CN115701742A

CN115701742A - Positioning method, device and terminal

Info

Publication number: CN115701742A
Application number: CN202110881282.0A
Authority: CN
Inventors: 郑石磊; 李晨鑫; 胡金玲; 赵锐
Original assignee: CICTCI Technology Co Ltd
Current assignee: CICTCI Technology Co Ltd
Priority date: 2021-08-02
Filing date: 2021-08-02
Publication date: 2023-02-10

Abstract

The invention provides a positioning method, a positioning device and a terminal, wherein the method comprises the following steps: receiving first information sent by at least one second terminal, wherein the first information is used for indicating the positioning priority of the second terminal; and determining a positioning reference source from the at least one second terminal according to the positioning priority. The scheme of the invention solves the problem that the prior art lacks a positioning method suitable for the sidelink of the straight-through link.

Description

Positioning method, device and terminal

Technical Field

The present invention relates to the field of wireless transmission technologies, and in particular, to a positioning method, an apparatus, and a terminal.

Background

3GPP (Third Generation Partnership project, third Generation) Release 16 has conducted research and standardization of NR (New Radio ) Positioning (uplink and downlink of cellular networks) in which a base station transmits DL (Downlink ) PRS (Positioning Reference Signal) of cell-specific, the terminal sends an uplink sounding Signal SRS (sounding Reference Signal) for Positioning in uplink, and accordingly, the terminal may measure RSTD (Reference Signal Time Difference, time Difference of Reference Signal), or measure RSRP (Real Time Streaming Protocol) of DL PRS (Real Time Streaming Protocol), or measure Time Difference between DL PRS received by the terminal and SRS sent by the terminal; the base station may measure uplink RTOA (Relative Time of Arrival), RSRP of SRS, time difference between SRS reception by gNB (NR Node B) and DL PRS transmission by gNB, and angle measurement. By processing the measurement values, the location of a UE (User Equipment, UE for short) is calculated.

Research and standardization related work on sidelink Positioning are actively being carried out, but sidelink is different from NR Downlink and Uplink, and since there may be no scenario of gNB scheduling, after SL (sidelink, direct link) UE requests Positioning, especially in an out-of-coverage scenario, there may be a possibility that contents such as related location information and Positioning reference signals sent by a plurality of Positioning anchor nodes may be received. In addition, when the UE transmits the SL-PRS, how to inform the receiving UE of the positioning source type of the receiving UE itself and how to select among a plurality of positioning reference signals by the receiving UE are both problems.

Release-16/17sidelink does not introduce positioning correlation property, so the design of related positioning reference signals is not considered. For the existing DL PRS and SRS for positioning, the methods cannot be directly applied to sidelink, and for NR positioning, because there is scheduling by gNB, many positioning mechanisms cannot be directly multiplexed for sidelink. Due to the diversity of the types of positioning anchor nodes, a correlation mechanism needs to be introduced for determination of the anchor nodes and selection of the relevant positioning reference signals.

Disclosure of Invention

The invention provides a positioning method, a positioning device and a positioning terminal, and solves the problem that a positioning method suitable for a sidelink is lacked in the prior art.

In a first aspect, an embodiment of the present invention provides a positioning method, applied to a first terminal, including:

receiving first information sent by at least one second terminal, wherein the first information is used for indicating the positioning priority of the second terminal;

and determining a positioning reference source from the at least one second terminal according to the positioning priority.

Optionally, the determining a positioning reference source from the at least one second terminal according to the positioning priority includes:

determining the number of available positioning reference points according to the first information;

and determining the positioning reference source according to the number of the available positioning reference points and the positioning priority.

Optionally, the number of the available positioning reference points is a total number of the second terminals corresponding to the first information received by the first terminal.

Optionally, the determining the number of available positioning reference points according to the first information includes:

determining the number of available positioning reference points according to the size relationship between the positioning priority and the positioning priority threshold of the first terminal;

the positioning priority threshold of the first terminal is set according to the positioning requirement of the first terminal; the positioning requirements include: positioning accuracy requirements and/or positioning types; the positioning types include: absolute positioning, relative positioning, and relative position.

Optionally, the determining the positioning reference source according to the number of the available positioning reference points and the positioning priority includes:

determining the positioning reference source according to the positioning priority corresponding to the available positioning reference points under the condition that the number of the available positioning reference points is greater than M; wherein M is a preset number and is a positive integer;

determining the available positioning reference points as the positioning reference sources if the number of the available positioning reference points is less than or equal to M.

Optionally, the determining the positioning reference source according to the positioning priority corresponding to the available positioning reference point includes:

according to the sequence of the positioning priority from high to low, determining the available positioning reference points ranked at the top M bits as positioning reference sources from the available positioning reference points;

wherein the available positioning reference points having the same positioning priority are randomly ordered.

wherein the available positioning reference points with the same positioning priority are ordered according to the signal priority from high to low;

the signal priority is related to positioning reference signals transmitted by the available positioning reference points.

Optionally, the signal priority corresponding to the available positioning reference point is determined according to at least one of the following: a Reference Signal Received Power (RSRP) strength of the positioning Reference Signal;

a bandwidth and/or frequency band occupied by the positioning reference signal;

the interference degree of the positioning reference signal;

a Time of Arrival (TOA) measurement of the positioning reference signal;

wherein the greater the RSRP strength, the higher the signal priority;

the larger the bandwidth and/or the frequency band, the higher the signal priority;

the lower the interference degree, the higher the signal priority;

the smaller the TOA measurement, the higher the signal priority.

Optionally, the positioning priority of the second terminal is determined according to at least one of the following:

position accuracy information of the second terminal;

type information of the second terminal;

position confidence information of the second terminal;

the position determination mode information of the second terminal;

a positioning reference source of the second terminal.

