CN115701140A

CN115701140A - Positioning method and terminal

Info

Publication number: CN115701140A
Application number: CN202211189649.3A
Authority: CN
Inventors: 汪剑锋; 汪海明
Original assignee: Lenovo Beijing Ltd
Current assignee: Lenovo Beijing Ltd
Priority date: 2022-09-28
Filing date: 2022-09-28
Publication date: 2023-02-07
Also published as: WO2024066569A1

Abstract

The embodiment of the application discloses a positioning method and a terminal, wherein a first terminal responds to a positioning request after obtaining the positioning request aiming at a target terminal, and determines positioning wireless resource configuration information and feedback configuration information; sending the positioning wireless resource configuration information to at least one target anchor node, sending the positioning wireless resource configuration information and feedback configuration information to a target terminal, and sending a positioning parameter signal and/or a positioning wireless frame to the target terminal; receiving target information reported by a target terminal based on feedback configuration information; the target information is: positioning related measurement quantity corresponding to the first terminal and positioning related measurement quantity corresponding to each target anchor node; or, the target information is: the location of the target terminal; and the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity corresponding to each target anchor node are used for determining the position of the target terminal.

Description

Positioning method and terminal

Technical Field

The present application relates to the field of positioning technologies, and in particular, to a positioning method and a terminal.

Background

Currently, with large-scale commercial deployment of 5G networks, a variety of applications and services requiring high-rate, low-latency and high-reliability wireless connection are emerging, such as intelligent manufacturing, smart home, virtual Reality (VR)/Augmented Reality (AR)/Extended Reality (XR), and industrial internet 4.0. In order to meet the wireless communication requirements in these emerging scenarios, relevant standardization organizations or groups have made a new short-range wireless communication system standard to provide wireless transmission capability that meets the short-range service requirements. At present, as one of the evolution technologies of the new short-range wireless communication system, the positioning function needs to be supported.

Disclosure of Invention

The application aims to provide a positioning method and a terminal, and the positioning method and the terminal comprise the following technical scheme:

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

a memory for storing a program;

a processor configured to execute a program stored in the memory, the program, when executed by the processor, configuring the processor to:

obtaining a positioning request aiming at a target terminal;

determining positioning wireless resource configuration information and feedback configuration information in response to the positioning request;

transmitting the positioning radio resource configuration information to at least one target anchor node;

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

sending a positioning parameter signal and/or a positioning wireless frame to the target terminal;

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

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

and the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity corresponding to each target anchor node are used for determining the position of the target terminal.

Preferably, the terminal selects the at least one target anchor node from a plurality of anchor nodes; the plurality of anchor nodes are: a terminal registered with the first terminal;

wherein the association degree of the target anchor node and the target terminal is higher than the association degree of a non-target anchor node in the plurality of anchor nodes and the target terminal.

Preferably, in the terminal, the association degree between the target anchor node and the target terminal is higher than the association degree between a non-target anchor node in the anchor nodes and the target terminal, and the method includes:

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

The terminal as described above, preferably, the program when executed by the processor further configures the processor to:

sending configuration information of each anchor node to the target terminal;

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

and determining a target anchor node based on the signal strength between the target terminal and each anchor node.

sending configuration information of each anchor node to the target terminal;

receiving a link establishment success signal sent by each anchor node, wherein the link establishment success signal sent by the anchor node represents that the anchor node establishes a link with the target terminal;

sending reference signal configuration information for link quality measurement to the target terminal and each anchor node;

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

sending first reported resource configuration information to each anchor node; receiving position and state information reported by the anchor node according to a target period based on a first target frequency point;

or,

sending second reported resource configuration information to each anchor node; and receiving the position and state information reported by the anchor node based on a second target frequency point.

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

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

under the condition that at least one target anchor node selected from the plurality of anchor nodes comprises M dynamic anchor nodes, respectively sending an auxiliary positioning request to each dynamic anchor node in the M dynamic anchor nodes;

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

broadcasting anchor node inquiry information;

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

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

Preferably, the terminal further includes, in the related information: an anchor node type of the first device.

A terminal, the terminal being a second terminal, the second terminal being a target anchor node selected from a plurality of anchor nodes; the plurality of anchor nodes are: a terminal registered with the first terminal; wherein the degree of association between the target anchor node and the target terminal is higher than the degree of association between non-target anchor nodes in the plurality of anchor nodes and the target terminal; the second terminal includes:

a memory for storing a program;

receiving positioning wireless resource configuration information sent by a first terminal;

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

receiving a link establishment request sent by the target terminal;

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

sending the signal strength to the first terminal;

and receiving the link establishment confirmation information sent by the first terminal, establishing a link with the target terminal, and representing that the second terminal is determined as a target anchor node.

The terminal described above, preferably, the program when executed by the processor further configures the processor to:

establishing a link with the target terminal;

receiving reference signal configuration information which is sent by the first terminal and used for link quality measurement;

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

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

and receiving the link establishment confirmation information sent by the first terminal, and representing that the second terminal is determined as a target anchor node.

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

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

feeding back the signal strength between the target terminal and the second terminal to the first terminal;

receiving first reporting resource configuration information sent by the first terminal; reporting the position and state information of the second terminal to the first terminal according to a target period and a first target frequency point based on the first reported resource configuration information;

or,

receiving second reported resource configuration information sent by the first terminal; and reporting the position and state information of the second terminal to the first terminal according to a second target frequency point based on the second reported resource configuration information.

Preferably, the terminal includes at least two types of anchor nodes: a static anchor node and a dynamic anchor node; the dynamic anchor node is a mobile terminal;

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

if the auxiliary positioning condition is met, feeding back first information to the first terminal; the first information characterizes that the anchor node is available for assisting in positioning.

receiving an anchor node query request broadcasted by a first terminal;

sending an anchor node registration request to the first terminal, where the anchor node registration request carries related information of the second terminal, and the related information at least includes: the identification and location information of the second terminal.

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

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

a memory for storing a program;

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

receiving positioning wireless resource configuration information and feedback configuration information sent by a first terminal;

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

calculating to obtain a positioning related measurement quantity corresponding to the first terminal according to a positioning reference signal and/or a positioning wireless frame sent by the first terminal, and calculating to obtain a positioning related measurement quantity corresponding to the target anchor node according to a positioning reference signal and/or a positioning wireless frame sent by the target anchor node;

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

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

Preferably, in the terminal, the at least one target anchor node is selected from a plurality of anchor nodes; the plurality of anchor nodes are: a terminal registered with the first terminal;

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

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

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

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

receiving reference signals for link quality measurement sent by each anchor node based on the reference signal configuration information;

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

and feeding back the signal strength between the target terminal and each anchor node to the first terminal.

transmitting a reference signal for link quality measurement to the anchor node based on the reference signal configuration information;

the reference signal is used for calculating the signal strength between the target terminal and the anchor node.

