CN118715796A - Position determination method, device, equipment, medium, chip, product and program - Google Patents

Abstract

The embodiment of the application provides a position determining method, a position determining device, a position determining medium, a position determining chip, a position determining product and a position determining program. The method comprises the following steps: the first equipment receives a control signal sent by the second equipment; determining a first channel frequency response, CFR, based on the control signal; location information of the second device relative to the first device is determined based on the first CFR.

Description

Position determination method, device, equipment, medium, chip, product and program Technical Field

The embodiments of the present application relate to the field of communication technology, and specifically to a location determination method, apparatus, device, medium, chip, product, and program.

Background Art

With the rapid development of communication technology, the acquisition of location information is becoming more and more important in communication systems. In a communication system, how to determine the location information of one device compared to another device has always been a concern in the art.

Summary of the invention

Embodiments of the present application provide a location determination method, apparatus, device, medium, chip, product, and program.

In a first aspect, an embodiment of the present application provides a location determination method, including:

The first device receives a control signal sent by the second device;

Based on the control signal, determining a first channel frequency response CFR;

Based on the first CFR, position information of the second device relative to the first device is determined.

In a second aspect, an embodiment of the present application provides a position determination device, including:

The communication unit is used to: receive a control signal sent by the second device;

A determination unit, configured to: determine a first channel frequency response CFR based on the control signal;

The determining unit is further used to determine location information of the second device relative to the first device based on the first CFR.

In a third aspect, an embodiment of the present application provides a first device, including: a processor and a memory,

The memory stores a computer program executable on the processor.

When the processor executes the program, the method of the first aspect is implemented.

In a fourth aspect, an embodiment of the present application provides a computer storage medium, wherein the computer storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the method described in the first aspect.

In a fifth aspect, an embodiment of the present application provides a chip, comprising: a processor, configured to call and run a computer program from a memory, so that a device equipped with the chip executes the method described in the first aspect.

In a sixth aspect, an embodiment of the present application provides a computer program product, the computer program product comprising a computer storage medium, the computer storage medium storing a computer program, the computer program comprising instructions executable by at least one processor, and the method described in the first aspect is implemented when the instructions are executed by the at least one processor.

In a seventh aspect, an embodiment of the present application provides a computer program, which enables a computer to execute the method described in the first aspect.

In the embodiment of the present application, the first device receives a control signal sent by the second device; based on the control signal, the first channel frequency response CFR is determined; based on the first CFR, the location information of the second device is determined. In this way, since the first device determines the location information of the second device based on the control signal, the location information of the second device can be easily determined, and since the location information of the second device is determined based on the first CFR, the location information of the second device can be accurately determined based on the channel information of the first device and the second device.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

FIG1 is a schematic diagram of an application scenario of an embodiment of the present application;

FIG2a is a schematic diagram of an OTDOA positioning method provided in an embodiment of the present application;

FIG2b is a schematic diagram of a method for E-CID positioning provided in an embodiment of the present application;

FIG3 is a schematic diagram of a flow chart of a location determination method provided in an embodiment of the present application;

FIG4 is a schematic diagram of a flow chart of another location determination method provided in an embodiment of the present application;

FIG5 is a schematic diagram of a flow chart of a positioning solution provided in an embodiment of the present application;

FIG6 is a schematic diagram of the structure of a positioning system provided in an embodiment of the present application;

FIG7 is a schematic diagram of simulation results of angle measurement performance of different angle measurement methods provided in an embodiment of the present application;

FIG8 is a schematic diagram of experimental results of angle measurement performance of different angle measurement methods provided in an embodiment of the present application;

FIG9 is a schematic diagram of the structure of a position determination device provided in an embodiment of the present application;

FIG10 is a schematic structural diagram of a first device provided in an embodiment of the present application;

FIG. 11 is a schematic structural diagram of a chip according to an embodiment of the present application.

DETAILED DESCRIPTION

The following will describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

The technical solutions described in the embodiments of the present application can be combined arbitrarily without conflict. In the description of the present application, "multiple" means two or more, unless otherwise clearly and specifically defined.

FIG. 1 is a schematic diagram of an application scenario of an embodiment of the present application.

As shown in Fig. 1, the communication system 100 may include a terminal device 110 and a network device 120. The network device 120 may communicate with the terminal device 110 via an air interface. The terminal device 110 and the network device 120 support multi-service transmission.

It should be understood that the embodiments of the present application are only exemplified by the communication system 100, but the embodiments of the present application are not limited thereto. That is to say, the technical solutions of the embodiments of the present application can be applied to various communication systems, such as: Long Term Evolution (LTE) system, LTE Time Division Duplex (TDD), Universal Mobile Telecommunication System (UMTS), Internet of Things (IoT) system, Narrow Band Internet of Things (NB-IoT) system, enhanced Machine Type Communications (eMTC) system, 5G communication system (also called New Radio (NR) communication system), or future communication systems (such as 6G, 7G communication systems), etc.

In the communication system 100 shown in Fig. 1, the network device 120 may be an access network device that communicates with the terminal device 110. The access network device may provide communication coverage for a specific geographical area, and may communicate with the terminal device 110 (eg, UE) located in the coverage area.

The terminal device in the embodiments of the present application may be referred to as user equipment (UE), mobile station (MS), mobile terminal (MT), user unit, user station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device. The terminal device may include one of the following or a combination of at least two: a personal digital assistant (PDA), a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, a server, a mobile phone, a tablet computer (Pad), a computer with wireless transceiver function, a handheld computer, a desktop computer, a personal digital assistant, a portable media player, a smart speaker, a navigation device, a smart watch, a smart glasses, a smart necklace and other wearable devices, a pedometer, a digital TV, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical surgery, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, and a vehicle in a vehicle networking system, a vehicle-mounted device, a vehicle-mounted module, a wireless modem (modem), a handheld device (handheld), a customer terminal device (Customer) Premise Equipment (CPE), smart home appliances.

The network device 120 in the embodiment of the present application may include an access network device 121 and/or a core network device 122 .

The access network equipment 121 may include one of the following or a combination of at least two: an evolved base station (eNB or eNodeB) in a Long Term Evolution (LTE) system, a next generation radio access network (NG RAN) device, a base station (gNB) in an NR system, a small station, a micro station, a wireless controller in a cloud radio access network (CRAN), a wireless fidelity (Wi-Fi) access point, a transmission reception point (TRP), a relay station, an access point, a vehicle-mounted device, a wearable device, a hub, a switch, a bridge, a router, a network device in a future evolved public land mobile network (PLMN), etc.

The core network device 122 may be a 5G core network (5G Core, 5GC) device, and the core network device 122 may include one of the following or a combination of at least two: Access and Mobility Management Function (AMF), Authentication Server Function (AUSF), User Plane Function (UPF), Session Management Function (SMF), Location Management Function (LMF), Policy Control Function (PCF). In other embodiments, the core network device may also be an Evolved Packet Core (EPC) device of an LTE network, for example, a Session Management Function + Core Packet Gateway (SMF + PGW-C) device of a core network. It should be understood that SMF + PGW-C can simultaneously implement the functions that SMF and PGW-C can implement. In the process of network evolution, the above-mentioned core network device 122 may also be called other names, or a new network entity may be formed by dividing the functions of the core network, which is not limited to the embodiments of the present application.

The various functional units in the communication system 100 may also establish connections through next generation (NG) network interfaces to achieve communication.

For example, the terminal device establishes an air interface connection with the access network device through the NR interface for transmitting user plane data and control plane signaling; the terminal device can establish a control plane signaling connection with the AMF through the NG interface 1 (N1 for short); the access network device, such as the next-generation wireless access base station (gNB), can establish a user plane data connection with the UPF through the NG interface 3 (N3 for short); the access network device can establish a control plane signaling connection with the AMF through the NG interface 2 (N2 for short); the UPF can establish a control plane signaling connection with the SMF through the NG interface 4 (N4 for short); the UPF can exchange user plane data with the data network through the NG interface 6 (N6 for short); the AMF can establish a control plane signaling connection with the SMF through the NG interface 11 (N11 for short); the SMF can establish a control plane signaling connection with the PCF through the NG interface 7 (N7 for short).

Figure 1 exemplarily shows a base station, a core network device and two terminal devices. Optionally, the wireless communication system 100 may include multiple base station devices and each base station may include other numbers of terminal devices within its coverage area, which is not limited in the embodiments of the present application.

It should be noted that the location determination method, apparatus, device, medium, chip, product and program in the embodiments of the present application can also be applied to a side communication system, a wireless fidelity (WiFi) system, an ultra-wideband (UWB) system or other systems. In a side communication system, two terminal devices can communicate through device-to-device (D2D) communication.

It should be noted that FIG. 1 is only an example of the system to which the present application is applicable. Of course, the method shown in the embodiment of the present application can also be applied to other systems. In addition, the terms "system" and "network" are often used interchangeably in this article. The term "and/or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and/or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character "/" in this article generally indicates that the associated objects before and after are in an "or" relationship. It should also be understood that the "indication" mentioned in the embodiment of the present application can be a direct indication, an indirect indication, or an indication of an association relationship. For example, A indicates B, which can mean that A directly indicates B, for example, B can be obtained through A; it can also mean that A indirectly indicates B, for example, A indicates C, B can be obtained through C; it can also mean that A and B have an association relationship. It should also be understood that the "correspondence" mentioned in the embodiment of the present application can mean that there is a direct or indirect correspondence relationship between the two, or it can mean that there is an association relationship between the two, or it can mean that the relationship between indicating and being indicated, configuring and being configured, etc. It should also be understood that the "predefined", "protocol agreed", "predetermined" or "predefined rules" mentioned in the embodiments of the present application can be implemented by pre-saving corresponding codes, tables or other methods that can be used to indicate relevant information in devices (for example, including terminal devices and network devices), and the present application does not limit its specific implementation method. For example, predefined may refer to the definition in the protocol. It should also be understood that in the embodiments of the present application, the "protocol" may refer to a standard protocol in the field of communications, such as LTE protocols, NR protocols, and related protocols used in future communication systems, and the present application does not limit this.