Optionally, the first information indicates a positioning priority of the second terminal by at least one of:

positioning a reference signal;

control information associated with a positioning reference signal;

a Media Access Control (MAC) layer Control unit (CE);

radio Resource Control (RRC) signaling;

positioning specific Information (SPI);

wherein the control information includes any one of:

first-stage direct link control information (1 st-stage link control information,1st-stage SCI);

second-stage direct link control information (2 st-stage link control information,2st-stage SCI);

first control information for positioning.

Optionally, when the first information indicates the positioning priority of the second terminal through a positioning reference signal, the positioning method further includes at least one of:

determining an initialization identifier (Identity, ID) of the positioning reference signal, and determining a positioning priority corresponding to the second terminal according to the initialization ID; wherein, different positioning priorities correspond to different initialization ID intervals or initialization ID values;

determining a mapping pattern of the positioning reference signal, and determining a positioning priority corresponding to the second terminal according to the mapping pattern;

wherein the mapping pattern comprises at least one of:

locating a time-frequency position of a Reference signal (PRS);

frequency domain pattern mapping rules of PRS;

cyclic Shift (CS) employed by PRS;

orthogonal Cover Codes (OCC) used in PRS.

In a second aspect, an embodiment of the present invention provides a positioning method, applied to a second terminal, including:

and sending first information to a first terminal, wherein the first information is used for indicating the positioning priority of the second terminal.

position accuracy information of the second terminal;

type information of the second terminal;

position confidence information of the second terminal;

the position determination mode information of the second terminal;

a positioning reference source of the second terminal.

positioning a reference signal;

control information associated with the positioning reference signal;

a MAC layer CE;

RRC signaling;

SPI；

wherein the control information includes any one of:

1st-stage SCI；

2nd-stage SCI；

first control information for positioning.

indicating a positioning priority of the second terminal by an initialization ID of the positioning reference signal; wherein, different positioning priorities correspond to different initialization ID intervals or initialization ID values;

indicating a positioning priority of the second terminal through a mapping pattern of the positioning reference signal;

wherein the mapping pattern comprises at least one of:

a time-frequency position of the PRS;

frequency domain pattern mapping rules of PRS;

CS adopted by PRS;

OCC adopted in PRS.

In a third aspect, an embodiment of the present invention provides a terminal, including: a transceiver, a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the positioning method according to the first aspect when executing the computer program or implementing the steps of the positioning method according to the second aspect when executing the computer program.

In a fourth aspect, an embodiment of the present invention provides a positioning apparatus, applied to a first terminal, including:

the terminal comprises a receiving module, a judging module and a judging module, wherein the receiving module is used for receiving first information sent by at least one second terminal, and the first information is used for indicating the positioning priority of the second terminal;

a determining module, configured to determine a positioning reference source from the at least one second terminal according to the positioning priority.

In a fifth aspect, an embodiment of the present invention provides a positioning apparatus, applied to a second terminal, including:

a sending module, configured to send first information to a first terminal, where the first information is used to indicate a location priority of the second terminal.

In a sixth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the positioning method according to the first aspect, or implements the steps of the positioning method according to the second aspect.

The technical scheme of the invention has the beneficial effects that:

according to the embodiment of the invention, the positioning reference signal SL-PRS in the first information can be subjected to selective filtering processing based on the positioning priority, so that a more appropriate positioning reference source is determined, and further, the position information of the positioning reference source is determined according to the positioning reference source, so that the positioning is more accurate, and the method and the device are suitable for the positioning problem in the direct link sidelink.

Drawings

FIG. 1 shows one of the flow charts of a positioning method of an embodiment of the present invention;

FIG. 2 is a diagram illustrating positioning priorities indicated by different PRS frequency domain patterns according to an embodiment of the present invention;

FIG. 3 is a second flowchart of a positioning method according to an embodiment of the present invention;

FIG. 4 is a block diagram of a positioning apparatus according to an embodiment of the present invention;

FIG. 5 is a block diagram of a positioning device according to another embodiment of the present invention;

fig. 6 shows a block diagram of a terminal according to an embodiment of the present invention;

fig. 7 shows a block diagram of a terminal according to another embodiment of the present invention.

Detailed Description

To make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. 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 invention. 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 invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

In addition, the terms "system" and "network" are often used interchangeably herein.

In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may be determined from a and/or other information.

In the embodiment of the present invention, the access network may be an access network including a Macro Base Station (Macro Base Station), a micro Base Station (Pico Base Station), a Node B (3G mobile Station), an enhanced Base Station (eNB), a Home enhanced Base Station (Femto eNB or Home eNode B or Home eNB or HeNB), a relay Station, an access point, a Remote Radio Unit (RRU), a Remote Radio Head (RRH Head), and the like. The user terminal may be a mobile phone (or handset), or other device capable of sending or receiving wireless signals, including user Equipment, a Personal Digital Assistant (PDA), a wireless modem, a wireless communicator, a handheld device, a laptop computer, a cordless phone, a Wireless Local Loop (WLL) station, a CPE (Customer premises Equipment) or a mobile smart hotspot capable of converting mobile signals into WiFi signals, a smart appliance, or other devices capable of autonomously communicating with a mobile communication network without human operation, etc.

Description on positioning reference signals:

for Rel-16 NR positioning, two types of positioning reference signals for positioning are mainly introduced: a downlink positioning reference signal PRS and an uplink sounding reference signal SRS for positioning. The PRS adopts a Gold sequence, and designs such as PRS resources, PRS resource sets, PRS positioning frequency layers and the like are introduced. The Frequency domain of the PRS resource may adopt a comb structure, and the time domain may occupy a plurality of consecutive OFDM (Orthogonal Frequency Division Multiplexing) symbols. With a single port, the maximum bandwidth cannot exceed 272PRBs, and the minimum bandwidth cannot be below 24PRBs. PRS support only periodic transmissions.