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

obtaining a positioning request aiming at a target terminal;

responding to the positioning request, determining positioning wireless resource configuration information and feeding back the configuration information;

A positioning method for a second terminal, the second terminal being a target anchor node selected from a plurality of anchor nodes; the plurality of anchor nodes are: a terminal registered with the first terminal; wherein the degree of association between the target anchor node and the target terminal is higher than the degree of association between non-target anchor nodes in the plurality of anchor nodes and the target terminal; the method comprises the following steps:

A positioning method for a target terminal, the method comprising:

According to the scheme, after the first terminal obtains the positioning request aiming at the target terminal, the first terminal responds to the positioning request and determines the positioning wireless resource configuration information and the feedback configuration information; sending the positioning wireless resource configuration information to at least one target anchor node, sending the positioning wireless resource configuration information and feedback configuration information to a target terminal, and sending a positioning parameter signal and/or a positioning wireless frame to the target terminal; receiving target information reported by a target terminal based on feedback configuration information; the target information is: positioning related measurement quantity corresponding to the first terminal and positioning related measurement quantity corresponding to each target anchor node; or, the target information is: the location of the target terminal; and the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity corresponding to each target anchor node are used for determining the position of the target terminal. According to the method and the device, the target terminal and the target anchor node are subjected to positioning wireless resource configuration and feedback related information configuration through the first terminal, so that the target terminal can measure the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity corresponding to each target anchor node, the position of the target terminal is determined according to the obtained positioning related measurement, and high-precision positioning of the target terminal is realized.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the embodiments will be briefly described below, and obviously, the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1a is a schematic diagram of a first structure of a first terminal according to an embodiment of the present disclosure;

fig. 1b is a flowchart of an implementation of a positioning method according to an embodiment of the present application;

fig. 2a is a schematic diagram of a first structure of a second terminal according to an embodiment of the present application;

fig. 2b is a flowchart of another implementation of the positioning method according to the embodiment of the present application;

fig. 3a is a schematic structural diagram of a target terminal according to an embodiment of the present application;

fig. 3b is a flowchart of another implementation of the positioning method according to the embodiment of the present application;

fig. 4 is a flowchart of another implementation of the positioning method according to the embodiment of the present application;

fig. 5 is a flowchart of an implementation of selecting at least one target anchor node from a plurality of anchor nodes according to an embodiment of the present application;

fig. 6 is a flowchart of another implementation of selecting at least one target anchor node from a plurality of anchor nodes according to an embodiment of the present application;

fig. 7 is a flowchart of an implementation that a first terminal monitors each anchor node according to the embodiment of the present application;

fig. 8 is a flowchart of another implementation of the first terminal monitoring each anchor node according to the embodiment of the present application;

FIG. 9 is a schematic structural diagram of a positioning device according to an embodiment of the present disclosure;

FIG. 10 is a schematic view of another structure of a positioning device according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of a positioning device according to an embodiment of the present application.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be implemented in other sequences than those illustrated.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without inventive step, are within the scope of the present disclosure.

The positioning method provided in the embodiment of the present application may be used in a terminal device (denoted as a first terminal), where the first terminal may be a device having a management function in a short-range Wireless communication system, and as an example, the first terminal may be a Wireless Access Point (AP), and certainly, the first terminal may also be other devices as long as the positioning method provided in the present application can be implemented.

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

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

The processor 11 may be a central processing unit CPU, or an Application Specific Integrated Circuit ASIC (Application Specific Integrated Circuit), or one or more Integrated circuits configured to implement embodiments of the present Application, etc.

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

Wherein the memory 31 stores a program and the processor 11 is configured to execute the program stored by the memory 31, which when executed by the processor 11 configures the processor 11 to perform the steps as shown in fig. 1 b:

step S101: a positioning request for a target terminal is obtained.

The positioning request for the target terminal can be triggered and generated by the user performing a specified operation on the first terminal. Or,

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

Step S102: and responding to the positioning request, and determining positioning wireless resource configuration information and feedback configuration information.

The positioning radio resource configuration information is used for configuring the target anchor node and the target terminal, and mainly configures radio transmission resources required for positioning the target terminal, which may include, but is not limited to, the following information: pilot frequency, the number and the period of positioning wireless frames, frequency hopping patterns related to positioning algorithms, positioning reference signals and/or positioning wireless frames and the like. Optionally, the first terminal may determine the radio transmission resource required for positioning according to the positioning accuracy requirement, the system configuration (i.e. the configuration of the short-range radio communication system), and the network topology (i.e. the network topology of the short-range radio communication system).

The feedback configuration information is used for configuring the target terminal, and includes but is not limited to: the target terminal needs to calculate the positioning related measurement quantity, and feeds back information such as a transmission format (i.e. a transmission format when the target terminal feeds back information to the first terminal).

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

step S103: and sending the positioning wireless resource configuration information to at least one target anchor node.

The positioning radio resource configuration information may be sent to only one target anchor node, or may be sent to a plurality of (i.e., two or more) target anchor nodes. By sending the positioning wireless resource configuration information to the target anchor node, the target anchor node can send positioning reference signals and/or positioning wireless frames to the target terminal based on the pilot frequency, the number and the period of the positioning wireless frames, the frequency hopping mode and the like specified by the positioning wireless resource configuration information.

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

Step S104: and sending the positioning wireless resource configuration information and the feedback configuration information to a target terminal.

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

By sending the feedback configuration information to the target terminal, the target terminal can determine the positioning related measurement quantity required to be calculated based on the feedback configuration information, and report a feedback transmission format and the like required by the information to the first terminal.

The execution sequence of steps S103 and S104 is not limited in the present application, and step S103 may be executed first, and then step S104 may be executed, or step S104 may be executed first, and then step S103 may be executed, or step S103 and step S104 may be executed simultaneously.

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

And the first terminal sends a positioning parameter signal and/or a positioning wireless frame to the target terminal based on the pilot frequency, the number and the period of the wireless frame positioning wireless frames, the frequency hopping mode and the like specified by the wireless resource configuration information.

