CN115706630A

CN115706630A - Direct link positioning method and device and user equipment

Info

Publication number: CN115706630A
Application number: CN202110888814.3A
Authority: CN
Inventors: 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: 2023-02-17
Also published as: WO2023011164A1

Abstract

The application discloses a method, a device and user equipment for positioning a direct link, which relate to the technical field of direct links, the method is applied to first user equipment, and the method comprises the following steps: performing a first transmission on a pass-through link, the first transmission comprising: the method comprises the following steps of transmitting a positioning reference signal SL PRS of a direct link, or transmitting the SL PRS and first information, so that user equipment at a receiving end can measure the SL PRS, and positioning based on the direct link sidelink is realized.

Description

Direct link positioning method and device and user equipment

Technical Field

The present application relates to the field of direct link technologies, and in particular, to a direct link positioning method, an apparatus, and a user equipment.

Background

Direct link applications, in particular, vehicle to electronic (V2X) applications in a typical scenario of a direct link, need to know the precise location of a user equipment, in particular, a mobile terminal (including On Board Units (OBUs), vulnerable Road Users (VRUs), and the like). The conventional positioning method is based on Global Navigation Satellite System (GNSS) or enhanced GNSS positioning, but in areas with poor GNSS signal coverage (such as urban canyons) and areas without GNSS signal coverage (tunnels, underground parking lots, underground coal mines, underground transportation channels, and the like), positioning performance needs to be guaranteed by other positioning technologies.

The Cellular Vehicle networking (C-V2X) comprises a Long Term Evolution Vehicle networking (Long Term Evolution Vehicle to Vehicle, LTE-V2X) and a New air interface Vehicle networking (NR-V2X), supports communication between a direct link and an uplink and downlink of a Cellular network, and C-V2X equipment can communicate with a base station in the signal coverage of the Cellular network; C-V2X can communicate over direct links both inside and outside cellular network signal coverage.

3GPP Release 16 carries out research and standardization of NR Positioning, in the coverage of a cellular network, a base station sends a Downlink Positioning Reference Signal (PRS) Signal of cell-specific, a terminal sends an uplink detection Signal (SRS) used for Positioning in an uplink, and correspondingly, the terminal can measure a Time Difference (RSTD) of the Reference Signal or measure a Reference Signal Received Power (RSRP) of the Downlink Positioning Reference Signal (DL PRS), or measure a Time Difference between receiving and sending of DL PRS by the terminal; the base station may measure the Relative Time of Arrival (Relative Time of Arrival, RTOA) of the uplink, RSRP of SRS, time difference between the SRS received by the 5G base station (gNB) and DL PRS transmitted by the gNB, and angle measurement. By processing the measurement values, the position of the User Equipment (UE) is calculated.

However, the application scenario of V2X needs to support communication both inside and outside the coverage of the cellular network, a special positioning technology needs to be designed for the direct link to realize the position determination of the user equipment.

Currently, no standardization work is performed for the direct link positioning technology by 3 GPP.

Disclosure of Invention

The present application aims to provide a method, an apparatus, and a user equipment for positioning a direct link, so as to solve the problem that the prior art does not have a special positioning technology for the direct link.

In a first aspect, an embodiment of the present application provides a direct link positioning method, which is applied to a first user equipment, and the method includes:

performing a first transmission on a pass-through link, the first transmission comprising: a transmission of a through link positioning reference signal SL PRS, or a transmission of the SL PRS and first information.

Optionally, the method further comprises at least one of:

acquiring a first configuration parameter of the SL PRS;

sending second information, wherein the second information is used for indicating the resource of the first transmission.

Optionally, the first information is carried by at least one of:

direct link control information SCI;

direct link positioning information SPI;

a media access control layer control unit MAC CE;

radio resource control, RRC, signaling;

a direct link data packet;

a physical direct link control channel PSCCH;

a physical direct link shared channel PSSCH;

a physical direct link broadcast channel PSBCH;

a physical straight link feedback channel PSFCH;

a physical direct link discovery channel (PSDCH);

the physical through link locates the channel PSPCH.

Optionally, the first information comprises at least one of:

a priority of the SL PRS;

a priority of the location information of the first user equipment;

a confidence level of the location information of the first user equipment;

a type of the SL PRS;

the interaction mode of the SL PRS;

and (e) third information.

Optionally, the interaction manner of the SL PRS includes at least one of:

single pass;

SW-RT in a single-way round-trip mode;

TW-RT in a double-pass back-and-forth mode;

and a symmetric double-pass round-trip mode STW-RT.

Optionally, determining that the interaction manner of the SL PRS is a single pass, and adopting at least one of the following manners:

the first user equipment keeps high-precision time synchronization with other anchor nodes;

the number of other user equipment keeping high-precision time synchronization with the first user equipment meets a preset number threshold;

the first user equipment determines an expected time difference between the maintenance time and a reference time.

Optionally, determining that the interaction mode of the SL PRS is a single-pass round-trip mode, and adopting at least one of the following modes:

the first user equipment determines the frequency offset rate of a local timing device;

the first user equipment determines a frequency deviation value of a local timing device and corresponding reference time;

the first user equipment has no processing time offset for different antenna units;

the first user equipment determines processing time offset values for different antenna units.

Optionally, the third information comprises at least one of:

location information of the first user equipment;

identification ID information of the first user equipment;

location information of neighboring user equipment;

ID information of neighboring user equipments;

a source of location information of neighboring user equipment;

confidence of location information of neighboring user devices;

first indication information for indicating that the current positioning signal/information is used for absolute positioning or relative positioning;

second indication information for indicating whether the first user equipment can be used as an anchor node;

supporting the auxiliary resolving position;

supporting self-resolving of the position;

third indication information, configured to indicate whether the first user equipment maintains high-precision time synchronization with another anchor node;

information of other user equipment keeping high-precision time synchronization with the first user equipment;

a projected time difference between a maintenance time of the first user equipment and a reference time;

a frequency offset rate of a local timing device of the first user equipment;

a frequency offset value of a local timing device of the first user equipment and a corresponding reference measurement time;

whether a different antenna element of the first user equipment has a processing time offset;

processing time offset values for different antenna units of the first user equipment.

Optionally, when the location information of the first user equipment is a first numerical value, it is indicated that the first user equipment cannot serve as an anchor node, and the first user equipment can support relative positioning.

Optionally, the calculating of the frequency offset value of the local timing device of the first user equipment includes:

under the condition that the first user equipment can receive a GNSS signal, when a pulse per second sent by a GNSS module of a global navigation satellite system is received once or a plurality of times of pulse per second are continuously received within a first time, calculating a frequency offset value of a local timing device of the first user equipment according to any one of the following items, wherein the first time is a reference time set by the first user equipment or corresponds to a time interval of the pulse per second output by the GNSS module:

comparing the actual count of the local timer crystal oscillator with the nominal frequency value of the local timer crystal oscillator;

and comparing the reference time with the actual timing result of the local timer crystal oscillator.

