CN120091399B - Synchronous positioning method, device and equipment - Google Patents
Synchronous positioning method, device and equipmentInfo
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- CN120091399B CN120091399B CN202311598915.2A CN202311598915A CN120091399B CN 120091399 B CN120091399 B CN 120091399B CN 202311598915 A CN202311598915 A CN 202311598915A CN 120091399 B CN120091399 B CN 120091399B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
- H04W56/0015—Synchronization between nodes one node acting as a reference for the others
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Abstract
The application discloses a synchronous positioning method, a synchronous positioning device and synchronous positioning equipment, which relate to the technical field of communication, and are applied to first node equipment; and receiving an air interface synchronization message periodically sent by the at least one second node device, wherein the sending period of the PRS is smaller than that of the air interface synchronization message, the air interface synchronization message comprises first information, the first information is related to PRS identification, and synchronization and/or positioning are performed according to the received air interface synchronization message and the PRS. Therefore, synchronization and/or positioning can be realized according to a plurality of PRSs and air interface synchronization messages in one air interface synchronization period, the synchronization and/or positioning time is shortened, and the positioning algorithm precision is improved.
Description
Technical Field
The present application relates to the field of communications technologies, and in particular, to a synchronous positioning method, apparatus, and device.
Background
In the existing air interface synchronization algorithm, synchronization and positioning are realized based on detection and measurement of periodically transmitted air interface synchronization messages, and the method has the following problems that firstly, because measurement frequency is limited (measurement period is longer), a longer time is required for entering a synchronization state, and the longer synchronization entering time possibly influences normal receiving of service data, and secondly, the accuracy of the positioning algorithm is lower because the measurement period is longer.
Disclosure of Invention
The application aims to provide a synchronous positioning method, a synchronous positioning device and synchronous positioning equipment, so that the problems of long synchronous positioning period and low positioning precision existing in the prior art of realizing synchronization and positioning based on detection and measurement of an air interface synchronous message are solved.
In order to achieve the above object, an embodiment of the present application provides a synchronous positioning method, which is applied to a first node device, and includes:
receiving a positioning reference signal PRS periodically transmitted by at least one second node device;
receiving an air interface synchronization message periodically sent by the at least one second node device, wherein the sending period of the PRS is smaller than that of the air interface synchronization message, and the air interface synchronization message comprises first information which is related to a PRS identifier;
and synchronizing and/or positioning according to the received air interface synchronization message and the PRS.
Optionally, the synchronizing and/or positioning according to the received air interface synchronization message and the PRS includes:
acquiring a target PRS subset from a PRS set according to the first information and the synchronization level of the second node equipment, wherein the PRS set comprises a PRS which is detected, the target PRS in the target PRS subset is at least one PRS in the PRS set, and the synchronization level of the second node equipment which sends the target PRS is higher than or equal to the reference synchronization level of the first node equipment;
Measuring and detecting each target PRS, and obtaining deviation information corresponding to each target PRS, wherein the deviation information comprises at least one of time deviation, frequency deviation and phase deviation;
synchronizing according to the deviation information corresponding to the target PRS and an air interface synchronization message sent by second node equipment for sending the target PRS;
and positioning according to the deviation information corresponding to the target PRS.
Optionally, the obtaining the target PRS subset from the PRS set according to the first information and the synchronization level of the second node device includes:
Acquiring a target air interface synchronization message from the received air interface synchronization message, wherein the synchronization grade of second node equipment sending the target air interface synchronization message is higher than or equal to the reference synchronization grade of the first node equipment;
And acquiring the target PRS subset from the PRS set according to the first information in the target air interface synchronous message.
Optionally, the synchronizing and/or positioning according to the received air interface synchronization message and the PRS includes:
For each second node device, obtaining deviation information corresponding to the PRS sent by the corresponding second node device, wherein the deviation information comprises at least one of time deviation, frequency deviation and phase deviation;
acquiring deviation information corresponding to a target PRS from the deviation information corresponding to the PRS according to the received air interface synchronization message, wherein the synchronization grade of second node equipment for transmitting the target PRS is higher than or equal to the reference synchronization grade of the first node equipment;
synchronizing according to the deviation information corresponding to the target PRS and an air interface synchronization message sent by second node equipment for sending the target PRS;
and positioning according to the deviation information corresponding to the target PRS.
Optionally, according to the deviation information corresponding to the target PRS and the air interface synchronization message sent by the second node device that sends the target PRS, synchronization is performed, including:
according to the air interface synchronization message, at least one third node device with the highest synchronization grade is obtained from the second node devices which send the target PRSs;
For each third node device, determining a first time deviation and a first frequency deviation between the first node device and the corresponding third node device according to deviation information corresponding to a target PRS sent by the corresponding third node device;
determining a time adjustment amount of the first node device and the universal time UTC according to the first time deviation and the air interface synchronous messages sent by the third node devices;
Determining a frequency adjustment amount of the first node device and a reference frequency according to the first frequency deviation and the air interface synchronization message sent by each third node device;
and synchronizing according to the time adjustment amount and the frequency adjustment amount.
Optionally, determining, according to the offset information corresponding to the target PRS sent by the corresponding third node device, a first time offset and a first frequency offset between the first node device and the corresponding third node device includes:
determining the first time deviation as the time deviation in deviation information corresponding to the last target PRS sent by the corresponding third node equipment;
Determining the first frequency deviation according to the variation of time deviation in the deviation information corresponding to the target PRSs sent by the corresponding third node equipment under the condition that the deviation information does not comprise the frequency deviation;
and under the condition that the deviation information comprises the frequency deviation, determining the first frequency deviation as the frequency deviation in the deviation information corresponding to the last target PRS sent by the corresponding third node equipment.
Optionally, determining, according to the first time deviation and the air interface synchronization messages sent by the third node devices, a time adjustment amount between the first node device and the universal time UTC includes:
For each third node device, determining a first time offset of the first node device under the condition that the corresponding third node device is taken as a reference synchronization source according to the timing offset and the timing adjustment amount in the last air interface synchronization message sent by the corresponding third node device and the first time offset related to the corresponding third node device;
determining a second time offset between the first node device and the UTC according to the plurality of first time offsets;
And determining the time adjustment amount according to the second time offset and the radio frequency capability of the first node equipment.