An uplink sounding reference signal SRS for positioning adopts a ZC sequence, a plurality of OFDM symbols can be continuously occupied in a time domain, and a comb structure is adopted in a frequency domain, so that frequency division multiplexing of a plurality of SRS-POS on the same OFDM symbol is conveniently supported. Compared with two-port transmission, the single port has the advantage that the power spectral density of the SRS-POS signal at the receiver side of the base station can be improved, so that the coverage range and the quality of the SRS-POS signal can be improved. The maximum bandwidth supported in the frequency domain is 272RBs and the minimum bandwidth is 4RBs. The SRS-POS supports three resource type configurations of periodicity, semi-persistence and non-periodicity.

In an actual positioning scenario, common positioning sources include: fixed node and global navigation satellite system

(Global Navigation Satellite System, GNSS), local sensors (Local sensors), gNB, eNB, other UEs, inertial Navigation, etc.

Specifically, embodiments of the present invention provide a positioning method, an apparatus, and a terminal, which solve the problem in the prior art that a positioning method suitable for a sidelink is lacking.

First embodiment

As shown in fig. 1, an embodiment of the present invention provides a positioning method, which is applied to a first terminal, and specifically includes the following steps:

step 11: receiving first information sent by at least one second terminal, wherein the first information is used for indicating the positioning priority of the second terminal.

Note that the first information includes a positioning reference signal SL-PRS.

Step 12: and determining a positioning reference source from the at least one second terminal according to the positioning priority.

In this embodiment, after receiving the first information, the first terminal may obtain a positioning priority corresponding to the first information, that is, obtain a positioning priority of a second terminal that sends the first information, so that the first terminal may perform selective filtering processing on the positioning reference signal SL-PRS (in the first information) based on the positioning priority, thereby determining a more suitable positioning reference source.

It can be understood that, after the positioning reference source is determined according to the above manner, the first terminal may determine the position information of itself according to the positioning reference source, so that the positioning is more accurate and is suitable for the positioning problem in the direct link sidelink.

In this embodiment, the determining the number of available positioning reference points according to the first information may include the following two cases:

in a first case, optionally, the number of the available positioning reference points is the total number of the second terminals corresponding to the first information received by the first terminal.

In this embodiment, all possible second terminals (that is, the second terminals corresponding to the first information received by the first terminal) may be used as the available positioning reference points.

Optionally, determining the number of available positioning reference points according to the first information includes:

determining the number of available positioning reference points according to the size relationship between the positioning priority and the positioning priority threshold of the first terminal; the positioning priority threshold of the first terminal is set according to the positioning requirement of the first terminal; the positioning requirements include: positioning accuracy requirements and/or positioning types; the positioning types include: absolute positioning, relative positioning, and relative position.

In this embodiment, the first terminal may set a positioning priority threshold based on its own positioning requirement, and thus, may screen out available positioning reference points whose positioning priority is greater than or equal to the positioning priority threshold, and thus, by screening out suitable available positioning reference points whose positioning priority is higher, positioning may be more accurate.

It should be noted that the value of M may be set according to a positioning type (specifically, may be an absolute positioning type or a relative positioning type). For example, if at least 3 positioning reference sources are needed to complete an absolute positioning measurement, then M may be set to 3.

In this embodiment, the screening may be performed based on the number of the minimum positioning reference sources required for completing the positioning measurement and the positioning priority, and specifically, it may be determined whether the number of the current positioning reference sources can be absolutely positioned: when the number of the available positioning reference points is larger than the minimum number (namely, M) required by the positioning type, the available positioning reference points can be further screened by using the positioning priority to determine the positioning reference source.

Optionally, the determining the positioning reference source according to the positioning priority corresponding to the available positioning reference point may include the following two cases:

the first condition is as follows: according to the sequence of the positioning priority from high to low, determining the available positioning reference points ranked at the top M bits as positioning reference sources from the available positioning reference points; wherein the available positioning reference points having the same positioning priority are randomly ordered.

It is noted that since there may be available positioning reference points with the same positioning priority, in this case, these available positioning reference points with the same positioning priority may be randomly ordered.

That is, when the available positioning reference points are ordered according to the positioning priority from high to low, random ordering may be performed between the available positioning reference points with the same positioning priority, and then the first M available positioning reference points are selected from the available positioning reference points as the positioning reference source.

Case two: according to the sequence of the positioning priority from high to low, determining the available positioning reference points ranked at the top M bits as positioning reference sources from the available positioning reference points; wherein the available positioning reference points with the same positioning priority are sorted according to the signal priority from high to low; the signal priority is related to positioning reference signals transmitted by the available positioning reference points.

That is, when the available positioning reference points are sorted in the order of positioning priority from high to low, the available positioning reference points with the same positioning priority may be further sorted by signal priority, and then the top M-bit available positioning reference points are selected from the available positioning reference points as the positioning reference sources.

In this embodiment, for the case where there are a plurality of available positioning reference points, a suitable positioning reference source may be preferentially selected according to the above method, which is helpful to improve the positioning accuracy.

Optionally, the signal priority corresponding to the available positioning reference point is determined according to at least one of the following:

a reference signal received power, RSRP, strength of the positioning reference signal;

a bandwidth and/or frequency band occupied by the positioning reference signal;

the interference degree of the positioning reference signal;

time of arrival, TOA, measurements of the positioning reference signal;

wherein the greater the RSRP strength, the higher the signal priority;

the larger the bandwidth and/or the frequency band, the higher the signal priority; for example, FR2 is better than FR1 for Frequency bands (FR);

the lower the interference degree, the higher the signal priority;

the smaller the TOA measurement, the higher the signal priority.