Optionally, the content indicated by the second information includes at least one of:

a dedicated frequency band;

an unlicensed frequency band;

a frequency band;

a carrier wave;

a bandwidth part BWP;

a resource pool;

a time domain resource location;

taking the resource set as the frequency domain resource position of the scheduling granularity;

frequency domain resource position with sub-channel as scheduling granularity;

taking comb resource blocks as frequency domain resource positions of scheduling granularity;

and taking the subchannel and the edge combined resource as the frequency domain resource position of the scheduling granularity.

Optionally, the time domain resource location comprises at least one of:

time domain separation from the current SCI;

time domain interval with the current SPI;

a time interval for the SL PRS to repeat transmissions;

the number of times the SL PRS performs repeated transmission;

a transmission period of the SL PRS;

the transmission period of the current SL PRS is separated from the time interval of the next adjacent SL PRS transmission period.

Optionally, the second information is carried by at least one of:

SCI；

SPI。

optionally, when the second information is carried by the SPI, the SCI is configured to indicate a resource location of the SPI transmission.

Optionally, the SCIs include only the first SCI, or the SCIs include the first SCI and at least one of the second SCI and the third SCI.

Optionally, when the SCI includes a first SCI and at least one of a second SCI and a third SCI, the content of the first SCI indication further includes:

a resource location of the second SCI;

a resource location of the third SCI;

the format of the second SCI;

the format of the third SCI;

fourth indication information, configured to indicate whether the second SCI and/or the third SCI are included in the PSSCH;

and fifth indication information, configured to indicate whether a currently transmitted signal and/or information is used to indicate direct link positioning, where the fifth indication information is carried in N bits of the first SCI, and N is a positive integer.

Optionally, the transmission modes of the SCI, the SPI, the SL PRS, and the PSSCH include:

transmitting in the same frequency band, carrier, BWP, resource pool or resource set;

or within different frequency bands, carriers, BWPs, resource pools or resource sets.

Optionally, the transmitting of the SCI, the SPI, and the SL PRS in different frequency bands includes:

at least one of the SCI and the SPI is transmitted in a first frequency band, and the SL PRS is transmitted in a second frequency band; the first frequency band is lower than the second frequency band;

or at least one of the SCI and the SPI is transmitted in a licensed frequency band, and the SL PRS is transmitted in an unlicensed frequency band.

In a second aspect, an embodiment of the present application further provides a direct link positioning method, which is applied to a second user equipment, and the method includes:

performing reception of a first transmission on a pass-through link, the first transmission comprising: a transmission of a SL PRS, or a transmission of the SL PRS and first information;

measuring the SL PRS in the first transmission.

Optionally, the method further comprises at least one of:

acquiring a first configuration parameter of the SL PRS;

receiving second information indicating resources of the first transmission.

Optionally, the method further comprises:

and detecting and/or excluding resources of the SL PRS according to the second information.

Optionally, the first information comprises at least one of:

a priority of the SL PRS;

a priority of location information of the first user equipment;

a confidence level of the location information of the first user equipment;

a type of the SL PRS;

the interaction mode of the SL PRS;

and (e) third information.

Optionally, the third information comprises at least one of:

location information of the first user equipment;

identification ID information of the first user equipment;

location information of neighboring user equipment;

ID information of neighboring user equipments;

a source of location information of neighboring user equipment;

confidence of location information of neighboring user devices;

supporting the auxiliary resolving position;

supporting self-resolving of the position;

a frequency offset rate of a local timing device of the first user equipment;

Optionally, in a case that the second indication information indicates that the first user equipment can serve as an anchor node, determining that information implicitly indicated by the second indication information is that the first user equipment can support absolute positioning or self-resolving a position;

or, when the second indication information indicates that the first user equipment cannot serve as an anchor node, determining that the information implicitly indicated by the second indication information is that the first user equipment can only support relative positioning or support auxiliary resolving position.

Optionally, in a case that the third indication information indicates that the first user equipment maintains high-precision time synchronization with other anchor nodes, or that the number of other user equipments maintaining high-precision time synchronization with the first user equipment satisfies a preset number threshold, or that the third information includes an expected time difference between a maintenance time of the first user equipment and a reference time, the second user equipment determines that positioning can be performed based on a way that the first user equipment transmits SL PRS in a single pass.

Optionally, in a case that the third information includes a frequency offset rate of a local timing device of the first user equipment, or the third information includes a frequency offset value of the local timing device of the first user equipment and a corresponding reference time, or the third information includes and indicates that different antenna units of the first user equipment do not have a processing time offset, or the third information includes a processing time offset value of the different antenna units of the first user equipment, the second user equipment determines that positioning can be performed based on an SL PRS interaction manner of a single-pass round-trip manner SW-RT performed by the first user equipment.

In a third aspect, an embodiment of the present application further provides a user equipment, which includes a transceiver, a memory, a processor, and a computer program stored in the memory and executed on the processor, where the processor implements the direct link positioning method according to the first aspect, or the direct link positioning method according to the second aspect when executing the computer program.

In a fourth aspect, an embodiment of the present application further provides a direct link positioning apparatus applied to a first user equipment, including:

a transmission module to perform a first transmission on a direct link, the first transmission comprising: a transmission of a through link positioning reference signal SL PRS, or a transmission of the SL PRS and first information.

In a fifth aspect, an embodiment of the present application further provides a direct link positioning apparatus, applied to a second user equipment, including:

a first receiving module to perform reception of a first transmission on a direct link, the first transmission comprising: a transmission of a SL PRS, or a transmission of the SL PRS and first information;

a measurement module to measure the SL PRS in the first transmission.

In a sixth aspect, embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the direct link positioning method according to the first aspect, or the direct link positioning method according to the second aspect.

The above technical scheme of this application has following beneficial effect at least:

the embodiment of the application discloses a direct link positioning method, a direct link positioning device and user equipment, which relate to the technical field of direct links, the method is applied to first user equipment, and the method comprises the following steps: performing a first transmission on a pass-through link, the first transmission comprising: the method comprises the following steps of transmitting a positioning reference signal SL PRS of a direct link, or transmitting the SL PRS and first information, so that user equipment at a receiving end can measure the SL PRS, and positioning based on the direct link sidelink is realized.

Drawings

Fig. 1 is a schematic flowchart of a direct link positioning method according to an embodiment of the present application;

fig. 2 is a second flowchart illustrating a direct link positioning method according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a direct link positioning device according to an embodiment of the present application;

fig. 4 is a second schematic structural diagram of a direct link positioning device according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a user equipment according to an embodiment of the present application.

