CN115915023A

CN115915023A - Positioning method, device and terminal

Info

Publication number: CN115915023A
Application number: CN202110944153.1A
Authority: CN
Inventors: 潘翔; 钟婷婷
Original assignee: Vivo Mobile Communication Co Ltd
Current assignee: Vivo Mobile Communication Co Ltd
Priority date: 2021-08-17
Filing date: 2021-08-17
Publication date: 2023-04-04
Also published as: WO2023020379A1

Abstract

The application discloses a positioning method, a positioning device and a terminal, which belong to the technical field of wireless communication, and the positioning method of the embodiment of the application comprises the following steps: the first terminal broadcasts positioning related information of a sidelink SL; the SL positioning related information is used for at least one second terminal to determine a target terminal, where the target terminal is used to transmit first information of the at least one second terminal, and the first information includes at least one of a positioning measurement result, a positioning result, and positioning assistance information.

Description

Positioning method, device and terminal

Technical Field

The application belongs to the technical field of wireless communication, and particularly relates to a positioning method, a positioning device and a terminal.

Background

In a New Radio (NR) system of a fifth generation (5G) mobile communication system, an NR Sidelink (Sidelink, SL, which may also be referred To as a Sidelink, a direct link, a Sidelink, or the like) supports an advanced Vehicle networking (V2X) service, a Public Safety (Public Safety) service, and the like, which have strict transmission requirements in terms of low latency, high reliability, and the like.

For SL Positioning requirements existing in scenarios such as V2X, public safety, and the like, similar to a conventional Positioning scheme, the SL Positioning requirements also relate to flows such as Positioning capability interaction, positioning Reference Signal (PRS) configuration interaction, auxiliary information interaction, PRS measurement, measurement result reporting, positioning result calculation, and the like, however, when a Target (Target) terminal (UE, which may also be referred to as a terminal device or a User terminal) is positioned by means of a plurality of Anchor point (Anchor) UEs, a plurality of sildelink connections need to be established to interactively configure and/or report measurement results, thereby bringing about signaling interaction of a large number of PC5 interfaces and/or Uu interfaces.

Disclosure of Invention

The embodiment of the application provides a positioning method, a positioning device and a positioning terminal, which can solve the problem of signaling interaction of a large number of PC5 interfaces and/or Uu interfaces brought by SL positioning.

In a first aspect, a positioning method is provided, including: the first terminal broadcasts the positioning related information of the sidelink SL; the SL positioning related information is used for at least one second terminal to determine a target terminal, where the target terminal is used to transmit first information of the at least one second terminal, and the first information includes at least one of a positioning measurement result, a positioning result, and positioning assistance information.

In a second aspect, a positioning method is provided, the method including: the second terminal receives SL positioning related information broadcast by at least one first terminal; the second terminal determines a target terminal in the at least one first terminal according to the positioning related information; the target terminal is configured to transmit first information of the second terminal, where the first information includes at least one of a positioning measurement result, a positioning result, and positioning assistance information.

In a third aspect, a positioning apparatus is provided, which is applied to a first terminal, and the apparatus includes: a first sending module, configured to broadcast positioning related information of a sidelink SL; the SL positioning related information is at least used for assisting a second terminal in SL positioning, and the SL positioning related information includes SL positioning related information of the first terminal and/or SL positioning related information of at least one third terminal.

In a fourth aspect, a positioning apparatus is provided, which is applied to a second terminal, and includes: a receiving module, configured to receive SL positioning related information; a measurement module for performing SL positioning measurement based on the SL positioning related information; wherein the SL positioning related information comprises SL positioning related information of the first terminal and/or SL positioning related information of at least one third terminal.

In a fifth aspect, there is provided a terminal comprising a processor, a memory, and a program or instructions stored on the memory and executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method according to the first or second aspect.

In a sixth aspect, a terminal is provided, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is configured to execute a program or instructions to implement the steps of the method according to the first aspect, or to implement the steps of the method according to the second aspect.