Optionally, determining, according to the first frequency deviation and the air interface synchronization message sent by each third node device, a frequency adjustment amount of the first node device and a reference frequency includes:
For each third node device, determining a second frequency offset of the first node device under the condition that the corresponding third node device is taken as a reference synchronization source according to a first frequency offset and a second frequency adjustment amount in a last air interface synchronization message sent by the corresponding third node device and the first frequency offset related to the corresponding third node device;
determining a third frequency offset of the first node device from the reference frequency according to the plurality of second frequency offsets;
and determining the frequency adjustment amount according to the third frequency offset and the radio frequency capability of the first node equipment.
Optionally, positioning according to the deviation information corresponding to the target PRS includes:
determining a decimal part of second time deviation and phase deviation between the first node equipment and the corresponding second node equipment according to deviation information corresponding to the last target PRS sent by the corresponding second node equipment aiming at each second node equipment for sending the target PRS;
For second node equipment transmitting each target PRS, determining an integer multiple part of the phase deviation between the first node equipment and the corresponding second node equipment according to the phase deviation of deviation information corresponding to a plurality of target PRSs transmitted by the corresponding second node equipment;
Determining a pseudo range between the first node device and a corresponding second node device based on the second time offset, the fractional part of the phase offset, and the integer multiple part of the phase offset;
And positioning according to the pseudo range between the first node equipment and the second node equipment which transmits each target PRS.
Optionally, the air interface synchronization message further includes synchronization related information, wherein the synchronization related information includes at least one of a phase deviation, a timing offset, and a timing adjustment.
In order to achieve the above object, an embodiment of the present application provides a synchronous positioning method, which is applied to a second node device, and includes:
periodically sending PRS;
And periodically sending an air interface synchronization message, wherein the sending period of the PRS is smaller than that of the air interface synchronization message, and the air interface synchronization message comprises first information which is related to PRS identification.
Optionally, the air interface synchronization message further includes synchronization related information, wherein the synchronization related information includes at least one of a phase deviation, a timing offset, and a timing adjustment.
Optionally, the method further comprises any one of the following:
under the condition of independently scheduling the air interface synchronous message, determining a sending resource according to the size of the air interface synchronous message;
And under the condition that the air interface synchronous message is multiplexed with the logic channel of the high-level service packet, determining the sending resource according to the size of the multiplexing packet corresponding to the air interface synchronous message and the high-level service packet.
Optionally, the periodically sending PRS includes:
and periodically transmitting the PRS under the condition that the synchronization grade of the second node equipment is higher than a synchronization grade threshold.
In order to achieve the above object, an embodiment of the present application provides a synchronous positioning device, which is applied to a first node device, including:
the first receiving module is used for receiving PRS periodically transmitted by at least one second node device;
The second receiving module is used for receiving an air interface synchronization message periodically sent by the at least one second node device, wherein the sending period of the PRS is smaller than that of the air interface synchronization message, the air interface synchronization message comprises first information, and the first information is related to a PRS identifier;
and the processing module is used for synchronizing and/or positioning according to the received air interface synchronization message and the PRS.
In order to achieve the above object, an embodiment of the present application provides a synchronous positioning device, which is applied to a second node device, including:
The first sending module is used for periodically sending the PRS;
And the second sending module is used for periodically sending the air interface synchronous message, wherein the sending period of the PRS is smaller than that of the air interface synchronous message, the air interface synchronous message comprises first information, and the first information is related to PRS identification.
In order to achieve the above object, an embodiment of the present application provides a node device, including a transceiver, a memory, a processor, and a computer program stored on the memory and running on the processor, where the processor implements the synchronous positioning method according to the first aspect or implements the synchronous positioning method according to the second aspect when executing the computer program.
In order to achieve the above object, an embodiment of the present application provides a readable storage medium having stored thereon a program or instructions which, when executed by a processor, implement the synchronous positioning method as described in the first aspect, or implement the synchronous positioning method as described in the second aspect.
The technical scheme of the application has at least the following beneficial effects:
In the synchronous positioning method, a first node device receives a positioning reference signal PRS periodically sent by at least one second node device, and receives an air interface synchronous message periodically sent by the at least one second node device, wherein the sending period of the PRS is smaller than that of the air interface synchronous message, the air interface synchronous message comprises first information, the first information is related to PRS identification, and therefore synchronization and/or positioning are performed according to the received air interface synchronous message and the PRS. Therefore, synchronization and/or positioning can be realized according to a plurality of PRSs and air interface synchronization messages in one air interface synchronization period, the synchronization and/or positioning time is shortened, and the positioning algorithm precision is improved.
Drawings
FIG. 1 is a schematic diagram of a typical deployment of RSUs within a tunnel;
Fig. 2 is a schematic diagram of format definition of a MAC PDU;
FIG. 3 is a flow chart of a synchronous positioning method according to an embodiment of the application;
FIG. 4 is a second flow chart of a synchronous positioning method according to an embodiment of the application;
FIG. 5 is a schematic diagram of a synchronous positioning device according to an embodiment of the present application;
FIG. 6 is a second schematic diagram of a synchronous positioning device according to an embodiment of the application;
Fig. 7 is a schematic structural diagram of a node device according to an embodiment of the present application.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided merely to facilitate a thorough understanding of embodiments of the application. It will therefore be apparent to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the application. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In various embodiments of the present application, it should be understood that the sequence numbers of the following processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B may be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may also determine B from a and/or other information.
In carrying out the description of the embodiments of the present application, the prior art related to the embodiments of the present application will be explained first.
1. The air interface synchronization algorithm adopts the arrival time difference principle based On the beacon message sent by a receiving end (such as a vehicle-mounted device (On Board Unit, OBU)), a Road Side device (Road Side Unit, RSU)) and a receiving and sending end (such as Road Side device (Road Side Unit, RSU)) to perform synchronization, and the method is summarized as follows:
The RSU periodically broadcasts a beacon message, which carries information such as its own location.
The RSU performs timing measurement on the adjacent RSU beacons and carries the measurement result in the beacon of the next period.