The interference degree of the positioning reference signal is described as follows:

for two available positioning reference points with the same positioning priority, the filtering can be further performed according to the interference degree of the positioning reference signals sent by the available positioning reference points. For example, if the positioning reference signal sent by the available positioning reference point 1 and other users reuse the same time-frequency resource, and the positioning reference signal sent by the available positioning reference point 2 and other users do not reuse the same time-frequency resource, the available positioning reference point 2 is selected, that is, it is determined that the signal priority of the available positioning reference point 2 is higher than that of the available positioning reference point 1.

For another example, the positioning reference signal sent by the available positioning reference point 1 and other users multiplex the same time-frequency resource by using different CSs (or OCCs), and the positioning reference signal sent by the available positioning reference point 2 and other users collide on the same time-frequency resource, and then the available positioning reference point 1 is selected, that is, it is determined that the signal priority of the available positioning reference point 1 is higher than that of the available positioning reference point 2.

It is to be noted that, after determining the positioning reference source, the embodiment of the present invention may determine the location information of the first terminal according to the positioning reference source, and specifically may include the following steps:

determining the position information of the first terminal according to the number of the positioning reference sources;

under the condition that the number of the positioning reference sources is equal to M, calculating absolute positioning information and/or relative positioning information of the first terminal to obtain position information of the first terminal;

and under the condition that the number of the positioning reference sources is larger than zero and smaller than M, calculating the relative position (or relative distance) information of the first terminal relative to the second terminal to obtain the position information of the first terminal.

In this embodiment, it may be determined whether the number of current positioning reference sources meets the requirement of absolute positioning; if the positioning reference sources can be satisfied (namely the number of the positioning reference sources is equal to M), position calculation of absolute positioning is carried out, or position calculation of absolute positioning and relative positioning is carried out, otherwise (namely the number of the positioning reference sources is more than zero and less than M), only the relative position information is calculated.

position accuracy information of the second terminal;

type information of the second terminal;

position confidence information (PositionConfidence) of the second terminal;

the position determination mode information of the second terminal;

a positioning reference source of the second terminal.

In this embodiment, for the division of the positioning priorities of the positioning reference sources, it should be noted that the higher the position accuracy of the second terminal is, the higher the corresponding positioning priority is, and the higher the position confidence is, the higher the corresponding positioning priority is.

In an optional embodiment of the present invention, the location priority may be divided based on the position confidence information, for example: when the positioning Priority is P0 (i.e. Priority level P0), the corresponding position precision is interval 1 (i.e. range 1); the position precision corresponding to the Priority level P1 is range2; by analogy, the position precision corresponding to the Priority level P2 is range3; the position accuracy corresponding to Priority level P3 is range4 … …

Optionally, in a case that the positioning priority of the second terminal is determined according to the type information of the second terminal, the positioning priorities are sorted from high to low as:

road Side equipment (RSU);

an On-board Unit (OBU) in a stationary state;

an OBU in motion.

Here, the type information of the second terminal indicates a type of the second terminal, for example, the type of the second terminal is an RSU in a moving (or stationary) state, an OBU in a moving (or stationary) state, or the like.

In this embodiment, the location priority is divided based on the type of the location reference source (i.e. the type information of the second terminal), where when the second terminal is an RSU, the location priority corresponding to the second terminal is higher than that when the second terminal is an OBU, and when the second terminal is a stationary vehicle-mounted OBU, the location priority corresponding to the stationary vehicle-mounted OBU is higher than that corresponding to a non-stationary (i.e. in a moving state) OBU.

Optionally, considering diversity of the positioning reference sources, or supporting a non-fixed node as the positioning reference source, the positioning priority may be divided according to the position determination manner information of the positioning reference source (i.e. the SL-PRS signal transmitting end), for example, as follows:

example one, for the example of the higher priority part, where the positioning priority may also be ranked from high to low as:

the calibration position of the fixed node;

positioning modes from GNSS and Real Time Kinematic (RTK) types;

from Local sensor (high confidence); here, the accuracy of the Local sensor is high under normal operating conditions, but degradation occurs under some operating conditions, specifically, see the case illustrated in example two;

PRSs transmitted from RSUs satisfying a preset number;

from Ultra Wide Band (UWB);

from NR Uu Positioning (high precision).

In the first example, at least two of the modes may be combined.

Example two, for the example of the lower priority portion, where the positioning priority may also be ranked from high to low as:

from a GNSS;

from NR Uu Positioning (low precision);

PRSs transmitted from RSUs which do not satisfy the preset number;

from Local sensor; here, the Local sensor may be distinguished by reliability or positioning accuracy from the Local sensor in example one, in which the reliability of the Local sensor is degraded but available, for example, in the case of low light or rainy or snowy weather;

wireless Local Area Network (WLAN) location;

bluetooth (Bluetooth) position;

and (4) inertial navigation maintenance.

In the second example, at least two of the above methods may be combined.

positioning a reference signal;

control information associated with a positioning reference signal;

a Media Access Control (MAC) layer control unit (CE);

radio resource control, RRC, signaling;

positioning specific information SPI;

wherein the control information includes any one of:

first-stage direct link control information 1st-stage SCI;

second stage direct link control information 2nd-stage SCI;

first control information for positioning.

In this embodiment, the first information may implicitly indicate the positioning priority of the second terminal through the positioning reference signal, or may explicitly indicate the positioning priority of the second terminal through information such as control information associated with the positioning reference signal.