In a seventh aspect, there is provided a readable storage medium on which a program or instructions are stored, which program or instructions, when executed by a processor, implement the steps of the method according to the first aspect or implement the steps of the method according to the second aspect.

In an eighth aspect, a chip is provided, the chip comprising a processor and a communication interface, the communication interface being coupled to the processor, the processor being configured to execute a program or instructions to implement the steps of the method according to the first aspect or to implement the steps of the method according to the second aspect.

In a ninth aspect, there is provided a computer program product stored on a non-transitory storage medium, the program/program product being executable by at least one processor to implement the steps of the method according to the first aspect or to implement the steps of the method according to the second aspect.

In the embodiment of the application, the first terminal broadcasts the SL positioning related information, so that at least one second terminal can determine a target terminal according to the received SL positioning related information, and the target terminal transmits the first information of at least one second terminal, therefore, a plurality of second terminals can perform positioning information interaction by means of the target terminal, the signaling overhead of a PC5 interface and/or a Uu interface is effectively reduced, and the stability and the reliability of wireless communication are ensured.

Drawings

Fig. 1 is a schematic structural diagram of a wireless communication system according to an exemplary embodiment of the present application.

Fig. 2 is a schematic diagram of an SL positioning scenario provided in an exemplary embodiment of the present application.

Fig. 3 is a schematic flowchart of a positioning method according to an exemplary embodiment of the present application.

Fig. 4 is a schematic diagram of an SL positioning scenario provided in another exemplary embodiment of the present application.

Fig. 5 is a flowchart illustrating a positioning method according to another exemplary embodiment of the present application.

Fig. 6 is a schematic flowchart of a positioning method according to another exemplary embodiment of the present application.

Fig. 7 is a schematic structural diagram of a positioning device according to an exemplary embodiment of the present application.

Fig. 8 is a schematic structural diagram of a positioning device according to another exemplary embodiment of the present application.

Fig. 9 is a schematic structural diagram of a terminal according to an exemplary embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application are within the scope of protection of the present application.

The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application are capable of operation in other sequences than those illustrated or otherwise described herein, and that the terms "first" and "second" used herein generally refer to a class and do not limit the number of objects, for example, a first object can be one or more. In addition, "and/or" in the specification and the claims means at least one of connected objects, and a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.

It is noted that the techniques described in the embodiments of the present application are not limited to Long Term Evolution (LTE)/LTE Evolution (LTE-Advanced) systems, but may also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), time Division Multiple Access (TDMA), frequency Division Multiple Access (FDMA), orthogonal Frequency Division Multiple Access (OFDMA), single-carrier Frequency-Division Multiple Access (SC-FDMA), and other systems. The terms "system" and "network" in the embodiments of the present application are often used interchangeably, and the described techniques can be used for both the above-mentioned systems and radio technologies, as well as for other systems and radio technologies. The following description describes a New Radio (NR) system for purposes of example, and NR terminology is used in much of the description below, but the techniques may also be applied to applications other than NR system applications, such as generation 6 (6) ^th Generation, 6G) communication system.

Fig. 1 is a schematic diagram illustrating a structure of a wireless communication system to which an embodiment of the present application is applicable. The wireless communication system includes a terminal 11 and a network-side device 12. Wherein, the terminal 11 may also be called a terminal Device or a User Equipment (UE), the terminal 11 may be a Mobile phone, a Tablet Personal Computer (Tablet Personal Computer), a Laptop Computer (Laptop Computer) or a notebook Computer, a Personal Digital Assistant (PDA), a palmtop Computer, a netbook, a super-Mobile Personal Computer (UMPC), a Mobile Internet Device (MID), a Wearable Device (Wearable Device) or a vehicle-mounted Device (VUE), a pedestrian terminal (PUE), and other terminal side devices, the Wearable Device includes: smart watches, bracelets, earphones, glasses, and the like. It should be noted that the embodiment of the present application does not limit the specific type of the terminal 11. The network-side device 12 may be a Base Station or a core network, where the Base Station may be referred to as a node B, an evolved node B, an access Point, a Base Transceiver Station (BTS), a radio Base Station, a radio Transceiver, a Basic Service Set (BSS), an Extended Service Set (ESS), a node B, an evolved node B (eNB), a home node B, a WLAN access Point, a WiFi node, a Transmit Receiving Point (TRP), or some other suitable terminology in the field, as long as the same technical effect is achieved, the Base Station is not limited to a specific technical vocabulary, and it should be noted that, in the embodiment of the present application, only the Base Station in the NR system is taken as an example, but a specific type of the Base Station is not limited.