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

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

And the positioning related measurement quantity corresponding to the first terminal is calculated by the target terminal according to the positioning parameter signal and/or the positioning wireless frame sent by the first terminal.

And the positioning related measurement quantity corresponding to the target anchor node is calculated by the target terminal according to the positioning parameter signal and/or the positioning wireless frame sent by the target anchor node. That is to say, the positioning related measurement amount corresponding to the jth target anchor node (the jth target anchor node is any one of the at least one target anchor node) is calculated by the target terminal according to the positioning parameter signal and/or the positioning radio frame sent by the jth target anchor node.

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

after the target terminal calculates the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity corresponding to each target anchor node, the position of the target terminal can be calculated according to the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity corresponding to each target anchor node, and the calculated position of the target terminal is fed back to the first terminal.

The positioning-related measurement quantity may include, but is not limited to, at least one of: channel State Information (CSI), signal propagation Time (ToF), time Difference of Arrival (TDoA), received Signal Strength (RSS), radio frequency Fingerprint (RF Fingerprint), and Angle of Arrival (Angle of Arrival, aoA) and Angle of Departure (AoD) characterizing the angular direction of the Signal.

According to the first terminal provided by the embodiment of the application, the target terminal and the target anchor node are subjected to positioning wireless resource configuration and feedback related information configuration, so that the target terminal can measure the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity corresponding to each target anchor node, the obtained positioning related measurement is used for determining the position of the target terminal, and high-precision positioning of the target terminal is realized.

In an alternative embodiment, the anchor nodes are terminals of a registration process with the first terminal, that is, each of the anchor nodes is a terminal having an auxiliary positioning function and registered with the first terminal.

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

The association degree between the target anchor node and the target terminal is higher than the association degree between non-target anchor nodes (i.e. anchor nodes except the target anchor node) in the plurality of anchor nodes and the target terminal.

The multiple anchor nodes can be sorted according to the sequence of the association degrees with the target terminal from large to small, and the anchor node which is N before the association degree with the target terminal is sorted is selected as the N target anchor nodes. Or,

an anchor node having a degree of association with the target terminal greater than a threshold degree of association may be selected as the target anchor node. Optionally, if there is no anchor node whose association with the target terminal is greater than the association threshold, then the anchor node whose association with the target terminal is ranked N before may be selected as N target anchor nodes.

Optionally, the association degree between the anchor node and the target terminal may be characterized by the signal strength between the anchor node and the target terminal. The stronger the signal strength between the anchor node and the target terminal is, the greater the degree of association characterizing the anchor node and the target terminal is, the weaker the signal strength between the anchor node and the target terminal is, and the smaller the degree of association characterizing the anchor node and the target terminal is.

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

In one implementation, the program stored by the memory 31, when executed by the processor 11, further configures the processor 11 to perform the steps of:

and sending the configuration information of each anchor node to the target terminal. Configuration information for each anchor node may include, but is not limited to, the following: identification information (e.g., ID) of each anchor node, access signal format of each anchor node, etc.

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

And determining the target anchor node based on the signal strength between the target terminal and each anchor node.

The first terminal may sort the plurality of anchor nodes in an order from large to small in signal strength with the target terminal, and determine N anchor nodes before the sorting as N target anchor nodes. Or,

the first terminal may determine an anchor node having a signal strength with the target terminal greater than a strength threshold as the target anchor node. If the number of anchor nodes with the signal strength larger than the strength threshold value between the anchor nodes and the target terminal is larger than N, the signal strength larger than the strength threshold value between the anchor nodes and the target terminal can be selected, and N anchor nodes with the first N in sequence are used as N target anchor nodes; if there is no anchor node having a signal strength greater than the strength threshold with the target terminal, the first N anchor nodes may be ranked as N target anchor nodes.

Further, the program stored by the memory 31, when executed by the processor 11, further configures the processor 11 to perform the steps of:

and after the target anchor node is determined, sending the link establishment confirmation information to the target anchor node, so that the target anchor node and the target terminal establish a link.

That is, the target anchor node can be determined in the process of establishing the link between the target terminal and the anchor node.

In another alternative embodiment, the target anchor node may be determined after the target terminal establishes the link with the anchor node. Based thereon, the program stored by the memory 31, when executed by the processor 11, further configures the processor 11 to perform the steps of:

and sending the configuration information of each anchor node to the target terminal. Configuration information for each anchor node may include, but is not limited to, the following: identification information (e.g., ID) of each anchor node, access signal format of each anchor node, etc. After receiving the configuration information of the ith anchor node sent by the first terminal, the target terminal may send a link establishment request to the ith anchor node according to the configuration information of the ith anchor node.

And receiving a link establishment success signal sent by each anchor node, wherein the link establishment success signal sent by the anchor node represents that the anchor node establishes a link with the target terminal. After the ith anchor node establishes a link with the target terminal, a link establishment success signal can be sent to the first terminal, and a link establishment success signal can also be sent to the target terminal.

And transmitting reference signal configuration information for link quality measurement to the target terminal and each anchor node. After receiving the link establishment success signal sent by at least one anchor node, the first terminal may send reference signal configuration information for link quality measurement to the anchor node (for example, the ith anchor node) that sends the link establishment success signal and the target terminal, respectively.

Alternatively, the ith anchor node may send a specified reference signal to the target terminal based on the reference signal configuration information, and the target terminal may calculate the signal strength between the target terminal and the ith anchor node based on the reference signal specified by the received reference signal configuration information. And after the target terminal obtains the signal strength between the target terminal and each anchor node, the signal strength between the target terminal and each anchor node is sent to the first terminal.

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

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

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

And receiving the signal strength between the target terminal and each anchor node.

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

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

Further, the program stored in the memory 31, when executed by the processor 11, further configures the processor 11 to perform the steps of:

after determining the target anchor node, sending confirmation establishing link information to the target anchor node, so that the target anchor node determines that the target anchor node can be used for subsequent auxiliary positioning (i.e. the embodiments related to the foregoing steps S101 to S106).

For non-target anchor nodes, since they do not receive the confirmation establishment link information, they are not used for subsequent auxiliary positioning. In order to reduce power consumption, if the non-target anchor node does not receive the link establishment confirmation information within the preset time period, the non-target anchor node may enter a low power consumption state, such as a sleep state or a sleep state. Based thereon, the program stored by the memory 31, when executed by the processor 11, further configures the processor 11 to perform the steps of:

before sending the configuration information of each anchor node to the target terminal, awakening each anchor node, and then sending the configuration information of each anchor node to the target terminal.