The explicit indication mode may include the following cases:

indicating a positioning priority of the second terminal by control information associated with a positioning reference signal, i.e., 1st-stage SCI or 2nd-stage SCI, or first control information for positioning;

in this case, the first terminal may determine the positioning priority of the second terminal by receiving the control information in the first information.

(II) indicating the positioning priority of the second terminal through a MAC control unit (namely, MAC CE); and the second terminal places the MAC subheader of the PC5 interface carrying the self-positioning priority in the MAC CE.

In this case, the first terminal may determine the positioning priority corresponding to the positioning reference signal by receiving the MAC CE associated with the positioning reference signal in the first information.

(III) indicating the positioning priority of the second terminal through RRC signaling;

in this case, the first terminal may determine the positioning priority corresponding to the positioning reference signal by receiving RRC signaling associated with the positioning reference signal in the first information.

And (IV) indicating the positioning priority of the second terminal through the SPI.

In this case, the first terminal may determine the positioning priority corresponding to the positioning reference signal by receiving the SPI in the first information.

An implicit indication manner, that is, the first information indicates the location priority of the second terminal through the location reference signal, is specifically described as follows:

determining an initialization Identification (ID) of the positioning reference signal, and determining a positioning priority corresponding to the second terminal according to the initialization ID; wherein, different positioning priorities correspond to different initialization ID intervals or initialization ID values.

Here, the initialization ID is a configured ID.

In this embodiment, the initialization ID of the positioning reference signal may be used to implicitly indicate the positioning Priority (i.e., priority level) of the second terminal. Different initialization ID intervals (namely SL-PRS ID range) or initialization ID values can be divided for different positioning priorities, so that the first terminal can confirm the positioning priority corresponding to the second terminal by detecting the initialization ID through the implicit association relationship. For example:

Priority level	positioning method	SL-PRS ID range
			P0	Calibration position of fixed node	ID Range1
P1	GNSS+RTK	ID Range2
			P2	Local sensor (higher reliability)	ID Range3
P3	RSU satisfying preset number	ID Range4
			P4	NR Uu Positioning	ID Range5
P5	……	……
			P6	……	……

(II) determining a mapping pattern of the positioning reference signal, and determining a positioning priority corresponding to the second terminal according to the mapping pattern;

wherein the mapping pattern comprises at least one of:

positioning a time-frequency position of a reference signal PRS;

frequency domain pattern mapping rules of PRS;

cyclic shift CS employed by PRS;

orthogonal cover codes OCC adopted by PRS.

Note that CS is used for the PRS as a ZC sequence, and OCC is used for the PRS as a gold sequence.

Wherein, occupying different time domain symbols and/or different frequency domain resource positions (i.e. time frequency positions) correspond to different positioning priorities; different positioning priorities are corresponding to different CS (or OCC); different frequency domain patterns (patterns) correspond to different positioning priorities. As shown in fig. 2, the frequency domain adopts a comb structure, where PRS occupies 4 time domain symbols (symbols) and the comb size is 4 (the time domain symbol indicated by the arrow in the figure is the first time domain symbol, as shown in fig. 1 ^st symbol) that the frequency domain mapping method is different for each positioning Priority (i.e., priority1, priority2, priority3, priority 4).

Second embodiment

As shown in fig. 3, an embodiment of the present invention provides a positioning method, which is applied to a second terminal, and specifically includes the following steps:

step 31: and sending first information to a first terminal, wherein the first information is used for indicating the positioning priority of the second terminal.

In this embodiment, the second terminal may indicate the positioning priority of the second terminal by sending the first information to the first terminal, so that the first terminal can obtain the positioning priority of the second terminal after receiving the first information, and thus, the first terminal may perform selective filtering processing on the positioning reference signal SL-PRS (in the first information) based on the positioning priority, so as to determine a more appropriate positioning reference source, and further determine location information of the first terminal according to the positioning reference source, so that the positioning of the first terminal is more accurate and is applicable to a positioning problem in a direct link sidelink.

position accuracy information of the second terminal;

type information of the second terminal;

position confidence information (PositionConfidence) of the second terminal;

the position determination mode information of the second terminal;

a positioning reference source of the second terminal.

In this embodiment, regarding the division of the positioning priority of the second terminal (i.e. the sending end of the positioning reference signal SL-PRS signal), it should be noted that the higher the position accuracy of the second terminal is, the higher the corresponding positioning priority is, and the higher the position confidence is, the higher the corresponding positioning priority is.

In an optional embodiment of the present invention, the location priority may be divided based on the location confidence information, for example: when the positioning Priority is P0 (i.e. Priority level P0), the corresponding position precision is interval 1 (i.e. range 1); the position precision corresponding to the Priority level P1 is range2; by analogy, the position precision corresponding to the Priority level P2 is range3; the position accuracy corresponding to Priority level P3 is range4, etc.

positioning a reference signal;

control information associated with the positioning reference signal;

a MAC layer CE;

RRC signaling;

SPI；

wherein the control information includes any one of:

1st-stage SCI；

2nd-stage SCI；

first control information for positioning.

The explicit indication mode may include the following cases:

indicating a location priority of the second terminal through control information, i.e., 1st-stage SCI or 2nd-stage SCI, or first control information for location;

(II) indicating the positioning priority of the second terminal through a MAC control unit (namely, MAC CE); and the second terminal places the MAC subheader of the PC5 interface carrying the self-positioning priority into the MAC CE.

An implicit indication manner, that is, indicating the positioning priority of the second terminal through the positioning reference signal, is specifically described as follows:

wherein the mapping pattern comprises at least one of:

a time-frequency position of the PRS;

frequency domain pattern mapping rules of PRS;

CS adopted by PRS;

OCC adopted in PRS.