In an SL positioning scenario, SL positioning (Sidelink positioning) may involve positioning capability interaction, PRS configuration interaction, auxiliary information interaction, PRS measurement, SL positioning measurement result reporting, SL positioning result calculation, and other processes, in this case, please refer to fig. 2 in combination, if there are multiple Target UEs that need positioning (such as Target UE1, target UE2, target UE3, and Target UE4 in fig. 2), the multiple Target UEs need to establish Uu connection or SL connection with network side equipment or other terminal equipment for auxiliary positioning, and thus, establishment of a large number of PC5 interfaces, PC5 interface signaling interaction, uu interface signaling interaction, and the like is inevitably brought to affect stability and reliability of wireless communication. In view of the above, the present application provides a positioning method, a positioning device and a positioning terminal, and the following describes the technical solution in detail through some embodiments and application scenarios thereof with reference to the accompanying drawings.

As shown in fig. 3, a flowchart of a positioning method 300 provided in an exemplary embodiment of the present application is illustrated, and the method 300 may be, but is not limited to be, executed by a terminal, such as the first terminal, and may specifically be executed by hardware and/or software installed in the terminal. In this embodiment, the method 300 may include at least the following steps.

S310, the first terminal broadcasts SL positioning related information.

The SL positioning related information is used for at least one second terminal to determine a target terminal, the target terminal is used for transmitting first information of the at least one second terminal, the first information includes at least one of a positioning measurement result (including an SL positioning measurement result, a non-SL positioning measurement result, and the like), a positioning result (including an SL positioning result, a non-SL positioning result, and the like), and positioning assistance information (including SL positioning assistance information, non-SL positioning assistance information, and the like), and the first terminal and the second terminal are terminals to be positioned.

Referring to fig. 4, the target terminal may be a Master UE introduced in the SL positioning scenario of the present application, and may be responsible for transmitting first information of a plurality of Secondary UEs. For example, for an SL positioning scenario given in the present application, if there are multiple Target UEs (including a first terminal and at least one second terminal) that need to perform SL positioning, a Target terminal, that is, a Master UE, may be determined from the multiple Target UEs, and then the Master UE is used to interact with other network side devices or terminals, so as to implement positioning measurement. That is, the first information transmitted by the target terminal may be SL positioning information used for positioning or conventional positioning information other than the SL positioning information, and information interaction is performed between each second terminal and the target terminal and between each second terminal and each target terminal based on SL connection.

For example, referring to fig. 4 again, assuming that there are Target UE1, target UE2, target UE3, and Target UE4 that need positioning, then Target UE1, target UE2, target UE3, and Target UE4 broadcast SL positioning related information respectively, in this case, assuming that Target UE1 (which may be understood as a second terminal) receives SL positioning related information a, B, and C broadcast by Target UE2 (which may be understood as a first terminal), target UE3 (which may be understood as a first terminal), and Target UE4 (which may be understood as a first terminal), then Target UE1 determines Master UE according to SL positioning related information a, B, and C; if the self is determined to be Master UE, then Target UE2, target UE3 and Target UE4 are Secondary UE, and the Secondary UE performs interaction of positioning information, joint reporting of information such as positioning measurement result/positioning result and the like through the Master UE and a network side and the like.