The OBU receives beacon messages of a plurality of RSUs and carries out timing estimation, errors such as propagation delay and timing deviation among the RSUs are deducted, and the real-time position of the OBU is calculated based on a geometric positioning principle.
The description of the scheme is given taking a tunnel scene as an example, and other scenes are the same. Specifically, a typical deployment of a long term evolution (Long Term Evolution, LTE) internet of vehicles (Vehicle to Everything, V2X) PC5 RSU of a tunnel scene is shown in fig. 1, where rsu#1 and rsu#n are located at a tunnel portal, and a global navigation satellite system (Global Navigation SATELLITE SYSTEM, GNSS) satellite signal (R1 interface) is directly received to obtain world standard time (Universal Time Coordinated, UTC) synchronization, from the tunnel portal, the RSU is continuously deployed and calibrated in advance to an accurate position, and the RSUs are connected via a step-by-step air interface and obtain global UTC synchronization, and the RSU provides positioning and synchronization services for the OBU. The deployment of specific RSUs should meet the spacing requirements (suggesting that 3 RSUs are visible at any position within the tunnel) and synchronization requirements.
2. In the air interface synchronization process, the RSU operates as follows:
Each RSU periodically broadcasts a synchronous positioning beacon signal in a physical direct link Control Channel (PSCCH) and/or physical direct link shared Channel (PHYSICAL SIDELINK SHARED CHANNEL, PSSCH) format of the R14 LTE-V2X PC5 physical layer, the synchronous positioning beacon information is placed in a medium access Control (Medium Access Control, MAC) service data Unit (SERVICE DATA Unit, SDU), wherein a Logical Channel identification (Logical CHANNEL IDENTITY, LCID) field of a MAC Sub-header (Sub-header) is filled with 0X10101 (reserved value of R14 standard), and a MAC protocol data Unit (Protocol Data Unit, PDU) format is shown in fig. 2.
The synchronous positioning MAC SDU may be multiplexed with the R14 higher layer service MAC SDU in the same MAC PDU, or may be sent separately. The PSSCH carrying the above-mentioned synchronization positioning MAC SDU (whether transmitted separately or multiplexed) shall occupy all sub-channels of the RSU transmission resource pool, and its associated PSCCH through link control information (Sidelink Control Information, SCI) format1 (format 1) uses the first 4 reserved bits of the reserved bits defined by R14 (see section 3GPP TS 36.212v15,5.4.3.1.2) to indicate the last bit (0-9) of the logical subframe number of the subframe in which the PSSCH is located, where 0x0001 represents the value 0,0x0010 represents the value 1, and so on.
On the basis of the above, the detailed description of the specific implementation process of the synchronous positioning method, the synchronous positioning device and the synchronous positioning equipment provided by the embodiment of the application is provided below with reference to the accompanying drawings.
An embodiment of the present application provides a synchronous positioning method applied to a first node device, for example, the first node device is an OBU or an RSU, as shown in fig. 3, and the method includes:
step 301, receiving a Positioning reference signal (Positioning signal REFERENCE SIGNAL, PRS) periodically sent by at least one second node device, where the second node device is a fixed node such as an RSU;
Step 302, receiving a null synchronization message periodically sent by the at least one second node device, wherein one of the null synchronization messages is sent with a sending period smaller than that of the null synchronization message, where, for example, the sending period of the PRS is 1ms, and the sending period of the null synchronization message is 100ms (logical subframe), that is, 100 PRSs may be sent in one null synchronization period (between two adjacent null syncs), and the null synchronization message includes first information related to a PRS identifier, where the first information is, for example, a PRS group number and a sequence number (i, m), where the group number i is a number of a subcarrier group carrying PRS, and the sequence number m is a sequence number of a PRS sequence to which the PRS related to the null synchronization message belongs in the subcarrier group;
and step 303, synchronizing and/or positioning according to the received air interface synchronization message and the PRS.
In the synchronous positioning method, a first node device receives a positioning reference signal PRS periodically sent by at least one second node device, and receives an air interface synchronous message periodically sent by the at least one second node device, wherein the sending period of the PRS is smaller than that of the air interface synchronous message, the air interface synchronous message comprises first information, the first information is related to PRS identification, and therefore synchronization and/or positioning are performed according to the received air interface synchronous message and the PRS. Therefore, synchronization and/or positioning can be realized according to a plurality of PRSs and air interface synchronization messages in one air interface synchronization period, compared with the existing synchronization and positioning based on a plurality of air interface synchronization messages, the synchronization and/or positioning time is shortened, and the positioning algorithm precision is improved.
As a first alternative implementation, step 303 includes:
1) And acquiring a target PRS subset from a PRS set according to the first information and the synchronization level of the second node equipment, wherein the PRS set comprises received PRSs, the target PRS in the target PRS subset is at least one PRS in the PRS set, the synchronization level of the second node equipment sending the target PRS is higher than or equal to the reference synchronization level of the first node equipment, the synchronization level of the second node equipment can be determined according to an air interface synchronization message sent by the second node equipment, for example, the air interface synchronization message carries the synchronization level or indication information for indicating the synchronization level, the reference synchronization level of the first node equipment is the synchronization level of a synchronization source selected by the first node equipment in the previous synchronization process, for example, the synchronization level of the node A is1, the synchronization level of the node B is selected by the node B as the synchronization source in the previous synchronization process, the reference synchronization level of the node B is1, and the synchronization level of the node B is 2. That is, after one node synchronizes, its own synchronization level is one lower level than the synchronization level of the selected synchronization source. Based on this, when the node B (at this time, the synchronization level of B is 2, and the reference synchronization level is 1) receives again, a node having a synchronization level equal to 1 or less than 1 is selected as the synchronization source. I.e. select a node of synchronization level 1 or synchronization level 0 as synchronization source. I.e. the receiving node is synchronized with its own reference to the synchronization level of the transmitting node.