In this embodiment, the positioning Priority (i.e., priority level) of the second terminal may be implicitly indicated by using the initialization ID of the positioning reference signal, wherein different initialization ID intervals (i.e., SL-PRS ID range) or initialization ID values may be divided for different positioning priorities, so that, through this implicit association relationship, the first terminal may determine the corresponding positioning Priority of the second terminal by detecting the initialization ID. For example, an association relationship between the initialization ID of a set of positioning reference signals and the positioning priority may be established, as shown in the following table:

In the embodiment of the present invention, the second terminal may indicate the positioning priority of the second terminal by sending the first information to the first terminal, so that the first terminal can obtain the positioning priority of the second terminal after receiving the first information, and thus, the first terminal may determine a more appropriate positioning reference source based on the positioning priority, and further determine the position information of the first terminal according to the positioning reference source, so that the positioning of the first terminal is more accurate, and the method and the device are suitable for the positioning problem in the direct link sidelink.

Third embodiment

As shown in fig. 4, an embodiment of the present invention provides a positioning apparatus 400 applied to a first terminal, including:

a receiving module 401, configured to receive first information sent by at least one second terminal, where the first information is used to indicate a location priority of the second terminal;

a determining module 402, configured to determine a positioning reference source from the at least one second terminal according to the positioning priority.

Alternatively, the determining module 402 comprises:

the first determining submodule is used for determining the number of the available positioning reference points according to the first information;

and the second determining submodule is used for determining the positioning reference source according to the number of the available positioning reference points and the positioning priority.

Optionally, the number of the available positioning reference points is the total number of the second terminals corresponding to the first information received by the first terminal.

Optionally, the first determining sub-module includes:

a first determining unit, configured to determine the number of available positioning reference points according to a size relationship between the positioning priority and a positioning priority threshold of the first terminal;

Optionally, the second determining sub-module includes:

a second determining unit, configured to determine, when the number of the available positioning reference points is greater than M, the positioning reference source according to the positioning priority corresponding to the available positioning reference point; wherein M is a preset number and is a positive integer;

a third determining unit, configured to determine the available positioning reference points as the positioning reference sources when the number of the available positioning reference points is less than or equal to M.

Optionally, the second determining unit includes:

a first determining subunit, configured to determine, according to the order from high to low of the positioning priority, from the available positioning reference points, the available positioning reference point ordered in the top M bits as a positioning reference source;

Optionally, the second determining unit includes:

a second determining subunit, configured to determine, according to the order from high to low of the positioning priority, from the available positioning reference points, the available positioning reference point ordered in the top M bits as a positioning reference source;

a bandwidth and/or frequency band occupied by the positioning reference signal;

the interference degree of the positioning reference signal;

time of arrival, TOA, measurements of the positioning reference signal;

wherein the greater the RSRP strength, the higher the signal priority;

the lower the interference degree, the higher the signal priority;

the smaller the TOA measurement, the higher the signal priority.

position accuracy information of the second terminal;

type information of the second terminal;

position confidence information of the second terminal;

position determination mode information of the second terminal;

a positioning reference source of the second terminal.

positioning a reference signal;

control information associated with a positioning reference signal;

a Media Access Control (MAC) layer control unit (CE);

radio resource control, RRC, signaling;

positioning specific information SPI;

wherein the control information includes any one of:

the first stage straight-through link control information 1st-stage SCI;

second stage direct link control information 2nd-stage SCI;

first control information for positioning.

Optionally, when the first information indicates the positioning priority of the second terminal through a positioning reference signal, the positioning apparatus further includes at least one of:

a third determining submodule, configured to determine an initialization identifier ID of the positioning reference signal, and determine a positioning priority corresponding to the second terminal according to the initialization ID; wherein, different positioning priorities correspond to different initialization ID intervals or initialization ID values;

a fourth determining submodule, configured to determine a mapping pattern of the positioning reference signal, and determine a positioning priority corresponding to the second terminal according to the mapping pattern;

wherein the mapping pattern comprises at least one of:

positioning a time-frequency position of a reference signal PRS;

frequency domain pattern mapping rules of PRS;

cyclic shift CS employed by PRS;

orthogonal cover codes OCC adopted by PRS.

The third embodiment of the present invention is corresponding to the method of the first embodiment, and all the implementation means in the first embodiment are applied to the embodiment of the positioning device, so that the same technical effects can be achieved.

Fourth embodiment

As shown in fig. 5, an embodiment of the present invention provides a positioning apparatus 500 applied to a second terminal, including:

a sending module 501, configured to send first information to a first terminal, where the first information is used to indicate a location priority of the second terminal.

position accuracy information of the second terminal;

type information of the second terminal;

position confidence information of the second terminal;

the position determination mode information of the second terminal;

a positioning reference source of the second terminal.

positioning a reference signal;

control information associated with the positioning reference signal;

a MAC layer CE;

RRC signaling;

SPI；

wherein the control information includes any one of:

1st-stage SCI；

2nd-stage SCI；

first control information for positioning.

Optionally, when the first information indicates the positioning priority of the second terminal through a positioning reference signal, the sending module includes at least one of:

a first indication unit, configured to indicate a positioning priority of the second terminal by using an initialization ID of the positioning reference signal; wherein, different positioning priorities correspond to different initialization ID intervals or initialization ID values;

a second indicating unit, configured to indicate a positioning priority of the second terminal through a mapping pattern of the positioning reference signal;

wherein the mapping pattern comprises at least one of:

a time-frequency position of the PRS;

frequency domain pattern mapping rules of PRS;

CS adopted by PRS;

OCC adopted in PRS.