In the application, the target anchor node is not fixed but can be selected in real time, for example, the process of selecting the target anchor node can be triggered and executed when a positioning request for a target terminal is obtained, so that an optimal anchor node for auxiliary positioning can be obtained in real time, and the positioning accuracy of the target terminal is further improved.

In an alternative embodiment, to maintain updates to the first terminal on the location and status of the anchor node, the program stored in the memory 31, when executed by the processor 11, further configures the processor 11 to perform the steps of:

and respectively sending the first reported resource configuration information to each anchor node. The first reporting resource configuration information indicates a period (for convenience of description and distinction, denoted as a target period) and a frequency point (for convenience of description and distinction, denoted as a first target frequency point) for the anchor node to report the location and state information to the first terminal.

And receiving the position and state information reported by the anchor node according to the target period based on the first target frequency point. After receiving the first reporting resource configuration information sent by the first terminal, the ith anchor node may report the location and state information of the ith anchor node to the first terminal periodically by using the first target frequency point, where the reporting period is the target period.

The state information of the anchor node characterizes the anchor node as online. When the anchor node is not on-line (for example, power down, failure, or being blocked), the location and state information may not be reported to the anchor node, and it is certain that auxiliary positioning cannot be performed, and based on this, the anchor nodes may specifically be: an online terminal registered with the first terminal.

The first designated target frequency points are different in the first reported resource configuration information sent to different anchor nodes; or, in the first reporting resource configuration information sent to different anchor nodes, the specified first target frequency points are the same, but the reporting time of the position and the state information is different. That is to say, different anchor nodes report on different first target frequency points, or different anchor nodes report on the same first target frequency point, but the reporting time is different. Therefore, the failure of information reporting caused by collision of information reported by different anchor nodes can be avoided.

and respectively sending the reporting stop configuration information to each anchor node so that each anchor node stops reporting the position and state information to the first terminal.

The first terminal may send the report stop configuration information to each anchor node when the condition is satisfied. The satisfaction condition may include, but is not limited to, any of the following cases: the number of cycles of reporting the position and state information to the first terminal by each anchor node reaches a preset number of cycles; obtaining an interrupt request with a priority greater than a target priority; monitoring target event generation, etc.

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

In another embodiment, the first terminal may configure each anchor node to report location and status information of each anchor node to the first terminal once, based on which the program stored in the memory 31, when executed by the processor 11, further configures the processor 11 to perform the steps of:

and sending second reported resource configuration information to each anchor node. The second reporting resource configuration information indicates a frequency point (for convenience of description and distinction, denoted as a second target frequency point) at which the anchor node reports the location and state information to the first terminal once.

And receiving the position and state information reported by the anchor node based on the second target frequency point. After receiving the second reporting resource configuration information, the ith anchor node may report the position and state information of the ith anchor node to the first terminal by using the second target frequency point.

Wherein, in the second reported resource configuration information sent to different anchor nodes, the designated second target frequency points are different; or, in the second reporting resource configuration information sent to different anchor nodes, the designated second target frequency points are the same, but the reporting time of the position and the state information is different. That is, different anchor nodes report on different second target frequency points, or different anchor nodes report on the same second target frequency point, but the reporting time is different.

In an alternative embodiment, the terminal registered with the first terminal may be a fixed-location terminal or a mobile-location terminal (referred to as a mobile terminal), and based on this, the anchor node is divided into two types: a static anchor node and a dynamic anchor node; the static anchor node is a terminal at a fixed position, and the dynamic anchor node is a terminal at a movable position (such as a notebook, a mobile phone, a desktop, and the like). Accordingly, the program stored by the memory 31, when executed by the processor 11, further configures the processor 11 to perform the steps of:

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

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

In this embodiment, if the M dynamic anchor nodes all feed back the first information, it is described that each dynamic anchor node may be used for auxiliary positioning, that is, the selected at least one target anchor node may be used for auxiliary positioning, and at this time, an auxiliary positioning process may be performed, that is, a step of sending positioning radio resource configuration information to the at least one target anchor node and subsequent steps may be performed.

If second information fed back by the K (K is less than or equal to M) dynamic anchor nodes is received, it indicates that the K dynamic anchor nodes cannot be used for subsequent auxiliary positioning, and therefore K new anchor nodes need to be reselected from the multiple anchor nodes as new target anchor nodes. For the process of specifically selecting K new anchor nodes, reference is made to the process of selecting the target anchor node, which is not described herein again.

the broadcast anchor node queries the information. The first terminal may periodically broadcast anchor node query information in order to discover new anchor nodes.

Receiving an anchor node registration request sent by a first device, and recording relevant information of the first device carried in the anchor node registration request, wherein the relevant information at least comprises: an identification of the first device and location information. Further, the type of the anchor node of the first device may be included in the related information.

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

The position information of the first device in the related information is the position information of the first device relative to the first terminal, and the first device can obtain the position of the first device relative to the first terminal in a third-party positioning mode, such as laser ranging, wifi positioning and the like. The first device may also obtain the position of the first device relative to the first terminal in a single-point positioning manner.

Corresponding to the above-mentioned first terminal, the present application also provides another terminal device (denoted as a second terminal), where the second terminal may be a device dedicated for assisting positioning, or may not be a device dedicated for assisting positioning, and for example, may be a device such as a notebook, a mobile phone, or a desktop.

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

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

Optionally, the association degree between the anchor node and the target terminal may be characterized by the signal strength between the anchor node and the target terminal. The stronger the signal strength between the anchor node and the target terminal is, the greater the association degree of the representation anchor node and the target terminal is, the weaker the signal strength between the anchor node and the target terminal is, and the smaller the association degree of the representation anchor node and the target terminal is.

As shown in fig. 2a-2b, fig. 2a is a schematic view of a first structure of a second terminal according to an embodiment of the present application, and fig. 2b is a flowchart of another implementation of a positioning method according to the embodiment of the present application. The second terminal may include: at least one processor 12, at least one communication interface 22, at least one memory 32, and at least one communication bus 42.

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

The processor 12 may be a central processing unit CPU, or an Application Specific Integrated Circuit ASIC (Application Specific Integrated Circuit), or one or more Integrated circuits configured to implement embodiments of the present Application, or the like.

