the same number of reference devices corresponding to the first PL and the second PL as an example, if the first PL corresponds to the above-mentioned TDOA positioning method, and the second PL corresponds to the above-mentioned RTT positioning method, then the selected PL is the above-mentioned first PL.

应理解，本申请实施例中仅以上述三项预设条件为例，进行介绍，当然，预设条件也可以包括其他的条件，本申请实施例对此不作限定。在预设条件包括上述两项或两项以上的条件时，每项预设条件可以配置优先级，被选择的PL至少满足优先级较高的预设条件。针对第一PL和第二PL，满足的预设条件越多，被选择的可能性越高。例如，第一PL满足上述预设条件1、预设条件2和预设条件3，第二PL满足上述预设条件1和预设条件2，此种情况下，被选择的PL为上述第一PL。It should be understood that, in the embodiment of the present application, only the above three preset conditions are taken as examples for introduction, and of course, the preset conditions may also include other conditions, which are not limited in the embodiment of the present application. When the preset conditions include the above two or more conditions, each preset condition can be configured with a priority, and the selected PL at least satisfies the preset condition with a higher priority. For the first PL and the second PL, the more preset conditions are met, the higher the possibility of being selected. For example, the first PL satisfies the aforementioned preset condition 1, preset condition 2, and preset condition 3, and the second PL satisfies the aforementioned preset condition 1 and preset condition 2. In this case, the selected PL is the aforementioned first pl.

如此，用于定位第一UE的定位方式和参***是基于至少两个PL确定的，以更好地兼顾定位完好性性能指标和第一UE进行定位测量的处理复杂度。此种情况下，第一网络设备确定的定位方式和参***，既满足了定位完好性性能指标，又降低了第一UE进行定位测量的处理复杂度。In this way, the positioning method and the reference device used for positioning the first UE are determined based on at least two PLs, so as to better take into account the positioning integrity performance index and the processing complexity of the positioning measurement performed by the first UE. In this case, the positioning method and the reference device determined by the first network device not only meet the positioning integrity performance index, but also reduce the processing complexity of the positioning measurement performed by the first UE.

应理解，在本申请实施例中，监测设备与参***可以是不同的设备。当然，监测设备也可以作为参***。例如，监测设备是上述第一参***，也可以是第二参***，本申请实施例对此不作限定。It should be understood that in the embodiment of the present application, the monitoring device and the reference device may be different devices. Of course, monitoring equipment can also serve as reference equipment. For example, the monitoring device is the above-mentioned first reference device, or may be the second reference device, which is not limited in this embodiment of the present application.

本申请实施例提供的第二种辅助定位方法，该方法应用于第一UE。在本申请实施例提供的第二种辅助定位方法中，第一UE接收来自监测设备的定位完好性辅助信息。然后，第一UE根据第一UE的预测位置和定位完好性辅助信息，预测不同定位方案对应的定位完好性PL。最后，第一UE向第一网络设备建议预测定位完好性PL满足定位完好性性能指标且定位处理复杂度较低的定位方案。本申请实施例提供的第二种辅助定位方法的好处在于，一方面，定位完好性辅助信息的部分信息或全部信息能够更好地体现第一UE所处环境的真实情况。另一方面，本申请实施例提供的第二种辅助定位方法增加了预测PL的过程，进而，第一UE基于预测的PL对应的定位方案，向第一网络设备建议用于定位第一UE的定位方式和参***，既兼顾了定位完好性性能指标，又考虑了第一UE进行定位测量的处理复杂度。The second assisted positioning method provided in the embodiment of the present application is applied to the first UE. In the second assisted positioning method provided in the embodiment of the present application, the first UE receives the positioning integrity assistance information from the monitoring device. Then, the first UE predicts the positioning integrity PL corresponding to different positioning schemes according to the predicted position of the first UE and the positioning integrity assistance information. Finally, the first UE proposes to the first network device a positioning scheme whose predicted positioning integrity PL satisfies the positioning integrity performance index and has low positioning processing complexity. The advantage of the second assisted positioning method provided by the embodiment of the present application is that, on the one hand, part or all of the positioning integrity auxiliary information can better reflect the real situation of the environment where the first UE is located. On the other hand, the second assisted positioning method provided by the embodiment of the present application adds the process of predicting PL, and then, based on the positioning scheme corresponding to the predicted PL, the first UE suggests to the first network device the The positioning method and the reference device not only take into account the positioning integrity performance index, but also consider the processing complexity of the positioning measurement performed by the first UE.