Detailed Description

To make the technical problems, technical solutions and advantages to be solved by the present application clearer, the following detailed description is made 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 embodiments of the present application be fully understood. Accordingly, it will 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 present 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 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 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 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.

As shown in fig. 1, an embodiment of the present application provides a direct link positioning method, which is applied to a first user equipment, where the first user equipment is a user equipment applied to a typical application scenario (car networking application scenario) in the direct link technical field, that is, the first user equipment is a car networking communication device supporting direct link positioning, such as: road Side Unit (RSU), OBU, VRU, etc. The method comprises the following steps:

step 101, performing a first transmission on a direct link, the first transmission comprising: a transmission of a Sidelink Positioning Reference Signal (SL PRS), or a transmission of the SL PRS and the first information.

Here, it should be noted that the first information at least includes SL PRS configuration information and/or positioning related information, but is not limited thereto.

According to the method for positioning the direct link, first transmission is executed on the direct link, and the first transmission comprises transmission of the SL PRS, or transmission of the SL PRS and first information; that is, the SL PRS is sent on the direct link, or the SL PRS and the first information are sent on the direct link, so that the receiving end can perform sidelink-based positioning based on the received signals/information, and the problem that the existing positioning of the internet of vehicles mainly depends on the limitation of GNSS is solved.

Further, as an optional implementation, the method further comprises at least one of:

acquiring a first configuration parameter of the SL PRS;

Here, it should be noted that the first configuration parameter includes a BandWidth Part (BWP) configuration parameter of the SL PRS and/or a resource configuration parameter of the SL PRS, but is not limited thereto.

In this optional implementation manner, configuration of the SL PRS is achieved by obtaining a first configuration parameter of the SL PRS; by sending the second information, the user equipment at the receiving end receives the signal/information sent by the first user equipment according to the first transmission resource.

Here, it should be noted that the first configuration parameter may be obtained by at least one of the following manners:

network side configuration;

pre-configuring information;

direct link Master Information Block (MIB) Information;

the direct link location configuration broadcasts messages.

Here, it should be further noted that the direct link positioning configuration broadcast message is a message sent by a user equipment (a vehicle networking communication device).

As an optional implementation manner, the first information is carried by at least one of:

direct link Control Information (SCI);

direct link Positioning Information (SPI);

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

radio Resource Control (RRC) signaling;

a direct link data packet;

physical direct link Control Channel (PSCCH);

physical Sidelink Shared Channel (psch);

physical Sidelink Broadcast Channel (PSBCH);

physical Sidelink Feedback Channel (PSFCH);

physical link discovery Channel (PSDCH);

physical link location Channel (PSPCH).

Here, it should be noted that "SPI" refers to an indication information type for indicating the positioning related information on the through link, but the name of the indication information type indicating the positioning related information is not limited to SPI.

Here, it should be further noted that the design format of the MAC CE supporting the direct link positioning/the design format of the RRC signaling (transmission indication) supporting the direct link positioning/the design format of the direct link data packet includes at least one of the following indication information:

first information;

the format of the second SCI;

the format of the third SCI;

fourth indication information for indicating whether the second SCI and/or the third SCI are included in the PSSCH.

The related contents of the first information, the second SCI and the third SCI may refer to subsequent contents, and the description is not repeated here.

In the optional implementation manner, the existing MAC CE and RRC signaling are improved, so that the indication or transmission supporting the positioning reference signal and the positioning information is implemented, the positioning signal resource is flexibly scheduled, and different positioning signal/information monitoring modes are supported, thereby implementing positioning based on sidelink.

As an optional implementation manner, the first information includes at least one of the following:

a priority of the SL PRS;

a priority of the location information of the first user equipment;

a confidence level of the location information of the first user equipment;

a type of the SL PRS;

the interaction mode of the SL PRS;

and (e) third information.

Here, it should be noted that the type of SL PRS includes at least one of the following, but is not limited thereto:

PRS；

carrier Phase Positioning Reference Signal (C-PRS).

As a specific implementation manner, the interaction manner of the SL PRS includes at least one of:

single pass;

single Way Round-Trip (SW-RT);

Two-Way Round-Trip (TW Way-Round Trip, TW-RT);

symmetric Two-Way Round-Trip (STW-RT).

As an optional implementation manner, determining that the interaction manner of the SL PRS is a single pass, and adopting at least one of the following manners:

That is, in the case where the first condition is satisfied, the interaction manner of the SL PRS may be determined to be a single pass, where the first condition includes at least one of the three conditions, that is, in the case where the first user equipment satisfies at least one of the three conditions, the interaction manner of the SL PRS may be determined to be a single pass, and thus, the second user equipment can perform positioning based on the manner of the SL PRS transmitted by the first user equipment in a single pass.

As a further optional implementation manner, determining that the interaction manner of the SL PRS is a single-pass round-trip manner is at least one of the following manners:

That is, in the case where the second condition is satisfied, it is determined that the interaction mode of the SL PRS may be a one-way round trip mode; that is, in the case where the first user equipment satisfies at least one of the above four conditions, the interaction mode of the SL PRS may be determined to be a one-way round trip mode, and thus, the second user equipment can perform positioning based on the mode of the SL PRS transmitted by the first user equipment in a one-way round trip.

The two optional implementation modes support different synchronization modes, different positioning information sources, different time synchronization precisions and different signal priorities of the through link, and realize that the equipment supporting the through link positioning confirms the modes of positioning signal interaction mode, type and the like according to corresponding information under the conditions of considering whether local clock offset indication is carried out or not and antenna unit processing delay calibration, and further confirms absolute/relative positioning, UE self-positioning/UE auxiliary positioning and the like, thereby realizing positioning in various modes under a complex environment and flexible configuration of vehicle networking positioning.

As an optional implementation manner, the third information includes at least one of the following:

location information of the first user equipment;

identification (ID) information of the first user equipment;

location information of neighboring user equipment;

ID information of neighboring user equipments;

a source of location information of neighboring user equipment;

confidence of location information of neighboring user devices;

supporting the auxiliary resolving position;

supporting self-resolving of positions;

a frequency offset rate of a local timing device of the first user equipment;

Here, it should be noted that the auxiliary resolving position is UE-assisted resolving position information, and the self-resolving position is UE-based resolving position information.

In this optional implementation manner, the third information includes at least one of the above contents, so that the UE at the receiving end confirms the positioning signal interaction mode, type, and the like according to the corresponding information, and further confirms the absolute/relative positioning, UE self-positioning/UE assisted positioning, and the like, thereby realizing positioning in multiple modes in a car networking positioning complex environment and under flexible configuration.

As an optional implementation manner, in a case that the location information of the first user equipment is a first numerical value, it indicates that the first user equipment cannot serve as an anchor node, and the first user equipment can support relative positioning.