The memory 32 may comprise high-speed RAM memory, and may further comprise non-volatile memory (non-volatile memory) or the like, such as at least one disk memory.

Wherein the memory 32 stores a program and the processor 12 is configured to execute the program stored by the memory 32, which when executed by the processor 12 configures the processor 12 to perform the steps as shown in fig. 2 b:

step S201: and receiving the positioning wireless resource configuration information sent by the first terminal.

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

Step S202: and sending a positioning reference signal and/or a positioning wireless frame to the target terminal according to the positioning wireless resource configuration information. The positioning reference signal and/or the positioning wireless frame are used for the target terminal to determine the positioning related measurement quantity corresponding to the second terminal; the positioning related measurement quantity is used for determining the position of the target terminal.

The positioning-related measurements may include, but are not limited to, at least one of: channel State Information (CSI), signal propagation Time (ToF), time Difference of Arrival (TDoA), received Signal Strength (RSS), radio frequency Fingerprint (RF Fingerprint), and Angle of Arrival (Angle of Arrival, aoA) and Angle of Departure (AoD) that characterize the angular direction of the Signal.

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

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

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

The following describes a procedure in which the second terminal is determined as a target anchor node. Based thereon, the program stored by the memory 32, when executed by the processor 12, further configures the processor 12 to perform the steps of:

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

The signal strength of an access signal carrying a link establishment request is measured. Optionally, after receiving the access signal of the bearer link establishment request, the second terminal establishes synchronization with the target terminal, and then measures the signal strength of the access signal of the bearer link establishment request.

The measured signal strength is transmitted to the first terminal.

And receiving the link establishment confirmation information sent by the first terminal, establishing a link with the target terminal, and representing that the second terminal is determined as the target anchor node. And when the first terminal confirms that the link establishment information is determined that the second terminal is the target anchor node based on the signal strength sent by the second terminal, the link establishment information is sent to the first terminal. And after receiving the link establishment confirmation information, the second terminal establishes a link with the target terminal and represents that the second terminal is determined as the target anchor node.

And if the second terminal does not receive the link establishment confirmation information sent by the first terminal, the second terminal is not determined as the target anchor node.

The method and the device for determining the second terminal are used for judging whether the second terminal is a target anchor node or not in the process of establishing the link between the target terminal and the second terminal.

In another optional embodiment, after the link is established between the target terminal and the second terminal, it may be determined whether the second terminal is the target anchor node. Based thereon, the program stored by the memory 32, when executed by the processor 12, further configures the processor 12 to perform the steps of:

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

And receiving reference signal configuration information which is sent by the first terminal and used for measuring the link quality. Optionally, the reference signal configuration information may be sent to the second terminal by the first terminal after receiving a link establishment success signal sent by the second terminal.

Optionally, the second terminal may send a reference signal to the target terminal based on the reference signal configuration information, so that the target terminal may calculate the signal strength between the target terminal and the second terminal based on the received reference signal. And after the target terminal obtains the signal strength between the target terminal and the second terminal, the signal strength between the target terminal and the second terminal is sent to the first terminal, so that the first terminal can judge whether the second terminal is a target anchor node according to the signal strength between the target terminal and the second terminal. Based thereon, the program stored by the memory 32, when executed by the processor 12, further configures the processor 12 to perform the steps of:

and transmitting the reference signal to the target terminal based on the reference signal configuration information. By transmitting the reference signal to the target terminal, the target terminal can calculate the signal strength between the target terminal and the second terminal based on the received reference signal, and the signal strength between the target terminal and the second terminal is transmitted to the first terminal.

And receiving the link establishment confirmation information sent by the first terminal, and representing that the second terminal is determined as the target anchor node. And when the first terminal determines that the second terminal is the target anchor node, the link establishment information is sent to the second terminal. And if the link establishment information sent by the first terminal is not received, the second terminal is not determined as the target anchor node.

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

and receiving the reference signal sent by the target terminal based on the reference signal configuration information.

And calculating the signal strength between the target terminal and the second terminal based on the reference signal transmitted by the target terminal.

And feeding back the signal strength between the target terminal and the second terminal to the first terminal.

Optionally, if the second terminal is not determined as the target anchor node, in order to reduce power consumption, if the second terminal does not receive the confirmation establishment link information sent by the first terminal within the preset time period, the second terminal may enter a low power consumption state, such as a dormant state or a sleep state. Based thereon, the program stored by the memory 32, when executed by the processor 12, further configures the processor 12 to perform the steps of:

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

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

and after exiting the low power consumption state, executing the step of establishing the link with the target terminal and the subsequent steps thereof.

In an alternative embodiment, to maintain an update to the location and status of the anchor node by the first terminal, the program stored in the memory 32, when executed by the processor 12, further configures the processor 12 to perform the steps of:

and receiving first reporting resource configuration information sent by a first terminal. The first reporting resource configuration information indicates a period (for convenience of description and distinction, denoted as a target period) and a frequency point (for convenience of description and distinction, denoted as a first target frequency point) for the second terminal to report the position and state information to the first terminal.

And reporting the position and state information of the second terminal to the first terminal according to the target period and the first target frequency point based on the first reported resource configuration information. The second terminal may report the position and state information of the second terminal to the first terminal according to the target period and the first target frequency point specified by the first reporting resource configuration information. And reporting the position and the state information by different second terminals at different first target frequency points, or reporting the position and the state information by different second terminals at the same first target frequency point, wherein the reporting time is different.

And the state information of the second terminal represents that the second terminal is on-line. When the second terminal is not on-line (for example, power down, or failure, or being blocked), the second terminal does not report the position and state information, and cannot perform auxiliary positioning. Therefore, the plurality of anchor nodes may be: registering the on-line terminal of the process with the first terminal.

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

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

and receiving second reported resource configuration information sent by the first terminal. The second reporting resource configuration information indicates a frequency point (for convenience of description and distinction, denoted as a second target frequency point) at which the second terminal reports the location and state information to the first terminal.

And reporting the position and state information of the second terminal to the first terminal according to the second target frequency point based on the second reporting resource configuration information. The second terminal may report the position and the state information of the second terminal to the first terminal according to the second target frequency point specified by the second reporting resource configuration information. And reporting the position and the state information by different second terminals at different second target frequency points, or reporting the position and the state information by different second terminals at the same second target frequency point, wherein the reporting time is different.