Note that the process of determining the Master UE by Target UE2, target UE3, and Target UE4 is similar to that of Target UE1, and is not described herein again. Of course, in the embodiment of the present application, the Master UEs determined by different Target UEs may be the same or different, that is, one or more Master UEs may exist in multiple Target UEs that need positioning.

Based on this, in the positioning method 300 provided in this embodiment, the first terminal broadcasts the SL positioning related information, so that the at least one second terminal can determine the target terminal according to the received SL positioning related information, and then the target terminal transmits the first information of the at least one second terminal, thereby enabling a plurality of second terminals to interact with the positioning information by means of the target terminal, effectively reducing the number of times of establishing the PC5 connection and/or the Uu interface signaling overhead, and ensuring the stability and reliability of wireless communication.

As shown in fig. 5, a flowchart of a positioning method 500 provided in an exemplary embodiment of the present application is shown, where the method 500 may be executed by, but not limited to, a terminal, such as a first terminal, and may be specifically executed by hardware and/or software installed in the terminal. In this embodiment, the method 500 may include at least the following steps.

S510, the first terminal broadcasts SL positioning related information.

The SL positioning related information is used for at least one second terminal to determine a target terminal, where the target terminal is used to transmit first information of the at least one second terminal, and the first information includes at least one of a positioning measurement result, a positioning result, and positioning assistance information.

It is to be understood that, in addition to the implementation procedure of S510, reference may be made to the related description in the foregoing method embodiment 300, as a possible implementation manner, there may be multiple transmission manners of the SL positioning related information, for example, the SL positioning related information may be broadcast through a first message, and the first message may include any one of the following (001) to (004).

(001) Direct Communication Request (Direct Communication Request).

(002) Master Information Block (MIB) sidelink Information.

(003) PC5-S message.

Wherein the PC5-S message may be new and dedicated to the transmission of the SL positioning related information; alternatively, the PC5-S message may also be a message used for transmitting other information besides the SL positioning related information in the related art, which is limited herein.

(004) PC 5-Radio Resource Control (RRC) message.

Similar to the PC5-S message described in (003) above, the PC5-RRC message may be new and dedicated for transmitting the SL positioning related information, or may be a message used for transmitting information other than the SL positioning related information in the related art, which is not limited herein.

Based on this, as a possible implementation manner, the SL positioning related information may include at least one of the following (101) - (110).

(101) Identification information of the first terminal.

The identification information of the first terminal may be Application Layer identification information (Application Layer ID), layer 2 (Layer-2) ID, or the like, which is not limited herein.

(102) A first threshold, where the first threshold is a signal strength threshold, and the first threshold is used for the second terminal to determine whether to establish or not establish an SL connection with the first terminal.

For example, when the signal strength measured by the second terminal is greater than the first threshold, the second terminal may establish an SL connection with the first terminal, otherwise, the second terminal may not establish an SL connection with the first terminal.

Alternatively, the Signal strength threshold may be a Reference Signal Received Power (RSRP) threshold or the like. In addition, the first threshold may be implemented by a protocol convention, a higher layer configuration, or a network side configuration, which is not limited herein.

(103) First indication information indicating that the first terminal has or does not have the capability of forwarding SL positioning assistance information of at least one third terminal.

The first indication information may be indicated in a display or implicit manner, for example, when the indication is displayed, a "1" indicates having, a "0" indicates not having, and so on, based on which, if the first indication information is "1", the second terminal may request the first terminal to forward SL positioning assistance information of at least one third terminal.

In addition, the third terminal may be an Anchor UE that assists the first terminal in SL positioning, that is, the second terminal may perform positioning measurement according to SL positioning assistance information of the third terminal.

(104) Second indication information for indicating that the first terminal has or does not have a capability of feeding back SL positioning measurement results of the second terminal.