To facilitate understanding of the technical solutions of the embodiments of the present application, the relevant technologies of the embodiments of the present application are described below. The following related technologies can be arbitrarily combined with the technical solutions of the embodiments of the present application as optional solutions, and they all belong to the protection scope of the embodiments of the present application.

The positioning methods in the related technologies include determining the relative position between two devices based on the Assisted-Global Navigation Satellite System (A-GNSS) technology, determining the relative position between two devices based on the Time Difference of Arrival (TDOA) technology, and determining the relative position between the terminal device and the network device based on the Cell-ID (CID) technology.

A-GNSS uses cellular network systems other than the Global Navigation Satellite System (GNSS) system to provide information assistance, enhance or speed up the search and tracking performance and speed of satellite navigation signals, so that users can get a better application service experience. When the terminal device needs to be positioned, the network device can estimate the satellite operation status above the location based on the initial location of the terminal device (such as the geographical location of the cell), such as ephemeris, almanac and differential calibration information, and provide these auxiliary information to the terminal device through the cellular network, so that the terminal device can use it as prior knowledge to optimize the search and positioning process, thereby reducing the search time, reducing the search signal level requirements, and improving the positioning performance.

However, A-GNSS technology requires certain modifications to terminal devices and network devices: installing satellite navigation system receivers in terminal devices to enable them to receive satellite navigation signals; designing a real-time satellite navigation system receiving network in network devices. Therefore, a more complex system design is required.

The time difference of arrival method uses a positioning principle similar to GNSS. By measuring the arrival time difference of two or more base station reference signals, the location of the terminal device is calculated when the location of each base station is known. According to the type of measurement signal, the TDOA positioning method applied to cellular mobile networks can be divided into two types: Observed Time Difference Of Arrival (OTDOA) and Uplink Time Difference Of Arrival (UTDOA). OTDOA is the terminal device measuring the downlink reference signal from the network device, and UTDOA is the network device measuring the uplink reference signal from the terminal device.

FIG2a is a schematic diagram of an OTDOA positioning method provided by an embodiment of the present application. As shown in FIG2a, the terminal device measures the time difference between the signals of different network devices reaching the terminal device based on the downlink reference signal of the network device. Based on the measurement results of the terminal device and in combination with the geographic coordinates of the network device, a suitable position estimation method is used to perform position estimation. Generally, the position estimation method requires at least three network devices. The more data of the network devices measured by the terminal device, the higher the measurement accuracy and the more obvious the improvement of the positioning performance.

However, TDOA positioning technology requires the coordination of multiple network devices. For example, OTDOA technology requires at least three network devices to locate the terminal device, and the network devices must be synchronized. However, in actual cellular network systems, the demand for network device synchronization generally does not reach the nanosecond level required for positioning.

CID is a method of locating terminal devices based on the geographic coordinates of network devices, that is, determining the location information of network devices as the location information of terminal devices. Since terminal devices may exist at any location within a cell, the positioning accuracy of this method depends on the size of the cell. The CID positioning method is low-cost, has a short search time for mobile stations, and is easy to implement. However, CID technology only uses the location information of the network device to which the terminal device is connected, and this method has a large error in determining the location information of the terminal device.

In addition to using the geographic coordinate information of the serving network device, the Enhanced Cell ID (E-CID) positioning method also uses some measured information, such as estimating the distance between the terminal and the network device and using the Angle of Arrival (AOA) information for positioning.

Figure 2b is a schematic diagram of an E-CID positioning method provided in an embodiment of the present application. As shown in Figure 2b, the network device determines the distance between the network device and the terminal device through TOA, determines the AOA, and determines the position of the terminal device relative to the network device or the position of the terminal device based on the distance and AOA.

To facilitate understanding of the technical solutions of the embodiments of the present application, the technical solutions of the present application are described in detail below through specific embodiments. The above related technologies can be arbitrarily combined with the technical solutions of the embodiments of the present application as optional solutions, and they all belong to the protection scope of the embodiments of the present application. The embodiments of the present application include at least part of the following contents.

FIG3 is a flow chart of a method for determining a position according to an embodiment of the present application. As shown in FIG3 , the method includes:

S301. The second device sends a control signal to the first device; the first device receives the control signal sent by the second device.

In some embodiments, the first device may be a network device, and the second device may be a terminal device. In this way, the control signal may include an uplink control signal. Optionally, the uplink control signal may include at least one of the following: a demodulation reference signal (DMRS), a sounding reference signal (SRS), etc. In some embodiments, considering the good correlation characteristics of the SRS sequence, SRS is used as the control signal. In other embodiments, the control signal may be DMRS, or the control signal may be a combination of SRS or DMRS.

In some other embodiments, the first device and the second device may both be terminal devices. In this way, the control signal may be a side control signal. Optionally, the side reference signal may include at least one of the following: a side channel state information reference signal (CSI-RS), a side SRS, a side phase tracking reference signal (PT-RS), or a side DMRS.

In some other embodiments, the first device may be a terminal device, and the second device may be a network device. In this way, the control signal may include a downlink control signal. Optionally, the downlink control signal may include at least one of the following: CSI-RS or PT-RS, etc.

The embodiments of the present application are not limited to this, and any control signal, as long as it can implement the position determination method of the embodiments of the present application, should be within the protection scope of the present application.

In some embodiments, the second device may send a control signal to the first device every first duration. For example, the second device may send a control signal to the first device every 1 second, 10 seconds, or 1 minute, so that the first device can determine the location information of the second device relative to the first device based on each control signal received. Optionally, when the second device is in high mobility (for example, the moving distance within a preset duration is greater than a distance threshold), the second device may determine that the first duration is shorter, and when the second device is in low mobility (for example, the moving distance within a preset duration is less than or equal to the distance threshold), the second device may determine that the first duration is longer.

In other embodiments, the first device may send request information to the second device, wherein the request information is used to request the second device to send the control signal to the first device, so that the second device sends the control signal to the first device.

In some further embodiments, the first device may receive a location request sent by a fourth device, and the location request may be used to indicate obtaining location information of the second device, or obtaining relative location information between the second device and the fourth device. Thus, when the network device determines the location information of the second device relative to the first device, the location information of the second device, or the relative location information between the second device and the fourth device, is determined based on the location information of the second device relative to the first device, and then the location information of the second device is sent to the fourth device, or the relative location information between the second device and the fourth device is obtained.

Optionally, the first device may also receive indication information sent by the second device, and the indication information may be used to indicate the determination of location information. In this way, the first device may determine the location information of the second device relative to the first device based on the indication information and the control signal using the method in the embodiment of the present application.

S302: The first device determines a first channel frequency response CFR based on the control signal.

In the embodiment of the present application, CFR can characterize the amplitude and phase information of each frequency point in the wireless communication channel. Optionally, CFR is expressed in the form of a complex exponential, for example, CFR can be H(f)=|H(f)|*e ^-j∠H(f) , where H(f) can represent the CFR of frequency point f.

Optionally, the first device may determine the first CFR based on a control signal received by the first device and a control signal sent by the second device.

Optionally, the control signal used to determine the first CFR may include a modulated control signal. For example, the first device may determine the first CFR based on the modulated control signal sent by the received second device. For another example, the first device may determine the first CFR based on the modulated control signal sent by the received second device and the modulated control signal sent by the first device.

Optionally, the modulated control signal may be in-phase quadrature (IQ) data or an IQ signal. Optionally, the modulated control signal may be physical layer data.

Optionally, the control signal for determining the first CFR may include: information carried on a subcarrier corresponding to the control information.

Optionally, the first device may determine a first channel impulse response (Channel Impulse Response, CIR) based on a control signal, and determine the first CFR based on the first CIR.

S303: The first device determines location information of the second device relative to the first device based on the first CFR.

Optionally, in some embodiments, the first device may also determine the location information of the second device based on the location information of the second device relative to the first device, or determine the location information of the second device relative to a target object. Optionally, the target object may be the location information of any object around the second device. For example, the target object may include: XX building or XX restaurant, and the location information of the second device relative to the target object may include: the second device is at the north gate of XX building or the second device is in XX restaurant.

Optionally, the first device may acquire its own location information, and determine the location information of the second device based on the location information of the second device relative to the first device and its own location information.

Optionally, the location information of the second device relative to the first device, or the location information of the second device relative to the target object, may include at least one of the following: longitude and latitude information, altitude information, two-dimensional coordinate information, three-dimensional coordinate information, etc. Optionally, the location information of the second device may include at least one of the following: longitude and latitude information, place name information, altitude information, two-dimensional coordinate information, three-dimensional coordinate information, etc.

Optionally, the first device can determine the angle (including azimuth and/or elevation) of the second device relative to the first device based on the first CFR; the first device can also determine the distance of the second device relative to the first device, and determine the position information of the second device relative to the first device based on the angle and distance.

In some embodiments, the angle includes an azimuth angle and/or a pitch angle, which may be pre-configured. For example, if the height change around the first device is large, the angle configured to the second device includes the pitch angle, or the angle configured to the second device includes the azimuth angle and the pitch angle. For another example, if the height change around the first device is small, the angle configured to the second device includes the azimuth angle.