The fourth embodiment of the present invention is corresponding to the method of the second embodiment, and all the implementation means in the second embodiment are applied to the embodiment of the positioning device, so as to achieve the same technical effect.

Fifth embodiment

In order to better achieve the above object, as shown in fig. 6, a fifth embodiment of the present invention further provides a terminal, which is a first terminal, including:

a processor 600; and a memory 620 connected to the processor 600 through a bus interface, wherein the memory 620 is used for storing programs and data used by the processor 600 in executing operations, and the processor 600 calls and executes the programs and data stored in the memory 620.

The transceiver 610 is connected to the bus interface, and is configured to receive and transmit data under the control of the processor 600; the processor 600 is used to read the program in the memory 620 to perform the following steps:

Where in fig. 6, the bus architecture may include any number of interconnected buses and bridges, with various circuits being linked together, particularly one or more processors represented by processor 600 and memory represented by memory 620. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The transceiver 610 may be a number of elements including a transmitter and a transceiver providing a means for communicating with various other apparatus over a transmission medium. For different terminals, the user interface 630 may also be an interface capable of interfacing with a desired device, including but not limited to a keypad, display, speaker, microphone, joystick, etc. The processor 600 is responsible for managing the bus architecture and general processing, and the memory 620 may store data used by the processor 600 in performing operations.

Optionally, when the processor 600 is configured to determine the positioning reference source from the at least one second terminal according to the positioning priority, specifically, to:

Optionally, when the processor 600 is configured to determine the number of available positioning reference points according to the first information, specifically, to:

Optionally, when the processor 600 is configured to determine the positioning reference source according to the number of the available positioning reference points and the positioning priority, specifically, to:

Optionally, when the processor 600 is configured to determine the positioning reference source according to the positioning priority corresponding to the available positioning reference point, specifically, to:

according to the sequence of the positioning priority from high to low, determining the available positioning reference points in the top M bits as positioning reference sources from the available positioning reference points;

a bandwidth and/or frequency band occupied by the positioning reference signal;

an interference level of the positioning reference signal;

time of arrival, TOA, measurements of the positioning reference signal;

wherein the greater the RSRP strength, the higher the signal priority;

the lower the interference degree, the higher the signal priority;

the smaller the TOA measurement, the higher the signal priority.

position accuracy information of the second terminal;

type information of the second terminal;

position confidence information of the second terminal;

the position determination mode information of the second terminal;

a positioning reference source of the second terminal.

positioning a reference signal;

control information associated with a positioning reference signal;

a Media Access Control (MAC) layer control unit (CE);

radio resource control, RRC, signaling;

positioning special information SPI;

wherein the control information includes any one of:

first-stage direct link control information 1st-stage SCI;

second stage direct link control information 2nd-stage SCI;

first control information for positioning.

Optionally, the processor 600, when configured to indicate the positioning priority of the second terminal through the positioning reference signal, is further specifically configured to perform at least one of the following:

determining an initialization Identification (ID) of the positioning reference signal, and determining a positioning priority corresponding to the second terminal according to the initialization ID; wherein, different positioning priorities correspond to different initialization ID intervals or initialization ID values;

wherein the mapping pattern comprises at least one of:

positioning a time-frequency position of a reference signal (PRS);

frequency domain pattern mapping rules of PRS;

cyclic shift CS employed by PRS;

orthogonal cover codes OCC adopted by PRS.

The terminal provided by the invention can perform selective filtering processing on the positioning reference signal SL-PRS in the first information based on the positioning priority, thereby determining a more appropriate positioning reference source, further determining the position information of the terminal according to the positioning reference source, enabling the positioning to be more accurate, and being suitable for the positioning problem in the direct link sidelink.

Sixth embodiment

In order to better achieve the above object, as shown in fig. 7, a sixth embodiment of the present invention further provides a terminal, where the terminal is a second terminal, and the terminal includes:

a processor 700; and a memory 720 connected to the processor 700 through a bus interface, wherein the memory 720 is used for storing programs and data used by the processor 700 when executing operations, and the processor 700 calls and executes the programs and data stored in the memory 720.

The transceiver 710 is connected to the bus interface, and is configured to receive and transmit data under the control of the processor 700; the processor 700 is used for reading the program in the memory 720 and executing the following steps:

Wherein in fig. 7 the bus architecture may comprise any number of interconnected buses and bridges, with one or more processors, represented by processor 700, and various circuits, represented by memory 720, being linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The transceiver 710 may be a plurality of elements, i.e., including a transmitter and a transceiver, providing a means for communicating with various other apparatus over a transmission medium. For different terminals, the user interface 730 may also be an interface capable of interfacing with a desired device, including but not limited to a keypad, display, speaker, microphone, joystick, etc. 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.

Optionally, the location priority of the second terminal is determined according to at least one of:

position accuracy information of the second terminal;

type information of the second terminal;

position confidence information of the second terminal;

the position determination mode information of the second terminal;

a positioning reference source of the second terminal.

positioning a reference signal;

control information associated with the positioning reference signal;

a MAC layer CE;

RRC signaling;

SPI；

wherein the control information includes any one of:

1st-stage SCI；

2nd-stage SCI；

first control information for positioning.

Optionally, the processor 700, when configured to indicate the positioning priority of the second terminal through the positioning reference signal, is specifically configured to perform at least one of the following:

wherein the mapping pattern comprises at least one of:

a time-frequency position of the PRS;

frequency domain pattern mapping rules of PRS;

CS adopted by PRS;

OCC adopted in PRS.