下面，结合图8至图9，对本申请实施例提供的第二种辅助定位方法进行介绍：Next, with reference to FIG. 8 to FIG. 9 , the second auxiliary positioning method provided by the embodiment of the present application is introduced:

如图8所示，本申请实施例提供的第二种辅助定位方法800包括如下步骤：As shown in FIG. 8, the second assisted positioning method 800 provided in the embodiment of the present application includes the following steps:

S801、监测设备向第一UE发送定位完好性辅助信息。相应的，第一UE接收来自监测设备的定位完好性辅助信息。S801. The monitoring device sends positioning integrity assistance information to the first UE. Correspondingly, the first UE receives the positioning integrity assistance information from the monitoring device.

示例性的，S801中的定位完好性辅助信息包括：时钟同步误差方差信息参***数据误差方差信息和多径误差方差信息具体每项参数可以参见S402的介绍，此处不再赘述。Exemplarily, the positioning integrity auxiliary information in S801 includes: clock synchronization error variance information Reference device data error variance information and multipath error variance information For each specific parameter, refer to the introduction of S402, which will not be repeated here.

示例性的，监测设备可以采用广播的方式，向第一UE发送定位完好性辅助信息。定位完好性辅助信息可以携带在***信息块(system information block，SIB)中。Exemplarily, the monitoring device may send the positioning integrity assistance information to the first UE in a broadcast manner. The positioning integrity assistance information may be carried in a system information block (system information block, SIB).

S802、第一UE根据自身的预测位置和定位完好性辅助信息，预测定位完好性PL。S802. The first UE predicts the positioning integrity PL according to its own predicted position and the positioning integrity auxiliary information.

示例性的，第一UE预先确定一种定位方式和选择的多个参***，然后，再从S801接收的定位完好性辅助信息中挑选所需的一部分信息，进行预测定位完好性PL。或者，第一UE根据自身的预测位置和定位完好性辅助信息的全部信息，进行预测定位完好性PL。其中，用于预测PL的定位完好性辅助信息是基于第一UE的预测位置确定的。也就是说，第一UE基于自身的预测位置，选择多个参***，用于预测PL的定位完好性辅助信息包括上述多个参***中每个参***的误差方差信息。第一UE预测PL的过程可以参见S403的介绍，此处不再赘述。Exemplarily, the first UE predetermines a positioning method and selected multiple reference devices, and then selects a required part of information from the positioning integrity assistance information received in S801 to predict the positioning integrity PL. Alternatively, the first UE predicts the positioning integrity PL according to its own predicted position and all information of the positioning integrity assistance information. Wherein, the positioning integrity assistance information used for predicting the PL is determined based on the predicted position of the first UE. That is to say, the first UE selects multiple reference devices based on its own predicted position, and the positioning integrity assistance information used for predicting PL includes error variance information of each of the multiple reference devices. For the process of predicting the PL by the first UE, reference may be made to the introduction of S403, which will not be repeated here.

可选的，S802预测的PL包括第一PL和第二PL，具体过程可以参见S40311的介绍，此处不再赘述。此种情况下，如图9所示，第一UE还执行S803：Optionally, the PL predicted in S802 includes the first PL and the second PL. For the specific process, refer to the introduction of S40311, which will not be repeated here. In this case, as shown in Figure 9, the first UE also performs S803:

S803、第一UE根据第一PL和第二PL，确定用于定位第一UE的定位方式和参***。S803. The first UE determines, according to the first PL and the second PL, a positioning method and a reference device for locating the first UE.

其中，S803的实现过程可以参见S406的介绍，此处不再赘述。Wherein, for the implementation process of S803, refer to the introduction of S406, which will not be repeated here.

可选的，在第一UE执行S803的情况下，第一UE还执行S804：Optionally, when the first UE performs S803, the first UE also performs S804:

S804、第一UE向第一网络设备发送第三信息。相应的，第一网络设备接收来自第一UE的第三信息。S804. The first UE sends third information to the first network device. Correspondingly, the first network device receives the third information from the first UE.

其中，第三信息包括用于定位第一UE的定位方式和参***的信息，以向第一网络设备建议定位方式和参***。示例性的，第三信息可以承载于定位请求消息，第三信息也可以承载于其他消息，本申请实施例对此不作限定。Wherein, the third information includes information about a positioning method and a reference device for locating the first UE, so as to suggest the positioning method and reference device to the first network device. Exemplarily, the third information may be carried in the positioning request message, and the third information may also be carried in other messages, which is not limited in this embodiment of the present application.