Wherein the second indication information may be explicitly or implicitly indicated, for example, when explicitly indicated, "1" indicates having, "0" indicates not having, based on which, if the second indication information is "1", the second terminal may request the first terminal to feed back the SL positioning measurement result of the second terminal.

The SL positioning measurement result fed back by the first terminal may be obtained by performing measurement according to the positioning measurement signal or the positioning measurement configuration information sent by the second terminal, or may be received from the second terminal and the SL positioning measurement result forwarded by another terminal, which is not limited herein.

(105) Third indication information indicating that the first terminal has or does not have the capability of forwarding positioning assistance information of the first network device.

Wherein the third indication information may be explicitly or implicitly indicated, for example, when explicitly indicated, "1" indicates having, "0" indicates not having, based on which, if the third indication information is "1", the second terminal may request the first terminal to forward the positioning assistance information of the first network device.

In addition, the first network side device may be a network device that assists the first terminal in performing conventional positioning, that is, the second terminal may perform positioning measurement according to the positioning assistance information of the first network device. In this embodiment, the first network side device may further have a capability of calculating a positioning result according to a positioning measurement result of the second terminal, and the like.

(106) Fourth indication information for indicating that the first terminal has or does not have a capability of feeding back positioning measurement results of the first network device.

Wherein the fourth indication information may be explicitly or implicitly indicated, for example, when explicitly indicated, "1" indicates having, "0" indicates not having, based on which, if the fourth indication information is "1", the second terminal may request the first terminal to feed back the positioning measurement result of the first network device.

(107) And fifth indication information, configured to indicate that the first terminal caches or does not cache the positioning result of the first terminal.

For example, when the fifth indication information is explicitly indicated, "1" indicates that the location result is cached, and "0" indicates that the location result is not cached, based on this, if the fifth indication information is "1", then the first terminal caches the location result of the first terminal, otherwise, the first terminal does not cache the location result of the first terminal.

(108) The first time information is used for indicating the acquisition time of the positioning result of the first terminal.

The time for obtaining the positioning result may be the time for the first terminal to obtain the self-positioning result from other network side devices or terminal devices, or the time for the first terminal to perform positioning measurement to obtain the self-positioning result. The acquisition time of the positioning result has the following functions: the device applying the positioning result of the first terminal can determine whether the device is in the allowed time range or not according to the acquisition time, and therefore reliability of the positioning result is ensured.

(109) A first positioning capability.

The first positioning capability is used for indicating a positioning mode supported by the first terminal; for example, in this embodiment, the positioning manner supported by the first terminal may include at least one of a positioning method based on Time difference (e.g., TDoA, round-Trip Time (RTT)), a positioning method based on angle of arrival (AoA), departure angle (AoD)), a positioning method based on signal strength, and a positioning method based on phase difference, which is not limited herein.

(110) A state of the first terminal.

Wherein the state of the first terminal may include at least one of the following (1101) - (1104).

(1101) The area (Zone) identifier where the first terminal is located may have multiple presentation manners, which is not limited herein.

(1102) A moving state of the first terminal; wherein the moving state of the first terminal comprises at least one of moving, being stationary, moving and the moving speed being in a predetermined interval. The predetermined interval may be implemented by protocol convention, etc.

(1103) A network coverage status of the first terminal; the network coverage state of the first terminal includes being in a coverage area of a cellular network or not being in the coverage area of the cellular network, and the like, which is not limited herein.

The cellular network may include, but is not limited to, a 2G network, a 3G network, an LTE network, a 5G network, and the like.

(1104) PC5 unicast link (uni-cast link) status of the first terminal. And the PC5 unified link state of the first terminal is used for the second terminal to judge whether the PC5 unified link is established with the first terminal or not.

Optionally, the PC5 unique link status of the first terminal may include at least one of the following (11041) to (11044).

(11041) The number of established PC5 unicasting links.

(11042) The interval to which the number of established PC5 unique links belongs.