The terminal provided by the invention can indicate the positioning priority of the second terminal by sending the first information to the first terminal, so that the first terminal can obtain the positioning priority of the second terminal after receiving the first information, and thus, the first terminal can determine a more appropriate positioning reference source based on the positioning priority and further determine the position information of the first terminal according to the positioning reference source, so that the positioning of the first terminal is more accurate and the positioning method is suitable for the positioning problem in the direct link sidelink.

Those skilled in the art will appreciate that all or part of the steps for implementing the above embodiments may be performed by hardware, or may be instructed to be performed by associated hardware by a computer program that includes 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 present invention provides a computer readable storage medium, on which a computer program is stored, the program implementing the steps of the method in the first embodiment or the second embodiment when being executed by a processor. And the same technical effect can be achieved, and in order to avoid repetition, the description is omitted.

Furthermore, it is to be noted that in the device and method of the invention, it is obvious that the individual components or steps can be decomposed and/or recombined. These decompositions and/or recombinations are to be regarded as equivalents of the present invention. Also, the steps of performing the series of processes described above may naturally be performed chronologically in the order described, but need not necessarily be performed chronologically, and some steps may be performed in parallel or independently of each other. It will be understood by those skilled in the art that all or any of the steps or elements of the method and apparatus of the present invention may be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or any combination thereof, which can be implemented by those skilled in the art using their basic programming skills after reading the description of the present invention.

Thus, the objects of the invention may also be achieved by running a program or a set of programs on any computing device. The computing device may be a general purpose device as is well known. The object of the invention is thus also achieved solely by providing a program product comprising program code for implementing the method or the apparatus. That is, such a program product also constitutes the present invention, and a storage medium storing such a program product also constitutes the present invention. It is to be understood that the storage medium may be any known storage medium or any storage medium developed in the future. It is further noted that in the apparatus and method of the present invention, it is apparent that each component or step can be decomposed and/or recombined. These decompositions and/or recombinations are to be regarded as equivalents of the present invention. Also, the steps of executing the series of processes described above may naturally be executed chronologically in the order described, but need not necessarily be executed chronologically. Some steps may be performed in parallel or independently of each other.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A positioning method applied to a first terminal includes:

2. The method according to claim 1, wherein the determining a positioning reference source from the at least one second terminal according to the positioning priority comprises:

3. The method according to claim 2, wherein the number of the available positioning reference points is a total number of the second terminals corresponding to the first information received by the first terminal.

4. The method according to claim 2, wherein said determining the number of available positioning reference points according to the first information comprises:

5. The positioning method according to claim 3 or 4, wherein said determining the positioning reference source according to the number of the available positioning reference points and the positioning priority comprises:

6. The method according to claim 5, wherein said determining the positioning reference source according to the positioning priority corresponding to the available positioning reference point comprises:

7. The method according to claim 5, wherein said determining the positioning reference source according to the positioning priority corresponding to the available positioning reference point comprises:

8. The positioning method according to claim 7, wherein the signal priority corresponding to the available positioning reference point is determined according to at least one of the following:

a bandwidth and/or frequency band occupied by the positioning reference signal;

an interference level of the positioning reference signal;

time of arrival, TOA, measurements of the positioning reference signals;

wherein the greater the RSRP strength, the higher the signal priority;

the lower the interference degree, the higher the signal priority;

the smaller the TOA measurement, the higher the signal priority.

9. The positioning method according to claim 1, wherein the positioning priority of the second terminal is determined according to at least one of the following:

position accuracy information of the second terminal;

type information of the second terminal;

position confidence information of the second terminal;

the position determination mode information of the second terminal;

a positioning reference source of the second terminal.

10. The positioning method according to claim 1, wherein the first information indicates the positioning priority of the second terminal by at least one of:

positioning a reference signal;

control information associated with a positioning reference signal;

a Media Access Control (MAC) layer control unit (CE);

radio resource control, RRC, signaling;

positioning specific information SPI;

wherein the control information includes any one of:

the first stage straight-through link control information 1st-stage SCI;

second stage direct link control information 2nd-stage SCI;

first control information for positioning.

11. The positioning method according to claim 10, wherein when the first information indicates the positioning priority of the second terminal through a positioning reference signal, the positioning method further comprises at least one of:

wherein the mapping pattern comprises at least one of:

positioning a time-frequency position of a reference signal PRS;

frequency domain pattern mapping rules of PRS;

cyclic shift CS employed by PRS;

orthogonal cover codes OCC adopted by PRS.

12. A positioning method applied to a second terminal includes:

13. The positioning method according to claim 12, wherein the positioning priority of the second terminal is determined according to at least one of the following:

position accuracy information of the second terminal;

type information of the second terminal;

position confidence information of the second terminal;

position determination mode information of the second terminal;

a positioning reference source of the second terminal.

14. The positioning method according to claim 12, wherein the first information indicates the positioning priority of the second terminal by at least one of:

positioning a reference signal;

control information associated with the positioning reference signal;

a MAC layer CE;

RRC signaling;

SPI；

wherein the control information includes any one of:

1st-stage SCI；

2nd-stage SCI；

first control information for positioning.

15. The positioning method according to claim 14, wherein when the first information indicates the positioning priority of the second terminal through a positioning reference signal, the positioning method further comprises at least one of:

wherein the mapping pattern comprises at least one of:

a time-frequency position of the PRS;

frequency domain pattern mapping rules of PRS;

CS adopted by PRS;

OCC adopted in PRS.

16. A terminal, comprising: transceiver, memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the positioning method according to any of claims 1 to 11 or implements the steps of the positioning method according to any of claims 12 to 15 when executing the computer program.

17. A positioning device applied to a first terminal, comprising:

18. A positioning device applied to a second terminal, comprising:

19. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the positioning method according to one of claims 1 to 11 or the steps of the positioning method according to one of claims 12 to 15.