In some embodiments, the first device may use a multiple signal classification (Music) algorithm (including a traditional Music algorithm or a Music algorithm based on a fourth-order cumulant) to determine the position information of the second device relative to the first device based on the first CFR. In other embodiments, the first device may use a derivative algorithm of the Music algorithm to determine the position information of the second device relative to the first device based on the first CFR. For example, the derivative algorithm of the Music algorithm may include a Music-like algorithm or a Focusing Music-like algorithm.

In the embodiment of the present application, the first device receives a control signal sent by the second device; based on the control signal, the first channel frequency response CFR is determined; based on the first CFR, the position information of the second device relative to the first device is determined. In this way, since the first device determines the position information of the second device relative to the first device based on the control signal, the position information of the second device relative to the first device can be easily determined, and since the position information of the second device relative to the first device is determined based on the first CFR, the position information of the second device relative to the first device can be accurately determined based on the channel information of the first device and the second device.

In some embodiments, determining a first channel frequency response CFR based on the control signal comprises:

Determining a time domain position and/or a frequency domain position of the control signal;

Determine first information based on the time domain position and/or frequency domain position of the control signal; the first information includes: information carried by each subcarrier in at least one subcarrier corresponding to the control signal received by each antenna port of the first device;

Based on the first information, the first CFR is determined.

For example, when the control signal is an SRS, the information carried by each subcarrier may be SRS information. For another example, when the control signal is a DMRS, the information carried by each subcarrier may be DMRS information.

Optionally, the first device may acquire the time domain position and/or frequency domain position of the control signal every second time duration.

The following describes a method for obtaining the first information:

Since the description of channel state information is based on parameters such as Rank Indicator (RI), Pre-coding Matrix Indicator (PMI) and Channel Quality Indication (CQI), the channel frequency domain response CFR of the physical layer is not standardized. Therefore, CFR cannot be directly solved from the signaling and data between terminal devices, network devices or core networks, and CFR needs to be calculated.

Optionally, the first device may obtain physical layer data received and sent by the second device, and determine a payload corresponding to a time domain position and/or a frequency domain position of the control signal as the first information.

Optionally, the first device may configure parameters in the phyconfig.txt file so that the first device can output logs to obtain IQ data or physical layer data. Exemplarily, configuring the parameters in the phyconfig.txt file may include: setting BbuioLogEnable=1; BbuioLogLevel=2; BbuioLogBufSizeMB=20.

Optionally, you can set sp.sh -s cellNum=1 to load the program again. When the test opportunity comes, execute sp.sh -k cellNum==1&&killall -s SIGABRT bs_bbu_main to stop the device main program and physical layer. Use tools such as winscp or tftp to export the IQ data.

Optionally, when IQ data or physical layer data is obtained, the network device can find data corresponding to the control signal from the IQ data or physical layer data. For example, when the control signal is SRS, the data corresponding to the control signal can be SRS data. Optionally, SRS data can also be called SRS sequence or SRS signal or SRS frequency domain signal, etc.

Optionally, the first device may obtain SRS configuration information, the SRS configuration information may include values of T _SRS and T _offset , and the SRS data is determined based on the values of T _SRS and T _offset . Optionally, in some embodiments, the SRS configuration information may be configured by the first device to the second device. Optionally, in some embodiments, the SRS configuration information may be included in a packet of a data link layer (L2). Optionally, the packet of the L2 layer may be obtained by packet capture. Optionally, the packet of the L2 layer and the physical layer data may be included in a wireshark packet.

Optionally, the first device may determine the SRS time domain position based on the following formula: in, Indicates the number of time slots per frame configured with subcarrier spacing; _nf indicates the system frame number; Indicates the time slot number within the frame (i.e., the time slot number within the frame used for subcarrier spacing configuration).

Optionally, the SRS frequency domain position may be configured by the first device to the second device. Optionally, the SRS frequency domain position may be determined from SRS configuration information.

In some embodiments, determining the first CFR based on the first information includes:

Determine second information; the second information includes: each antenna port of the second device sends information carried by each subcarrier in at least one subcarrier corresponding to the control signal;

Based on the first information and the second information, the first CFR is determined.

Optionally, the first device may determine the first information first and then determine the second information, or the first device may determine the second information first and then determine the first information, or the first device may obtain the first information and the second information in parallel.

Optionally, the first information may be a 1×b or a×b matrix, and the second information may be a 1×b matrix. When the first information is a 1×b matrix, the first CFR may be the result of dividing the 1×b matrix in the first information by the corresponding 1×b matrix in the second information. When the first information is an a×b matrix, the first row of the first CFR may be the result of dividing the first row elements of the a×b matrix by the corresponding second information, and the ath row of the first CFR may be the ath row elements of the a×b matrix by the corresponding second information.

Optionally, the second information may be determined by the first device through calculation. For example, the first device may calculate the second information according to the protocol specification. The following takes the control information as SRS as an example to illustrate the method of determining the second information:

First, generate the base sequence, as shown in formula (1) and formula (2):

in, Represents the basic sequence of the Reverse Address Resolution Protocol (RARP). m is nmodN _ZC , n represents the sequence number, N _ZC represents the length of the ZC sequence, and q is determined by: Among them, u∈{0,1,...,29} is the group number, and v is the basic sequence number within the group.

The SRS sequence is determined by formula (3) to formula (6):

Wherein, r ^(pi) (n, l') represents the obtained SRS sequence; wherein, α _i is determined based on the following method: in, represents the number of cyclic shifts, Indicates the maximum number of cyclic shifts; represents the number of antenna ports occupied by SRS, and _pi represents the antenna port number; Indicates the length of the SRS sequence; Indicates the number of symbols occupied by SRS; Indicates low RARP sequence;

Then, the SRS data is obtained by formula (7):

in, represents the obtained SRS data; _Nap represents the number of antenna ports (occupied by SRS); _βSRS represents the amplitude scaling factor; r ^(pi) (k',l') represents the obtained SRS sequence; Indicates the SRS sequence length, Can be based on Determine, m _SRS,b indicates that B _SRS ∈{0,1,2,3} is given by the field b-SRS contained in the high-level parameter freqHopping; K _TC represents the comb parameter.

In this way, the first device can determine the second information based on formulas (1) to (7) and the configuration information of the SRS.

Optionally, in some other embodiments, the second information may be sent by the second device to the first device.

Optionally, when the second information transmitted by the second device (e.g., an SRS signal) and the first information received by the first device (e.g., SRS information) are obtained, a variety of channel estimation methods may be used to perform CFR estimation, such as a least squares (LS) method or a minimum mean square error method or other methods.

For example, taking the least square method as an example, the least square method is to obtain channel estimation in the sense of least squares. Optionally, the estimated CFR determined by the least square method is Among them, Y(k) represents the first information received by the first device (for example, the SRS frequency domain signal received by the first device); X(k) represents the second information transmitted by the second device (for example, the SRS frequency domain signal sent by the second device).

Optionally, the first information received by the first device can be expressed as Y(k)=X(k)H(k)+W(k), (0≤k≤N-1). Wherein, W(k) is an independent and identically distributed Gaussian noise term with a mean of 0 and a variance of σ ² . Wherein, H(k) is the true CFR, and H _ls (k) is the estimated CFR.

The LS channel estimation result is recorded as H _ls (k). Let the square cost function be:

V=(Y(k)-X(k)H _ls (k)) ^H *(Y(k)-X(k)H _ls (k)).

In order to minimize V, let V take the partial derivative with respect to H _ls (k) and let the partial derivative be 0, then:

The estimated CFR is

Optionally, the first CFR may be an estimated CFR, or the first CFR may be a CFR after correcting the estimated CFR.

In some embodiments, the first CFR is based on Sure;

Wherein, Y(k) represents the first information; X(k) represents the second information; It indicates that the kth element in Y(k) is divided by the kth element in X(k); 0≤k≤N-1, N indicates the number of subcarriers corresponding to the control signal.

For example, the first CFR can be For another example, the first CFR is determined based on the second CFR, and the second CFR is

Optionally, the kth element in Y(k) may represent: information corresponding to one or more antenna ports of the first device corresponding to the kth subcarrier. In the case where the kth element represents information corresponding to an antenna port of the first device corresponding to the kth subcarrier, the kth element is a value, and in the case where the kth element represents information corresponding to S antenna ports of the first device corresponding to the kth subcarrier, S is a value greater than or equal to 2, and the kth element is S values.

Optionally, the kth element in X(k) may represent: information corresponding to one or more antenna ports of the second device corresponding to the kth subcarrier. In the case where the kth element represents information corresponding to an antenna port of the second device corresponding to the kth subcarrier, the kth element is a value, and in the case where the kth element represents information corresponding to T antenna ports of the second device corresponding to the kth subcarrier, T is a value greater than or equal to 2, and the kth element is T values.

Optionally, when the control signal is an SRS, the SRS may be sent through one antenna port of the second device.

The accuracy of the CFR determines the accuracy of the signal arrival angle AOA estimation, based on which the azimuth and/or elevation angle of the second device relative to the first device can be determined. However, due to the imperfection of hardware devices, the estimated CFR can be corrected.

Correction of CFR may include correction of at least one of sampling time offset (Sampling Time Offset, STO), sampling frequency offset (Sampling Frequency Offset, SFO) and initial phase offset (Initial Phase Offset, IPO). Among them, STO and SFO are caused by the clock asynchrony between the transmitter and the receiver. STO adds a same time offset to the delay of each propagation path, and the existence of SFO makes the STO of different data packets no longer a constant value. IPO is due to the unknown initial phase when the phase-locked loop locks the signal phase, so there is a difference in the initial phase on each antenna.