相应的，对于第一网络设备来说，第一网络设备参考第三信息，来确定定位第一UE的定位方式和参***，以满足定位完好性要求，也能够降低第一UE的处理复杂程度。Correspondingly, for the first network device, the first network device refers to the third information to determine the positioning method and reference device for locating the first UE, so as to meet the positioning integrity requirements and reduce the processing complexity of the first UE .

上述主要从各个网元之间交互的角度对本申请实施例提供的方案进行了介绍。相应的，本申请实施例还提供了通信装置，该通信装置可以为上述方法实施例中的网元，或者包含上述网元的装置，或者为可用于网元的部件。可以理解的是，该通信装置为了实现上述功能，其包含了执行各个功能相应的硬件结构和/或软件模块。本领域技术人员应该很容易意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，本申请能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。The foregoing mainly introduces the solution provided by the embodiment of the present application from the perspective of interaction between various network elements. Correspondingly, the embodiment of the present application further provides a communication device, and the communication device may be the network element in the foregoing method embodiment, or a device including the foregoing network element, or may be a component applicable to the network element. It can be understood that, in order to realize the above functions, the communication device includes hardware structures and/or software modules corresponding to each function. Those skilled in the art should easily realize that the present application can be implemented in the form of hardware or a combination of hardware and computer software in combination with the units and algorithm steps of each example described in the embodiments disclosed herein. Whether a certain function is executed by hardware or computer software drives hardware depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

示例性的，图10示出了一种通信装置1000的结构示意图。该通信装置1000包括处理单元1001、发送单元1002和接收单元1003。Exemplarily, FIG. 10 shows a schematic structural diagram of a communication device 1000 . The communication device 1000 includes a processing unit 1001 , a sending unit 1002 and a receiving unit 1003 .

一种可能的示例中，以通信装置1000为第一网络设备为例，处理单元1001用于支持第一网络设备执行图4中的S403，和/或本申请实施例中第一网络设备需要执行的其他处理操作。发送单元1002用于支持第一网络设备执行图4中的S401，和/或本申请实施例中第一网络设备需要执行的其他发送操作。接收单元1003用于支持第一网络设备执行图4中的S402，和/或本申请实施例中第一网络设备需要执行的其他接收操作。In a possible example, taking the communication device 1000 as the first network device as an example, the processing unit 1001 is configured to support the first network device to execute S403 in FIG. 4 , and/or the first network device in this embodiment of the application needs to execute other processing operations. The sending unit 1002 is configured to support the first network device to perform S401 in FIG. 4 , and/or other sending operations that need to be performed by the first network device in this embodiment of the present application. The receiving unit 1003 is configured to support the first network device to perform S402 in FIG. 4 , and/or other receiving operations that need to be performed by the first network device in the embodiment of the present application.

再一种可能的示例中，以通信装置1000为监测设备为例，处理单元1001用于支持本申请实施例中监测设备需要执行的其他处理操作。发送单元1002用于支持监测设备执行图4中的S402，和/或本申请实施例中监测设备需要执行的其他发送操作。接收单元1003用于支持监测设备执行图4中的S401，和/或本申请实施例中监测设备需要执行的其他接收操作。In another possible example, taking the communication device 1000 as an example of a monitoring device, the processing unit 1001 is configured to support other processing operations that need to be performed by the monitoring device in the embodiment of the present application. The sending unit 1002 is configured to support the monitoring device to perform S402 in FIG. 4 , and/or other sending operations that the monitoring device needs to perform in the embodiment of the present application. take over Unit 1003 is configured to support the monitoring device to perform S401 in FIG. 4 , and/or other receiving operations that the monitoring device needs to perform in this embodiment of the application.

又一种可能的示例中，以通信装置1000为监测设备为例，处理单元1001用于支持本申请实施例中监测设备需要执行的其他处理操作。发送单元1002用于支持监测设备执行图8中的S801，和/或本申请实施例中监测设备需要执行的其他发送操作。接收单元1003用于支持本申请实施例中监测设备需要执行的其他接收操作。In another possible example, taking the communication device 1000 as a monitoring device as an example, the processing unit 1001 is configured to support other processing operations that need to be performed by the monitoring device in the embodiment of the present application. The sending unit 1002 is configured to support the monitoring device to perform S801 in FIG. 8 , and/or other sending operations that the monitoring device needs to perform in the embodiment of the present application. The receiving unit 1003 is configured to support other receiving operations that need to be performed by the monitoring device in the embodiment of the present application.