(11043) The section indication information to which the number of established PC5 unique links belongs.

(11044) The established PC5 unique link exceeds or does not exceed the predetermined value. The predetermined value may be defined by a protocol convention, a higher layer configuration, a network side configuration, or the like, which is not limited herein.

It should be noted that, in this embodiment, the SL positioning related information may be transmitted through different information fields, for example, the identification information of the first terminal may be transmitted through a first information field in the SL positioning related information, the first threshold may be transmitted through a second information field, the first indication information may be transmitted through a third information field, and so on, and for this, which information is specifically transmitted through which information field may be determined through a protocol convention or a network configuration or a higher layer configuration, which is not limited herein.

And S520, executing a first operation under the condition that the first terminal is determined to be the target terminal.

That is, when it is determined that the first terminal is a target terminal in charge of transmitting first information for a plurality of second terminals, the first terminal may perform (i.e., the first operation) at least one of the following (201) to (204).

(201) And the target terminal forwards SL positioning auxiliary information of at least one third terminal to the second terminal under the condition of receiving the first request sent by the second terminal.

Wherein the SL positioning assistance information of the third terminal comprises at least one of the following (2011) - (2014).

(2011) Identification information of the third terminal. The identification information of the third terminal may include an Application Layer ID of the third terminal, a Layer-2ID of the third terminal, or other newly agreed sequence identifiers, which is not limited herein.

(2012) Synchronization related information of the third terminal. The synchronization related information may include frame synchronization information (SFN initialization time) and the like.

(2013) Absolute position information of the third terminal; the absolute location information may include longitude and latitude information, area information, and the like, which is not limited herein.

(2014) Configuration information of a reference signal of the third terminal; the reference signal may be a SL PRS, and the configuration information may be time-frequency domain information, number information, periodicity information, and the like of the SL PRS, which is not limited herein.

It is understood that the second terminal sends the first request to the target terminal on the condition that: the first indication information carried in the SL positioning related information indicates that the first terminal has the capability of forwarding SL positioning assistance information of at least one third terminal.

(202) And the target terminal forwards the positioning auxiliary information of the first network equipment to the second terminal under the condition of receiving a second request sent by the second terminal.

Optionally, the positioning assistance information of the first network device comprises at least one of the following (2021) - (2024).

(2021) Identification information of the first network device. The identification information of the first network device may be Layer-2ID, or other newly agreed sequence identifier, and the like, which is not limited herein.

(2022) Synchronization related information of the first network device.

(2023) Absolute location information of the first network device. The absolute location information may include latitude and longitude information, area information, and the like, which is not limited herein.

(2024) Configuration information of a reference signal of the first network device. The reference signal may be a SL PRS, and the configuration information may be time-frequency domain information, number information, periodicity information, and the like of the SL PRS, which is not limited herein.

It is understood that the second terminal sends the second request to the target terminal on the condition that: the third indication information carried in the SL positioning related information indicates that the first terminal has the capability of forwarding the positioning assistance information of at least one first network device.

(203) And under the condition of receiving a third request sent by the second terminal, sending the positioning result of the target terminal to the second terminal.

Optionally, the positioning result of the target terminal includes at least one of the following (2031) - (2032).

(2031) Absolute position information of the target terminal. For example, latitude and longitude information of the target terminal, etc.

(2032) And obtaining the positioning result of the target terminal. The obtaining time may be a time when the target terminal obtains the self-positioning result from other network-side devices or terminal devices, or a time when the target terminal performs positioning measurement to obtain the self-positioning result, which is not limited herein.

It is understood that the second terminal sends the third request to the target terminal on the condition that: and the fifth indication information carried in the SL positioning related information indicates that the first terminal caches the positioning result of the first terminal.