Alternatively, the measured phase of CFR can be expressed as in, and are the CFR phase and the actual CFR phase measured on the kth subcarrier at the mth antenna, respectively. _{i k} is the index of the kth subcarrier, K is the total number of subcarriers, δ is the delay offset caused by STO and SFO, β _m is the initial phase of the mth antenna, and Z is the noise.

Optionally, the IPO correction method may include: obtaining a phase difference between any two antennas of at least two antennas of the first device, and correcting the phase of the at least two antennas of the first device based on the phase difference between the any two antennas, so that the phase difference between any two antennas of the at least two antennas of the first device is 0; then making the first device after the phase correction of the antenna receive a control signal sent by a third device, and determining a reference CFR based on the control signal sent by the third device. Optionally, the method for determining the reference CFR based on the control signal sent by the third device may be the same as the method for determining the first CFR based on the control signal sent by the second device in the above embodiment, and the embodiments of the present application will not be repeated here.

In some embodiments, a second CFR is first determined based on the control signal, the second CFR is an estimated CFR, and then the second CFR can be CFR corrected to obtain the first CFR. In this way, the first CFR is the CFR after the estimated CFR is corrected.

Performing CFR correction on the second CFR to obtain the first CFR may include: determining a reference CFR, and determining the first CFR based on the second CFR and the reference CFR.

In some embodiments, determining the first CFR includes:

Determine the second CFR;

Determine a reference CFR; the reference CFR is determined by the first device based on the control signal sent by the received third device when correcting at least one of the sampling time offset STO, the sampling frequency offset SFO, and the initial phase offset IPO;

Based on the second CFR and the reference CFR, the first CFR is determined.

For example, in the above embodiment, the second CFR can be determined based on the control signal, and the first CFR can be determined based on the second CFR and the reference CFR; or, the second CFR can be determined based on the first information, and the first CFR can be determined based on the second CFR and the reference CFR; or, the second CFR can be determined based on the first information and the second information, and the first CFR can be determined based on the second CFR and the reference CFR.

Alternatively, the first CFR may be a result of dividing each element in the second CFR by each element in the reference CFR.

In some embodiments, the reference CFR may be pre-configured to the first device. For example, the reference CFR may be configured to the first device by other devices. For another example, the reference CFR may be pre-configured before the first device is installed or shipped. Alternatively, the reference CFR may be obtained in a laboratory.

In some embodiments, the reference CFR may be determined by the first device based on the control signal sent by the received third device when the first device is correcting IPO. In other embodiments, the reference CFR may be determined by the first device based on the control signal sent by the received third device when the first device is correcting STO, SFO and IPO.

It should be noted that any method of correcting STO, SFO or IPO should be within the protection scope of the embodiments of the present application. The method of correcting STO, SFO or IPO can also be described in the relevant technology, and the embodiments of the present application are not limited to this.

In some embodiments, the second CFR is Wherein, Y(k) represents the first information; X(k) represents the second information; represents the kth element in Y(k) divided by the kth element in X(k); 0≤k≤N-1, N represents the number of subcarriers corresponding to the control signal;

The first CFR is determined based on a result of dividing each element in the second CFR by each element in the reference CFR.

For example, the kth element in the first CFR is the result of dividing the kth element in the second CFR by the kth element in the reference CFR.

In some embodiments, determining the location information of the second device relative to the first device based on the first CFR includes:

determining a covariance matrix of the first CFR;

Determine M first angles based on the covariance matrix of the first CFR; M is an integer greater than or equal to 1;

The position information is determined based on the M first angles.

In some embodiments, the M first angles may be M azimuth angles. In other embodiments, the M first angles may be M pitch angles. In still other embodiments, the M first angles may include M1 first angles and M2 first angles, the M1 first angles may be azimuth angles, and the M2 second angles may be pitch angles. Wherein, M1 is an integer greater than or equal to 1, and M2 may be an integer greater than or equal to 1. In still other embodiments, the M first angles may include M solid angles, and a solid angle represents the angle of the second device to the first device in three-dimensional space.

In some embodiments, determining the position information of the second device relative to the first device based on the M first angles may include: determining a target angle based on the M first angles, and determining the position information of the second device relative to the first device based on the target angle.

In some embodiments, determining the M first angles based on the covariance matrix of the first CFR includes:

Determine a first value based on a second minimum eigenvalue and a minimum eigenvalue of a covariance matrix of the first CFR and the number of antenna ports of the first device;

Determine a second value based on the first value and the number of antenna ports of the first device;

The M first angles are determined based on the first value and the second value.

Optionally, there are many ways to determine the M first angles based on the covariance matrix of the first CFR. For example, the Music algorithm can be used to determine the M first angles based on the covariance matrix of the first CFR. For another example, the Music-like algorithm can be used to determine the M first angles based on the covariance matrix of the first CFR. For another example, other arrival angle estimation algorithms for narrowband/wideband signals can be used to determine the M first angles based on the covariance matrix of the first CFR. The embodiment of the present application does not limit how to determine the M first angles based on the covariance matrix of the first CFR. Any method that can determine the M first angles based on the covariance matrix of the first CFR should be within the scope of protection of the present application.

In some embodiments, the first value is determined by: β represents the first value; M represents the number of antenna ports of the first device; ξ _M-1 represents the second minimum eigenvalue of the covariance matrix of the first CFR; ξ _M represents the minimum eigenvalue of the covariance matrix of the first CFR;

The second value is determined as follows: α represents the second value.

Optionally, the value of k may include 0.5, 0.7, 0.9 or 1, etc.

In some embodiments, determining the M first angles based on the first value and the second value includes:

Determining a first steering vector based on multiple angles of the search range;

Determining a first target matrix based on the covariance matrix of the first CFR, the first value, the second value, and the first steering vector;

Based on the first target matrix, the M first angles are determined.

Optionally, the multiple angles of the search range may be preset multiple angles. In some embodiments, the multiple angles of the search range may correspond to the signal reception angle of the network device. For example, when the signal reception angle of the network device includes an azimuth angle of 0 to 360°, the multiple angles in the search range are also included in the range of 0 to 360°. Exemplarily, the multiple angles in the search range include: 0°, 1°, 2°, 30° or 360°, etc. For another example, when the signal reception angle of the network device includes an azimuth angle of 0 to 120°, the multiple angles in the search range are also included in the range of 0 to 120°. Exemplarily, the multiple angles in the search range include: 0°, 0.5°, 1°, 1.5° or 120°, etc. For another example, when the signal reception angle of the network device includes an elevation angle of 0° to 60°, the multiple angles in the search range are also included in the range of 0° to 60°. Exemplarily, the multiple angles in the search range include: 0°, 0.5°, 1°, 1.5° or 60°, etc. It should be understood that the difference between two adjacent angles in the multiple angles within the search range is a specific value. When the specific value is smaller, the determined position information is more accurate.

In some embodiments, the first target matrix is determined as follows:

represents the first target matrix; a(θ) represents the first steering vector; β represents the first value; α represents the second value; I represents the unit matrix; R represents the covariance matrix of the first CFR .

In some embodiments, determining the M first angles based on the first target matrix includes:

Determine a first eigenvector corresponding to the minimum eigenvalue of the first target matrix;

The M first angles are determined based on the first eigenvector and the first steering vector.

In some embodiments, determining the M first angles includes:

Determine a plurality of first spatial spectrum values corresponding one-to-one to a plurality of angles in the search range;

Angles corresponding to first spatial spectrum values greater than a first threshold obtained from the multiple first spatial spectrum values are determined as the M first angles.

Optionally, the value of M may be the same as the number of signal sources. For example, when the number of signal sources is 2, the value of M is 2.

Optionally, the first threshold may be determined based on a plurality of first spatial spectrum values. For example, the first threshold may be determined based on a maximum value of a plurality of first spatial spectrum values. Optionally, in some other embodiments, the first threshold may be a pre-configured value.

Optionally, the first angle may also be referred to as a determined signal arrival angle in some other embodiments.

Due to the low synchronization accuracy between the first device and the second device, the Time of Arrival (TOA) positioning method or the TDOA positioning method has low accuracy in determining the location information. Since 5G supports Multiple Input Multiple Output (MIMO), it supports AOA measurement without the need for synchronization between the first device and the second device. 5G is a broadband signal, and AOA estimation can be performed on an unknown number of coherent signal sources.

Optionally, in some embodiments, the Music-like algorithm can be used to obtain the AOA and the number of signal sources. The idea of the Music-like algorithm originates from beamforming and the classical spectrum estimation MUSIC algorithm. In the Music algorithm, the spatial spectrum is constructed by using the orthogonal characteristics of the noise subspace and the steering vector; and the Music-like algorithm constrains the weight vector w to fall in the noise subspace, so the weight vector w and the steering vector will be orthogonal, thereby constructing a peak.

The following describes a method for determining M first angles based on the first CFR:

Determining a covariance matrix R of the first CFR;

Based on the second smallest eigenvalue ξ _M-1 and the smallest eigenvalue ξ _M of the covariance matrix of the first CFR, and the number M of antenna ports of the first device, a first value β is determined.

Based on the first value β and the number of antenna ports M of the first device, a second value α is determined.

The first steering vector a(θ) is determined based on the multiple angles of the search range. The first steering vector may be a matrix, the number of rows of the matrix is the number of antennas in the first device, and the number of columns of the matrix may be the number of the multiple angles of the search range. Regarding the determination method of the first steering vector a(θ), reference may be made to the description in the related art, and the embodiments of the present application are not limited thereto.

Determine a first target matrix based on the covariance matrix of the first CFR, the first value, the second value, and the first steering vector in, Where R represents the covariance matrix of the first CFR.

Determine a first eigenvector corresponding to the minimum eigenvalue of the first target matrix. The first eigenvector may also be referred to as a weight vector or an optimal weight vector in other embodiments.