又一种可能的示例中，以通信装置1000为第一UE为例，处理单元1001用于支持第一UE执行图8中的S802，和/或本申请实施例中第一UE需要执行的其他处理操作。发送单元1002用于支持本申请实施例中第一UE需要执行的其他发送操作。接收单元1003用于支持第一UE执行图8中的S801，和/或本申请实施例中第一UE需要执行的其他接收操作。In another possible example, taking the communication device 1000 as the first UE as an example, the processing unit 1001 is configured to support the first UE to perform S802 in FIG. 8, and/or other tasks that the first UE needs to perform in this embodiment of the application Processing operations. The sending unit 1002 is configured to support other sending operations that need to be performed by the first UE in this embodiment of the application. The receiving unit 1003 is configured to support the first UE to perform S801 in FIG. 8 and/or other receiving operations that the first UE needs to perform in the embodiment of the present application.

可选的，该通信装置1000还可以包括存储单元1004，用于存储通信装置的程序代码和数据，数据可以包括不限于原始数据或者中间数据等。Optionally, the communication device 1000 may further include a storage unit 1004 for storing program codes and data of the communication device, and the data may include but not limited to original data or intermediate data.

其中，处理单元1001可以是处理器或控制器，例如可以是CPU，通用处理器，专用集成电路(application specific integrated circuit，ASIC)，现场可编程逻辑门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、晶体管逻辑器件、硬件部件或者其任意组合。其可以实现或执行结合本申请公开内容所描述的各种示例性的逻辑方框，模块和电路。处理器也可以是实现计算功能的组合，例如包含一个或多个微处理器组合，DSP和微处理器的组合等等。Wherein, the processing unit 1001 may be a processor or a controller, such as a CPU, a general-purpose processor, an application specific integrated circuit (ASIC), a field programmable gate array (field programmable gate array, FPGA) or other Programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various illustrative logical blocks, modules and circuits described in connection with the present disclosure. The processor can also be a combination of computing functions, for example, a combination of one or more microprocessors, a combination of DSP and a microprocessor, and so on.

发送单元1002可以是通信接口、发送器或发送电路等，其中，该通信接口是统称，在具体实现中，该通信接口可以包括多个接口。The sending unit 1002 may be a communication interface, a transmitter, or a sending circuit, etc., where the communication interface is collectively referred to, and in a specific implementation, the communication interface may include multiple interfaces.

接收单元1003可以是通信接口、接收器或接收电路等，其中，该通信接口是统称，在具体实现中，该通信接口可以包括多个接口。The receiving unit 1003 may be a communication interface, a receiver, or a receiving circuit, etc., where the communication interface is collectively referred to, and in specific implementation, the communication interface may include multiple interfaces.

发送单元1002和接收单元1003可以是物理上或者逻辑上实现为同一个单元。The sending unit 1002 and the receiving unit 1003 may be physically or logically implemented as the same unit.

存储单元1004可以是存储器。The storage unit 1004 may be a memory.

当处理单元1001为处理器，发送单元1002和接收单元1003为通信接口，存储单元1004为存储器时，本申请实施例所涉及的通信装置可以为图11所示。When the processing unit 1001 is a processor, the sending unit 1002 and the receiving unit 1003 are communication interfaces, and the storage unit 1004 is a memory, the communication device involved in this embodiment of the present application may be as shown in FIG. 11 .

参阅图11所示，该通信装置1100包括：处理器1101、通信接口1102、存储器1103。可选的，通信装置还可以包括总线1104。其中，通信接口1102、处理器1101以及存储器1103可以通过总线1104相互连接；总线1104可以是外设部件互连标准(peripheral component interconnect，PCI)总线或扩展工业标准结构(extended industry standard architecture，EISA)总线等。所述总线1104可以分为地址总线、数据总线、控制总线等。为便于表示，图11中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。Referring to FIG. 11 , the communication device 1100 includes: a processor 1101 , a communication interface 1102 , and a memory 1103 . Optionally, the communication device may further include a bus 1104 . Wherein, the communication interface 1102, the processor 1101 and the memory 1103 can be connected to each other through the bus 1104; the bus 1104 can be a peripheral component interconnect standard (peripheral component interconnect, PCI) bus or an extended industry standard architecture (extended industry standard architecture, EISA) bus etc. The bus 1104 can be divided into address bus, data bus, control bus and so on. For ease of representation, only one thick line is used in FIG. 11 , but it does not mean that there is only one bus or one type of bus.