Here, it should be noted that, specifically, the first value may be 0, and specifically, for the indication of multiple bits, the first value is represented by all 0, that is, when the location information of the first user equipment is 0, the first user equipment is indicated to be unable to serve as an anchor node, and the first user equipment performs relative positioning.

Here, it should be further noted that, in the case that the second indication information indicates that the first user equipment is capable of serving as an anchor node, implicitly indicates that the first user equipment is capable of supporting absolute positioning or UE-based positioning; or, in a case that the second indication information indicates that the first user equipment cannot serve as an anchor node, implicitly indicating that the first user equipment can only support relative positioning or UE-assisted positioning.

As an optional implementation manner, the calculating of the frequency offset value of the local timing device of the first user equipment includes:

Here, the time interval of the GNSS module outputting the pulse per second is 1s.

That is, when the first user equipment can receive the GNSS signal, at least one offset measurement is performed within a certain time, specifically, when the pulse per second is received 1 or more times continuously within a certain time (reference time or 1 s), the actual timing of the local timer crystal oscillator within the reference time is compared with the nominal value of the crystal oscillator, or the reference time is compared with the actual timing of the local timer crystal oscillator, so as to obtain the frequency offset of the local timing device of the first user equipment.

Further, the offset value is determined to be valid in case the offset value satisfies at least one of the following preset conditions, and the offset value may be transmitted:

within a preset time;

the temperature is in a preset temperature range;

within a preset humidity range.

That is to say, when the first user equipment transmits the offset value, the first user equipment may further transmit a corresponding condition, so that the user equipment at the receiving end can determine whether the offset value is valid according to the transmitted condition.

In the optional implementation mode, a local timing device crystal oscillator frequency shift measurement and calculation method based on the GNSS is provided, measurement is performed when GNSS signals can be received, indication is performed in direct link positioning, high-precision ranging is realized based on one-way RT under the condition that asynchronization among user equipment can be supported, and a frequency shift quantity is brought in when TOA or ranging is calculated based on one-way RT, so that the problem of positioning precision reduction caused by timing errors caused by frequency offset of a local timer is solved.

As an optional implementation manner, the content indicated by the second information includes at least one of the following:

a dedicated frequency band;

an unlicensed frequency band;

a frequency band;

a carrier wave;

a bandwidth part BWP;

a resource pool;

a time domain resource location;

frequency domain resource position with sub-channel as scheduling granularity;

That is, the first transmission of the embodiments of the present application may be transmitted on at least one of the above resources.

As a specific implementation manner, the time domain resource location includes at least one of the following:

time domain separation from the current SCI;

time domain interval with the current SPI;

a time interval for the SL PRS to repeat transmissions;

the number of times the SL PRS performs repeated transmission;

a transmission period of the SL PRS;

As an optional implementation manner, the second information is carried by at least one of:

SCI；

SPI。

here, it should be noted that in the optional implementation manner, when only the direct link Positioning (SL Positioning standard) is performed, the second information is carried through the SCI and/or the SPI.

As a specific implementation, when the second information is carried by the SPI, the SCI is used to indicate a resource location of the SPI transmission.

As an alternative implementation, the SCI includes only the first SCI, or the SCI includes the first SCI and at least one of the second SCI and the third SCI.

Here, it should be noted that when the direct link Positioning (SL Positioning) and the direct link Communication (SL Communication) coexist, or the signal/information transmitted through the SL Communication indicates or schedules the SL Positioning signal/information, the second information is carried in the SCI and/or the SPI, where the SCI includes only the first SCI, or the SCI includes the first SCI and at least one of the second SCI and the third SCI.

In the embodiment of the application, the SCI is designed to only include the first SCI, and in this case, the existing first SCI basic format may not be changed or only bits indicating whether to be used for positioning are added, so that compatibility between direct link positioning and a direct link communication mechanism is realized, and effective resource perception of a user equipment communicating with the direct link can be realized; the SCI is designed to include a first SCI, and at least one of a second SCI and a third SCI capable of supporting indication or transmission of a positioning reference signal and positioning information. Specifically, the SCI includes a first SCI, and at least one of a second SCI and a third SCI, and may specifically be: the SCI includes a first SCI and a newly designed second SCI, or the SCI includes a first SCI, an existing second SCI and a newly designed third SCI.

Here, it should be noted that the content of the first SCI indication includes at least one of the following:

resource location of PSSCH;

resource location of the PSPCH;

resource location of SPI.

Specifically, the resource location of the psch may specifically be the resource location of the psch carrying the first transmission.

As an optional implementation manner, when the SCI includes a first SCI and at least one of a second SCI and a third SCI, the content indicated by the first SCI further includes:

a resource location of the second SCI;

a resource location of the third SCI;

the format of the second SCI;

the format of the third SCI;

fourth indication information for indicating whether the second SCI and/or the third SCI is included in the psch;

Here, the fourth indication information is specifically used to indicate whether the psch includes only the second SCI, or indicate whether the psch includes only the second SCI and the third SCI. In both cases, the N bits carrying the fifth indication information are reserved bits of the existing first-stage SCI, that is, the fifth indication information indicates in the reserved bits of the existing first-stage SCI. Specifically, N may be 1bit, and when the corresponding bit indication is 1, the new version device supporting the direct link positioning receives the bit information, and may know that the transmission related to the first stage SCI indication is used for positioning.

That is, the SCI design supporting direct link Positioning under the SL Positioning standard, or the SL Positioning and the SL Communication coexist, or the first SCI design when the signal/information transmitted through the SL Communication indicates or schedules the SL Positioning signal/information specifically includes at least one of the following:

resource location of PSSCH;

resource location of the PSPCH;

the resource location of the SPI;

a resource location of the second SCI;

a resource location of the third SCI;

second information;

a time domain resource location;

frequency domain resource position with sub-channel as scheduling granularity;

frequency domain resource positions with the sub-channel and edge combined resources as scheduling granularity;

a priority of the SL PRS;

a priority of the location information of the first user equipment;

a confidence level of the location information of the first user equipment;

a type of the SL PRS;

the interaction mode of the SL PRS;

the format of the second SCI;

the format of the third SCI;

fifth indication information for indicating whether the currently transmitted signal and/or information is used for indicating a through link positioning.

In addition, when the SL Positioning and the SL Communication coexist, or when the signal/information transmitted through the SL Communication indicates or schedules the SL Positioning signal/information, the second SCI or the third SCI supporting the direct link Positioning specifically includes at least one of the following indication information:

second information;

first information;

the format of the second SCI;

the format of the third SCI;

fourth indication information for indicating whether the second SCI and/or the third SCI are included in PSSCH.