In an alternative embodiment, the second terminal may be a fixed location terminal or a mobile location terminal. Based on this, the second terminal may be of two possible types: a static anchor node and a dynamic anchor node; the static anchor node is a terminal at a fixed position, and the dynamic anchor node is a terminal at a movable position (such as a notebook, a mobile phone, a desktop, etc.). The static anchor node may or may not be an anchor node dedicated to assisted positioning; the dynamic anchor node may or may not be an anchor node dedicated for assisted positioning. Accordingly, the program stored by the memory 32, when executed by the processor 12, further configures the processor 12 to perform the steps of:

and under the condition that the second terminal is a dynamic anchor node, receiving an auxiliary positioning request sent by the first terminal.

If the auxiliary positioning condition is met, feeding back first information to the first terminal; the first information characterizes that the second terminal can be used for assisting positioning. When receiving the auxiliary positioning request sent by the first terminal, the second terminal can judge the current load capacity of the second terminal, if the load capacity is smaller than a threshold value, the auxiliary positioning condition is determined to be met, otherwise, the auxiliary positioning condition is determined not to be met. Or, when the second terminal receives the auxiliary positioning request sent by the first terminal, the current operation mode of the second terminal may be determined, if the operation mode is the target mode (for example, a game mode, a conference mode, etc.), it is determined that the auxiliary positioning condition is not satisfied, otherwise, it is determined that the auxiliary positioning condition is satisfied.

Further, if the auxiliary positioning condition is not satisfied, feeding back second information to the second terminal, where the second information indicates that the second terminal cannot be used for auxiliary positioning.

The following describes a procedure for the second terminal to register the anchor node with the first terminal. Based thereon, the program stored by the memory 32, when executed by the processor 12, further configures the processor 12 to perform the steps of:

an anchor node query request broadcast by a first terminal is received.

Sending an anchor node registration request to a first terminal, wherein the anchor node registration request carries related information of a second terminal, and the related information at least comprises: the identification and location information of the second terminal. Further, the related information may further include an anchor node type of the second terminal.

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

The position information of the second terminal in the related information is the position information of the second terminal relative to the first terminal, and the second terminal can obtain the position of the second terminal relative to the first terminal in a third-party positioning mode, such as laser ranging, wifi positioning and the like. The second terminal can also obtain the position of the second terminal relative to the first terminal through a single-point positioning mode.

In correspondence with the foregoing for the first terminal and the second terminal, the present application also provides yet another terminal device (denoted as target terminal).

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

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

The processor 13 may be a central processing unit CPU, or an Application Specific Integrated Circuit ASIC (Application Specific Integrated Circuit), or one or more Integrated circuits configured to implement the embodiments of the present Application, etc.

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

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

step S301: and receiving positioning wireless resource configuration information and feedback configuration information sent by a first terminal.

The positioning radio resource configuration information is used to configure radio transmission resources required for positioning the target terminal, and may include, but is not limited to, the following information: pilot frequencies, the number and periodicity of positioning radio frames, frequency hopping patterns, positioning reference signals and/or positioning radio frames, etc.

Feedback configuration information includes, but is not limited to: the target terminal needs to calculate the positioning related measurement quantity, and feeds back information such as a transmission format (i.e. a transmission format when the target terminal feeds back information to the first terminal).

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

The target terminal can receive positioning reference signals and/or positioning wireless frames based on information such as pilot frequency, the number and the period of the positioning wireless frames, a frequency hopping mode and the like specified by the positioning wireless resource configuration information; and determining the positioning related measurement quantity to be calculated based on the feedback configuration information, and reporting a feedback transmission format required by the information to the first terminal.

Step S303: and calculating to obtain the positioning related measurement quantity corresponding to the first terminal according to the positioning reference signal and/or the positioning wireless frame sent by the first terminal, and calculating to obtain the positioning related measurement quantity corresponding to the target anchor node according to the positioning reference signal and/or the positioning wireless frame sent by the target anchor node.

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

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

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

The target terminal provided by the application can measure the positioning related measurement quantity corresponding to the first terminal and the positioning related measurement quantity corresponding to each target anchor node based on the positioning wireless resource configuration and the feedback related information configuration of the first terminal to the target terminal, and the obtained positioning related measurement is used for determining the position of the target terminal, so that the high-precision positioning of the target terminal is realized.

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

The plurality of anchor nodes can be sorted according to the sequence of the relevance degrees with the target terminal from large to small, and N anchor nodes before the relevance degree with the target terminal is sorted are selected as N target anchor nodes. Or,

an anchor node having a degree of association with the target terminal greater than the threshold degree of association may be selected as the target anchor node. Optionally, if there is no anchor node whose association degree with the target terminal is greater than the association degree threshold, the anchor node whose association degree with the target terminal is ranked N top may be selected as N target anchor nodes.

In one implementation, the program stored by the memory 33, when executed by the processor 13, further configures the processor 13 to perform the steps of:

and receiving configuration information of each anchor node sent by the first terminal. The configuration information of the ith anchor node (which is any one of the plurality of anchor nodes) may include, but is not limited to, the following items: identification information (e.g., ID) of the ith anchor node, access signal format of the ith anchor node, and the like.

A link establishment request is sent to each anchor node based on configuration information for each anchor node. And after receiving the ith anchor node configuration information, the target terminal sends a link establishment request to the ith anchor node based on the ith anchor node configuration information. After receiving a link establishment request sent by a target terminal, the ith anchor node measures the strength of an access signal bearing the link establishment request to obtain the signal strength between the target terminal and the ith anchor node, and sends the signal strength to the first terminal so that the first terminal can judge whether the ith anchor node is the target anchor node. And if the first terminal determines that the ith anchor node is the target anchor node, sending information for confirming link establishment to the ith anchor node, and feeding a link establishment success signal back to the target terminal by the ith anchor node so as to establish a link with the target terminal.

And receiving a link establishment success signal fed back by the anchor node. And if a link establishment success signal fed back by the ith anchor node is received, the ith anchor node is determined as the target anchor node. Otherwise, if the link establishment success signal fed back by the ith anchor node is not received, the ith anchor node is not determined as the target anchor node.

In another alternative embodiment, the target anchor node may be determined after the target terminal establishes a link with the anchor node. Based thereon, the program stored by the memory 33, when executed by the processor 13, further configures the processor 13 to perform the steps of:

A link is established with the anchor node based on configuration information of the anchor node. The target terminal can send a link establishment request to the ith anchor node according to the configuration information of the ith anchor node, receive a link establishment success signal fed back by the ith anchor node, and establish a link with the ith anchor node. The ith anchor node may also send a link setup success signal to the first terminal.