可选的，本申请实施例还提供一种携带计算机指令的计算机程序产品，当该计算机指令在计算机上运行时，使得计算机执行上述实施例所介绍的方法。Optionally, the embodiments of the present application further provide a computer program product carrying computer instructions, and when the computer instructions are run on a computer, the computer is made to execute the method described in the foregoing embodiments.

可选的，本申请实施例还提供一种计算机可读存储介质，所述计算机可读存储介质存储计算机指令，当该计算机指令在计算机上运行时，使得计算机执行上述实施例所介绍的方法。 Optionally, an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores computer instructions, and when the computer instructions are run on a computer, the computer executes the method described in the above-mentioned embodiments.

可选的，本申请实施例还提供一种芯片，包括：处理电路和收发电路，处理电路和收发电路用于实现上述实施例所介绍的方法。其中，处理电路用于执行相应方法中的处理动作，收发电路用于执行相应方法中的接收/发送的动作。Optionally, an embodiment of the present application further provides a chip, including: a processing circuit and a transceiver circuit, and the processing circuit and the transceiver circuit are used to implement the methods described in the foregoing embodiments. Wherein, the processing circuit is used to execute the processing action in the corresponding method, and the transceiver circuit is used to execute the receiving/sending action in the corresponding method.

在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包括一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如，数字视频光盘(digital video disc，DVD))、或者半导体介质(例如固态硬盘(solid state drive，SSD))等。In the above embodiments, all or part of them may be implemented by software, hardware, firmware or any combination thereof. When implemented using software, it 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 the computer program instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present application will be generated in whole or in part. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website, computer, server or data center Transmission to another website site, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device including a server, a data center, and the like integrated with one or more available media. The available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a digital video disc (digital video disc, DVD)), or a semiconductor medium (for example, a solid state drive (solid state drive, SSD)) wait.

在本申请所提供的几个实施例中，应该理解到，所揭露的***，装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个模块或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或模块的间接耦合或通信连接，可以是电性或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or modules may be in electrical or other forms.

所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个设备上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple devices. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

通过以上的实施方式的描述，所属领域的技术人员可以清楚地了解到本申请可借助软件加必需的通用硬件的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在可读取的存储介质中，如计算机的软盘，硬盘或光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述的方法。Through the above description of the implementation, those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary general-purpose hardware, of course, it can also be implemented by hardware, but in many cases the former is a better implementation . Based on this understanding, the essence of the technical solution of this application or the part that contributes can be embodied in the form of software products, and the computer software products are stored in readable storage media, such as computer floppy disks, hard disks or optical disks etc., including several instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present application.

以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，在本申请揭露的技术范围内的变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。 The above is only a specific implementation of this application, but the protection scope of this application is not limited thereto, and changes or replacements within the technical scope disclosed in this application should be covered within the protection scope of this application. Therefore, the protection scope of the present application should be determined by the protection scope of the claims.

Claims

一种辅助定位方法，其特征在于，所述方法应用于第一网络设备，所述方法包括：An assisted positioning method, wherein the method is applied to a first network device, and the method includes:

向监测设备发送第一信息，其中，所述第一信息包括第一用户设备的预测位置；sending first information to the monitoring device, where the first information includes a predicted location of the first user equipment;

接收来自所述监测设备的定位完好性辅助信息，其中，所述定位完好性辅助信息是基于所述第一用户设备的所述预测位置确定的；receiving positioning integrity assistance information from the monitoring device, wherein the positioning integrity assistance information is determined based on the predicted location of the first user equipment;

根据所述第一用户设备的所述预测位置和所述定位完好性辅助信息，预测定位完好性保护水平PL。Predict a location integrity protection level PL according to the predicted location of the first user equipment and the location integrity assistance information.
根据权利要求1所述的方法，其特征在于，所述方法还包括：The method according to claim 1, further comprising:

接收来自所述第一用户设备的第二信息，其中，所述第二信息包括定位完好性性能指标、所述第一用户设备的预测位置和所述第一用户设备的误差方差信息；receiving second information from the first user equipment, wherein the second information includes a positioning integrity performance indicator, a predicted position of the first user equipment, and error variance information of the first user equipment;