Here, it should be further noted that the direct link positioning information SPI includes at least one of the following indication information:

second information;

first information;

the format of the second SCI;

the format of the third SCI;

As an optional implementation manner, the transmission manners of the SCI, the SPI, the SL PRS, and the psch include:

The optional implementation manner can support flexible transmission and scheduling of at least one of the control information or the positioning information and the SL PRS and the first information (necessary positioning information) in the same or different frequency bands, carriers, BWPs, resource pools, resource sets, and support different positioning signal/information monitoring manners.

As a specific implementation, the transmitting of the SCI, the SPI, and the SL PRS in different frequency bands includes:

Here, it should be noted that, in the case that at least one of the SCI and the SPI is transmitted in the first frequency band, and the SL PRS is transmitted in the second frequency band, the second frequency band may also simultaneously transmit at least one of the SCI and the SPI, or the second frequency band does not transmit the SCI and the SPI.

And under the condition that at least one of the SCI and the SPI is transmitted in a licensed frequency band and the SL PRS is transmitted in an unlicensed frequency band, the unlicensed frequency band can simultaneously transmit at least one of the SCI and the SPI, or the unlicensed frequency band does not transmit the SCI and the SPI.

In addition, in the case that at least one of the SCI and the SPI is transmitted in a licensed band and the SL PRS is transmitted in an unlicensed band, the unlicensed band transmits preamble information (sequence) indicating the SL PRS to be transmitted.

In the direct link positioning method according to the embodiment of the present application, a first transmission is performed on a direct link, and the first transmission includes: through link positioning reference signal SL PRS transmission, or SL PRS and first information transmission, so that the user equipment at the receiving end can measure the SL PRS, thereby realizing positioning based on the through link sidelink, realizing positioning when the user equipment works in a scene covered by a cellular network, and carrying out targeted design on vehicle movement, thereby improving positioning accuracy; through the design of various signaling/information formats, the direct link positioning technology and the direct link communication technology can be compatible, the user equipment of the direct link can be ensured to realize effective resource perception, and the indication or transmission of positioning reference signals and positioning information is supported; by designing the transmission modes of SCI, SPI, SL PRS and PSSCH, the SL PRS and the necessary positioning information can be flexibly transmitted and scheduled in the same or different frequency bands, carriers, BWPs, resource pools and resource sets, and the problem of positioning spectrum limitation is solved; and fourthly, by the local and time crystal oscillator frequency shift measuring and calculating method, measurement is carried out when GNSS signals can be received, indication is carried out in the positioning of a straight-through link, high-precision distance measurement can be realized based on one-way RT under the condition that user equipment is not synchronous, and when TOA or distance measurement is calculated based on one-way RTT, frequency shift quantity is brought into and eliminated, so that the problem that the positioning precision is reduced even if errors are caused due to frequency offset of a local timer is solved, and the positioning precision is improved.

As shown in fig. 2, an embodiment of the present application further provides a direct link positioning method, which is applied to a second user equipment, where the second user equipment is a user equipment applied in a typical application scenario (car networking application scenario) in the direct link technical field, that is, the second user equipment is a car networking communication equipment supporting direct link positioning, such as: road Side Unit (RSU), OBU, VRU, etc. The method comprises the following steps:

step 201, performing reception of a first transmission on a direct link, the first transmission comprising: a transmission of a SL PRS, or a transmission of the SL PRS and first information;

here, it should be noted that the first information at least includes SL PRS configuration information and positioning related information, but is not limited thereto.

Step 202, measuring the SL PRS in the first transmission.

According to the direct link positioning method, receiving of a first transmission is performed on a direct link, wherein the first transmission comprises transmission of a SL PRS (Long dedicated Signal receiver/receiver), or transmission of the SL PRS and first information; that is, the SL PRS is received on the direct link, or the SL PRS and the first information are received on the direct link, so that the SL PRS in the first transmission is measured, positioning based on sidelink is achieved based on the received signals/information, and the problem that existing positioning of the internet of vehicles mainly depends on the limitation of GNSS is solved.

acquiring a first configuration parameter of the SL PRS;

receiving second information indicating resources of the first transmission.

Here, it should be noted that the first configuration parameter includes a bandwidth portion BWP configuration parameter of the SL PRS, and/or a resource configuration parameter of the SL PRS, but is not limited thereto.

In this optional implementation manner, by receiving the second information, it is implemented to receive the signal/information sent by the first user equipment according to the resource of the first transmission.

network side configuration;

pre-configuring information;

direct link Master Information Block (MIB) Information;

the direct link location configuration broadcasts messages.

As an optional implementation manner, the method further includes:

Here, it should be noted that the first information is carried by at least one of:

direct link control information SCI;

direct link positioning information SPI;

a media access control layer control unit MAC CE;

radio resource control, RRC, signaling;

a direct link data packet;

a physical direct link control channel (PSCCH);

a physical direct link shared channel PSSCH;

a physical direct link broadcast channel PSBCH;

a physical straight link feedback channel PSFCH;

a physical direct link discovery channel (PSDCH);

the physical through link locates the channel PSPCH.

Here, it should be further noted that the MAC CE design format for supporting direct link positioning/the RRC signaling (transmission indication) design format for supporting direct link positioning/the direct link data packet design format include at least one of the following indication information:

first information;

the format of the second SCI;

the format of the third SCI;

In the optional implementation manner, the existing MAC CE and RRC signaling are improved, so that the indication or transmission supporting the positioning reference signal and the positioning information is implemented, the positioning signal resource is flexibly scheduled, and different positioning signal/information monitoring manners are supported, thereby implementing positioning based on sidelink.

a priority of the SL PRS;

priority of location information of the first user equipment;

a confidence level of the location information of the first user equipment;

a type of the SL PRS;

the interaction mode of the SL PRS;

and (e) third information.

PRS；

carrier Phase Positioning Reference Signal (C-PRS).

The interaction mode of the SL PRS comprises at least one of the following items:

single pass;

single Way Round-Trip (SW-RT);

Two-Way Round-Trip (TW Way-Round Trip, TW-RT);

symmetric Two-Way Round-Trip (STW-RT).

location information of the first user equipment;

identification ID information of the first user equipment;

location information of neighboring user equipment;

ID information of neighboring user equipments;

a source of location information of neighboring user equipment;

confidence of location information of neighboring user devices;

supporting auxiliary resolving position;

supporting self-resolving of the position;

a frequency offset rate of a local timing device of the first user equipment;

In this optional implementation manner, the third information includes at least one of the above contents, so that the second user equipment determines the positioning signal interaction mode, type, and other modes according to the corresponding information, and further determines absolute/relative positioning, UE self-positioning, UE auxiliary positioning, and the like, thereby implementing positioning in multiple modes in a car networking positioning complex environment and under flexible configuration.

Optionally, when the location information of the first user equipment is a first numerical value, it indicates that the first user equipment cannot be used as an anchor node, and the first user equipment can support relative positioning.