That is, as a specific implementation, the specific implementation procedure of this step includes:
(1) The method comprises the steps of receiving an air interface synchronization message, judging whether the synchronization level in the air interface synchronization message is higher than or equal to the reference synchronization level of the air interface synchronization message (first node equipment) or not after the air interface synchronization message is received, and if so, determining that the air interface synchronization message is the target air interface synchronization message;
(2) According to the first information and a predefined corresponding relation, determining a PRS ID corresponding to the first information, and obtaining a PRS (target PRS) corresponding to the PRS ID from the received PRS;
2) Measuring and detecting each target PRS, and obtaining deviation information corresponding to each target PRS, wherein the deviation information comprises at least one of time deviation, frequency deviation and phase deviation; as a specific example, the deviation information includes a time deviation and a phase deviation, or the deviation information includes a time deviation, a frequency deviation, and a phase deviation;
3) Synchronizing according to the deviation information corresponding to the target PRS and an air interface synchronization message sent by second node equipment for sending the target PRS;
4) And positioning according to the deviation information corresponding to the target PRS.
In other words, in the embodiment of the present application, the synchronization level of the synchronization source needs to be considered when the first node device performs synchronization, so that synchronization with the node device in the out-of-synchronization state is avoided, and thus accuracy of synchronization can be improved.
As a specific implementation manner, the obtaining, according to the synchronization level of the first information and the second node device, the target PRS subset from the PRS set includes:
as a second alternative implementation, step 303 includes:
for each second node device, obtaining deviation information corresponding to the PRS sent by the corresponding second node device, wherein the deviation information comprises at least one of time deviation, frequency deviation and phase deviation;
Acquiring deviation information corresponding to a target PRS (primary synchronization request) from deviation information corresponding to the PRS according to the received air interface synchronization message, wherein the synchronization grade of a second node device sending the target PRS is higher than or equal to the reference synchronization grade of the first node device;
synchronizing according to the deviation information corresponding to the target PRS and an air interface synchronization message sent by second node equipment for sending the target PRS;
and positioning according to the deviation information corresponding to the target PRS.
It should be noted that the two alternative implementations are two implementations of synchronization and positioning for different scenarios, where the first alternative implementation is applicable to a scenario in which the first node device has received a null synchronization message related to a PRS, in which case the first node device may determine whether the PRS related to the null synchronization message is a target PRS based on a synchronization level in the null synchronization message, if so, extract the PRS, then perform synchronization and/or positioning according to bias information obtained by the extracted PRS, i.e., first perform filtering/screening on the PRS to obtain PRS meeting a synchronization level condition under the scenario, then perform processing on the filtered PRS to implement synchronization and/or positioning, and the second alternative implementation is applicable to a scenario in which the first node device has not received a null synchronization message related to the PRS when it has received the PRS, in which case the first node device may process (detect and measure) the received PRS based on the synchronization level in the null synchronization message to obtain bias information related to the PRS, and then, if the PRS meets the corresponding synchronization level and whether the rest of the PRS meets the synchronization level is met, or not, if the corresponding synchronization level is met, and the rest of the synchronization level information is determined that the PRS is empty.
Here, the procedure of acquiring the deviation information in the above two alternative implementations is illustrated:
the anchor node (first node device A1) can obtain two measurement values by receiving PRS of another anchor node (e.g., second node device A0) each time through a single subframe (subframe): And Wherein:
The arrival time difference/time deviation of the PRS sent by the anchor node A0 measured by A1;
The fractional part of the phase deviation of the PRS sent by the anchor node A0 measured by the A1, namely the phase deviation obtained by each measurement can only be the fractional part, the whole period deviation can not be obtained by one measurement, the continuous (or small measurement interval) multiple times are needed, and the integral multiple part of the phase deviation between two nodes is determined according to the change of the fractional part of the phase deviation obtained multiple times.
As a specific implementation manner, according to the deviation information corresponding to the target PRS and the air interface synchronization message sent by the second node device that sends the target PRS, synchronization is performed, including:
A) According to the air interface synchronization message (the air interface synchronization message sent by the second node device sending each target PRS), at least one third node device with the highest synchronization level is obtained; specifically, the step is to determine the synchronization level of the second node devices based on the received air interface synchronization message, and then acquire all the node devices (third node devices) with the highest synchronization level in the second node devices, wherein the node device with the highest synchronization level comprises one or more than one node devices;
B) For each third node device, determining a first time deviation and a first frequency deviation between the first node device and the corresponding third node device according to deviation information corresponding to a target PRS sent by the corresponding third node device;
c) Determining a time adjustment amount of the first node device and the universal time UTC according to the first time deviation and the air interface synchronous messages sent by the third node devices;
D) Determining a frequency adjustment amount of the first node device and a reference frequency according to the first frequency deviation and the air interface synchronization message sent by each third node device;
E) And synchronizing according to the time adjustment amount and the frequency adjustment amount.
As a more specific implementation manner, determining, according to offset information corresponding to a target PRS sent by a corresponding third node device, a first time offset and a first frequency offset between the first node device and the corresponding third node device includes:
determining the first time deviation as the time deviation in deviation information corresponding to the last target PRS sent by the corresponding third node equipment;
Determining the first frequency deviation according to the variation of time deviation in the deviation information corresponding to the target PRSs sent by the corresponding third node equipment under the condition that the deviation information does not comprise the frequency deviation;
and under the condition that the deviation information comprises the frequency deviation, determining the first frequency deviation as the frequency deviation in the deviation information corresponding to the last target PRS sent by the corresponding third node equipment.
That is, in the case where the bias information does not include a frequency bias, the first frequency bias is determined based on a time bias among a plurality of bias information related to the same third node apparatus, and in the case where the bias information includes a frequency bias, the first frequency bias is determined as a frequency bias among bias information corresponding to the last target PRS.