所述根据所述第一用户设备的所述预测位置和所述定位完好性辅助信息，预测所述定位完好性保护水平PL，具体包括：The predicting the location integrity protection level PL according to the predicted location of the first user equipment and the location integrity assistance information specifically includes:

根据所述第二信息和所述定位完好性辅助信息，预测所述定位完好性保护水平PL。Predict the location integrity protection level PL according to the second information and the location integrity auxiliary information.
根据权利要求2所述的方法，其特征在于，所述根据所述第二信息和所述定位完好性辅助信息，预测所述定位完好性保护水平PL，具体包括：The method according to claim 2, wherein the predicting the location integrity protection level PL according to the second information and the location integrity auxiliary information specifically includes:

根据所述第二信息和所述定位完好性辅助信息，预测第一PL和第二PL；predicting a first PL and a second PL based on the second information and the positioning integrity assistance information;

所述方法还包括：The method also includes:

根据所述第一PL和所述第二PL，确定用于定位所述第一用户设备的定位方式和参***。Determine, according to the first PL and the second PL, a positioning manner and a reference device for locating the first user equipment.
根据权利要求3所述的方法，其特征在于，所述定位完好性辅助信息包括第一参***的误差方差信息，以及第二参***的误差方差信息；The method according to claim 3, wherein the positioning integrity auxiliary information includes error variance information of the first reference device and error variance information of the second reference device;

所述根据所述第二信息和所述定位完好性辅助信息，预测第一PL和第二PL，包括：The predicting the first PL and the second PL according to the second information and the positioning integrity auxiliary information includes:

根据所述第二信息和所述第一参***的误差方差信息，预测所述第一PL；predicting the first PL based on the second information and error variance information of the first reference device;

根据所述第二信息和所述第二参***的误差方差信息，预测所述第二PL；predicting the second PL based on the second information and error variance information of the second reference device;

其中，所述第一参***与所述第二参***相同，所述第一参***的误差方差信息与所述第二参***的误差方差信息不同；Wherein, the first reference device is the same as the second reference device, and the error variance information of the first reference device is different from the error variance information of the second reference device;

或者，所述第一参***与所述第二参***不同。Alternatively, the first reference device is different from the second reference device.
根据权利要求4所述的方法，其特征在于，所述监测设备是所述第一参***或所述第二参***。The method of claim 4, wherein the monitoring device is the first reference device or the second reference device.
根据权利要求2至5任一项所述的方法，其特征在于，在接收来自所述第一用户设备的第二信息之前，所述方法还包括：The method according to any one of claims 2 to 5, wherein before receiving the second information from the first user equipment, the method further comprises:

向所述第一用户设备发送第一请求消息，其中，所述第一请求消息用于请求所述第一用户设备发送所述第二信息。Sending a first request message to the first user equipment, where the first request message is used to request the first user equipment to send the second information.
根据权利要求1至6任一项所述的方法，其特征在于，所述监测设备是第二网络设备。The method according to any one of claims 1 to 6, characterized in that the monitoring device is a second network device.
根据权利要求7所述的方法，其特征在于，所述第一信息是定位信息请求消息，或收发节点信息请求消息。The method according to claim 7, wherein the first information is a positioning information request message, Or send and receive node information request messages.
根据权利要求8所述的方法，其特征在于，所述第一信息承载于完好性信息请求信元。The method according to claim 8, wherein the first information is carried in an integrity information request information element.
根据权利要求1至6任一项所述的方法，其特征在于，所述监测设备是第二用户设备，其中，所述第二用户设备与所述第一用户设备不同。The method according to any one of claims 1 to 6, wherein the monitoring device is a second user device, wherein the second user device is different from the first user device.
根据权利要求10所述的方法，其特征在于，所述第一信息是位置请求消息。The method of claim 10, wherein the first information is a location request message.
根据权利要求11所述的方法，其特征在于，所述第一信息承载于完好性信息辅助数据信元。The method according to claim 11, wherein the first information is carried in an integrity information auxiliary data cell.
一种辅助定位方法，其特征在于，所述方法应用于监测设备，所述方法包括：An auxiliary positioning method, characterized in that the method is applied to monitoring equipment, and the method includes:

接收来自第一网络设备的第一信息，其中，所述第一信息包括第一用户设备的预测位置；receiving first information from a first network device, wherein the first information includes a predicted location of a first user equipment;