And receiving reference signal configuration information which is sent by the first terminal and used for measuring the link quality. Optionally, the reference signal configuration information may be sent to the ith anchor node by the first terminal after receiving a link establishment success signal sent by the ith anchor node.

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

Optionally, the memory 33 stores a program that, when executed by the processor 13, further configures the processor 13 to perform the steps of:

and receiving reference signals for link quality measurement sent by each anchor node based on the reference signal configuration information. Optionally, for the ith anchor node, the target terminal may receive, based on the reference signal configuration information, a reference signal sent by the ith anchor node for link quality measurement.

And calculating the signal strength between the target terminal and the anchor node based on the reference signal sent by the anchor node. Alternatively, the target terminal may calculate the signal strength between the target terminal and the ith anchor node based on the reference signal sent by the ith anchor node.

And feeding back the signal strength between the target terminal and each anchor node to the first terminal. And after the target anchor node calculates the signal strength between the target terminal and each anchor node, the signal strength between the target terminal and each anchor node is fed back to the first terminal.

and transmitting a reference signal for link quality measurement to the anchor node based on the reference signal configuration information. The target terminal may transmit reference signals for link quality measurement to the respective anchor nodes based on the reference signal configuration information, respectively.

The reference signal is used to calculate the signal strength between the target terminal and the anchor node. And the ith anchor node calculates the signal strength between the target terminal and the ith anchor node based on the reference signal sent by the target terminal. The signal strength between the target terminal and each anchor node is used to determine the target anchor node. After the ith anchor node determines the signal strength between the target terminal and the ith anchor node, the signal strength between the target terminal and the ith anchor node is sent to the first terminal, so that the first terminal can determine the target anchor node according to the signal strength between the target terminal and each anchor node.

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

step S401: a first terminal obtains a location request for a target terminal.

Step S402: the first terminal determines positioning wireless resource configuration information and feedback configuration information.

Step S403: and the first terminal sends the positioning wireless resource configuration information to at least one target anchor node. The interaction mode of each target anchor node with the first terminal and the target terminal is the same, and fig. 4 only shows the interaction mode of the jth target anchor node with the first terminal and the target terminal.

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

The present application does not limit the execution sequence of steps S403 and S404, and step S403 may be executed first and step S404 may be executed second, or step S404 may be executed first and step S403 may be executed second, or step S403 and step S404 may be executed simultaneously.

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

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

The execution sequence of steps S405 and S406 is not limited in the present application, and step S405 may be executed first and step S406 may be executed later, or step S406 may be executed first and step S405 may be executed later, or step S405 and step S406 may be executed simultaneously.

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

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

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

If the positioning request for the target terminal is sent to the first terminal by other devices, the first terminal may also report the position of the target terminal to the other devices. If the positioning request for the target terminal is generated at the first terminal, the first terminal may not report the position of the target terminal to other devices, and may also report the position of the target terminal to other devices.

The specific implementation process of each step of steps S401 to S409 may refer to the foregoing embodiment, and is not described herein again.

Fig. 4 is an illustration of reporting, by a target terminal, a positioning related measurement quantity corresponding to a first terminal to the first terminal, and a positioning related measurement quantity corresponding to each target anchor node. As described in the foregoing embodiment, the target terminal may also calculate the position of the target terminal according to the positioning related measurement amount corresponding to the first terminal and the positioning related measurement amount corresponding to each target anchor node, and report the position of the target terminal to the first terminal.

As shown in fig. 5, a flowchart for selecting at least one target anchor node from a plurality of anchor nodes according to an embodiment of the present application is implemented, where the flowchart may include:

step S501: the first terminal wakes up each anchor node. Which may also be referred to as enabling individual anchor nodes.

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

Step S503: and the target terminal respectively sends a link establishment request to each anchor node according to the configuration information of each anchor node. The interaction mode of each anchor node with the first terminal and the target terminal is the same, and only the ith anchor node is shown in fig. 5.

Step S504: each anchor node measures the signal strength of the access signal of the bearer link establishment request. That is to say, the ith anchor node measures the signal strength of an access signal carrying a link establishment request sent by the target terminal to the ith anchor node, and obtains the signal strength between the ith anchor node and the target terminal.

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

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

Step S507: the first terminal sends the link establishment confirmation information to the target anchor node. Fig. 5 illustrates an example in which the ith anchor node is determined as the target anchor node. If the ith anchor node is not determined to be the target anchor node, the first terminal does not send acknowledgement establishment link information to the ith anchor node.

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

For the specific implementation process of each step in steps S501-S508, reference may be made to the foregoing embodiment, which is not described herein again.

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

As shown in fig. 6, another implementation flowchart for selecting at least one target anchor node from a plurality of anchor nodes provided in this embodiment of the present application may include:

step S601: the first terminal wakes up each anchor node. Which may also be referred to as enabling individual anchor nodes.

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

Step S603: and the target terminal respectively sends a link establishment request to each anchor node according to the configuration information of each anchor node. The interaction mode of each anchor node with the first terminal and the target terminal is the same, and only the ith anchor node is shown in fig. 5.

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

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

Step S606: and each anchor node respectively sends the reference signal specified by the reference signal configuration information to the target terminal.

Step S607: the target terminal calculates signal strength between the target terminal and each anchor node based on the reference signal sent by each anchor node, and specifically, the target terminal calculates signal strength between the target terminal and the ith anchor node based on the reference signal sent by the ith anchor node.

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

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

Step S610: the first terminal sends a confirmation link establishment message to the target anchor node. Fig. 6 illustrates an example in which the ith anchor node is determined as the target anchor node. If the ith anchor node is not determined to be the target anchor node, the first terminal does not send acknowledgement establishment link information to the ith anchor node. The anchor node receiving the confirmation link establishment information determines that the anchor node is determined as the target anchor node, and can be used for subsequent auxiliary positioning.

For the specific implementation process of each step in steps S601-S610, reference may be made to the foregoing embodiment, which is not described herein again.

In the embodiment shown in fig. 6, a reference signal specified by reference signal configuration information is sent to a target terminal by an anchor node, and the target terminal feeds back the signal strength between the target terminal and each anchor node to a first terminal, which is taken as an example to explain the process of determining the target anchor node.