Based on the first eigenvector and the first steering vector, a spatial spectrum value P(θ) corresponding to each angle in a plurality of angles is determined; wherein, The value of P(θ) corresponding to one of the multiple angles is a first spatial spectrum value.

The M θs corresponding to P(θ) that are determined to be greater than the first threshold are determined as M first angles.

In some embodiments, determining the position information based on the M first angles includes:

Based on the M first angles, determining a target angle;

determining a distance between the second device and the first device;

Based on the distance and the target angle, the position information is determined.

In some embodiments, the target angle may be the maximum value, minimum value, median, mean, etc. of the M first angles. In other embodiments, since the M first angles are the result of preliminary estimation and are not very accurate, a detailed estimation may be performed based on the M first angles to obtain N second angles, and then the target angle may be determined based on the N angles.

Optionally, any method capable of determining the distance between the second device and the first device should be within the scope of protection of this application. For example, the first device can determine the distance between the second device and the first device based on a received signal strength indicator (RSSI) of a control signal (e.g., SRS).

Optionally, determining the position information based on the distance and the target angle may include: determining the position information of the second device relative to the first device based on the distance and the target angle.

In some embodiments, determining the target angle based on the M first angles includes:

Based on the M first angles, a focusing matrix is determined; the focusing matrix is used to focus information on multiple frequency points to a reference frequency point; the multiple frequency points include: frequency points corresponding to multiple subcarriers corresponding to the control signal;

Determining a covariance matrix of a focused second CFR based on the focusing matrix and a covariance matrix of the first CFR corresponding to the plurality of frequency points;

Determine N second angles based on the covariance matrix of the second CFR; N is an integer greater than or equal to 1;

Based on the N second angles, the target angle is determined.

Optionally, determining the covariance matrix of the focused second CFR based on the focusing matrix and the covariance matrix of the first CFR corresponding to the multiple frequency points may include: multiplying the focusing matrix and the covariance matrix of the first CFR to determine the covariance matrix of the second CFR.

Optionally, the multiple frequency points may include a frequency point corresponding to each subcarrier in at least one subcarrier corresponding to the control signal. Optionally, in other embodiments, the multiple frequency points may include a frequency point corresponding to every P subcarriers in at least one subcarrier corresponding to the control signal; P is an integer greater than or equal to 2.

In some embodiments, the reference frequency point may be a preset frequency point. In other embodiments, the reference frequency point may be any frequency point among a plurality of frequency points. In still other embodiments, the reference frequency point may be an intermediate frequency point among a plurality of frequency points.

Optionally, the covariance matrix of the first CFR may be a covariance matrix of CFRs corresponding to a plurality of frequency points, and the covariance matrix of the second CFR may be a covariance matrix of CFRs corresponding to a reference frequency point.

Optionally, the method of determining the N second angles based on the covariance matrix of the second CFR may be similar to the method of determining the M first angles based on the covariance matrix of the first CFR.

Optionally, the target angle may be the maximum value, minimum value, median, mean value, etc. of the N second angles.

Optionally, there are many ways to determine the N second angles based on the covariance matrix of the second CFR. For example, the Music algorithm can be used to determine the N second angles based on the covariance matrix of the second CFR. For another example, the Music-like algorithm can be used to determine the N second angles based on the covariance matrix of the second CFR. For another example, other arrival angle estimation algorithms for narrowband/wideband signals can be used to determine the N second angles based on the covariance matrix of the second CFR. The embodiment of the present application does not limit how to determine the N second angles based on the covariance matrix of the second CFR. Any method that can determine the N second angles based on the covariance matrix of the second CFR should be within the scope of protection of the present application.

In some embodiments, determining a focusing matrix based on the M first angles includes:

Determining a second steering vector based on the M first angles and the multiple frequency points;

Determine frequency domain data of the first signal at the plurality of frequency points;

Determining a third steering vector based on the M first angles and the reference frequency point;

Determining frequency domain data of a second signal at the reference frequency point;

The focusing matrix is determined based on the second steering vector, the first signal frequency domain data, the third steering vector and the second signal frequency domain data.

Optionally, the second steering vector may be represented by A(f _k ,θ), and the third steering vector may be represented by A(f ₀ ,θ). Wherein, different values of k result in different values of f _k , and f _k is used to represent the kth frequency point among multiple frequency points. f ₀ represents the reference frequency point.

Optionally, the first signal frequency domain data may be represented by S(f _k ), and the second signal frequency domain data may be represented by S(f ₀ ). Optionally, in other embodiments, the first signal frequency domain data may be referred to as first signal frequency domain output or first signal frequency domain information, and the second signal frequency domain data may be referred to as second signal frequency domain output or second signal frequency domain information.

Optionally, the focusing matrix can be represented by T(f _k ). The embodiment of the present application does not limit the method of determining the focusing matrix, and any method of determining the focusing matrix should be within the protection scope of the embodiment of the present application.

In an embodiment of the present application, in order to process broadband signals, a focusing transformation matrix can be constructed, and the broadband signal data can be focused onto a single reference frequency point using matrix transformation, while simultaneously completing the decorrelation operation on the data.

Optionally, the focusing matrix T(f _k ) may satisfy:

T(f _k )A(f _k ,θ)=A(f ₀ ,θ) or T(f _k )Y(f _k )=A(f ₀ ,θ)S(f _k )+T(f _k ) W(f _k ).

Wherein, f ₀ represents the frequency after focusing, A(f ₀ ,θ) represents the steering vector after focusing. Y(f _k ) can be understood in the same way as the above Y(k), and W(f _k ) represents noise. Optionally, S(f _k ) can be determined based on the above X(k).

Optionally, the covariance matrix after focusing (i.e., the covariance matrix of the second CFR) can be defined as:

in, R _s (f _k ) and R _n (f _k ) may be determined based on the covariance matrix before focusing (ie, the covariance matrix of the first CFR).

Optionally, for the TCT (two-sided correlation transformation) method, the focusing matrix is constructed by formula (8):

T(f _k )A(f _k )S(f _k )=A(f ₀ ,θ)S(f ₀ ) (8)

A(f _k ) can be understood in the same way as A(f _k ,θ) in the above embodiment, and A(f ₀ ) can be understood in the same way as A(f ₀ ,θ) mentioned above.

That is, in some embodiments, the focusing matrix is determined based on the following formula (8): T(f _k )A(f _k )S(f _k )=A(f ₀ ,θ)S(f ₀ );

A(f _k ) represents the second steering vector; S(f _k ) represents the first signal frequency domain data; A(f ₀ ,θ) represents the third steering vector; S(f ₀ ) represents the second signal frequency domain data; f _k represents the frequency point corresponding to the kth subcarrier, 0≤k≤N-1, N represents the number of subcarriers corresponding to the control signal; f ₀ represents the reference frequency point.

Thus, since there is an unknown quantity T(f _k ) in formula (8), T(f _k ) can be determined by formula (8).

Optionally, the covariance matrix can be calculated for both sides of formula (8) to obtain T(f _k )P(f _k ) ^TH (f _k )＝P(f ₀ ). Wherein, P(f _k )＝A(f _k )S(f _k ) ^SH (f _k ) ^AH (f _k ). Wherein, P(f _k ) and P(f ₀ ) can be the covariance matrices under noise-free conditions.

Optionally, the focusing matrix is given by the following formula: T(f _k )=D(f ₀ )D ^H (f _k ), where D(f ₀ ) is the eigenvector corresponding to P(f ₀ ), and D(f _k ) is the eigenvector corresponding to P(f _k ).

Optionally, any of the above formulas for the focusing matrix can determine the focusing matrix. It should be noted that the embodiments of the present application are not limited thereto, and any method for determining the focusing matrix should be within the protection scope of the embodiments of the present application.

In some embodiments, determining N second angles based on the covariance matrix of the second CFR includes:

Determine a second target matrix based on the covariance matrix of the second CFR, the first value, the second value, and the first steering vector; wherein the first value is determined based on the sub-minimum eigenvalue and the minimum eigenvalue of the covariance matrix of the second CFR, and the number of antenna ports of the first device; the second value is determined based on the first value and the number of antenna ports of the first device; the first steering vector is determined based on multiple angles of the search range;

Based on the second target matrix, the N second angles are determined.

Optionally, the implementation of determining the N second angles based on the covariance matrix of the second CFR may be similar to the implementation of determining the M first angles based on the covariance matrix of the first CFR.

Optionally, the value of N may be the same as or different from the value of M.

In some embodiments, the second target matrix is determined as follows:

represents the second target matrix; a(θ) represents the first steering vector; β represents the first value; α represents the second value; I represents the unit matrix; R' represents the covariance of the second CFR matrix;

The first value is determined as follows: β represents the first value; M represents the number of antenna ports of the first device; ξ _M-1 represents the second minimum eigenvalue of the covariance matrix of the first CFR; ξ _M represents the minimum eigenvalue of the covariance matrix of the first CFR;

The second value is determined as follows: α represents the second value.

In some embodiments, determining the N second angles based on the second target matrix includes:

Determine a second eigenvector corresponding to the minimum eigenvalue of the second target matrix;

The N second angles are determined based on the second eigenvector and the first steering vector.

Optionally, the N second angles may be determined by the following formula: Wherein, w' represents the second eigenvector; and the value of P(θ)' represents the second spatial spectrum value.

Optionally, the method for determining the N second angles may be similar to the method for determining the M first angles, which is not elaborated in the embodiment of the present application.

In some embodiments, determining the N second angles includes:

Determine a plurality of second spatial spectrum values corresponding one-to-one to a plurality of angles in the search range;

Angles corresponding to second spatial spectrum values greater than a second threshold obtained from the plurality of second spatial spectrum values are determined as the N second angles.