向所述第一网络设备发送定位完好性辅助信息，其中，所述定位完好性辅助信息是基于所述第一用户设备的所述预测位置确定的，所述定位完好性辅助信息用于预测定位完好性保护水平PL。sending positioning integrity assistance information to the first network device, wherein the positioning integrity assistance information is determined based on the predicted location of the first user equipment, and the positioning integrity assistance information is used for predictive positioning Integrity protection level PL.
根据权利要求13所述的方法，其特征在于，所述定位完好性辅助信息包括第一参***的误差方差信息，以及第二参***的误差方差信息。The method according to claim 13, wherein the positioning integrity auxiliary information includes error variance information of the first reference device and error variance information of the second reference device.
根据权利要求14所述的方法，其特征在于，所述监测设备是所述第一参***或所述第二参***。The method of claim 14, wherein the monitoring device is the first reference device or the second reference device.
根据权利要求13至15任一项所述的方法，其特征在于，所述监测设备是第二网络设备。The method according to any one of claims 13 to 15, wherein the monitoring device is a second network device.
根据权利要求16所述的方法，其特征在于，所述第一信息是定位信息请求消息，或收发节点信息请求消息。The method according to claim 16, wherein the first information is a positioning information request message, or a sending and receiving node information request message.
根据权利要求17所述的方法，其特征在于，所述第一信息承载于完好性信息请求信元。The method according to claim 17, wherein the first information is carried in an integrity information request information element.
根据权利要求13至15任一项所述的方法，其特征在于，所述监测设备是第二用户设备，其中，所述第二用户设备与所述第一用户设备不同。The method according to any one of claims 13 to 15, wherein the monitoring device is a second user device, wherein the second user device is different from the first user device.
根据权利要求19所述的方法，其特征在于，所述第一信息是位置请求消息。The method of claim 19, wherein the first information is a location request message.
根据权利要求20所述的方法，其特征在于，所述第一信息承载于完好性信息辅助数据信元。The method according to claim 20, wherein the first information is carried in an integrity information auxiliary data cell.
一种辅助定位方法，其特征在于，所述方法应用于第一网络设备，所述方法包括：An assisted positioning method, wherein the method is applied to a first network device, and the method includes:

向监测设备发送第一信息，其中，所述第一信息包括第一用户设备的预测位置；sending first information to the monitoring device, where the first information includes a predicted location of the first user equipment;

接收来自所述监测设备的定位完好性辅助信息，其中，所述定位完好性辅助信息是基于所述第一用户设备的预测位置确定的。Positioning integrity assistance information is received from the monitoring device, wherein the positioning integrity assistance information is determined based on a predicted location of the first user equipment.
根据权利要求22所述的方法，其特征在于，所述方法还包括：The method according to claim 22, further comprising:

根据所述第一用户设备的所述预测位置和所述定位完好性辅助信息，预测定位完好性保护水平PL。Predict a location integrity protection level PL according to the predicted location of the first user equipment and the location integrity assistance information.
一种辅助定位方法，其特征在于，该方法应用于第一用户设备，所述方法包括： An assisted positioning method, characterized in that the method is applied to a first user equipment, and the method includes:

接收来自监测设备的定位完好性辅助信息；receiving positioning integrity assistance information from a monitoring device;

根据所述第一用户设备的预测位置和所述定位完好性辅助信息，预测定位完好性保护水平PL。Predicting a location integrity protection level PL according to the predicted location of the first user equipment and the location integrity assistance information.
根据权利要求24所述的方法，其特征在于，所述根据所述第一用户设备的预测位置和所述定位完好性辅助信息，预测保护水平PL，包括：The method according to claim 24, wherein the predicting the protection level PL according to the predicted position of the first user equipment and the positioning integrity assistance information comprises:

根据定位完好性性能指标、所述第一用户设备的误差方差信息、所述第一用户设备的预测位置和所述定位完好性辅助信息，预测第一PL和第二PL；predicting a first PL and a second PL according to a positioning integrity performance index, error variance information of the first user equipment, a predicted location of the first user equipment, and the positioning integrity assistance information;

所述方法还包括：The method also includes:

根据所述第一PL和所述第二PL，确定用于定位所述第一用户设备的定位方式和参***。Determine, according to the first PL and the second PL, a positioning manner and a reference device for locating the first user equipment.
根据权利要求25所述的方法，其特征在于，所述定位完好性辅助信息包括第一参***的误差方差信息，以及第二参***的误差方差信息；The method according to claim 25, wherein the positioning integrity auxiliary information includes error variance information of the first reference device and error variance information of the second reference device;

所述根据所述第二信息和所述定位完好性辅助信息，预测第一PL和第二PL，包括：The predicting the first PL and the second PL according to the second information and the positioning integrity auxiliary information includes:

根据所述第二信息和所述第一参***的误差方差信息，预测所述第一PL；predicting the first PL based on the second information and error variance information of the first reference device;

根据所述第二信息和所述第二参***的误差方差信息，预测所述第二PL；predicting the second PL based on the second information and error variance information of the second reference device;

其中，所述第一参***与所述第二参***相同，所述第一参***的误差方差信息与所述第二参***的误差方差信息不同；Wherein, the first reference device is the same as the second reference device, and the error variance information of the first reference device is different from the error variance information of the second reference device;

或者，所述第一参***与所述第二参***不同。Alternatively, the first reference device is different from the second reference device.
根据权利要求25或26所述的方法，其特征在于，所述方法还包括：The method according to claim 25 or 26, further comprising:

向第一网络设备发送第一信息，其中，所述第一信息包括用于定位所述第一用户设备的定位方式和参***的信息。Sending first information to the first network device, where the first information includes a positioning manner for locating the first user equipment and information of a reference device.
一种网络设备，其特征在于，包括：处理器和存储器，所述处理器和所述存储器耦合，所述存储器存储有程序指令，当所述存储器存储的程序指令被所述处理器执行时，如权利要求1至12中的任一项所述的方法被实现，或如权利要求22或23所述的方法被实现。A network device, characterized by comprising: a processor and a memory, the processor is coupled to the memory, the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, A method as claimed in any one of claims 1 to 12 is carried out, or a method as claimed in claim 22 or 23 is carried out.
一种监测设备，其特征在于，包括：处理器和存储器，所述处理器和所述存储器耦合，所述存储器存储有程序指令，当所述存储器存储的程序指令被所述处理器执行时，如权利要求13至21中的任一项所述的方法被实现。A monitoring device, characterized in that it includes: a processor and a memory, the processor is coupled to the memory, the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, A method as claimed in any one of claims 13 to 21 is carried out.
一种用户设备，其特征在于，包括：处理器和存储器，所述处理器和所述存储器耦合，所述存储器存储有程序指令，当所述存储器存储的程序指令被所述处理器执行时，如权利要求24至27中的任一项所述的方法被实现。A user equipment, characterized by comprising: a processor and a memory, the processor is coupled to the memory, the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, A method as claimed in any one of claims 24 to 27 is carried out.
一种芯片，其特征在于，包括处理器和输入输出接口，所述输入输出接口用于接收来自所述芯片之外的其它装置的信号并传输至所述处理器或将来自所述处理器的信号发送给所述芯片之外的其它装置，所述处理器通过逻辑电路或执行代码指令用于实现如权利要求1至12中任一项所述的方法，或用于实现如权利要求13至21中任一项所述的方法，或用于实现如权利要求22至23中任一项所述的方法，或用于实现如权利要求24至27中任一项所述的方法。A chip, characterized in that it includes a processor and an input-output interface, the input-output interface is used to receive signals from other devices other than the chip and transmit them to the processor or transfer signals from the processor The signal is sent to other devices other than the chip, and the processor is used to implement the method according to any one of claims 1 to 12 through a logic circuit or execute code instructions, or to implement the method described in any one of claims 13 to 12. The method according to any one of claims 21, or used to realize the method according to any one of claims 22 to 23, or used to realize the method according to any one of claims 24 to 27.
一种计算机可读存储介质，其特征在于，所述存储介质中存储有计算机程序或指令，当所述计算机程序或指令被执行时，实现如权利要求1至12中任一项所述的方法，或实现如权利要求13至21中任一项所述的方法，或实现如权利要求22至23中任一项所述的方法，或实现如权利要求24至27中任一项所述的方法。 A computer-readable storage medium, wherein a computer program is stored in the storage medium or instructions, when the computer program or instructions are executed, implement the method as described in any one of claims 1 to 12, or implement the method as described in any one of claims 13 to 21, or implement the method as described in any one of claims 13 to 21 A method according to any one of claims 22 to 23, or implementing a method according to any one of claims 24 to 27.