Here, in the foregoing implementation, the implementation process of determining the first time offset and the first frequency offset is illustrated:
In the air interface synchronization period, the first node device obtains a time offset (first time offset) and a frequency offset (first frequency offset) of a node pair (the first node device and the second node device transmitting the PRS) in the air interface synchronization period according to the PRS measurement quantity (time offset) transmitted by one second node device measured in a plurality of subframes. The basic idea of this procedure is to obtain the time/frequency offset between two anchor nodes from measurements obtained by PRS at a number of different time points in one air interface synchronization period (e.g. the frequency offset can be determined from the time offset). Specific:
The air interface synchronization period is assumed to be set to 100ms, and here, the node A0 is the reception observation target (first node apparatus). During the air interface synchronization period, a plurality of time offsets and phase offsets of node A1 (PRS ID 1), node A2 (PRS ID 2), node A3 (PRS ID 3) are received through PRS measurements. Where A1, A2 and A3 are different second node devices, here illustrated by way of example as A1, assuming that measurements for node A1 were successfully detected 4 times during the air interface synchronization period, a plurality of timing offset measurements (Ta A0,A1(t0)、TaA0,A1(t1)、TaA0,A1(t2) and Ta A0,A1(t3) are obtained.
Based on the above, first a first time offset and a first frequency offset between A0 and A1, A2 and A3 are obtained, wherein:
The time deviation of the user pair (A0 and A1, or A0 and A2, or A0 and A3) is determined as the latest time deviation measured, taking the user pair A0 and A1 as an example, and the first time deviation between the user pair is Ta A0,A1＝TaA0,A1(t3);
The user determines the frequency deviation by determining the frequency deviation between two nodes according to the variation of the time deviation between the two nodes, for example, the frequency deviation can be calculated by measuring any two time points during specific calculation, and then the frequency deviation is weighted to obtain the first frequency deviation.
The above-described method of calculating the first frequency deviation is merely an example, but the method of calculating the first frequency deviation is not limited thereto. Taking the user pair A0 and A1 as an example, an example of calculating the first frequency deviation is as follows:
Here, T A0,A1(ti) characterizes the time offset between A0 and A1 at time T i, F A0,A1 (i) characterizes the frequency offset between A0 and A1 at time T i, and F 0 characterizes the reference frequency.
Accordingly, the first frequency deviation between A0 and A2, A0 and A3 and other nodes can be obtained.
As a specific implementation manner, determining, according to the first time deviation and the air interface synchronization messages sent by the third node devices, a time adjustment amount between the first node device and UTC includes:
For each third node device, determining a first time offset of the first node device under the condition that the corresponding third node device is taken as a reference synchronization source according to the timing offset and the timing adjustment amount in the last air interface synchronization message sent by the corresponding third node device and the first time offset related to the corresponding third node device;
Determining second time offsets of the first node device and the UTC according to the first time offsets, wherein the specific determination method can be that one of the first time offsets (such as the maximum first time offset, the minimum first time offset and the median of the first time offsets) is selected according to a preset rule by averaging, weighted summation, and the like;
And determining the time adjustment amount according to the second time offset and the radio frequency capability of the first node equipment.
With the previous example, one example of the specific implementation manner is that according to the air interface synchronous message of A1/A2/A3/A4, the time adjustment amount taking A1/A2/A3/A4 as the reference synchronous source is determined by combining the first time deviation. The time adjustment amount needs to consider that a timing offset (TimeOffset) and a timing adjustment amount (TaAdjest) in a last air interface synchronization message sent by a corresponding second node device are acquired from the latest air interface synchronization message sent by A1/A2/A3/A4, and according to the TimeOffset and the TaAdjest, an offset of A0 and UTC time under the condition that A0 takes A1/A2/A3/A4 as a reference synchronization source is determined:
namely, an offset TAdet A1 (i) between A0 and UTC time under the condition that A1 is taken as a reference synchronization source;
namely, an offset TAdet A2 (i) between A0 and UTC time under the condition that A2 is taken as a reference synchronization source;
namely, an offset TAdet A3 (i) between A0 and UTC time under the condition that A3 is taken as a reference synchronization source;
namely, an offset TAdet A4 (i) between A0 and UTC time under the condition that A4 is taken as a reference synchronization source;
and then obtaining the offset of A0 and UTC time:
(TAdetA1(i)+TAdetA2(i)+TAdetA3(i)+TAdetA4(i))/4;
Further, the time adjustment amount at this time is determined in combination with the radio frequency capability or the like, namely:
Ta=f ((TAdet A1(i)+TAdetA2(i)+TAdetA3(i)+TAdetA4 (i))/4), where needed
The RF adjustment accuracy, the RF adjustment threshold and other factors are considered.
As another specific implementation manner, determining, according to the first frequency deviation and the air interface synchronization messages sent by the third node devices, a frequency adjustment amount of the first node device and a reference frequency includes:
For each third node device, determining a second frequency offset of the first node device under the condition that the corresponding third node device is taken as a reference synchronization source according to a first frequency offset and a second frequency adjustment amount in a last air interface synchronization message sent by the corresponding third node device and the first frequency offset related to the corresponding third node device;
Determining a third frequency offset between the first node device and the reference frequency according to the second frequency offsets, wherein the specific determination mode can be that one of the second frequency offsets (such as the largest second frequency offset, the smallest second frequency offset and the median of the second frequency offsets) is selected according to a preset rule by averaging and weighted summation;
and determining the frequency adjustment amount according to the third frequency offset and the radio frequency capability of the first node equipment.
With respect to the previous example, one example of the specific implementation manner is that according to the latest air interface synchronization message of A1/A2/A3/A4, the frequency adjustment amount of the offset of A0 and the reference frequency F 0 under the condition that A0 takes A1/A2/A3/A4 as a reference synchronization source is determined by combining the first frequency deviation. The frequency adjustment amount needs to consider that a frequency offset (frequentOffset) and a frequency adjustment amount (freAdjest) in a last air interface synchronization message sent by a corresponding second node device are acquired from the latest air interface synchronization message sent by A1/A2/A3/A4, and according to the frequency offset, the frequency adjustment amount, frequentOffset and freAdjest, the frequency adjustment amount of the offset between A0 and a reference frequency F 0 under the condition that A0 takes A1/A2/A3/A4 as a reference synchronization source is determined:
namely, a frequency offset FAdet A1 (i) between A0 and the reference frequency F0 under the condition that A1 is taken as a reference synchronization source;
Namely, an offset FAdet A2 (i) between A0 and a reference frequency F0 under the condition that A2 is taken as a reference synchronization source;
namely, an offset FAdet A3 (i) between A0 and a reference frequency F0 under the condition that A3 is taken as a reference synchronization source;
Namely, an offset FAdet A14 (i) between A0 and a reference frequency F0 under the condition that A4 is taken as a reference synchronization source;
and then obtaining the offset of A0 and the reference frequency:
(FAdetA1(i)+FAdetA2(i)+FAdetA3(i)+FAdetA4(i))/4;
further, the frequency adjustment amount at this time is determined in combination with the radio frequency capability and the like;
Ta=f ((FAdet A1(i)+FAdetA2(i)+FAdetA3(i)+FAdetA4 (i))/4), where needed
The RF adjustment accuracy, the RF adjustment threshold and other factors are considered.