In this case, as a possible implementation manner, in a case that the third request may further carry a first time threshold and a positioning result meeting the first time threshold is not cached in the target terminal, the target terminal performs any one of the following (a) - (b). The first time threshold is used to indicate that the acquisition time of the positioning result of the target terminal requested by the second terminal needs to be after the first time threshold.

(a) And canceling the feedback of the positioning result of the target terminal. It is also understood that, in case that the positioning result satisfying the first time threshold is not cached in the target terminal, the third request is ignored/discarded/rejected,

(b) Restarting a positioning process, and feeding back the positioning result to the second terminal under the condition of acquiring the positioning result meeting the first time threshold.

In this embodiment, by setting the first time threshold, it may be indicated that the obtaining time of the positioning result of the first terminal is within an allowable range, so as to ensure the reliability of the positioning result of the target terminal. In addition, the size and the like of the first time threshold may be implemented by a protocol convention, a higher layer configuration or a network side configuration, and is not limited herein.

(204) And receiving a positioning measurement result or a positioning result sent by the second terminal.

After receiving the positioning measurement result sent by the second terminal, the target terminal may calculate the positioning result according to the positioning measurement result, and may also forward the positioning result to other devices with calculation capability to calculate the positioning result of the second terminal, which is not limited herein.

In a possible implementation manner, the positioning measurement result may be obtained by the second terminal performing positioning measurement based on the SL positioning assistance information of the third terminal or the positioning assistance information of the first network device forwarded by the first target terminal, and in this embodiment, the positioning measurement result sent by the second terminal may include at least one of the following (2041) to (2042).

(2041) SL PRS measurements by the second terminal with respect to the third terminal; wherein the SL PRS measurement comprises at least one of the following (20411) - (20417).

(20411) Identification information of the second terminal. The identification information of the second terminal includes Application Layer ID or Layer-2ID, and the like, which is not limited herein.

(20412) Identification information of the third terminal.

(20413) Identification information of the SL PRS. For example, the identity of the SL PRS measured by the second terminal, SL PRS1 RSRP = -100, SL PRS2 RSRP = -98, etc.

(20414) RSRP of the SL PRS.

(20415) Time of Arrival (ToA) of the SL PRS.

The arrival time of the SL PRS may be the arrival time of the SL PRS transmitted by one or more third terminals assisting the second terminal in positioning measurement.

(20416) The Time Difference of Arrival (Time Difference of Arrival, TDoA) of the SL PRS.

The time difference of arrival of the SL PRS may be a difference between arrival times of SL PRS transmitted by at least two third terminals assisting the second terminal in positioning measurement.

(20417) An acquisition time of the SL PRS measurement.

And the acquisition time of the SL PRS measurement result is the time when the second terminal measures the SL PRS sent by the third terminal to obtain the measurement result.

(2042) Downlink (DL) PRS measurements by the second terminal with respect to the first network device. Wherein the DL PRS measurement comprises at least one of the following (20421) - (20427).

(20421) Identification information of the second terminal.

(20422) Identification information of the first network device.

(20423) Identification information of the DL PRS.

(20424) RSRP of the DL PRS.

It is understood that the implementation processes of (20421) - (20424) can refer to the related descriptions in (20411) - (20414), and are not repeated herein to avoid repetition.

(20425) ToA of the DL PRS.

Wherein the arrival time of the DL PRS may be the arrival time of DL PRS transmitted by one or more first network devices assisting the second terminal in positioning measurement.

(20426) TDoA of the DL PRS.

Wherein the arrival time difference of the DL PRS may be a difference between arrival times of SL PRS signals transmitted by at least two first network devices assisting the second terminal in positioning measurement.

(20427) An acquisition time of the DL PRS measurement.

And the acquisition time of the DL PRS measurement result is the time when the second terminal measures the received DL PRS sent by the first network equipment to obtain the measurement result.