In some embodiments, the second threshold may be the same as the first threshold. In other embodiments, the second threshold may be different from the first threshold.

FIG. 4 is a flow chart of another method for determining a position according to an embodiment of the present application. As shown in FIG. 4 , the method includes:

S401. The first device sends request information to the second device; the second device receives the request information sent by the first device; the request information is used to request the second device to send the control signal to the first device.

Optionally, in some embodiments, the first device may send a request message to the second device once every first time period, so that the second device feeds back a control signal based on the request message. Optionally, the request message may also indicate the time domain and/or frequency domain position of the feedback control signal.

Optionally, in some other embodiments, the first device may send a request message to the second device once, so that the second device feeds back a control signal to the first device once every first time period based on the request message. Optionally, the request message may also indicate at least one of the period, number of times, and time domain and/or frequency domain position of the feedback control signal. Optionally, the first device may also send an instruction to stop feeding back the control signal to the second device, so that the second device no longer feeds back the control signal to the first device based on the instruction.

Optionally, the request information may also indicate configuration information of the control signal. For example, the configuration information of the control signal may include at least one of the following: timing of sending the control signal, time domain resources and/or frequency domain resources corresponding to the control signal, period of sending the control signal, etc.

S402: The second device sends a control signal to the first device; the first device receives the control signal sent by the second device.

S403: Determine a first channel frequency response CFR based on the control signal.

S404: Determine location information of the second device relative to the first device based on the first CFR.

In some embodiments, the control signal includes one of the following: an uplink control signal, a downlink control signal, a sidelink control signal, a control signal in a wireless fidelity WiFi system, and a control signal in an ultra-wideband UWB system.

In some embodiments, the uplink control signal includes at least one of the following: a sounding reference signal SRS or a demodulation reference signal DMRS.

Figure 5 is a flow chart of a positioning solution provided in an embodiment of the present application. As shown in Figure 5, the first device first determines the ZC sequence, determines the SRS sequence through the cyclic shift of the ZC sequence, and generates an SRS signal (i.e., the SRS signal sent by the second device) by performing subcarrier mapping and time domain mapping on the SRS sequence.

The SRS signal sent by the second device is transmitted through the channel and is received and acquired by the first device, that is, the first device receives and acquires the SRS signal.

The first device may estimate and correct the SRS CFR based on the SRS signal sent by the second device and the SRS signal received and acquired by the first device, wherein the estimated SRS CFR may correspond to the second CFR in the above embodiment, and the corrected CFR may correspond to the first CFR after the first CFR is corrected in the above embodiment.

When the first device obtains the corrected CFR, it can estimate the AOA based on the Focusing Music-like algorithm, and then estimate the position of the first device based on the AOA combined with the distance estimated based on the SRS RSSI.

Figure 6 is a structural diagram of a positioning system provided in an embodiment of the present application. As shown in Figure 6, in Figure 6, the terminal device 601 sends an SRS signal to the base station 602, so that the base station 602 can determine the location information of the terminal device 601 relative to the base station 602 based on the SRS signal sent by the terminal device 601, and then determine the location information of the terminal device 601.

The following takes the control signal being an SRS signal as an example to illustrate the positioning performance of the positioning method (ie, the position determination method) in the embodiment of the present application. Table 1 is the configuration information of the SRS in the embodiment of the present application.

Table 1

Carrier frequency 3.5016G Subcarrier spacing 30kHz bandwidth 100MHz

Number of SRS RBs 240 T_SRS 80 T_offset 7

When there is no obstruction between the terminal device and the network device, the channel model is Line of Sight (LOS). Because of the reduced attenuation, the LOS channel model has better signal quality and greater throughput than the Non Line of Sight (NLOS) channel. When there are buildings or plants blocking the terminal device and the network device, in addition to attenuation, the signal also has reflection, diffraction and penetration loss, and the channel mode is NLOS. Optionally, the LOS scene is a microwave darkroom scene, and the NLOS scene can be an ordinary indoor scene.

FIG7 is a schematic diagram of simulation results of the angle measurement performance of a different angle measurement method provided in an embodiment of the present application. It can be seen from FIG7 that the horizontal axis in FIG7 is the signal-to-noise ratio (SNR), in dB, and the vertical axis is the angle measurement error, which can be represented by the AOA root mean square error (RMSE) (in degrees, which can also be represented by degrees). In FIG7, it can be seen that the Focusing MUSIC-like algorithm in the embodiment of the present application has better angle estimation performance than MUSIC and MUSIC-like in LOS or NLOS scenarios.

FIG8 is a schematic diagram of the experimental results of the angle measurement performance of a different angle measurement method provided in an embodiment of the present application. It can be seen from FIG8 that FIG8 is an empirical distribution function diagram, the horizontal axis in FIG8 is the error in degrees (Error in degrees), and the vertical axis is the cumulative distribution function (CDF). In FIG8, it can be seen that the Focusing MUSIC-like algorithm in the embodiment of the present application has better angle estimation performance than MUSIC and MUSIC-like in LOS scenarios or NLOS scenarios.

The embodiment of the present application adopts a channel estimation method based on SRS signals, and uses the good correlation characteristics of the SRS sequence to estimate the physical layer CFR of the uplink channel. By modifying the physical layer configuration file, the physical layer data is obtained, and the transmitting end SRS is restored through the high-level configuration parameters to obtain the physical layer CFR, which further utilizes the information contained in the signal itself, which is the basis for estimating the position parameters (angle, distance), thereby obtaining a more accurate positioning result.

The embodiment of the present application uses focusing transformation to transform the signal subspace at different frequency points to the signal subspace at the same reference frequency point, and then uses the MUSIC-like algorithm based on beamforming to perform angle estimation, which has higher estimation accuracy than the traditional MUSIC algorithm, and combines the distance information obtained by RSSI to perform position estimation. The embodiment of the present application can obtain more accurate angle estimation results based on a single network device, and then obtain more accurate positioning results, and does not require information on the number of signal sources, and can be better and more conveniently applied to actual systems.

The embodiments of the present application utilize network devices and terminal devices for data collection and algorithm verification. The proposed CFR acquisition and high-precision AOA estimation algorithms are experimentally verified on actual devices. The method has more practical application value and can be directly applied to current network devices and terminal devices. There is no need for multiple network devices and synchronization between network devices and terminals, which greatly reduces the requirements of the positioning solution on the number of network devices in the network and the synchronization accuracy.

The preferred embodiments of the present application are described in detail above in conjunction with the accompanying drawings. However, the present application is not limited to the specific details in the above embodiments. Within the technical concept of the present application, the technical solution of the present application can be subjected to a variety of simple modifications, and these simple modifications all belong to the protection scope of the present application. For example, the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present application will not further explain various possible combinations. For another example, the various different embodiments of the present application can also be arbitrarily combined, as long as they do not violate the idea of the present application, they should also be regarded as the contents disclosed in the present application. For another example, the various embodiments and/or the technical features in the various embodiments described in the present application can be arbitrarily combined with the prior art without conflict, and the technical solution obtained after the combination should also fall within the protection scope of the present application.

It should also be understood that in various method embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. In addition, in the embodiment of the present application, the terms "downlink", "uplink" and "side" are used to indicate the transmission direction of the signal or data, wherein "downlink" is used to indicate that the transmission direction of the signal or data is the first direction sent from the site to the user equipment of the cell, "uplink" is used to indicate that the transmission direction of the signal or data is the second direction sent from the user equipment of the cell to the site, and "side" is used to indicate that the transmission direction of the signal or data is the third direction sent from the user equipment 1 to the user equipment 2. For example, "downlink signal" indicates that the transmission direction of the signal is the first direction. In addition, in the embodiment of the present application, the term "and/or" is only a description of the association relationship of the associated objects, indicating that there can be three relationships. Specifically, A and/or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character "/" in this article generally indicates that the front and back associated objects are in an "or" relationship.

FIG9 is a schematic diagram of the structure of a position determination device provided in an embodiment of the present application. Optionally, the position determination device 900 can be applied to a first device, or the position determination device 900 can be a first device, or the position determination device 900 can be used to constitute a first device. As shown in FIG9 , the position determination device 900 includes:

The communication unit 901 is used to: receive a control signal sent by a second device;

The determining unit 902 is configured to: determine a first channel frequency response CFR based on the control signal;

The determining unit 902 is further configured to determine location information of the second device relative to the first device based on the first CFR.

In some embodiments, the determination unit 902 is also used to: determine the time domain position and/or frequency domain position of the control signal; determine first information based on the time domain position and/or frequency domain position of the control signal; the first information includes: each antenna port of the first device receives information carried by each subcarrier in at least one subcarrier corresponding to the control signal; based on the first information, determine the first CFR.

In some embodiments, the determining unit 902 is further used to: determine second information; the second information includes: each antenna port of the second device sends information carried by each subcarrier in at least one subcarrier corresponding to the control signal;

Based on the first information and the second information, the first CFR is determined.

In some embodiments, the first CFR is based on Sure;

Wherein, Y(k) represents the first information; X(k) represents the second information; It indicates that the kth element in Y(k) is divided by the kth element in X(k); 0≤k≤N-1, N indicates the number of subcarriers corresponding to the control signal.

In some embodiments, the determining unit 902 is further configured to: determine a second CFR;

Determine a reference CFR; the reference CFR is determined based on the control signal sent by the received third device when at least one of the sampling time offset STO, the sampling frequency offset SFO, and the initial phase offset IPO of the first device is corrected;

Based on the second CFR and the reference CFR, the first CFR is determined.

In some embodiments, the second CFR is Wherein, Y(k) represents the first information; X(k) represents the second information; represents the kth element in Y(k) divided by the kth element in X(k); 0≤k≤N-1, N represents the number of subcarriers corresponding to the control signal;

The first CFR is determined based on a result of dividing each element in the second CFR by each element in the reference CFR.

In some embodiments, the determination unit 902 is further used to: determine the covariance matrix of the first CFR; determine M first angles based on the covariance matrix of the first CFR; M is an integer greater than or equal to 1; and determine the position information based on the M first angles.

In some embodiments, the determination unit 902 is further used to: determine a first value based on the second minimum eigenvalue and the minimum eigenvalue of the covariance matrix of the first CFR and the number of antenna ports of the first device; determine a second value based on the first value and the number of antenna ports of the first device; determine the M first angles based on the first value and the second value.

In some embodiments, the first value is determined by: β represents the first value; M represents the number of antenna ports of the first device; ξ _M-1 represents the second minimum eigenvalue of the covariance matrix of the first CFR; ξ _M represents the minimum eigenvalue of the covariance matrix of the first CFR;

The second value is determined as follows: α represents the second value.

In some embodiments, the determination unit 902 is also used to: determine a first steering vector based on multiple angles in the search range; determine a first target matrix based on the covariance matrix of the first CFR, the first value, the second value and the first steering vector; and determine the M first angles based on the first target matrix.

In some embodiments, the first target matrix is determined as follows:

represents the first target matrix; a(θ) represents the first steering vector; β represents the first value; α represents the second value; I represents the unit matrix; R represents the covariance matrix of the first CFR .

In some embodiments, the determination unit 902 is further used to: determine a first eigenvector corresponding to the minimum eigenvalue of the first target matrix; and determine the M first angles based on the first eigenvector and the first steering vector.

In some embodiments, the determining unit 902 is further configured to: determine a plurality of first spatial spectrum values corresponding one-to-one to a plurality of angles in the search range; and determine angles corresponding to first spatial spectrum values obtained from the plurality of first spatial spectrum values and greater than a first threshold as the M first angles.

In some embodiments, the determination unit 902 is further used to: determine a target angle based on the M first angles; determine a distance between the second device and the first device; and determine the location information based on the distance and the target angle.

In some embodiments, the determination unit 902 is also used to: determine a focusing matrix based on the M first angles; the focusing matrix is used to focus information on multiple frequency points to a reference frequency point; the multiple frequency points include: frequency points corresponding to multiple subcarriers corresponding to the control signal; based on the focusing matrix and the covariance matrix of the first CFR corresponding to the multiple frequency points, determine the covariance matrix of the focused second CFR; based on the covariance matrix of the second CFR, determine N second angles; N is an integer greater than or equal to 1; based on the N second angles, determine the target angle.

In some embodiments, the determining unit 902 is further configured to: determine a second steering vector based on the M first angles and the multiple frequency points;

Determine frequency domain data of the first signal at the plurality of frequency points;

Determining a third steering vector based on the M first angles and the reference frequency point;

Determining frequency domain data of a second signal at the reference frequency point;

The focusing matrix is determined based on the second steering vector, the first signal frequency domain data, the third steering vector and the second signal frequency domain data.

In some embodiments, the focusing matrix is determined based on the following formula: T(f _k )A(f _k )S(f _k )=A(f ₀ ,θ)S(f ₀ );

A(f _k ) represents the second steering vector; S(f _k ) represents the first signal frequency domain data; A(f ₀ ,θ) represents the third steering vector; S(f ₀ ) represents the second signal frequency domain data; f _k represents the frequency point corresponding to the kth subcarrier, 0≤k≤N-1, N represents the number of subcarriers corresponding to the control signal; f ₀ represents the reference frequency point.

In some embodiments, the determination unit 902 is also used to: determine a second target matrix based on the covariance matrix of the second CFR, the first value, the second value and the first steering vector; wherein the first value is determined based on the sub-minimum eigenvalue and the minimum eigenvalue of the covariance matrix of the second CFR, and the number of antenna ports of the first device; the second value is determined based on the first value and the number of antenna ports of the first device; the first steering vector is determined based on multiple angles of the search range; and the N second angles are determined based on the second target matrix.

In some embodiments, the second target matrix is determined as follows:

represents the second target matrix; a(θ) represents the first steering vector; β represents the first value; α represents the second value; I represents the unit matrix; R' represents the covariance of the second CFR matrix;

The first value is determined as follows: β represents the first value; M represents the number of antenna ports of the first device; ξ _M-1 represents the second minimum eigenvalue of the covariance matrix of the first CFR; ξ _M represents the minimum eigenvalue of the covariance matrix of the first CFR;

The second value is determined as follows: α represents the second value.

In some embodiments, the determination unit 902 is further used to: determine a second eigenvector corresponding to the minimum eigenvalue of the second target matrix; and determine the N second angles based on the second eigenvector and the first steering vector.

In some embodiments, the determining unit 902 is further configured to: determine a plurality of second spatial spectrum values corresponding one-to-one to a plurality of angles in the search range; and determine angles corresponding to second spatial spectrum values obtained from the plurality of second spatial spectrum values and greater than a second threshold as the N second angles.

In some embodiments, the communication unit 901 is further used to: send request information to the second device; the request information is used to request the second device to send the control signal to the first device.

In some embodiments, the control signal includes one of the following: an uplink control signal, a downlink control signal, a sidelink control signal, a control signal in a wireless fidelity WiFi system, and a control signal in an ultra-wideband UWB system.

In some embodiments, the uplink control signal includes at least one of the following: a sounding reference signal SRS or a demodulation reference signal DMRS.

Those skilled in the art should understand that the relevant description of the above-mentioned position determination device in the embodiment of the present application can be understood by referring to the relevant description of the position determination method in the embodiment of the present application.

FIG10 is a schematic structural diagram of a first device provided in an embodiment of the present application. The first device 1000 may include: a network device or a terminal device. The first device 1000 shown in FIG10 may include a processor 1010 and a memory 1020, wherein the memory 1020 stores a computer program that can be run on the processor 1010, and when the processor 1010 executes the program, the location determination method in any of the above embodiments is implemented.

Optionally, the memory 1020 may be a separate device from the processor 1010 , or may be integrated into the processor 1010 .

In some embodiments, as shown in FIG. 10 , the first device 1000 may further include a transceiver 1030 , and the processor 1010 may control the transceiver 1030 to communicate with other devices, specifically, may send information or data to other devices, or receive information or data sent by other devices.

The transceiver 1030 may include a transmitter and a receiver. The transceiver 1030 may further include an antenna, and the number of antennas may be one or more.

An embodiment of the present application further provides a computer storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the position determination method in any embodiment of the present application.

In some embodiments, the computer-readable storage medium can be applied to the first device in the embodiments of the present application, and the computer program enables the computer to execute the corresponding processes implemented by the network device in the various methods of the embodiments of the present application. For the sake of brevity, they will not be repeated here.

Fig. 11 is a schematic structural diagram of a chip according to an embodiment of the present application. The chip 1100 shown in Fig. 11 includes a processor 1110, which is used to call and run a computer program from a memory so that a device (eg, a first device) equipped with the chip executes a method according to an embodiment of the present application.

In some embodiments, as shown in FIG11 , the chip 1100 may further include a memory 1120. The processor 1110 may call and run a computer program from the memory 1120 to implement the method in the embodiment of the present application.

The memory 1120 may be a separate device independent of the processor 1110 , or may be integrated into the processor 1110 .

In some embodiments, the chip 1100 may further include an input interface 1130. The processor 1110 may control the input interface 1130 to communicate with other devices or chips, and specifically, may obtain information or data sent by other devices or chips.

In some embodiments, the chip 1100 may further include an output interface 1140. The processor 1110 may control the output interface 1140 to communicate with other devices or chips, and specifically, may output information or data to other devices or chips.

In some embodiments, the chip can be applied to the first device in the embodiments of the present application, and the chip can implement the corresponding processes implemented by the first device in each method of the embodiments of the present application. For the sake of brevity, they will not be repeated here.

It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

An embodiment of the present application also provides a computer program product, which includes a computer storage medium, the computer storage medium storing a computer program, and the computer program including instructions that can be executed by at least one processor. When the instructions are executed by the at least one processor, the position determination method in any embodiment of the present application is implemented.

In some embodiments, the computer program product can be applied to the first device in the embodiments of the present application, and the computer program instructions enable the computer to execute the corresponding processes implemented by the network device in the various methods of the embodiments of the present application. For the sake of brevity, they will not be repeated here.

Optionally, the computer program product in the embodiments of the present application may also be referred to as a software product in other embodiments.

An embodiment of the present application also provides a computer program, which enables a computer to execute the position determination method in any embodiment of the present application.

In some embodiments, the computer program can be applied to the first device in the embodiments of the present application. When the computer program runs on a computer, the computer executes the corresponding processes implemented by the network device in the various methods of the embodiments of the present application. For the sake of brevity, they will not be repeated here.

The processor, position determination device or chip of the embodiment of the present application may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method embodiment can be completed by the hardware integrated logic circuit or software instructions in the processor. The above processor, position determination device or chip may include any one or more of the following integrations: general processor, application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), digital signal processor (Digital Signal Processor, DSP), digital signal processing device (Digital Signal Processing Device, DSPD), programmable logic device (Programmable Logic Device, PLD), field programmable gate array (Field Programmable Gate Array, FPGA), central processing unit (Central Processing Unit, CPU), graphics processing unit (Graphics Processing Unit, GPU), embedded neural network processor (neural-network processing units, NPU), controller, microcontroller, microprocessor, programmable logic device, discrete gate or transistor logic device, discrete hardware component. The disclosed methods, steps and logic block diagrams in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

It is understood that the memory or computer storage medium in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus random access memory (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

It should be understood that the above-mentioned memory or computer storage medium is exemplary but not restrictive. For example, the memory in the embodiments of the present application may also be static random access memory (static RAM, SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (synch link DRAM, SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DR RAM), etc. That is to say, the memory in the embodiments of the present application is intended to include but not limited to these and any other suitable types of memory.

Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

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

If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims (30)

1. A method of location determination, comprising:

   The first equipment receives a control signal sent by the second equipment;

   Determining a first channel frequency response, CFR, based on the control signal;

   Location information of the second device relative to the first device is determined based on the first CFR.
2. The method of claim 1, wherein the determining a first channel frequency response, CFR, based on the control signal comprises:

   Determining a time domain position and/or a frequency domain position of the control signal;

   Determining first information based on a time domain position and/or a frequency domain position of the control signal; the first information includes: each antenna port of the first device receives information carried by each subcarrier in at least one subcarrier corresponding to the control signal;

   the first CFR is determined based on the first information.
3. The method of claim 2, wherein the determining the first CFR based on the first information comprises:

   Determining second information; the second information includes: each antenna port of the second device sends information carried by each subcarrier in at least one subcarrier corresponding to the control signal;

   the first CFR is determined based on the first information and the second information.
4. A method according to claim 3, wherein the first CFR is based onDetermining;

   Wherein Y (k) represents the first information; x (k) represents the second information; Representing the corresponding division of the kth element in Y (k) with the kth element in X (k); k is more than or equal to 0 and less than or equal to N-1, wherein N represents the number of subcarriers corresponding to the control signal.
5. The method of any of claims 1 to 4, wherein determining the first CFR comprises:

   determining a second CFR;

   Determining a reference CFR; the reference CFR is determined based on the received control signal transmitted by the third device in the case that at least one of the sampling time offset STO, the sampling frequency offset SFO, and the initial phase offset IPO of the first device is corrected;

   the first CFR is determined based on the second CFR and the reference CFR.
6. The method of claim 5, wherein the second CFR isWherein Y (k) represents the first information; x (k) represents the second information; Representing the corresponding division of the kth element in Y (k) with the kth element in X (k); k is more than or equal to 0 and less than or equal to N-1, wherein N represents the number of subcarriers corresponding to the control signal;

   The first CFR is determined based on each element in the second CFR, and a result of a corresponding division of each element in the reference CFR.
7. The method of any of claims 1-6, wherein the determining location information of the second device relative to the first device based on the first CFR comprises:

   Determining a covariance matrix of the first CFR;

   determining M first angles based on a covariance matrix of the first CFR; m is an integer greater than or equal to 1;

   the location information is determined based on the M first angles.
8. The method of claim 7, wherein the determining M first angles based on the covariance matrix of the first CFR comprises:

   Determining a first value based on a next-to-minimum eigenvalue and a minimum eigenvalue of a covariance matrix of the first CFR and a number of antenna ports of the first device;

   Determining a second value based on the first value and the number of antenna ports of the first device;

   the M first angles are determined based on the first value and the second value.
9. The method of claim 8, wherein the first value is determined by: Beta represents the first value; m represents the number of antenna ports of the first device; ζ _M-1 represents the next smallest eigenvalue of the covariance matrix of the first CFR; ζ _M represents the minimum eigenvalue of the covariance matrix of the first CFR;

   the second value is determined in the following manner: Alpha represents the second value.
10. The method of claim 8 or 9, wherein the determining the M first angles based on the first and second values comprises:

    determining a first steering vector based on a plurality of angles of the search range;

    determining a first target matrix based on a covariance matrix of the first CFR, the first numerical value, the second numerical value, and the first steering vector;

    the M first angles are determined based on the first target matrix.
11. The method of claim 10, wherein the first target matrix is determined by:

    Representing the first target matrix; a (θ) represents a first steering vector; beta represents the first value; α represents the second value; i represents an identity matrix; r represents the covariance matrix of the first CFR.
12. The method of claim 10 or 11, wherein the determining the M first angles based on the first target matrix comprises:

    determining a first eigenvector corresponding to the minimum eigenvalue of the first target matrix;

    the M first angles are determined based on the first feature vector and the first steering vector.
13. The method of any of claims 7 to 12, wherein determining the M first angles comprises:

    determining a plurality of first spatial spectrum values corresponding to a plurality of angles of the search range one by one;

    And determining angles corresponding to the first spatial spectrum values which are obtained from the plurality of first spatial spectrum values and are larger than a first threshold as M first angles.
14. The method of any of claims 7 to 13, wherein the determining the location information based on the M first angles comprises:

    determining a target angle based on the M first angles;

    determining a distance between the second device and the first device;

    the location information is determined based on the distance and the target angle.
15. The method of claim 14, wherein the determining a target angle based on the M first angles comprises:

    Determining a focus matrix based on the M first angles; the focusing matrix is used for focusing information on a plurality of frequency points to a reference frequency point; the plurality of frequency bins include: frequency points corresponding to a plurality of subcarriers of the control signal;

    determining a covariance matrix of a focused second CFR based on the focusing matrix and covariance matrices of the first CFR corresponding to the plurality of frequency points;

    determining N second angles based on a covariance matrix of the second CFR; n is an integer greater than or equal to 1;

    the target angle is determined based on the N second angles.
16. The method of claim 15, wherein the determining a focus matrix based on the M first angles comprises:

    Determining a second steering vector based on the M first angles and the plurality of frequency points;

    determining first signal frequency domain data at the plurality of frequency points;

    determining a third steering vector based on the M first angles and the reference frequency point;

    Determining second signal frequency domain data at the reference frequency point;

    The focus matrix is determined based on the second steering vector, the first signal frequency domain data, the third steering vector, and the second signal frequency domain data.
17. The method of claim 16, wherein the focus matrix is determined based on the following formula: t (f _k)A(f _k)S(f _k)＝A(f ₀,θ)S(f ₀);

    A (f _k) represents the second steering vector; s (f _k) represents the first signal frequency domain data; a (f ₀, θ) represents the third steering vector; s (f ₀) represents the second signal frequency domain data; f _k represents a frequency point corresponding to the kth subcarrier, k is more than or equal to 0 and less than or equal to N-1, and N represents the number of subcarriers corresponding to the control signal; f ₀ denotes the reference frequency point.
18. The method of any of claims 15 to 17, wherein the determining N second angles based on the covariance matrix of the second CFR comprises:

    Determining a second target matrix based on the covariance matrix of the second CFR, the first numerical value, the second numerical value, and the first steering vector; wherein the first value is determined based on a next-minimum eigenvalue and a minimum eigenvalue of a covariance matrix of the second CFR, and a number of antenna ports of the first device; the second value is determined based on the first value and a number of antenna ports of the first device; the first steering vector is determined based on a plurality of angles of a search range;

    the N second angles are determined based on the second target matrix.
19. The method of claim 18, wherein the second target matrix is determined by:

    Representing the second target matrix; a (θ) represents a first steering vector; beta represents the first value; α represents the second value; i represents an identity matrix; r' represents a covariance matrix of the second CFR;

    The first numerical value is determined in the following manner: Beta represents the first value; m represents the number of antenna ports of the first device; ζ _M-1 represents the next smallest eigenvalue of the covariance matrix of the first CFR; ζ _M represents the minimum eigenvalue of the covariance matrix of the first CFR;

    the second value is determined in the following manner: Alpha represents the second value.
20. The method of claim 18 or 19, wherein the determining the N second angles based on the second target matrix comprises:

    Determining a second eigenvector corresponding to the minimum eigenvalue of the second target matrix;

    The N second angles are determined based on the second feature vector and the first steering vector.
21. The method of any of claims 15 to 20, wherein determining the N second angles comprises:

    Determining a plurality of second spatial spectrum values corresponding to a plurality of angles of the search range one by one;

    and determining angles corresponding to second spatial spectrum values which are obtained from the plurality of second spatial spectrum values and are larger than a second threshold as the N second angles.
22. The method of any one of claims 1 to 21, wherein the method further comprises:

    the first device sends request information to the second device; the request information is used for requesting the second device to send the control signal to the first device.
23. The method of any one of claims 1 to 22, wherein the control signal comprises one of: uplink control signals, downlink control signals, lateral control signals, control signals in a wireless fidelity WiFi system and control signals in an ultra-wideband UWB system.
24. The method of claim 23, wherein the uplink control signal comprises at least one of: a sounding reference signal, SRS, or a demodulation reference signal, DMRS.
25. A position determining apparatus comprising:

    a communication unit configured to: receiving a control signal sent by a second device;

    a determining unit configured to: determining a first channel frequency response, CFR, based on the control signal;

    The determining unit is further configured to: based on the first CFR, location information of the second device relative to the first device is determined.
26. A first device, comprising: a processor and a memory are provided for the processor,

    The memory stores a computer program executable on a processor,

    The processor implementing the method of any one of claims 1 to 24 when executing the program.
27. A computer storage medium comprising a program code for causing a computer to, the computer storage medium stores one or more programs, the one or more programs may be executable by one or more processors to implement the method of any of claims 1 to 24.
28. A chip, comprising: a processor for calling and running a computer program from a memory, causing a device on which the chip is mounted to perform the method of any one of claims 1 to 24.
29. A computer program product comprising a computer storage medium storing a computer program comprising instructions executable by at least one processor, the instructions when executed by the at least one processor implementing the method of any one of claims 1 to 24.
30. A computer program which causes a computer to perform the method of any one of claims 1 to 24.