As an optional implementation manner, in a case that the second indication information indicates that the first user equipment can serve as an anchor node, determining that information implicitly indicated by the second indication information is that the first user equipment can support absolute positioning or self-resolving a position;

As an optional implementation manner, in a case that the third indication information indicates that the first user equipment maintains high-precision time synchronization with other anchor nodes, or that the number of other user equipments maintaining high-precision time synchronization with the first user equipment satisfies a preset number threshold, or that the third information includes an expected time difference between a maintenance time of the first user equipment and a reference time, the second user equipment determines that positioning can be performed based on a manner in which the first user equipment transmits SL PRS in one pass.

As an optional implementation manner, in a case that the third information includes a frequency offset rate of a local timing device of the first user equipment, or the third information includes a frequency offset value of the local timing device of the first user equipment and a corresponding reference time, or the third information includes and indicates that different antenna units of the first user equipment do not have a processing time offset, or the third information includes a processing time offset value of the different antenna units of the first user equipment, the second user equipment determines that positioning can be performed based on an SL PRS interaction manner of a single-pass round-trip manner SW-RT performed by the first user equipment.

In addition, it should be noted that, in the case that the frequency offset value of the local timing device calculated by the first user equipment satisfies at least one of the following conditions, the frequency offset value is determined to be valid:

within a preset time;

the temperature is preset in a range;

within a preset humidity range.

That is, when the first user equipment transmits the offset value, the first user equipment may further transmit a corresponding condition, so that the second user equipment can compare the transmitted condition with a preset condition to determine whether the offset value is valid.

In the optional implementation mode, in the positioning process, the frequency deviation value is brought in, so that the problem of positioning accuracy reduction caused by timing errors caused by frequency deviation of a local timer is solved.

In addition, in an embodiment of the present application, the content indicated by the second information includes at least one of:

a dedicated frequency band;

an unlicensed frequency band;

a frequency band;

a carrier wave;

a bandwidth part BWP;

a resource pool;

a time domain resource location;

frequency domain resource position with sub-channel as scheduling granularity;

Specifically, the time domain resource location includes at least one of:

time domain separation from the current SCI;

time domain interval with the current SPI;

a time interval in which the SL PRS performs repeated transmission;

the number of times the SL PRS performs repeated transmission;

a transmission period of the SL PRS;

Optionally, the second information is carried by at least one of:

SCI；

SPI。

one of them, when only the Positioning of the through link (SL Positioning standard) is performed, the second information is carried through the SCI and/or the SPI. And when the second information is carried by the SPI, the SCI is used for indicating the resource position of the SPI transmission.

In addition, when the SL Positioning coexists with the SL Communication, or the signal/information transmitted through the SL Communication indicates or schedules the SL Positioning signal/information, the second information is carried on the SCI and/or the SPI, wherein the SCI includes only the first SCI, or the SCI includes the first SCI and at least one of the second SCI and the third SCI.

In the embodiment of the application, the SCI is designed to only include the first SCI, and in this case, the existing first SCI basic format is not changed or only bits indicating whether the SCI is used for positioning are added, so that the compatibility between the direct link positioning and the direct link communication mechanism is realized, and the user equipment for the direct link communication can realize effective resource perception; the SCI is designed to include a first SCI and at least one of a second SCI and a third SCI capable of supporting indication or transmission of a positioning reference signal and positioning information.

Specifically, the content of the first SCI indication includes at least one of:

resource location of PSSCH;

resource location of the PSPCH;

resource location of SPI.

Specifically, the resource location of the PSSCH may be the PSSCH resource location carrying the first transmission.

When the SCI includes a first SCI and at least one of a second SCI and a third SCI, the first SCI indicating content further includes:

a resource location of the second SCI;

a resource location of the third SCI;

the format of the second SCI;

the format of the third SCI;

The second SCI or the third SCI specifically includes at least one of the following indication information:

second information;

first information;

the format of the second SCI;

the format of the third SCI;

The SPI includes at least one of the following indication information:

second information;

first information;

the format of the second SCI;

the format of the third SCI;

And when at least one of the SCI and the SPI is transmitted in a licensed frequency band, and the SL PRS is transmitted in an unlicensed frequency band, the unlicensed frequency band can simultaneously transmit at least one of the SCI and the SPI, or the unlicensed frequency band does not transmit the SCI and the SPI.

The embodiment of the present application further provides a direct link positioning method, which is applied to a third user equipment, and the method includes:

configuring a first configuration parameter of the SL PRS.

As an optional implementation manner, the first configuration parameter is configured by at least one of the following:

network side configuration;

pre-configuring information;

MIB messages of the direct link;

the direct link location configuration broadcasts messages.

Here, it should be noted that the direct link positioning configuration broadcast message is a message sent by a user equipment (a vehicle networking communication device).

As shown in fig. 3, an embodiment of the present application further provides a direct link positioning apparatus, applied to a first user equipment, including:

a transmission module 301, configured to perform a first transmission on a direct link, where the first transmission includes: a transmission of a through link positioning reference signal SL PRS, or a transmission of the SL PRS and first information.

In the direct link positioning apparatus according to the embodiment of the present application, the transmission module 301 performs a first transmission on the direct link, where the first transmission includes transmission of a SL PRS, or transmission of the SL PRS and first information; that is, the SL PRS is sent on the direct link, or the SL PRS and the first information are sent on the direct link, so that the user equipment at the receiving end can perform positioning based on sidelink based on the received signal/information, and the problem of limitation that the existing positioning of the internet of vehicles mainly depends on GNSS is solved.

Further, the apparatus further comprises at least one of:

an obtaining module, configured to obtain a first configuration parameter of the SL PRS;

a sending module, configured to send second information, where the second information is used to indicate a resource of the first transmission.

Optionally, the first information is carried by at least one of:

direct link control information SCI;

direct link positioning information SPI;

a media access control layer control unit MAC CE;

radio resource control, RRC, signaling;

a direct link data packet;

a physical direct link control channel (PSCCH);

a physical direct link shared channel PSSCH;

a physical direct link broadcast channel PSBCH;

a physical straight link feedback channel PSFCH;

a physical direct link discovery channel (PSDCH);

the physical through link locates the channel PSPCH.

Optionally, the first information comprises at least one of:

a priority of the SL PRS;

a priority of the location information of the first user equipment;

a confidence level of the location information of the first user equipment;

a type of the SL PRS;

the interaction mode of the SL PRS;

and (4) third information.

Optionally, the interaction manner of the SL PRS includes at least one of:

single pass;

SW-RT in a single-way round-trip mode;

TW-RT in a double-pass back-and-forth mode;

and a symmetric double-pass round-trip mode STW-RT.