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

step S701: and the first terminal respectively sends the first reported resource configuration information to each anchor node.

Step S702: and each anchor node reports the position and the state information periodically, and specifically, each anchor node reports the position and the state information of the anchor node to the first terminal according to a target period based on a first target frequency point specified by the first reporting resource configuration information. Specifically, the ith anchor node reports the position and state information of the ith anchor node to the first terminal according to a target period based on a first target frequency point specified by the first reported resource configuration information. The interaction mode of each anchor node and the first terminal is the same, and only the ith anchor node is shown in fig. 7.

Step S703: and the first terminal respectively sends the reporting stop configuration information to each anchor node so that each anchor node stops reporting the position and state information to the first terminal. That is, the first terminal may send the reporting stop configuration information to the ith anchor node, so that the ith anchor node stops reporting the location and status information of the ith anchor node to the first terminal.

That is to say, the first terminal sends the first reporting resource configuration information to the ith anchor node once, and the ith anchor node may report the location and state information of the ith anchor node to the first terminal for multiple times periodically.

The specific implementation process of each step of steps S701 to S703 may refer to the foregoing embodiment, and is not described herein again.

As shown in fig. 8, another implementation flowchart for the first terminal to monitor each anchor node provided in the embodiment of the present application may include:

step S801: and the first terminal respectively sends second reported resource configuration information to each anchor node.

Step S802: and each anchor node reports the primary position and state information, and specifically, each anchor node reports the primary position and state information of the anchor node to the first terminal based on a second target frequency point specified by the second reporting resource configuration information. Specifically, the ith anchor node reports the position and state information of the ith anchor node to the first terminal once based on a second target frequency point specified by the second reported resource configuration information. The interaction between each anchor node and the first terminal is the same, and only the ith anchor node is shown in fig. 8.

That is, the first terminal sends the second reported resource configuration information to the ith anchor node once, and the ith anchor node only reports the position and state information of the ith anchor node once to the first terminal.

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

an obtaining module 901, configured to obtain a positioning request for a target terminal.

A determining module 902, configured to determine, in response to the positioning request, positioning radio resource configuration information and feedback configuration information.

A first sending module 903, configured to send the positioning radio resource configuration information to at least one target anchor node.

A second sending module 904, configured to send the positioning radio resource configuration information and the feedback configuration information to the target terminal.

A third sending module 905, configured to send a positioning parameter signal and/or a positioning radio frame to the target terminal.

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

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

Corresponding to the embodiment of the method shown in fig. 2b, the embodiment of the present application further provides another positioning apparatus, where the positioning apparatus is used for a second terminal, and the second terminal is a target anchor node selected from a plurality of anchor nodes. Wherein the plurality of anchor nodes are: a terminal registered with the first terminal; the association degree of the target anchor node and the target terminal is higher than that of a non-target anchor node in the anchor nodes and the target terminal; the target terminal is a terminal to be positioned.

Another schematic structural diagram of the positioning device provided in the embodiment of the present application is shown in fig. 10, and may include:

the second receiving module 1001: and receiving the positioning wireless resource configuration information sent by the first terminal.

A fourth sending module 1002, configured to send a positioning reference signal and/or a positioning radio frame to the target terminal according to the positioning radio resource configuration information.

Corresponding to the embodiment of the method shown in fig. 3b, an embodiment of the present application further provides another positioning apparatus, and a schematic structural diagram of the positioning apparatus provided in the embodiment of the present application is shown in fig. 11, and the positioning apparatus may include:

a third receiving module 1101, configured to receive positioning radio resource configuration information and feedback configuration information sent by the first terminal.

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

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

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

In accordance with an embodiment of the method, a storage medium may store a program adapted to be executed by a processor, where the program is configured to:

obtaining a positioning request aiming at a target terminal;

Alternatively, the program is for:

Alternatively, the detailed function and the extended function of the program may be as described above.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

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

It should be understood that the technical problems can be solved by combining and combining the features of the embodiments from the claims.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A terminal, the terminal being a first terminal, the first terminal comprising:

a memory for storing a program;

obtaining a positioning request aiming at a target terminal;

2. The terminal of claim 1, the at least one target anchor node selected from a plurality of anchor nodes; the plurality of anchor nodes are: a terminal registered with the first terminal;

wherein the degree of association between the target anchor node and the target terminal is higher than the degree of association between non-target anchor nodes in the plurality of anchor nodes and the target terminal.

3. The terminal of claim 2, the target anchor node having a higher degree of association with the target terminal than a non-target anchor node of the plurality of anchor nodes, comprising:

4. The terminal of claim 3, the program, when executed by the processor, further configures the processor to:

sending configuration information of each anchor node to the target terminal;

5. The terminal of claim 3, the program, when executed by the processor, further configures the processor to:

sending configuration information of each anchor node to the target terminal;

receiving a link establishment success signal sent by each anchor node, wherein the link establishment success signal sent by the anchor node represents that the anchor node and the target terminal are established to be linked;

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

6. The terminal of claim 2, the program, when executed by the processor, further configures the processor to:

or,

7. The terminal of claim 2, the anchor node comprising at least two types: a static anchor node and a dynamic anchor node; the dynamic anchor node is a mobile terminal;

sending an auxiliary positioning request to each dynamic anchor node in the M dynamic anchor nodes respectively under the condition that at least one target anchor node selected from the plurality of anchor nodes contains M dynamic anchor nodes;

8. The terminal of any of claims 1-7, the program, when executed by the processor, further configures the processor to:

broadcasting the inquiry information of the anchor node;

9. A terminal, the terminal being a second terminal, the second terminal being a target anchor node selected from a plurality of anchor nodes; the plurality of anchor nodes are: a terminal registered with the first terminal; wherein the association degree of the target anchor node and the target terminal is higher than the association degree of a non-target anchor node in the plurality of anchor nodes and the target terminal; the second terminal includes:

a memory for storing a program;

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

a memory for storing a program;

11. A positioning method for a first terminal, the method comprising:

obtaining a positioning request aiming at a target terminal;

12. A positioning method for a second terminal, the second terminal being a target anchor node selected from a plurality of anchor nodes; the plurality of anchor nodes are: a terminal registered with the first terminal; wherein the association degree of the target anchor node and the target terminal is higher than the association degree of a non-target anchor node in the plurality of anchor nodes and the target terminal; the method comprises the following steps:

13. A positioning method is used for a target terminal, and the method comprises the following steps: