阅读说明：本技术 一种终端定位方法及装置 (Terminal positioning method and device ) 是由 罗嘉金 彭晓辉 周保建 李云波 刘辰辰 曹粔 于 2020-04-30 设计创作，主要内容包括：本申请提供一种终端定位方法及装置。本申请中,由终端装置接收信号发射装置所发送的无线信号,该无线信号可承载信号发射装置的位置信息,位置信息可以是预先存储在信号发射装置中的经纬度信息等,从而UE可根据该位置信息和无线信号的干涉测量结果或多普勒频移,实现精确定位,能够提高隧道内UE定位的精确度。此外,也可根据本申请实施例提供的方法,由UE获取来自于信号发射装置的位置信息,并根据该位置信息对车辆惯性导航以及视觉导航的定位结果进行校准,以提高隧道内的定位精度。(The application provides a terminal positioning method and device. In the method, the terminal device receives the wireless signal sent by the signal transmitting device, the wireless signal can bear the position information of the signal transmitting device, and the position information can be latitude and longitude information and the like which are pre-stored in the signal transmitting device, so that the UE can realize accurate positioning according to the position information and the interference measurement result or Doppler frequency shift of the wireless signal, and the positioning accuracy of the UE in the tunnel can be improved. In addition, according to the method provided by the embodiment of the application, the UE acquires the position information from the signal transmitting device, and calibrates the positioning results of the inertial navigation and the visual navigation of the vehicle according to the position information, so as to improve the positioning accuracy in the tunnel.)

1. A terminal positioning method is applied to a terminal device and comprises the following steps:

receiving a wireless signal, wherein the wireless signal comes from a signal transmitting device and at least carries position information of the signal transmitting device;

determining a first moment according to the Doppler frequency shift or interference measurement result of the wireless signal, wherein the first moment is the moment when the terminal device reaches the cross section of the tunnel where the signal transmitting device is located;

and determining the position information as the position information of the terminal device at the first moment.

2. The method of claim 1, wherein receiving a wireless signal comprises:

at a second moment, receiving the wireless signal through the first antenna to obtain a first signal, and receiving the wireless signal through the second antenna to obtain a second signal;

the determining a first time according to the interference measurement result of the wireless signal includes:

multiplying the first signal and the second signal to obtain a third signal, wherein the expression of the third signal is I₁；

Performing 90-degree phase deflection on the first signal to obtain a fourth signal;

multiplying the second signal and the fourth signal to obtain a fifth signal, wherein the expression of the fifth signal is Q₁；

Determining an expression of a first interference signal according to the expression of the third signal and the expression of the fifth signal, wherein the real part of the expression of the first interference signal is I₁The imaginary part of the expression of the first interference signal is Q₁；

Determining a first interferometric measurement according to an expression for the first interferometric signal, the first interferometric measurement being indicative of a phase of the first interferometric signal;

and if the first interference measurement result is determined to be zero, determining the second moment to be the first moment.

3. The method of claim 2, wherein the receiving a wireless signal further comprises:

at a third moment, receiving the wireless signal through the first antenna to obtain a sixth signal, and receiving the wireless signal through the second antenna to obtain a seventh signal;

the determining a first time according to the interference measurement result of the wireless signal further includes:

multiplying the sixth signal with the seventh signal to obtain an eighth signal, wherein the expression of the eighth signal is I₂；

Performing 90-degree phase deflection on the sixth signal to obtain a ninth signal;

multiplying the seventh signal with the ninth signal to obtain a tenth signal, wherein the expression of the tenth signal is Q₂；

Determining an expression of a second interference signal according to the expression of the eighth signal and the expression of the tenth signal, wherein a real part of the expression of the second interference signal is I₂The imaginary part of the expression of the second interference signal is Q₂；

Determining a second interferometric measurement according to an expression of the second interferometric signal, the second interferometric measurement being indicative of a phase of the second interferometric signal;

if the first interference measurement result and the second interference measurement result are determined not to be zero, determining a first interpolation function according to the second time, the third time, the first interference measurement result and the second interference measurement result, wherein the first interpolation function represents a functional relation between the interference measurement result and the time;

and determining the time when the interference measurement result is zero as the first time according to the first interpolation function.

4. The method according to claim 2 or 3, wherein the first antenna and the second antenna are arranged back and forth along the moving direction of the terminal device, the distance between the first antenna and the second antenna is λ end installed, and λ is the wavelength of the wireless signal.

5. The method of claim 1, wherein the receiving a wireless signal comprises:

receiving the wireless signal at a fourth moment to obtain an eleventh signal;

the determining a first time according to the doppler shift of the wireless signal includes:

determining a first doppler shift from the eleventh signal;

and if the first Doppler frequency shift is determined to be zero, determining the fourth moment to be the first moment.

6. The method of claim 5, wherein the receiving a wireless signal further comprises:

receiving the wireless signal at a fifth moment to obtain a twelfth signal;

the determining a first time according to the doppler shift of the wireless signal further includes:

determining a second doppler shift from the twelfth signal;

if the first Doppler frequency shift and the second Doppler frequency shift are determined not to be zero, determining a second interpolation function according to the fourth moment, the fifth moment, the first Doppler frequency shift and the second Doppler frequency shift, wherein the second interpolation function represents a functional relation between the Doppler frequency shift and the moment;

and determining the time when the Doppler frequency shift is zero as the first time according to the second interpolation function.

7. A terminal positioning method is applied to a signal transmitting device and comprises the following steps:

determining location information of the signal transmitting device;

broadcasting a wireless signal, the wireless signal carrying at least location information of the signal transmitting device.

8. A terminal device, comprising:

the communication module is used for receiving wireless signals, the wireless signals come from a signal transmitting device, and the wireless signals at least bear position information of the signal transmitting device;

the processing module is used for determining a first moment according to the Doppler frequency shift or interference measurement result of the wireless signal, wherein the first moment is the moment when the terminal device reaches the cross section of the tunnel where the signal transmitting device is located;

the processing module is further configured to determine that the location information is location information of the terminal device at the first time.

9. The terminal apparatus of claim 8, wherein the communication module, when receiving the wireless signal, is specifically configured to:

at a second moment, receiving the wireless signal through the first antenna to obtain a first signal, and receiving the wireless signal through the second antenna to obtain a second signal;

the processing module is specifically configured to, when determining the first time according to the interference measurement result of the wireless signal:

multiplying the first signal and the second signal to obtain a third signal, wherein the expression of the third signal is I₁；

Performing 90-degree phase deflection on the first signal to obtain a fourth signal;

multiplying the second signal and the fourth signal to obtain a fifth signal, wherein the expression of the fifth signal is Q₁；

Determining an expression of a first interference signal according to the expression of the third signal and the expression of the fifth signal, wherein the real part of the expression of the first interference signal is I₁The imaginary part of the expression of the first interference signal is Q₁；

Determining a first interferometric measurement according to an expression for the first interferometric signal, the first interferometric measurement being indicative of a phase of the first interferometric signal;

and if the first interference measurement result is determined to be zero, determining the second moment to be the first moment.

10. The terminal apparatus of claim 9, wherein the communication module, when receiving the wireless signal, is further configured to:

at a third moment, receiving the wireless signal through the first antenna to obtain a sixth signal, and receiving the wireless signal through the second antenna to obtain a seventh signal;

the processing module is further configured to, when determining the first time according to the interference measurement result of the wireless signal:

multiplying the sixth signal with the seventh signal to obtain an eighth signal, wherein the expression of the eighth signal is I₂；

Performing 90-degree phase deflection on the sixth signal to obtain a ninth signal;

multiplying the seventh signal with the ninth signal to obtain a tenth signal, wherein the expression of the tenth signal is Q₂；

Determining an expression of a second interference signal according to the expression of the eighth signal and the expression of the tenth signal, wherein a real part of the expression of the second interference signal is I₂The imaginary part of the expression of the second interference signal is Q₂；

Determining a second interferometric measurement according to an expression of the second interferometric signal, the second interferometric measurement being indicative of a phase of the second interferometric signal;

if the first interference measurement result and the second interference measurement result are determined not to be zero, determining a first interpolation function according to the second time, the third time, the first interference measurement result and the second interference measurement result, wherein the first interpolation function represents a functional relation between the interference measurement result and the time;

and determining the time when the interference measurement result is zero as the first time according to the first interpolation function.

11. The terminal device according to claim 9 or 10, wherein the first antenna and the second antenna are arranged in a back-and-forth manner along a moving direction of the terminal device, a distance between the first antenna and the second antenna is λ end-mounted, and λ is a wavelength of the wireless signal.

12. The terminal apparatus of claim 8, wherein the communication module, when receiving the wireless signal, is specifically configured to:

receiving the wireless signal at a fourth moment to obtain an eleventh signal;

the processing module is specifically configured to, when determining the first time according to the doppler shift of the wireless signal:

determining a first doppler shift from the eleventh signal;

and if the first Doppler frequency shift is determined to be zero, determining the fourth moment to be the first moment.

13. The terminal apparatus of claim 12, wherein the communication module, when receiving the wireless signal, is further configured to:

receiving the wireless signal at a fifth moment to obtain a twelfth signal;

the processing module is further configured to, when determining the first time according to the doppler shift of the wireless signal:

determining a second doppler shift from the twelfth signal;

if the first Doppler frequency shift and the second Doppler frequency shift are determined not to be zero, determining a second interpolation function according to the fourth moment, the fifth moment, the first Doppler frequency shift and the second Doppler frequency shift, wherein the second interpolation function represents a functional relation between the Doppler frequency shift and the moment;

and determining the time when the Doppler frequency shift is zero as the first time according to the second interpolation function.

14. A signal transmitting apparatus, comprising:

the processing module is used for determining the position information of the signal transmitting device;

and the communication module is used for broadcasting wireless signals, and the wireless signals at least bear the position information of the signal transmitting device.

15. A communication system comprising a terminal device according to any of claims 8 to 13 and a signal transmission device according to claim 14, the signal transmission device being in a tunnel.

16. A computer-readable storage medium, characterized by comprising a program which, when executed by a computer, performs the method of any one of claims 1 to 7.

Technical Field

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

Background

China is a country with rugged terrain, mountain lands, plateaus and hills occupy about 67% of the land area, and the complex and various terrains cause great obstacles to the development of traffic transportation. In modern Chinese highway construction, a tunnel excavation mode is widely adopted to cross mountains, rivers and undersea so as to shorten the route mileage and improve the road technical standard, and the highway tunnel becomes an important traffic infrastructure. The positioning of the vehicles in the tunnel has great significance for vehicle navigation, vehicle emergency rescue and other applications.

A major drawback of current satellite navigation systems, including Global Navigation Satellite Systems (GNSS), is that effective positioning is dependent on received satellite signals in real time. In the tunnel environment shown in fig. 1, the terminal (UE) cannot receive the satellite signal or can receive the satellite signal very weakly, so that the terminal cannot perform effective positioning by the satellite navigation system. Therefore, for the future field of unmanned technology, the terminal positioning accuracy obtained by the satellite navigation system cannot meet the application requirement of the unmanned technology (the required terminal positioning accuracy is 20 centimeters (cm)), and huge potential safety hazards exist. Therefore, a new positioning method is needed to improve the positioning accuracy of the terminal in the tunnel.

Disclosure of Invention

The application provides a terminal positioning method and device, which are used for improving the positioning precision of a terminal in a tunnel.

In a first aspect, the present application provides a terminal positioning method. The method may be implemented by a terminal device. The terminal device may be a UE or a component (e.g., chip, logic, module, etc.) in the UE. The UE may specifically be a vehicle-mounted UE, a mobile phone, or a wearable device. It should be understood that the terminal device comprises at least one receiving antenna for receiving wireless signals.

According to the method, the terminal device can be used for receiving wireless signals, and determining a first moment according to Doppler frequency shift or interference measurement results of the wireless signals, wherein the first moment is the moment when the terminal device reaches the cross section of the tunnel where the signal transmitting device is located. The wireless signal comes from the signal transmitting device, and the wireless signal at least carries the position information of the signal transmitting device. The terminal device may also determine the location information as location information of the terminal device at the first time of arrival.

By adopting the method, the terminal device can receive the wireless signal sent by the signal transmitting device, the wireless signal can bear the position information of the signal transmitting device, and the position information can be latitude and longitude information and the like which are pre-stored in the signal transmitting device, so that the UE can realize accurate positioning according to the position information and the interference measurement result or Doppler frequency shift of the wireless signal, and the positioning accuracy of the UE in the tunnel can be improved. In addition, according to the method provided by the embodiment of the application, the UE acquires the position information from the signal transmitting device, and uses the position information to calibrate the positioning results of the inertial navigation and the visual navigation of the vehicle, so as to improve the positioning accuracy in the tunnel.

In one possible example, the terminal device may receive the wireless signal through the first antenna at the second time to obtain the first signal, and receive the wireless signal through the second antenna to obtain the second signal. Thereafter, the terminal device may multiply the first signal and the second signal to obtain a third signal, where the third signal has an expression of I₁. And the terminal device may perform 90-degree phase deflection on the first signal to obtain a fourth signal, and multiply the second signal with the fourth signal to obtain a fifth signal, the expression of which is Q₁. The terminal device may further determine an expression of the first interference signal according to the expression of the third signal and the expression of the fifth signal, the real part of the expression of the first interference signal being I₁The imaginary part of the expression of the first interference signal is Q₁. The terminal device may determine a first interferometric measurement based on the expression for the first interference signal, the first interferometric measurement being indicative of the phase of the first interference signal. If the first interference measurement result is zero, the terminal device can determine that the second time is the first time. By adopting the method, the raw materials are mixed,the terminal device can determine the time when the interference measurement result of the wireless signal is zero based on the wireless signals received by the two receiving antennas, and can obtain the first time more accurately by using the time as the first time.

In another possible example, the terminal device may further receive a wireless signal through the first antenna at a third time to obtain a sixth signal, and receive the wireless signal through the second antenna to obtain a seventh signal. Further, the terminal device may multiply the sixth signal with the seventh signal to obtain an eighth signal, where the expression of the eighth signal is I₂. And the terminal device may phase-deflect the sixth signal by 90 degrees to obtain a ninth signal, and multiply the seventh signal by the ninth signal to obtain a tenth signal, the tenth signal having an expression Q₂. The terminal device may further determine an expression of a second interference signal according to the expression of the eighth signal and the expression of the tenth signal, the real part of the expression of the second interference signal being I₂The imaginary part of the expression of the second interference signal is Q₂. Thereafter, the terminal device may determine a second interferometric measurement based on the expression for the second interference signal, the second interferometric measurement being indicative of the phase of the second interference signal. If the first and second interference measurement results are not zero, the terminal device may determine a first interpolation function according to the second time, the third time, the first interference measurement result, and the second interference measurement result, where the first interpolation function represents a functional relationship between the interference measurement result and the time. The terminal device may determine a time when the interference measurement result is zero based on the first interpolation function, and set the time as the first time. By adopting the method, the terminal device can determine a plurality of interference measurement results of the wireless signals according to the wireless signals respectively received by the two receiving antennas at a plurality of moments, and when the plurality of interference measurement results are not zero, the moment when the interference measurement results are zero can be simulated by an interpolation method, so that the first moment can be more accurately obtained.

Illustratively, the above second time instant is different from the third time instant.

It should be understood that, the above first antenna and the second antenna are arranged in front of and behind the terminal device along the moving direction, the distance between the first antenna and the second antenna is λ two days, and λ is the wavelength of the wireless signal.

In another possible example, the terminal device may further receive the wireless signal at a fourth time instant, obtain an eleventh signal, and determine the first doppler shift frequency from the eleventh signal. If the first doppler frequency shift is determined to be zero, the terminal device may determine that the fourth time is the first time. With the above method, the terminal device can determine the time when the doppler shift of the radio signal is zero from the radio signal received by the receiving antenna, and can obtain the first time more accurately by using the time as the first time.

In another possible example, the terminal device may further receive the wireless signal at a fifth time instant, obtain a twelfth signal, and determine the second doppler shift frequency from the twelfth signal. If it is determined that neither the first doppler frequency shift nor the second doppler frequency shift is zero, the terminal device may determine a second interpolation function according to the fourth time, the fifth time, the first doppler frequency shift, and the second doppler frequency shift, where the second interpolation function may represent a functional relationship between the doppler frequency shift and the time. The terminal device may further determine a time when the doppler shift is made zero based on the second interpolation function, and set the time as the first time. By adopting the method, the terminal device can determine the Doppler frequency shifts of the wireless signals according to the wireless signals respectively received by the receiving antenna at a plurality of moments, and when the Doppler frequency shifts are not zero, the moment when the Doppler frequency shifts are zero can be simulated by an interpolation method, so that the first moment can be more accurately obtained.

Illustratively, the fourth time is different from the fifth time.

In a second aspect, an embodiment of the present application provides a terminal positioning method. The method may be implemented by a signal emitting device, which may be deployed in a tunnel. The signal transmitting device may be a wireless signal transmitter or a component (e.g., a chip, a logic circuit, a module, etc.) in a wireless signal transmitter.

According to the method, the signal emitting device may be configured to determine location information of the signal emitting device and broadcast a wireless signal carrying at least the location information of the signal emitting device.

In a third aspect, an embodiment of the present application provides a terminal device, where the terminal device may be a UE (e.g., a vehicle-mounted UE), may also be a chip or a module in the UE, and may also be a chip or a system on a chip.

The communication device may include a receiving module and a processing module. The communication module may be used to support communication of the communication device, and may also be referred to as a communication unit, a communication interface, a transceiver module, or a transceiver unit. The processing module may be configured to enable the communication device to perform the processing actions performed by the terminal device in the method according to the first aspect or any possible design of the first aspect.

In particular, the communication module may be configured to receive wireless signals. The processing module may be configured to determine a first time according to a doppler shift or an interference measurement result of the wireless signal, where the first time is a time when the communication device reaches a cross section of a tunnel where the signal transmitting device is located. The wireless signal comes from the signal transmitting device, and the wireless signal at least carries the position information of the signal transmitting device. The processing module may also determine the location information to be location information of the communication device at the first time.

In one possible example, the communication module may receive the wireless signal through the first antenna at the second time to obtain the first signal, and receive the wireless signal through the second antenna to obtain the second signal. Thereafter, the processing module may multiply the first signal with the second signal to obtain a third signal, where the third signal has an expression of I₁. And the processing module can perform 90-degree phase deflection on the first signal to obtain a fourth signal, and multiply the second signal and the fourth signal to obtain a fifth signal, wherein the expression of the fifth signal is Q₁. The processing module may further determine a first stem based on the representation of the third signal and the representation of the fifth signalAn expression of the interference signal, the real part of the expression of the first interference signal being I₁The imaginary part of the expression of the first interference signal is Q₁. The processing module may determine a first interferometric measurement based on an expression for the first interferometric signal, the first interferometric measurement being indicative of a phase of the first interferometric signal. If the first interferometric measurement is zero, the processing module may determine that the second time is the first time.

In another possible example, the communication module may further receive a wireless signal through the first antenna at a third time to obtain a sixth signal, and receive the wireless signal through the second antenna to obtain a seventh signal. Further, the processing module may multiply the sixth signal with the seventh signal to obtain an eighth signal, where the expression of the eighth signal is I₂. And the processing module may perform 90-degree phase deflection on the sixth signal to obtain a ninth signal, and multiply the seventh signal with the ninth signal to obtain a tenth signal, where the tenth signal has an expression of Q₂. The processing module may also determine an expression of a second interference signal according to the expression of the eighth signal and the expression of the tenth signal, the real part of the expression of the second interference signal being I₂The imaginary part of the expression of the second interference signal is Q₂. Thereafter, the processing module may determine a second interferometric measurement based on the expression for the second interference signal, the second interferometric measurement being indicative of the phase of the second interference signal. If the first and second interference measurement results are not zero, the processing module may determine a first interpolation function according to the second time, the third time, the first interference measurement result, and the second interference measurement result, where the first interpolation function represents a functional relationship between the interference measurement result and the time. The processing module may determine a time when the interferometry result is zero according to the first interpolation function, and use the time as the first time.

Illustratively, the above second time instant is different from the third time instant.

It should be understood that, the above first antenna and the second antenna are arranged back and forth along the moving direction of the communication device, and the distance between the first antenna and the second antenna is λ two days, where λ is the wavelength of the wireless signal.

In another possible example, the communication module may further receive the wireless signal at a fourth time instant to obtain an eleventh signal, and the processing module may determine the first doppler shift according to the eleventh signal. If the first doppler shift is determined to be zero, the processing module may determine that the fourth time is the first time.

In another possible example, the communication module may further receive the wireless signal at a fifth time instant, obtain a twelfth signal, and the processing module may determine the second doppler shift according to the twelfth signal. If it is determined that neither the first doppler shift nor the second doppler shift is zero, the processing module may determine a second interpolation function according to the fourth time, the fifth time, the first doppler shift, and the second doppler shift, where the second interpolation function may represent a functional relationship between the doppler shift and the time. The processing module may further determine a time when the doppler shift is zero according to the second interpolation function, and use the time as the first time.

Illustratively, the fourth time is different from the fifth time.

In a fourth aspect, embodiments of the present application provide a communication device, where the communication device may be a signal transmitting device, a chip or a module in the signal transmitting device, or a chip or a system on a chip.

The communication device may include a receiving module and a processing module. The communication module may be used to support communication of the communication device, and may also be referred to as a communication unit, a communication interface, a transceiver module, or a transceiver unit. The processing module may be configured to enable the communication device to perform the processing actions performed by the terminal device in the method according to the first aspect or any possible design of the first aspect.

In particular, the processing module may be configured to determine location information of the signal emitting device. The communication module may be configured to broadcast a wireless signal carrying at least location information of the signal transmitting device.

In a fifth aspect, an embodiment of the present application provides a communication apparatus, including: a processor coupled to a memory, the memory being configured to store a program or instructions that, when executed by the processor, cause the apparatus to perform the method of the first aspect, or any of the possible implementations of the first aspect.

In a sixth aspect, an embodiment of the present application provides a communication apparatus, including: a processor coupled to a memory, the memory being configured to store a program or instructions that, when executed by the processor, cause the apparatus to perform the method of the second aspect described above, or any one of the possible implementations of the second aspect.

In a seventh aspect, the present application provides a communication system, which may include the communication apparatus shown in the third or fifth aspect, and include the communication apparatus shown in the fourth or sixth aspect.

In an eighth aspect, embodiments of the present application provide a computer-readable medium, on which a computer program or instructions are stored, which, when executed, cause a computer to perform the method described in the first aspect, or any one of the possible implementations of the first aspect, the second aspect, or any one of the possible implementations of the second aspect.

In a ninth aspect, an embodiment of the present application provides a computer program product, which includes computer program code, when the computer program code runs on a computer, the computer executes the method described in the first aspect, or any one of the possible implementations of the first aspect, the second aspect, or any one of the possible implementations of the second aspect.

In a tenth aspect, an embodiment of the present application provides a chip, including: a processor, coupled to a memory, the memory being configured to store a program or instructions, which, when executed by the processor, causes the chip to implement the method of the first aspect, or any of the possible implementations of the first aspect, the second aspect, or any of the possible implementations of the second aspect.

The technical effects that can be achieved by the second aspect to the tenth aspect may be referred to the above analysis description of the first aspect and each possible design in the first aspect, and are not described herein again.

Drawings

Fig. 1 is a schematic diagram of a terminal location scenario in a tunnel;

fig. 2 is a schematic diagram of a system for positioning a terminal in a tunnel according to an embodiment of the present disclosure;

fig. 3 is a schematic flowchart of a terminal positioning method according to an embodiment of the present application;

fig. 4 is a schematic diagram of a frame structure of a wireless signal according to an embodiment of the present application;

fig. 5 is a schematic diagram illustrating an architecture of a UE for determining an interferometric measurement result according to an embodiment of the present application;

fig. 6 is a schematic diagram illustrating an architecture of determining an interferometric measurement result by a UE according to an embodiment of the present application;

fig. 7 is a schematic diagram of an architecture for determining a doppler shift by a UE according to an embodiment of the present application;

fig. 8 is a schematic logical architecture diagram of a communication device according to an embodiment of the present application;

fig. 9 is a simulation diagram of a received signal according to an embodiment of the present application;

FIG. 10 is a simulation diagram of a phase versus time relationship provided in an embodiment of the present application;

FIG. 11 is a schematic diagram of a simulation of a relationship between a vehicle position and time according to an embodiment of the present application;

fig. 12 is a simulation diagram of doppler shift versus time according to an embodiment of the present application;

fig. 13 is a schematic structural diagram of a communication device according to an embodiment of the present application;

fig. 14 is a schematic structural diagram of another communication device according to an embodiment of the present application.

Detailed Description

In order to improve the positioning accuracy of the terminal in the tunnel, the application provides a terminal positioning method. The present application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific methods of operation in the method embodiments described below may also be applied to either the apparatus embodiments or the system embodiments.

Fig. 1 is a schematic view of a possible application scenario of the terminal positioning method according to the embodiment of the present application. As shown in fig. 1, the UE is located in a tunnel, at this time, the UE cannot obtain accurate positioning information through a satellite navigation system, and the accuracy of positioning by the UE through inertial navigation and visual navigation is not high.

It should be understood that the UE shown in fig. 1 may be a User Equipment (UE), a terminal (terminal), an access terminal, a terminal unit, a terminal station, a Mobile Station (MS), a remote station, an intelligent vehicle, a vehicle networking related intelligent device (e.g., an intelligent vehicle-mounted device), a remote terminal, a mobile terminal (mobile terminal), a wireless communication device, a terminal agent or a terminal device, etc. The UE may be equipped with radio transceiver functionality, such as supporting the reception and transmission of radio signals via one or more antennas.

Specifically, the UE may be a cellular phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA) device, a handheld device with a wireless communication function, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device, a wearable device, a terminal device in a future 5G network, a terminal device in a future evolved Public Land Mobile Network (PLMN), or the like.

In addition, the UE may be deployed on land, including indoor or outdoor, handheld or vehicle-mounted UE, and the tunnel shown in fig. 1 may be a land tunnel (including an underwater tunnel) such as a road. The UE may also be deployed on the surface of the water (e.g., a ship, etc.), in which case the tunnel shown in fig. 1 may be a waterway tunnel in a river or sea. The terminal equipment can also be deployed on aircrafts such as airplanes and unmanned aerial vehicles, and when the aircrafts pass through a land or waterway tunnel, positioning is carried out based on the method provided by the embodiment of the application. The UE may specifically be a mobile phone (mobile phone), a tablet (pad), a computer with a wireless transceiving function, a Virtual Reality (VR) terminal, an Augmented Reality (AR) terminal, a wireless terminal in industrial control (industrial control), a wireless terminal in self driving (self driving), a wireless terminal in remote medical (remote medical), a wireless terminal in smart grid (smart grid), a wireless terminal in transportation safety (transportation safety), a wireless terminal in smart city (smart city), a wireless terminal in smart home (smart home), and the like. The UE may be a communication chip having a communication module, a vehicle having a communication function, an in-vehicle device (e.g., an in-vehicle communication apparatus, an in-vehicle communication chip), or the like.

As shown in fig. 2, the terminal positioning method provided in the embodiment of the present application may be performed by at least one signal transmitting apparatus and at least one UE. The signal transmitting device may be a device having a wireless signal transmitting capability, such as a wireless signal transmitter, an evolved node b (eNB) or eNodeB in an LTE system, a small base station (micro/pico eNB) or a transmission/reception node (TRP), and may also be a wireless controller in a Cloud Radio Access Network (CRAN) scenario.

It should be understood that the signal emitting device may be disposed in the tunnel, for example, may be disposed on the inner wall of the tunnel roof, such as at position a or position B; alternatively, the signal emitting device may be disposed on the inner wall of the tunnel at one side or both sides of the highway (or waterway) in the tunnel, such as at the position C or the position D. The position a, the position C and the position C may be located on the same cross section of the tunnel (or referred to as a tunnel cross section). If the signal transmitting devices are multiple, the multiple signal transmitting devices can be arranged at the top of the tunnel along the axial direction of the tunnel, or can be arranged on the inner wall of the tunnel at one side or two sides of the highway (or the water way) along the axial direction of the tunnel.

According to the embodiment of the present application, the signal transmitting apparatus may be configured to transmit a wireless signal through a transmit antenna (Tx), where the wireless signal is transmitted by a broadcast transmission method. Specifically, the signal transmitting device can broadcast the wireless signal periodicallyThe wireless signal may be used to carry location information, which may be, for example, longitude and latitude information of a cross section of a tunnel where the signal transmitting device is located. The signal transmitting device may also be adapted to transmit a center frequency f_iThe bandwidth (bandwidth) is B_iI represents that the signal transmitting device is the ith signal transmitting device in the tunnel, i is 1, 2, 3 … N, and N is the total number of the signal transmitting devices deployed in the tunnel. For example, the value of i may be set according to the position of the signal transmitting device, for example, the signal transmitting device closest to the tunnel entrance is the 1 st signal transmitting device, and then the other signal transmitting devices are numbered in sequence according to the distance from the signal transmitting device to the tunnel entrance.

In order to avoid interference between signals transmitted by a plurality of signal transmitting devices, a center frequency and a bandwidth may be set for each signal generating device. The center frequency and the bandwidth of the ith signal transmitting device and the jth signal transmitting device in the plurality of signal transmitting devices can satisfy the following conditions: l f_i-f_j|>(B_i+B_j) And/2, i, j ≠ 1, 2, 3 … N, N is the total number of signal transmitting devices deployed in the tunnel, and i ≠ j, N is the total number of signal transmitting devices in the tunnel. The ith signal transmitting device and the jth signal transmitting device are any two signal transmitting devices in the plurality of signal transmitting devices.

Based on the architecture shown in fig. 2, the present application provides a terminal positioning method, which can be interactively performed by a terminal device and a signal transmitting device in a tunnel. The terminal device may be a UE or a component in the UE, among others. Specifically, the terminal device may be a vehicle-mounted UE or the like.

Taking a terminal device as an example, the method may include the following steps shown in fig. 3:

s101: the signal transmitting device transmits a wireless signal. The wireless signal at least carries the position information of the signal transmitting device.

For example, the signal transmitting apparatus may transmit the wireless signal in the period T. Specifically, as shown in fig. 4, the ith signal transmitting device may transmit a broadband signal during the time period T1Not more than B_iTo carry the position information of the ith signal transmitting device and send the broadband not greater than B in the time period of T2_iWherein the wireless signal transmitted during the time period T2 may carry setting information, such as bit 0. B is_iSee the above description for the manner of arrangement of (1). Alternatively, the bandwidth of the wireless signal transmitted during the T1 time period may be different from the bandwidth of the wireless signal transmitted during the T2 time period.

The location information of the signal transmitting device may be location information of a cross section of a tunnel where the signal transmitting device is located, for example, the location information may be latitude and longitude information or area identification of the signal transmitting device.

Accordingly, the UE receives the radio signal transmitted by the signal transmitting apparatus.

S102: and the UE determines a first moment according to the Doppler frequency shift of the wireless signal or the interference measurement result of the wireless signal, wherein the first moment is the moment when the UE reaches the cross section of the tunnel where the signal transmitting device is located.

Specifically, the UE may determine whether the UE reaches a cross section of a tunnel where the wireless signal transmitting apparatus is located when receiving the wireless signal according to an interference measurement result of the wireless signal or a doppler shift of the wireless signal. It should be understood that the time when the UE reaches the tunnel cross section where the signal transmitting apparatus is located refers to the time when the UE moves to the tunnel cross section where the signal transmitting apparatus is located.

For example, as shown in fig. 2, when the UE receives a wireless signal transmitted from a signal transmitting apparatus at location a, an interference measurement result or a doppler shift of the wireless signal may be determined, and whether the tunnel cross section at location a (i.e., the cross sections at location a, location C, and location D shown in fig. 2) is reached when the wireless signal is received is determined according to the interference measurement result or the doppler shift. If the UE determines that the current time UE reaches the cross section of the tunnel, the current time may be used as the time when the current time UE reaches the cross section, i.e., the first time. In addition, if it is determined that the UE does not reach the tunnel cross section at the current time, the UE may further determine a distance from the UE to the tunnel cross section according to the doppler shift of the wireless signal or the interference measurement result of the wireless signal, and further may calculate a time when the UE (or a vehicle, etc.) reaches the cross section according to a moving speed of the UE (for example, a moving speed of a vehicle obtained from a vehicle in which the UE is located).

S103: and the UE determines the position information carried by the wireless signal as the position information of the UE at the first moment.

The position information of the signal transmitting device can indicate longitude and latitude information of the signal transmitting device or indicate longitude and latitude information of a tunnel cross section where the signal transmitting device is located. In addition, the UE may further determine the location information of the UE in the future or at a previous time according to the moving speed of the UE.

Based on the method shown in fig. 3, the UE may receive a wireless signal sent by the signal transmitting apparatus, where the wireless signal may carry location information of the signal transmitting apparatus, and the location information may be latitude and longitude information or doppler shift information pre-stored in the signal transmitting apparatus, so that the UE may implement accurate positioning according to the location information and an interference measurement result or doppler shift of the wireless signal, and may improve accuracy of positioning the UE in the tunnel. In addition, according to the method provided by the embodiment of the application, the UE acquires the position information from the signal transmitting device, and calibrates the positioning results of the inertial navigation and the visual navigation of the vehicle according to the position information, so as to improve the positioning accuracy in the tunnel.

In one possible example, the UE may simultaneously receive wireless signals transmitted by the signal transmitting apparatus through two receiving antennas (Rx), and determine an interference measurement result according to respective received signals of the two receiving antennas. The interferometric measurement may be used to determine the first time instant. For example, for a vehicle-mounted UE, the two receiving antennas may be arranged in tandem along the direction of the head of the vehicle.

Specifically, taking the signal transmitting device disposed on the inner wall of the top end of the tunnel as an example, as shown in fig. 5, the UE can respectively receive the wireless signals through two receiving antennas Rx1 (or may be referred to as a first antenna) and Rx2 (or may be referred to as a second antenna) which are distributed in tandem in the axial direction of the vehicle, so as to respectively obtain the first signal and the second signal. Wherein the content of the first and second substances,h represents a vertical distance between the Tx of the signal transmitting apparatus and the UE, for example, 2 meters (m). The distance between Rx1 and Rx2 is D, and D ═ 1 λ (1/2) represents the wavelength of the wireless signal transmitted by the signal transmitting device. The UE can acquire the position information d sent by the signal transmitting device through the wireless signals received by Rx1 or Rx2_i. The direction of the arrow in fig. 5 may indicate the direction of travel of the vehicle.

According to the wireless signal received at the second time, the UE can obtain two output signals s from Rx1 and Rx2 respectively₁(t) (i.e., the first signal) and s₂(t) (i.e., the second signal). As shown in FIG. 5, the UE may associate s with₁(t) and s₂(t) obtaining a third signal after multiplication, filtering the signal obtained after multiplication by a low-pass filter (LPF) to filter high-frequency noise, and obtaining a signal I₁. And, the UE may associate s₂(t) performing 90-degree phase deflection through a phase shifter to obtain a fourth signal, multiplying the fourth signal with the second signal to obtain a fifth signal, and filtering through an LPF (low pass filter) to obtain a signal Q₁。

Wherein, the signal I₁Can be expressed as: k is₁cos (2 π fi Δ r/c). Signal Q₁Can be expressed as: q₁＝k₂sin (2 π fi Δ r/c). Can be expressed by a complex expression I₁+jQ₁Represents a signal transmitted in the reception circuitry of the UE, which may be referred to as an interference signal (or interference output signal). Wherein j is²＝-1，jQ₁Representing the signal Q₁The signal deflection processing of 90 degrees is performed. Based on the expression I₁+jQ₁， I₁The real part of the signal expression satisfies: i is₁＝k₁cos(2πfi△r/c)；Q₁For the imaginary part of the signal expression, it satisfies: q₁＝k₂sin(2πfi△r/c)，k₁And k₂Signal amplitudes of the reception signals of Rx1 and Rx2 are represented, respectively, and c represents the speed of light. Δ r is a path difference between the signal emitting device and Rx1 and Rx2, and can be expressed as | r1-r2|, and r1 and r2 are distances between Rx1 and Rx2 and the signal emitting device, respectively.

Thereafter, the UE may be according to expression I₁+jQ₁Obtaining phase, i.e. obtainingAnd obtaining an interference measurement result of the wireless signal. It should be understood that the interference measurement result is obtained from the wireless signal received at the second time, and may be referred to as a first interference measurement result hereinafter. Specifically, the following formula can be used: i is₁+jQ₁Determining: θ ═ arctan (Q)₁/I₁). Where θ represents a phase, the phase information may be used to indicate the value of θ.

If the UE determines that the phase information indicates that the phase is zero, that is, the first interference measurement result is zero, it indicates that the intermediate positions of Rx1 and Rx2 are located in the cross section of the tunnel where the signal transmitting device is located when Rx1 and Rx2 receive the wireless signal, or that the UE or the vehicle, ship or aircraft where the UE is located in the cross section of the tunnel where the signal transmitting device is located, the UE may determine the second time as the first time, and determine the position information d of the signal transmitting device_iAs the position information at the first time, accurate positioning in the tunnel is realized.

Further, if the UE determines that the first interference measurement result is not zero and the second interference measurement result determined from the radio signal received at the third time is not zero (in addition, the UE may also determine that the interference measurement results determined from the radio signals received at more times are not zero), the UE may determine a time at which the interference measurement result is zero by an interpolation method according to a correspondence between the second time and the first interference measurement result, a correspondence between the third time and the second interference measurement result, or more times and a correspondence between the interference measurement results determined from the radio signals received at the time, determine the time as the first time, and thereafter, the UE may determine the location information d of the signal transmitting apparatus as the first time_iAnd determining the location information of the UE at the first time.

Wherein the manner in which the second interferometric measurement is determined may be referenced to the manner in which the first interferometric measurement is determined. Specifically, the UE may receive the wireless signal through Rx1 to obtain a sixth signal at the third time instant and receive the wireless signal through Rx2 to obtain a seventh signal at the third time instant. Thereafter, an eighth signal I is obtained from the sixth signal multiplied by the seventh signal₂(ii) a And, the sixth signal is phase-deflected by 90 degrees by a phase shifter to obtain a ninth signal, and the seventh signal is multiplied by the ninth signal to obtain a tenth signal Q₂. Determining the expression I of the second interference signal according to the expression of the eighth signal and the expression of the tenth signal₂+jQ₂. Thereafter, the UE may determine a second interference measurement result according to the expression of the second interference signal, the second interference measurement result indicating a phase of the second interference signal. Wherein the manner in which the second interferometric measurement is determined may be referenced to the manner in which the first interferometric measurement is determined.

The method for determining the time when the phase difference is zero by the interpolation method will be described in detail below.

As shown in fig. 6, s represents a distance between a location of the UE and a cross section of the tunnel where the signal transmitting device is located, and an arrow in fig. 6 may represent a traveling direction of a vehicle, a ship, or an aircraft where the UE is located. When the UE is at position 1 (assuming that the time is the second time), the first interference measurement result determined by the UE according to the Rx1 and the Rx2 is not zero, and when the UE is at position 2 (assuming that the time is the third time), the second interference measurement result determined by the UE according to the Rx1 and the Rx2 is not zero (for example, the values of the first interference measurement result and the second interference measurement result are positive and negative), the UE may determine a first interpolation function according to the second time, the third time, the first interference measurement result and the values of the second interference measurement result, the first interpolation function being a function between the time and the interference measurement result, and then the UE may determine a time at which the phase difference is 0 according to the first interpolation function, and take the time as the first time. The UE may use the location information indicated by the signal transmitting apparatus as the location information of the UE at the first time. When performing interpolation, it is not excluded that the UE may determine the interpolation function in consideration of more interference measurement results to improve the accuracy of the interpolation method, where the more interference measurement results may be determined by the UE according to the received signals of Rx1 and Rx2 at more times other than the second time and the third time, respectively.

In addition, the UE can also determine the distance from the current UE to the tunnel cross section where the signal transmitting device is located and/or the time length required for the UE to reach the tunnel cross section according to the information such as the moving speed, the current time, the first time and the like. Wherein, the moving speed can be obtained by the UE from the vehicle, ship or aircraft. The moving speed may be an average moving speed or a real-time moving speed, and is not particularly limited herein.

In another possible example, the UE may receive a radio signal transmitted by the transmitting device through one Rx and shift the frequency according to the doppler frequency of the radio signal. Thereafter, the UE may determine a first time instant based on the doppler shift. It should be understood that Rx here may be Rx1 or Rx2, or may be a receiving antenna other than Rx1 and Rx 2.

Specifically, the UE may obtain an eleventh signal according to the wireless signal received at the fourth time, and further determine a first doppler shift with the eleventh signal, so as to determine whether the UE currently reaches the tunnel cross section where the signal transmitting apparatus is located according to the first doppler shift. In addition, the UE can obtain the location information d sent by the signal transmitting device according to the wireless signal_i。

Illustratively, as shown in FIG. 7, the Doppler shift may be determined according to the following equation: f. of_d(f/c) vcos β, wherein f_dDenotes a doppler shift, f denotes a carrier frequency of a radio signal, c denotes a propagation velocity of an electromagnetic wave (i.e., a speed of light), v denotes a current moving velocity of the UE, and β denotes an angle between a moving direction of the UE and a propagation direction of a radio signal received by the UE.

It can be seen that when β is 90 degrees, f_dIs 0, and the UE reaches the cross section of the tunnel where the signal transmitting device is located. Therefore, when the doppler shift indicates that the doppler shift of the wireless signal is zero, it indicates that the receiving antenna reaches the cross section of the tunnel where the signal transmitting apparatus is located when the wireless signal is received, or indicates that the UE or the vehicle, ship or aircraft where the UE is located reaches the cross section of the tunnel where the signal transmitting apparatus is located.

Accordingly, if the first doppler shift is determined to be zero, the UE may determine that the fourth time is the first time. UE can transmit the position information d of signal transmitting device_iAnd as the position information of the UE at the first moment, the accurate positioning in the tunnel is realized.

In addition, if it is determined that the first doppler shift is not zero and the second doppler shift determined from the wireless signal received at the fifth time is not zero (in addition, the UE may also determine that the doppler shifts determined from the wireless signals received at more times are not zero), the UE may determine, by an interpolation method, a time at which the doppler shift is zero, as the first time, based on a correspondence between the fourth time and the first doppler shift, a correspondence between the fifth time and the second doppler shift, or more times, and a correspondence between the doppler shifts determined from the wireless signals received at the time, and then may determine the time as the first time, and thereafter, the UE may determine the location information d of the signal transmitting apparatus_iAnd determining the location information of the UE at the first time. The second doppler shift or more doppler shifts may be determined by referring to the first doppler shift, which is not described herein again.

Also taking fig. 6 as an example, if the sign of the first doppler shift determined by the radio signal received by the Rx at the fourth time (for example, the doppler shift is a positive number) is opposite to the sign of the doppler shift determined by the radio signal received by the Rx at the fifth time (for example, the doppler shift is a negative number), the time when the doppler shift is zero (i.e., the first time) is between the fourth time and the fifth time. The UE may determine a second interpolation function according to the values of the fourth time, the fifth time, the first doppler shift, and the second doppler shift, where the second interpolation function is a function between the time and the doppler shift, and then determine a time at which the doppler shift is 0 according to the second interpolation function, and use the time as the first time. The UE may use the location information indicated by the signal transmitting apparatus as the location information of the UE at the first time. When performing interpolation, it is not excluded that the UE may determine the interpolation function by considering more doppler shifts, which may be determined by the UE according to the received signals of Rx at more times other than the fourth time and the fifth time, so as to improve the accuracy of the interpolation method.

In addition, the UE may also determine a distance from the current UE to the tunnel cross section where the signal transmitting device is located according to the information such as the moving speed, the current time, and the first time, so as to determine the location information of the current UE according to the location information of the tunnel cross section and the distance. Wherein, the moving speed can be obtained by the UE from the vehicle, ship or aircraft. Alternatively, if the UE is held by a pedestrian, a set pedestrian movement speed may be employed, or the movement speed may be determined from the results of a previous positioning. The moving speed may be an average moving speed or a real-time moving speed.

Fig. 8 is a schematic diagram of a logic architecture of a possible communication device according to an embodiment of the present application, where the logic architecture can be used to execute the method according to the embodiment of the present application, and the following description is given with reference to specific examples. In the logic architecture, the electromagnetic wave transmitting apparatus 101 may be implemented by a signal transmitting apparatus, and other logic components may be implemented by the UE or a device (such as an antenna, a memory, or a processor) connected to the UE. The UE may be a vehicle-mounted device (or a device on a ship or an aircraft) in a tunnel, or a device held by a pedestrian, and the like, which is not particularly limited in the present application.

In one specific example, the following may be used for positioning according to the logical architecture shown in fig. 8.

The electromagnetic wave emitting device 101 disposed in the tunnel continuously emits signals outwards, and N is a positive integer. Wherein, the ith wireless signal transmitting device continuously transmits the signal with the center frequency f_iA wireless signal having a bandwidth of 10 megahertz (MHz). The time length of each frame of the wireless signal is T, wherein the time length of T1 is used for transmitting the position information of the signal transmitting device, the time length of T2 is used for transmitting the bandwidth of B_iIn order to ensure that the signal transmitting devices do not interfere with each other, the frequencies of the signal transmitting devices need to be staggered, i.e. | f_i-f_j|>10 MHz. Wherein, B_i≤10MHz。

Two receiving antennas 1 and 2 of the vehicle-mounted UE are used for receiving signals transmitted by the transmitting node, wherein the distance between the antenna 1 and the antenna 2 is 0.5 lambda, and the antenna 1 and the antenna 2 can be respectivelyDisposed in the electromagnetic wave receiving devices 102 and 103, the signals output by the electromagnetic wave receiving devices 102 and 103 are s respectively₁(t) and s₂(t) the spacings between antenna 1 and antenna 2 to the transmitting antenna are r1 and r2, respectively, Δ r ═ r1-r2 |.

The electromagnetic wave receiving device 103 sends the received signal to the processing device 107, and the processing device 107 obtains the position information d carried by the wireless signal according to the memory processing program 106_i。

The electromagnetic wave receiving device 102 and the electromagnetic wave receiving device 103 respectively send the received signals to the multiplier 104, and the signal output by the multiplier 104 passes through the low-pass filter 105 to obtain a signal I. And s output to the electromagnetic wave receiving device 103 through the phase shifter₂(t) the signal is subjected to 90-degree phase deflection, and the obtained signal and s output by the electromagnetic wave receiving device 102 are combined₁(t) is sent to another multiplier 104 ', and the signal outputted from the multiplier 104 ' is filtered by the low-pass filter 105 ' to obtain the signal Q. Wherein the multiplier performs the function of directly multiplying two signals, e.g. s₁(t) and s₂(t) sending to the multiplier to obtain s (t) s₁(t)*s₂(t)。

The signals output by the low-pass filter 105 and the low-pass filter 105' may be represented as I + jQ, where I ═ k₁cos(2πfi△r/c)，Q＝k₂sin (2 π fi Δ r/c), where k₁And k₂Representing the amplitude of the received signal and c the speed of light.

The signal I + jQ is sent to the processing means 109, and the processing means 109 calculates the time t at which the vehicle reaches the position directly below the transmitting node according to the memory processing program 110_iThis time is referred to as a first time.

Specifically, the processing steps performed by the processing device 109 may include: denoising the signal I + jQ to relieve the influence of noise fluctuation, then obtaining a phase based on the denoised signal, carrying out interpolation operation on the obtained phase to obtain a position with the phase as a zero point, and recording the time t when the phase is the zero point_iThen t is_iThe position of the vehicle at that moment is position d_i。

If the vertical distance h between the sending node and the vehicle is 2m, the vehicle moves from a position 10m away from the tunnel cross section where the electromagnetic wave emitting device 101 is located in the direction of the tunnel cross section at a speed of 140 kilometers per hour (Km/h), the frequency of the wireless signal sent by the electromagnetic wave emitting device 101 is 24 gigahertz (GHz), the wireless signal is received at different times by adopting the method, and a simulation result graph of the relationship between the signal I and the signal Q and the time shown in fig. 9 is obtained. From the simulation result of fig. 9, a simulation result graph of the relationship between the signal I + jQ and the time shown in fig. 10 can be obtained. As can be seen from fig. 10, the point corresponding to the zero phase point has a time t_i0.73 seconds(s). Furthermore, the relationship between the distance between the vehicle and the tunnel cross-section and the time after the vehicle starts moving is shown in fig. 10, where t_iThe distance of the vehicle from the tunnel cross-section is-10 (i.e. the distance between the vehicle and the tunnel cross-section is 10 meters) at 0. FIG. 11 shows the relationship between the vehicle position and the time, and it can be seen from FIG. 11 that the vehicle is at t_iAt 0.73, the theoretical distance from the tunnel cross-section is 0.144m, whereas according to fig. 10, t_iThe distance between the vehicle and the cross section is 0 at the moment of 0.73, so that the error of positioning the vehicle by adopting the method is 0.144m, and is less than 20 cm, and the application requirement of the unmanned technology can be met.

In another specific example, the location information of the in-vehicle UE may be determined in the following manner according to the logical architecture shown in fig. 8.

The electromagnetic wave emitting device 101 disposed in the tunnel continuously emits signals outwards, and N is a positive integer. Wherein, the ith wireless signal transmitting device continuously transmits the signal with the center frequency f_iA wireless signal having a bandwidth of 10 megahertz (MHz). The time length of each frame of the wireless signal is T, wherein the time length of T1 is used for transmitting the position information of the node, the time length of T2 is used for transmitting the bandwidth of B_iIn order to ensure that the nodes do not interfere with each other, the frequencies of the transmitting nodes need to be staggered, i.e. | f is required_i-f_j|>10 MHz. Wherein, B_i≤10MHz。

The antenna of the vehicle-mounted UE receives the wireless signal transmitted by the electromagnetic wave transmitting device 101, and transmits the received signal to the processing device 107, and the processing device 107 acquires the position information d carried by the wireless signal according to the memory processing program 106_i. The antenna may be disposed in the electromagnetic wave receiving device 102 or 103.

Furthermore, the electromagnetic wave receiving device 102 or 103 can also send the signal received by the antenna to the processing device 109, and the processing device 109 determines and outputs the time t when the vehicle reaches the position right below the transmitting node according to the stored processing program 108_iThis time is referred to as a first time.

Specifically, the processing steps performed by the processing device 109 may include: calculating to obtain the Doppler shift of the signal output by the electromagnetic wave receiving device 102 or 103, further filtering the Doppler shift of the signal, performing interpolation by using the filtered Doppler shift value to obtain a point with the Doppler shift being zero, and recording the time t when the Doppler shift is zero_iThen t is_iThe position of the vehicle at that moment is position d_i。

If the vertical distance h from the sending node to the vehicle is 1m, the vehicle moves in the direction of the cross section of the tunnel at a speed of 140Km/h, and the frequency of the wireless signal sent by the electromagnetic wave emitting device 101 is 24GHz, by which a schematic diagram of the relationship between the doppler shift and the distance between the vehicle and the cross section of the tunnel where the electromagnetic wave emitting device 101 is located as shown in fig. 12 can be obtained. According to fig. 12, the point with the doppler shift closest to 0 determined by the vehicle-mounted UE is located at-0.06944 m and 0.06944m from the cross section of the tunnel, so that the error of vehicle positioning by the method is less than 20 cm, and the application requirement of the unmanned technology can be met.

Corresponding to the method provided by the above method embodiment, the embodiment of the present application further provides a corresponding apparatus, which includes a module for executing the above embodiment. The module may be software, hardware, or a combination of software and hardware. The apparatus may be a UE (or a terminal apparatus), or may be a chip, a chip system, a processor, or the like, which supports the UE to implement the method described above. The device may also be a signal transmitting device, or a chip, a chip system, or a processor supporting the signal transmitting device to implement the method. The device can be used for realizing the method executed by the UE or the signal transmitting device in the method embodiment.

Fig. 13 is a schematic view of a modular structure of the apparatus, and fig. 14 is a schematic view of a hardware component of the apparatus. As shown in fig. 13, the communication apparatus 1300 may include a communication module 1301 and a processing module 1302. As shown in fig. 14, the communication device 1400 may include a processor 1401, and may also include one or more components of a memory 1402, a transceiver 1405, or an antenna 1406.

When the communication device 1300 or 1400 is a terminal or a signal transmitting device, the communication module 1301 or the transceiver 1405 may be a transmitting unit or a transmitter when transmitting information, the communication module 1301 or the transceiver 1405 may be a receiving unit or a receiver when receiving information, the transmitting/receiving unit may be a transceiver, the transmitter, or the receiver may be a radio frequency circuit, when the communication device 1300 or 1400 includes a storage unit (e.g., the memory 1402), the storage unit may be used to store computer instructions, the processing module 1302 or the processor 1401 is in communication connection with the memory, and the processing module 1302 or the processor 1401 executes the computer instructions stored in the memory, so that the master node (or the first communication device) or the slave node (or the second communication device) executes the method according to the embodiment in fig. 3. The processing module 1302 or the processor 1401 may be a general purpose Central Processing Unit (CPU), a microprocessor, or an Application Specific Integrated Circuit (ASIC).

When the master node (or first communication means), or the slave node (or second communication means) is a chip, the communication module 1301 or the transceiver 1405 may be an input and/or output interface, pin or circuit, etc. The processing module 1302 or the processor 1401 can execute computer executable instructions stored by the storage unit to cause a chip within the master node (or first communication device) or the slave node (or second communication device) to perform the method according to fig. 3. Optionally, the storage unit (e.g., the memory 1402) is a storage unit in the chip, such as a register, a cache, and the like, and the storage unit may also be a storage unit located outside the chip in the terminal, such as a Read Only Memory (ROM) or another type of static storage device that can store static information and instructions, a Random Access Memory (RAM), and the like.

As shown in fig. 13, a communication apparatus provided in an embodiment of the present application may include a communication module 1301 and a processing module 1302, where the communication module 1301 and the processing module 1302 are coupled to each other. The communication device 1300 may be configured to perform the steps performed by the master node (or first communication device) or the slave node (or second communication device) as shown in the above method embodiments. The communication module 1301 may be used to support the communication apparatus 1300 for communication, and the communication module 1301 may also be referred to as a communication unit, a communication interface, a transceiver module, or a transceiver unit. The communication module 1301 may have a wireless communication function, and may communicate with another communication apparatus by a wireless communication method, for example.

The processing module 1302 may also be referred to as a processing unit and may be used to support the communication apparatus 1300 to perform the processing actions performed by the UE or the signal transmitting apparatus in the above method embodiments, including but not limited to: information, messages transmitted by communication module 1301, and/or demodulation decoding of signals received by communication module 1301, etc.

In performing the steps of the UE in the above method embodiments, the communication module 1301 may be configured to receive a wireless signal. The processing module 1302 may be configured to determine a first time according to a doppler shift or an interference measurement result of the wireless signal, where the first time is a time when the communication apparatus reaches a cross section of a tunnel where the signal transmitting apparatus is located. The wireless signal comes from the signal transmitting device, and the wireless signal at least carries the position information of the signal transmitting device. The processing module 1302 may also determine the location information to be the location information of the communication device at the first time.

In one possible example, the communication module 1301 may receive the wireless signal through the first antenna at the second time to obtain the first signal, and receive the wireless signal through the second antenna to obtain the wireless signalA second signal. Thereafter, the processing module 1302 may multiply the first signal with the second signal to obtain a third signal, wherein the third signal has an expression of I₁. And, the processing module 1302 may perform 90 degree phase deflection on the first signal to obtain a fourth signal, and multiply the second signal with the fourth signal to obtain a fifth signal, where the expression of the fifth signal is Q₁. The processing module 1302 may further determine an expression of the first interference signal according to the expression of the third signal and the expression of the fifth signal, wherein the real part of the expression of the first interference signal is I₁The imaginary part of the expression of the first interference signal is Q₁. The processing module 1302 may determine a first interferometric measurement based on the representation of the first interferometric signal, the first interferometric measurement being indicative of a phase of the first interferometric signal. If the first interferometric measurement is zero, the processing module 1302 may determine that the second time is the first time.

In another possible example, the communication module 1301 may further receive a wireless signal through the first antenna at a third time to obtain a sixth signal, and receive the wireless signal through the second antenna to obtain a seventh signal. Further, the processing module 1302 may multiply the sixth signal with the seventh signal to obtain an eighth signal, where the expression of the eighth signal is I₂. And, the processing module 1302 may perform 90 degree phase deflection on the sixth signal to obtain a ninth signal, and multiply the seventh signal with the ninth signal to obtain a tenth signal, where the expression of the tenth signal is Q₂. The processing module 1302 may further determine an expression of the second interference signal according to the expression of the eighth signal and the expression of the tenth signal, wherein the real part of the expression of the second interference signal is I₂The imaginary part of the expression of the second interference signal is Q₂. Thereafter, the processing module 1302 may determine a second interferometric measurement based on the expression for the second interference signal, the second interferometric measurement being indicative of the phase of the second interference signal. If the first and second interferometry results are not zero, the processing module 1302 may determine the second time and the third time according to the first and second timesAnd determining a first interpolation function representing a functional relationship between the interference measurement result and the time. The processing module 1302 may determine a time when the interferometry result is zero according to the first interpolation function, and use the time as the first time.

Illustratively, the above second time instant is different from the third time instant.

It should be understood that the above first antenna and the second antenna are arranged back and forth along the moving direction of the communication device, and the distance between the first antenna and the second antenna is understood as λ, and λ is the wavelength of the wireless signal.

In another possible example, the communication module 1301 may further receive the wireless signal at a fourth time instant to obtain an eleventh signal, and the processing module 1302 may determine the first doppler shift according to the eleventh signal. If the first doppler shift is determined to be zero, the processing module 1302 may determine that the fourth time is the first time.

In another possible example, the communication module 1301 may further receive the wireless signal at a fifth time instant, obtain a twelfth signal, and the processing module 1302 may determine the second doppler shift according to the twelfth signal. If it is determined that neither the first doppler shift nor the second doppler shift is zero, the processing module 1302 may determine a second interpolation function according to the fourth time, the fifth time, the first doppler shift, and the second doppler shift, where the second interpolation function may represent a functional relationship between the doppler shift and the time. The processing module 1302 may further determine a time when the doppler shift is zero according to the second interpolation function, and use the time as the first time.

Illustratively, the fourth time is different from the fifth time.

In performing the steps of the signal transmitting device in the above method embodiment, the processing module 1302 may be configured to determine the location information of the signal transmitting device, and the communication module 1301 may be configured to broadcast a wireless signal, which may be used to carry the location information in a vehicle.

Fig. 14 is a schematic structural diagram of another communication apparatus provided in an embodiment of the present application, where the communication apparatus may be implemented by hardware components. The communication device 1400 shown in fig. 14 may be the master node shown in the method embodiment, or may be a chip, a chip system, or a processor supporting the master node to implement the method. Alternatively, the communication device 1400 may be a slave node, or may be a chip, a chip system, a processor, or the like, which supports the slave node to implement the above-described method. The communication apparatus 1400 may be used to implement the method executed by the master node or the slave node described in the above method embodiment, and specifically, refer to the description in the above method embodiment. The communication device 1400 has a function of implementing the master node or the slave node described in the embodiment of the present application, for example, the communication device 1400 includes a module or a unit or a means (means) corresponding to the step of executing the terminal described in the embodiment of the present application, and the function or the unit or the means may be implemented by software, or implemented by hardware executing corresponding software, or implemented by a combination of software and hardware. Reference may be made in detail to the respective description of the corresponding method embodiments hereinbefore.

The communication device 1400 may comprise one or more processors 1401, which processors 1401 may also be referred to as processing units and may implement certain control functions. The processor 1401 may be a general purpose processor, a special purpose processor, or the like. For example, a baseband processor or a central processor. The baseband processor may be configured to process communication protocols and communication data, and the central processor may be configured to control a communication device (e.g., a base station, a baseband chip, a terminal chip, a Distributed Unit (DU) or a Centralized Unit (CU)), execute a software program, and process data of the software program.

In an alternative design, the processor 1401 may store instructions 1403 and/or data, which instructions 1403 and/or data can be executed by the processor to cause the communication device 1400 to perform the method described in the above method embodiments.

In an alternative design, processor 1401 may include a transceiver unit to perform receive and transmit functions. The transceiving unit may be, for example, a transceiving circuit, or an interface circuit. The transmit and receive circuitry, interfaces or interface circuitry used to implement the receive and transmit functions may be separate or integrated. The transceiver circuit, the interface circuit or the interface circuit may be used for reading and writing code/data, or the transceiver circuit, the interface circuit or the interface circuit may be used for transmitting or transferring signals.

In yet another possible design, the communication device 1400 may include circuitry that may implement the functionality of transmitting or receiving or communicating in the foregoing method embodiments.

Optionally, the communication device 1400 may include one or more memories 1402 with instructions 1404 stored thereon, which are executable on the processor to cause the communication device 1400 to perform the methods described in the above method embodiments. Optionally, the memory may further store data therein. Optionally, instructions and/or data may also be stored in the processor. The processor and the memory may be provided separately or may be integrated together. For example, the correspondence described in the above method embodiments may be stored in a memory or in a processor. The processor 1401 and/or memory 1402 can be considered to be the processing module 1302 shown in fig. 13.

Optionally, the communication device 1400 may further include a transceiver 1405 and/or an antenna 1406. The processor 1401, which may be referred to as a processing unit, controls the communication device 1400. The transceiver 1405 may be referred to as a transceiver unit, a transceiver circuit, a transceiver device, a transceiver module, or the like, and is used for implementing a transceiving function. The transceiver 1405 and/or the antenna 1406 may be considered as the communication module 1301 of fig. 13.

Optionally, the communication device 1400 in the embodiment of the present application may be configured to perform the method described in the above embodiment of the present application. Processor 1401 may be configured to perform the steps performed by processing module 1302 of fig. 13, and transceiver 1405 may be configured to perform the steps performed by communication module 1301 of fig. 13. The specific steps executed by the processor 1401 and the transceiver 1405 may refer to the above description of the steps executed by the processing module 1302 or the communication module 1301 in fig. 13, and are not described herein again.

The processors and transceivers described herein may be implemented on Integrated Circuits (ICs), analog ICs, Radio Frequency Integrated Circuits (RFICs), mixed signal ICs, Application Specific Integrated Circuits (ASICs), Printed Circuit Boards (PCBs), electronic devices, and the like. The processor and transceiver may also be fabricated using various IC process technologies, such as Complementary Metal Oxide Semiconductor (CMOS), N-type metal oxide semiconductor (NMOS), P-type metal oxide semiconductor (PMOS), Bipolar Junction Transistor (BJT), bipolar CMOS (bicmos), silicon germanium (SiGe), gallium arsenide (GaAs), and the like.

The apparatus in the above description of the embodiment may be a terminal device, but the scope of the apparatus described in the present application is not limited thereto, and the structure of the apparatus may not be limited by fig. 14. The apparatus may be a stand-alone device or may be part of a larger device. For example, the apparatus may be:

(1) a stand-alone integrated circuit IC, or chip, or system-on-chip or subsystem;

(2) a set of one or more ICs, which optionally may also include storage components for storing data and/or instructions;

(3) an ASIC, such as a modem (MSM);

(4) a module that may be embedded within other devices;

(5) receivers, terminals, smart terminals, cellular phones, wireless devices, handsets, mobile units, in-vehicle devices, network devices, cloud devices, artificial intelligence devices, machine devices, home devices, medical devices, industrial devices, and the like;

(6) others, and so forth.

It should be understood that the components included in the above embodiments for the communication device are illustrative, and are merely one possible example, and that the actual implementation thereof may have another configuration. In addition, each component in the above communication apparatus may be integrated into one module, or may exist separately and physically. The integrated module may be implemented in the form of hardware or software functional module, and should not be construed as limited to the structure shown in the above drawings.

Based on the same concept as the method embodiments, the present application further provides a computer-readable storage medium, which stores a computer program that, when executed by a processor, causes the computer to perform the operations performed by a UE (terminal device) or a signal transmitting device in any one of the possible implementations of the method embodiments.

Based on the same concept as the method embodiments, the present application also provides a computer program product, which when called by a computer, can make the computer implement the operations performed by the UE (terminal apparatus) or the signal transmitting apparatus in any one of the possible implementations of the method embodiments and the method embodiments.

Based on the same concept as the method embodiments described above, the present application also provides a chip or a chip system, which may include a processor. The chip may further include or be coupled with a memory (or a storage module) and/or a transceiver (or a communication module), where the transceiver (or the communication module) may be used to support the chip for wired and/or wireless communication, and the memory (or the storage module) may be used to store a program that is called by the processor to implement the operations performed by the UE (terminal device) or the signal transmitting device in any of the possible implementations of the above-described method embodiments, method embodiments. The chip system may include the above chip, and may also include the above chip and other discrete devices, such as a memory (or storage module) and/or a transceiver (or communication module).

Based on the same concept as the method embodiments described above, the present application also provides a communication system that can be used to implement the operations performed by a UE (terminal apparatus) or a signal transmitting apparatus in any one of the possible implementations of the method embodiments described above. Illustratively, the communication system has a structure as shown in fig. 2.

Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus, and computer program products according to embodiments. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.