As another specific implementation manner, positioning according to the deviation information corresponding to the target PRS includes:
Determining a second time deviation and a fractional part of phase deviation between the first node equipment and the corresponding second node equipment according to deviation information corresponding to the last target PRS sent by the corresponding second node equipment aiming at each second node equipment for sending the target PRS, wherein the phase deviation in the deviation information corresponding to the last target PRS sent by each second node equipment is the fractional part of the phase deviation between the first node equipment and the second node equipment;
Determining, for a second node device that transmits each of the target PRSs, an integer multiple portion of a phase deviation between the first node device and the corresponding second node device according to phase deviations of deviation information corresponding to a plurality of the target PRSs transmitted by the corresponding second node device, that is, determining, according to a change in the phase deviations in the plurality of deviation information, the integer multiple portion of the phase deviation between the first node device and the second node device, wherein the determining may be implemented according to an existing mechanism, and is not described in detail herein;
Determining a pseudo range between the first node device and a corresponding second node device based on the second time offset, the fractional part of the phase offset, and the integer multiple part of the phase offset;
And positioning according to the pseudo range between the first node equipment and the second node equipment which transmits each target PRS.
Here, a procedure of positioning using the measured phase deviation of each time in this alternative implementation will be described:
Firstly, the system adopts modes such as electronic fence and the like to configure or pre-configure the position information X A and X R of an anchor node (non-reference node equipment) and a reference node associate in advance;
Secondly, the mobile node (anchor node/non-reference node) obtains the timing and phase deviation (here, the phase deviation includes integer period times and decimal deviation) between the mobile node and the RSU (fixed node) through multiple measurements;
Again, the pseudoranges between the mobile node and the fixed node are calculated according to the following formula:
Here, T A0-TA1 represents the arrival time difference of the PRS signal transmitted by the anchor node A0 (fixed node) measured by A1 (mobile node), wherein T A0 is the actual deviation value of A0 from the reference time, T A1 is the actual deviation value of A1 from the reference time;
Representing that the phase deviation of the PRS signal sent by the anchor node A0 measured by the A1 is a fractional part, namely the phase deviation obtained by each measurement can only be a fractional part;
Integer ambiguity, wherein the integer period deviation cannot be obtained through one measurement, needs to be continuous (or has small intervals) for a plurality of times, and determines an integer multiple part of the phase deviation between two nodes according to the change of the fractional part of the phase deviation obtained for a plurality of times;
λ represents a wavelength;
Representing the pseudorange between A1 and A0, i.e., the range of the anchor node measured by the mobile node.
Finally, the mobile node detects pseudo ranges of at least 4 nearby fixed nodes, so that corresponding positioning can be performed, and the positioning can be performed by adopting an existing multi-point positioning algorithm.
As an optional implementation manner, the air interface synchronization message further includes information related to synchronization, where the information related to synchronization includes at least one of a phase deviation, a timing offset, and a timing adjustment amount. Wherein the timing offset includes an offset of the reference frequency from the second node device transmitting the air interface synchronization messageAnd an offset of the second node device from a reference timeThe timing adjustment is the second node device and the clock timingAnd the amount of adjustment of the clock frequency
In view of the foregoing, the air interface synchronization message according to the embodiment of the present application further includes the PRS group number and the sequence number (first information) on the basis of including the existing air interface synchronization message (synchronization level, phase deviation, timing offset, timing adjustment). The synchronization level may be classified into 0 to 127 levels.
Here, it should be noted that, since the air interface synchronization message carries information related to synchronization, the first receiving node does not need to measure the air interface synchronization message.
In addition, it should be noted that, in the embodiment of the present application, the air interface synchronization message may be independently scheduled or may be multiplexed with the higher layer service packet logic channel, so that it is not necessary to periodically reserve a subframe for each ue to send the air interface synchronization message in the resource multiplexing domain, and thus the system overhead may be reduced.
The embodiment of the application also provides a synchronous positioning method applied to a second node device, for example, the second node device is a fixed node such as an RSU, as shown in fig. 4, and the method includes:
step 401, periodically transmitting PRS;
Step 402, periodically sending a null synchronization message, where one of the sending periods of the PRS is smaller than the sending period of the null synchronization message, for example, the sending period of the PRS is 1ms, and the sending period of the null synchronization message is 100ms, that is, 100 PRSs may be sent in one null synchronization period (between two adjacent null syncs), where the null synchronization message includes first information, where the first information is related to a PRS identifier, and the first information is, for example, a PRS group number and a sequence number (i, m).
In the synchronous positioning method of the embodiment of the application, the second node equipment periodically transmits PRS and air interface synchronous information, wherein the transmission period of the PRS is smaller than that of the air interface synchronous information, so that the receiving end (the first node equipment) can realize synchronization and/or positioning according to a plurality of PRS and air interface synchronous information in one air interface synchronous period, and compared with the prior synchronization and positioning based on a plurality of air interface synchronous information, the embodiment of the application shortens the synchronization and/or positioning time and improves the precision of a positioning algorithm
As an optional implementation manner, the air interface synchronization message further includes information related to synchronization, where the information related to synchronization includes at least one of a phase deviation, a timing offset, and a timing adjustment amount. That is, the air interface synchronization message may include the PRS group number and sequence number, synchronization level, phase offset, timing adjustment, and the like.
Further, as an alternative implementation manner, the method further comprises any one of the following:
under the condition of independently scheduling the air interface synchronous message, determining a sending resource according to the size of the air interface synchronous message;
And under the condition that the air interface synchronous message is multiplexed with the logic channel of the high-level service packet, determining the sending resource according to the size of the multiplexing packet corresponding to the air interface synchronous message and the high-level service packet.