Optionally, the apparatus further comprises a first determining module configured to:

determining that the interaction mode of the SL PRS is one-way, and adopting at least one of the following modes:

Optionally, the apparatus further comprises a second determining module, configured to:

determining that the interaction mode of the SL PRS is a one-way round-trip mode, and adopting at least one of the following modes:

Optionally, the third information comprises at least one of:

location information of the first user equipment;

identification ID information of the first user equipment;

location information of neighboring user equipment;

ID information of neighboring user equipments;

a source of location information of neighboring user equipment;

confidence of location information of neighboring user devices;

supporting auxiliary resolving position;

supporting self-resolving of the position;

a projected time difference between the maintenance time of the first user equipment and a reference time;

a frequency offset rate of a local timing device of the first user equipment;

Optionally, the direct link positioning apparatus further includes a calculating module, configured to calculate a frequency offset value of a local timing device of the first user equipment, and specifically configured to:

under the condition that the first user equipment can receive a GNSS signal, when a pulse per second sent by a GNSS module of a global navigation satellite system is received once or a plurality of times of pulse per second are continuously received within a first time, calculating a frequency deviation value of a local timing device of the first user equipment according to any one of the following items, wherein the first time is a reference time set by the first user equipment or corresponds to a time interval of the pulse per second output by the GNSS module:

a dedicated frequency band;

an unlicensed frequency band;

a frequency band;

a carrier wave;

a bandwidth part BWP;

a resource pool;

a time domain resource location;

frequency domain resource position with sub-channel as scheduling granularity;

Optionally, the time domain resource location comprises at least one of:

time domain separation from the current SCI;

time domain interval with the current SPI;

a time interval for the SL PRS to repeat transmissions;

the number of times the SL PRS performs repeated transmission;

a transmission period of the SL PRS;

Optionally, the second information is carried by at least one of:

SCI；

SPI。

a resource location of the second SCI;

a resource location of the third SCI;

the format of the second SCI;

the format of the third SCI;

Optionally, the apparatus further comprises: a determination module to:

determining transmission modes of the SCI, the SPI, the SL PRS and the PSSCH comprises:

Optionally, the determining module includes:

a first determining submodule, configured to determine, when it is determined that the SCI, the SPI, and the SL PRS are transmitted in different frequency bands:

As shown in fig. 4, an embodiment of the present application further provides a direct link positioning apparatus, applied to a second user equipment, including:

a first receiving module 401, configured to perform reception of a first transmission on a direct link, where the first transmission includes: a transmission of a SL PRS, or a transmission of the SL PRS and first information;

a measurement module 402 configured to measure the SL PRS in the first transmission.

In the direct link positioning apparatus according to the embodiment of the present application, the first receiving module 401 performs receiving of a first transmission on the direct link, where the first transmission includes transmission of a SL PRS, or transmission of the SL PRS and first information; that is, the SL PRS is received on the direct link, or the SL PRS and the first information are received on the direct link, so that the measurement module 402 measures the SL PRS in the first transmission, and the sidelink-based positioning based on the received signal/information is realized, thereby solving the problem of the limitation that the existing positioning in the internet of vehicles mainly depends on GNSS.

Optionally, the apparatus further comprises at least one of:

a second receiving module, configured to receive second information, where the second information is used to indicate a resource of the first transmission.

Optionally, the apparatus further comprises:

a processing module, configured to perform detection and/or resource exclusion of the SL PRS according to the second information.

Optionally, the first information comprises at least one of:

a priority of the SL PRS;

a priority of location information of the first user equipment;

a confidence level of the location information of the first user equipment;

a type of the SL PRS;

the interaction mode of the SL PRS;

and (4) third information.

Optionally, the third information comprises at least one of:

location information of the first user equipment;

identification ID information of the first user equipment;

location information of neighboring user equipment;

ID information of neighboring user equipments;

a source of location information of neighboring user equipment;

confidence of location information of neighboring user devices;

supporting the auxiliary resolving position;

supporting self-resolving of positions;

a frequency offset rate of a local timing device of the first user equipment;

determining that the information implicitly indicated by the second indication information is that the first user equipment can support absolute positioning or self-resolving a position under the condition that the second indication information indicates that the first user equipment can be used as an anchor node;

Optionally, the apparatus further comprises a second determining module configured to:

and when the third indication information indicates that the first user equipment keeps high-precision time synchronization with other anchor nodes, or the number of other user equipment keeping high-precision time synchronization with the first user equipment meets a preset number threshold, or the third information comprises an expected time difference between maintenance time of the first user equipment and reference time, determining that the second user equipment can perform positioning based on a way that the first user equipment transmits SL PRS in a single pass.

Optionally, the apparatus further comprises a third determining module configured to:

and determining that the second user equipment can perform positioning based on the SL PRS interaction mode of the first user equipment in a one-way round trip mode SW-RT when the third information comprises the frequency offset rate of the local timing device of the first user equipment, or the third information comprises the frequency offset value of the local timing device of the first user equipment and a corresponding reference time, or the third information comprises and indicates that different antenna units of the first user equipment do not have processing time offsets, or the third information comprises the processing time offset value of different antenna units of the first user equipment.

In addition, an embodiment of the present application further provides a direct link positioning apparatus, which is applied to a third user equipment, where the apparatus includes:

a configuration module, configured to configure a first configuration parameter of the SL PRS.

As an optional implementation manner, the configuration module configures the first configuration parameter by at least one of:

network side configuration;

pre-configuring information;

MIB messages of the direct link;

the direct link location configuration broadcasts messages.

As shown in fig. 5, an embodiment of the present application further provides a user equipment, which includes a transceiver 510, a memory 520, a processor 500, and a computer program stored on the memory 520 and executed on the processor 500, where when the processor 500 executes the computer program, the above-mentioned processes of the embodiment of the direct link positioning method applied to a first user equipment are implemented, or the above-mentioned processes of the embodiment of the direct link positioning method applied to a second user equipment are implemented, and are not repeated here to avoid repetition.

Wherein in fig. 5, the bus architecture may include any number of interconnected buses and bridges, with one or more processors, represented by processor 500, and various circuits, represented by memory 520, 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 510 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 530 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 500 is responsible for managing the bus architecture and general processing, and the memory 520 may store data used by the processor 500 in performing operations.

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, an embodiment of the present application further provides a computer-readable storage medium, where a program is stored on the computer-readable storage medium, and when the program is executed by a processor, the process of the embodiment of the direct link positioning method described above is implemented, and the same technical effect can be achieved, and in order to avoid repetition, details are not described here again. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.

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 recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application. Also, the steps of performing the above-described series of processes may naturally be performed in the order described or in chronological order, but need not necessarily be performed in chronological order, and some steps may be performed in parallel or independently of each other. It will be understood by those of ordinary skill in the art that all or any of the steps or elements of the methods and apparatus of the present application 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 of ordinary skill in the art using their basic programming skills after reading the description of the present application.

The object of the present 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 general purpose device as is well known. The object of the application can thus also be achieved merely 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 application, and a storage medium storing such a program product can also constitute the present application. It is to be understood that the storage medium may be any known storage medium or any storage medium developed in the future.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be 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. Also, 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 apparatus 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 a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.

The foregoing is a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and refinements can be made without departing from the principle described in the present application, and these modifications and refinements should be regarded as the protection scope of the present application.

Claims

1. A direct link positioning method applied to a first User Equipment (UE), the method comprising:

2. The method of claim 1, further comprising at least one of:

acquiring a first configuration parameter of the SL PRS;

3. The method of claim 1, wherein the first information is carried by at least one of:

direct link control information SCI;

direct link positioning information SPI;

a media access control layer control unit MAC CE;

radio resource control, RRC, signaling;

a direct link data packet;

a physical direct link control channel (PSCCH);

a physical direct link shared channel PSSCH;

a physical direct link broadcast channel PSBCH;

a physical straight link feedback channel PSFCH;

a physical direct link discovery channel (PSDCH);

the physical through link locates the channel PSPCH.

4. The method according to claim 1 or 3, wherein the first information comprises at least one of:

a priority of the SL PRS;

a priority of the location information of the first user equipment;

a confidence level of the location information of the first user equipment;

a type of the SL PRS;

the interaction mode of the SL PRS;

and (4) third information.

5. The method of claim 4, wherein the interaction pattern of the SL PRS comprises at least one of:

one-way;

single-pass round-trip SW-RT;

TW-RT is a double-stroke back-and-forth mode;

and a symmetric double-pass round-trip mode STW-RT.

6. The method of claim 5, wherein the interaction mode of the SL PRS is determined to be one-way, and at least one of the following modes is adopted:

the first user equipment and other anchor nodes keep high-precision time synchronization;

7. The method of claim 5, wherein the SL PRS is determined to interact in a single-pass round-trip manner, and wherein at least one of:

8. The method of claim 4, wherein the third information comprises at least one of:

location information of the first user equipment;

identification ID information of the first user equipment;

location information of neighboring user equipment;

ID information of neighboring user equipments;

a source of location information of neighboring user equipment;

confidence of location information of neighboring user devices;

supporting the auxiliary resolving position;

supporting self-resolving of positions;

information of other user equipment keeping high precision time synchronization with the first user equipment;

a frequency offset rate of a local timing device of the first user equipment;

9. The method of claim 8, wherein in a case that the location information of the first UE is a first value, indicating that the first UE cannot serve as an anchor node, the first UE can support relative positioning.

10. The method of claim 8, wherein calculating the frequency offset value for the local timing device of the first user equipment comprises:

11. The method of claim 2, wherein the content indicated by the second information comprises at least one of:

a dedicated frequency band;

an unlicensed frequency band;

a frequency band;

a carrier wave;

a bandwidth part BWP;

a resource pool;

a time domain resource location;

taking a resource set as a frequency domain resource position of a scheduling granularity;

frequency domain resource position with sub-channel as scheduling granularity;

12. The method of claim 11, wherein the time domain resource location comprises at least one of:

time domain interval with current SCI;

time domain interval with the current SPI;

a time interval for the SL PRS to repeat transmissions;

the number of times the SL PRS performs repeated transmission;

a transmission period of the SL PRS;

13. The method of claim 2, wherein the second information is carried by at least one of:

SCI；

SPI。

14. the method of claim 13, wherein the SCI is configured to indicate a resource location of the SPI transmission when the second information is carried by the SPI.

15. The method of claim 3 or 13 wherein the SCI includes only the first SCI, or wherein the SCI includes the first SCI and at least one of the second SCI and the third SCI.

16. The method of claim 15 wherein when the SCI includes a first SCI and at least one of a second SCI and a third SCI, the first SCI indicating further comprises:

a resource location of the second SCI;

a resource location of the third SCI;

the format of the second SCI;

the format of the third SCI;

17. The method of claim 3 or 13, wherein the transmission modes of the SCI, the SPI, the SL PRS and the psch comprise:

18. The method of claim 17, wherein the SCI, the SPI, and the SL PRS are transmitted in different frequency bands comprises:

19. A direct link positioning method applied to a second User Equipment (UE), the method comprising:

measuring the SL PRS in the first transmission.

20. The method of claim 19, further comprising at least one of:

acquiring a first configuration parameter of the SL PRS;

receiving second information indicating resources of the first transmission.

21. The method of claim 20, further comprising:

22. The method of claim 19, wherein the first information comprises at least one of:

a priority of the SL PRS;

a priority of location information of the first user equipment;

a confidence level of the location information of the first user equipment;

a type of the SL PRS;

the interaction mode of the SL PRS;

and (e) third information.

23. The method of claim 22, wherein the third information comprises at least one of:

location information of the first user equipment;

identification (ID) information of the first user equipment;

location information of neighboring user equipment;

ID information of neighboring user equipments;

a source of location information of neighboring user equipment;

confidence of location information of neighboring user devices;

supporting the auxiliary resolving position;

supporting self-resolving of positions;

a frequency offset rate of a local timing device of the first user equipment;

24. The method according to claim 23, wherein in a case that the second indication information indicates that the first user equipment can serve as an anchor node, determining that the information implicitly indicated by the second indication information is that the first user equipment can support absolute positioning or self-resolving position;

25. The method of claim 23, wherein the second ue determines that positioning can be performed based on a single way transmission of SL PRS by the first ue if the third indication information indicates that the first ue maintains high-precision time synchronization with other anchor nodes, or that a number of other ues maintaining high-precision time synchronization with the first ue satisfies a preset number threshold, or that the third information includes an expected time difference between a maintenance time of the first ue and a reference time.

26. The method of claim 23, wherein the second UE determines that positioning can be performed based on SL PRS interaction of SW-RT in one-way round-trip mode by the first UE, where the third information comprises a frequency offset rate of a local timing device of the first UE, or the third information comprises a frequency offset value of a local timing device of the first UE and a corresponding reference time, or the third information comprises and indicates that different antenna units of the first UE do not have a processing time offset, or the third information comprises a processing time offset value of a different antenna unit of the first UE.

27. A user equipment comprising a transceiver, a memory, a processor and a computer program stored on the memory and run on the processor, characterized in that the processor implements the direct link positioning method according to any of claims 1 to 18 or the direct link positioning method according to any of claims 19 to 26 when executing the computer program.

28. A direct link positioning apparatus, applied to a first user equipment, comprising:

29. A direct link positioning device applied to a second User Equipment (UE), comprising:

a measurement module to measure the SL PRS in the first transmission.

30. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a through-link positioning method according to any one of claims 1 to 18, or a through-link positioning method according to any one of claims 19 to 26.