In addition, the resource for transmitting the air interface synchronization message can be specifically determined based on the size of a data packet to be transmitted, namely, when the air interface synchronization message is independently transmitted, the air interface synchronization message is determined based on the size of the air interface synchronization message, and when the air interface synchronization message is transmitted together with a high-layer service packet, the air interface synchronization message is determined based on the total size of multiplexing packets corresponding to the air interface synchronization message and the high-layer service packet.
As a specific implementation, the periodically sending PRS includes:
And periodically transmitting the PRS under the condition that the synchronization grade of the second node equipment is higher than a synchronization grade threshold. Thus, the synchronization state of the synchronization source of the first node equipment can be prevented from being out of synchronization, and the synchronization and/or positioning accuracy of the first node equipment can be improved.
The embodiment of the application also provides a synchronous positioning device, which is applied to the first node equipment, as shown in fig. 5, and comprises:
A first receiving module 501, configured to receive PRS periodically sent by at least one second node device;
a second receiving module 502, configured to receive an air interface synchronization message periodically sent by the at least one second node device, where a sending period of the PRS is smaller than a sending period of the air interface synchronization message, and the air interface synchronization message includes first information, where the first information is related to a PRS identifier;
and a processing module 503, configured to synchronize and/or locate according to the received air interface synchronization message and the PRS.
Optionally, the processing module 503 includes:
A first obtaining sub-module, configured to obtain a target PRS subset from a PRS set according to the first information and a synchronization level of the second node device, where the PRS set includes a received PRS, a target PRS in the target PRS subset is at least one PRS in the PRS set, and a synchronization level of the second node device that sends the target PRS is higher than or equal to a reference synchronization level of the first node device;
The second acquisition sub-module is used for measuring and detecting each target PRS and acquiring deviation information corresponding to each target PRS, wherein the deviation information comprises at least one of time deviation, frequency deviation and phase deviation;
the first synchronization sub-module is used for synchronizing according to the deviation information corresponding to the target PRS and the air interface synchronization message sent by the second node equipment for sending the target PRS;
And the first positioning sub-module is used for positioning according to the deviation information corresponding to the target PRS.
Optionally, the first obtaining submodule includes:
the first acquisition unit is used for acquiring a target air interface synchronization message from the received air interface synchronization message, wherein the synchronization grade of second node equipment for transmitting the target air interface synchronization message is higher than or equal to the reference synchronization grade of the first node equipment;
And the second acquisition unit is used for acquiring the target PRS subset from the PRS set according to the first information in the target air interface synchronous message.
Optionally, the processing module 503 includes:
a third obtaining sub-module, configured to obtain, for each second node device, deviation information corresponding to the PRS sent by the corresponding second node device, where the deviation information includes at least one of a time deviation, a frequency deviation, and a phase deviation;
A fourth obtaining sub-module, configured to obtain, according to the received air interface synchronization message, offset information corresponding to a target PRS from the offset information corresponding to the PRS, where a synchronization level of a second node device that sends the target PRS is higher than or equal to a reference synchronization level of the first node device;
the second synchronization sub-module is used for synchronizing according to the deviation information corresponding to the target PRS and the air interface synchronization message sent by the second node equipment for sending the target PRS;
And the second positioning sub-module is used for positioning according to the deviation information corresponding to the target PRS.
Optionally, the first synchronization sub-module and the second synchronization sub-module respectively include:
A third obtaining unit, configured to obtain, according to the air interface synchronization message, at least one third node device with the highest synchronization level from among the second node devices that send the target PRSs;
A first determining unit, configured to determine, for each third node device, a first time offset and a first frequency offset between the first node device and the corresponding third node device according to offset information corresponding to a target PRS sent by the corresponding third node device;
A second determining unit, configured to determine, according to the first time deviation and the air interface synchronization messages sent by the third node devices, a time adjustment amount between the first node device and a universal standard time UTC;
a third determining unit, configured to determine, according to the first frequency deviation and the air interface synchronization messages sent by the third node devices, a frequency adjustment amount of the first node device and a reference frequency;
and the synchronization unit is used for synchronizing according to the time adjustment amount and the frequency adjustment amount.
Optionally, the first determining unit includes:
a first determining subunit, configured to determine the first time offset as a time offset in offset information corresponding to a last target PRS sent by the corresponding third node device;
A second determining subunit, configured to determine, when the deviation information does not include the frequency deviation, the first frequency deviation according to a variation of a time deviation in the deviation information corresponding to the plurality of target PRSs sent by the corresponding third node device;
And the third determining subunit is configured to determine, when the deviation information includes the frequency deviation, that the first frequency deviation is the frequency deviation in the deviation information corresponding to the last target PRS sent by the corresponding third node device.
Optionally, the second determining unit includes:
A fourth determining subunit, configured to determine, for each third node device, a first time offset of the first node device under the condition that the corresponding third node device is used as a reference synchronization source according to a timing offset and a timing adjustment amount in a last air interface synchronization message sent by the corresponding third node device, and the first time offset related to the corresponding third node device;
a fifth determining subunit, configured to determine, according to a plurality of the first time offsets, a second time offset between the first node device and the UTC;
a sixth determining subunit, configured to determine the time adjustment amount according to the second time offset and the radio frequency capability of the first node device.
Optionally, the third determining unit includes:
a seventh determining subunit, configured to determine, for each third node device, according to a first frequency offset and a second frequency adjustment amount in a last air interface synchronization message sent by the corresponding third node device, and the first frequency offset related to the corresponding third node device, a second frequency offset of the first node device under the condition that the corresponding third node device is used as a reference synchronization source;
An eighth determining subunit, configured to determine a third frequency offset between the first node device and the reference frequency according to a plurality of second frequency offsets;
A ninth determining subunit, configured to determine the frequency adjustment amount according to the third frequency offset and the radio frequency capability of the first node device.
Optionally, the first positioning sub-module and the second positioning sub-module respectively include:
A fourth determining unit, configured to determine, for each second node device that transmits the target PRS, a fractional part of a second time offset and a phase offset between the first node device and the corresponding second node device according to offset information corresponding to a last target PRS transmitted by the corresponding second node device;
A fifth determining unit, configured to determine, for a second node device that transmits each of the target PRSs, an integer multiple portion of a phase deviation between the first node device and the corresponding second node device according to phase deviations of deviation information corresponding to a plurality of target PRSs transmitted by the corresponding second node device;
A sixth determining unit configured to determine a pseudo range between the first node device and the corresponding second node device according to the second time deviation, the fractional part of the phase deviation, and the integer multiple part of the phase deviation;
and the positioning unit is used for positioning according to the pseudo range between the first node equipment and the second node equipment which transmits each target PRS.
Optionally, the air interface synchronization message further includes synchronization related information, wherein the synchronization related information includes at least one of a phase deviation, a timing offset, and a timing adjustment.
It should be noted that, the synchronous positioning device provided in the embodiment of the present application can implement all the method steps implemented in the synchronous positioning method embodiment applied to the first node device, and can achieve the same technical effects, and detailed descriptions of the same parts and beneficial effects as those of the method embodiment in the embodiment are omitted.
The embodiment of the application also provides a synchronous positioning device, which is applied to the second node equipment, as shown in fig. 6, and comprises:
a first transmitting module 601, configured to periodically transmit PRS;
a second sending module 602, configured to send a null synchronization message periodically, where a sending period of the PRS is smaller than a sending period of the null synchronization message, and the null synchronization message includes first information, where the first information is related to a PRS identity.
Optionally, the air interface synchronization message further includes synchronization related information, wherein the synchronization related information includes at least one of a phase deviation, a timing offset, and a timing adjustment.
Optionally, the apparatus further comprises:
a determining module for performing any one of:
under the condition of independently scheduling the air interface synchronous message, determining a sending resource according to the size of the air interface synchronous message;
And under the condition that the air interface synchronous message is multiplexed with the logic channel of the high-level service packet, determining the sending resource according to the size of the multiplexing packet corresponding to the air interface synchronous message and the high-level service packet.
Optionally, the first sending module 601 is specifically configured to send the PRS periodically when the synchronization level of the second node device is higher than a synchronization level threshold.
It should be noted that, the synchronous positioning device provided in the embodiment of the present application can implement all the method steps implemented in the synchronous positioning method embodiment applied to the second node device, and can achieve the same technical effects, and the parts and beneficial effects that are the same as those of the method embodiment in the embodiment are not specifically described herein.
As shown in fig. 7, the embodiment of the present application further provides a node device, including a transceiver 710, a memory 720, a processor 700, and a computer program stored in the memory 720 and running on the processor 700, where the processor 700 implements the synchronous positioning method applied to the first node device as described above or implements the synchronous positioning method applied to the second node device as described above when executing the computer program.
The transceiver 710 is configured to receive and transmit data under the control of the processor 700.
Wherein in fig. 7, a bus architecture may comprise any number of interconnected buses and bridges, and in particular one or more processors represented by processor 700 and various circuits of memory represented by memory 720, linked together. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., which are well known in the art and, therefore, will not be described further herein. The bus interface provides an interface. The transceiver 710 may be a number of elements, i.e. comprising a transmitter and a receiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 700 is responsible for managing the bus architecture and general processing, and the memory 720 may store data used by the processor 700 in performing operations.
It should be noted that, the above node device provided in the embodiment of the present application can implement all the method steps implemented in the embodiment of the synchronous positioning method applied to the first node device, or implement all the method steps implemented in the embodiment of the synchronous positioning method applied to the second node device, and can achieve the same technical effects, and detailed descriptions of the same parts and beneficial effects as those of the method embodiment in the embodiment are omitted herein.
It will be understood by those skilled in the art that all or part of the steps of implementing the above embodiments may be implemented by hardware, or may be implemented by a computer program including instructions for performing some or all of the steps of the above methods, and the computer program may be stored in a readable storage medium, which may be any form of storage medium.
In addition, the embodiment of the present application further provides a readable storage medium, where a program or an instruction is stored, where the program or the instruction, when executed by a processor, implements each process of the embodiment of the synchronous positioning method applied to the first node device as described above, or implements each process of the embodiment of the synchronous positioning method applied to the second node device as described above, and the same technical effects can be achieved, so that repetition is avoided, and no further description is given here. The readable storage medium is, for example, a Read-Only Memory (ROM), a random access Memory (Random Access Memory RAM), a magnetic disk, an optical disk, or the like.
Furthermore, it should be noted that in the apparatus and method of the present application, it is apparent that the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present application. Also, the steps of performing the above-described series of processes may naturally be performed in the order illustrated or in chronological order, but are not necessarily performed in chronological order, and some steps may be performed in parallel or independently of each other. It will be appreciated by those of ordinary skill in the art that all or any of the steps or components of the methods and apparatus of the present application may be implemented in hardware, firmware, software, or a combination thereof in any computing device (including processors, storage media, etc.) or network of computing devices, as would be apparent to one of ordinary skill in the art after reading this description of the application.
The object of the application can thus also be achieved by running a program or a set of programs on any computing device. The computing device may be a well-known general purpose device. The object of the application can thus also be achieved by merely providing a program product containing program code for implementing said method or apparatus. That is, such a program product also constitutes the present application, and a storage medium storing such a program product can also constitute the present application. It is apparent that the storage medium may be any known storage medium or any storage medium developed in the future.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
While the foregoing is directed to the preferred embodiments of the present application, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present application, and such modifications and adaptations are intended to be comprehended within the scope of the present application.
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| US6041066A (en) * | 1997-01-09 | 2000-03-21 | Fujitsu Limited | Method of synchronization status message processing in transmission apparatus |
| CN111492702A (en) * | 2017-12-19 | 2020-08-04 | 高通股份有限公司 | Time synchronization techniques for wireless communications |
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| US6041066A (en) * | 1997-01-09 | 2000-03-21 | Fujitsu Limited | Method of synchronization status message processing in transmission apparatus |
| CN111492702A (en) * | 2017-12-19 | 2020-08-04 | 高通股份有限公司 | Time synchronization techniques for wireless communications |
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