In another possible implementation manner, the positioning result sent by the second terminal to the target terminal may be obtained by the second terminal based on a positioning measurement result, where the positioning measurement result is obtained by the second terminal performing positioning measurement based on the SL positioning assistance information of the third terminal or the positioning assistance information of the first network device forwarded by the first target terminal. In this case, the positioning result transmitted by the second terminal may include at least one of the following (2043) - (2045).

(2043) Absolute position information of the second terminal. The absolute position information may be latitude and longitude information and the like.

(2044) Relative position information of the second terminal. The relative location information may be location information of the second terminal relative to the target terminal or the first network device or the third terminal, and the like, which is not limited herein.

(2045) And obtaining the positioning result of the second terminal. The obtaining time may be a time when the second terminal determines a positioning result based on a positioning measurement result, and the like, and thus, the device applying the positioning result of the second terminal may be enabled to determine whether it is valid or invalid according to the obtaining time.

It should be noted that, before sending the aforementioned first request, second request, third request, positioning measurement result, positioning result, and other information to the target terminal (i.e., the first terminal), the second terminal may establish an SL connection (e.g., a Sidelink uniform connection) with the first terminal based on the SL positioning related information and/or the received Application layer (e.g., V2X Application layer)) indication information; the SL connection is used for the second terminal to report a positioning measurement result and/or a positioning result, and/or the SL connection is used for receiving the positioning result forwarded by the first terminal.

Of course, the second terminal may establish an SL connection with the first terminal based on the SL positioning related information and/or the received application layer indication information if at least one of the following (301) to (307) is satisfied.

(301) The RSRP measured by the second terminal satisfies the first threshold.

Wherein the RSRP may be RSRP of DL PRS, RSRP of SL PRS, or the like.

For example, assuming that RSRP measured by the second terminal is greater than the first threshold, the second terminal establishes a SL connection with the first terminal based on the SL positioning related information and/or the received application layer indication information.

(302) The first indication information indicates that the first terminal has a capability of forwarding SL positioning assistance information of at least one third terminal.

(303) The second indication information indicates that the first terminal has the capability of feeding back the SL positioning measurement result of the second terminal.

(304) The third indication information indicates that the first terminal has the capability of forwarding the positioning assistance information of the first network device.

(305) The fourth indication information indicates that the first terminal has the capability of feeding back the positioning measurement result of the first network device.

(306) The fifth indication information indicates that the first terminal caches the positioning result of the first terminal, and the first time information indicates that the obtaining time of the positioning result of the first terminal is within a first time range.

(307) And determining that the positioning capability of the first terminal meets a preset requirement according to the first positioning capability.

It is understood that, regarding the implementation processes in the foregoing (302) - (307), reference may be made to the related description of the foregoing (301), and in order to avoid repetition, detailed description is omitted here.

Based on the description of the foregoing positioning method, as a possible implementation manner, when the first terminal is determined as the target terminal and the target terminal receives positioning measurement results or positioning results sent by a plurality of second terminals, the positioning measurement results or the positioning results sent by the plurality of second terminals are reported in a differential manner.

That is, the target terminal may report the positioning measurement result or the positioning result for the plurality of second terminals in a differential manner. For example, assuming that the positioning result reported by the second terminal a is a, the positioning result reported by the second terminal B is a + B, and the positioning result reported by the second terminal C is a +2B \8230 \ 8230, then, after receiving the positioning results reported by the second terminals a, B, and C, the target terminal may report the positioning results of the second terminals a, B, and C to the network side device in a manner of a, B, and 2B, and so on.

Based on the foregoing description of the positioning method 300 and/or 500, the following further describes the positioning process provided in the present application with reference to examples, which are as follows.

Example 1

(401) The first terminal broadcasts a request for establishing the Silelink Unit, wherein the request comprises SL positioning related information for establishing the Silelink connection, and the request can be sent through Direct communication request message.

(402) And judging that the positioning capability of the broadcasted first terminal meets or does not meet the self positioning requirement of the second terminal interested in the broadcasted positioning service. And if the requirement is met, feeding back information for agreeing to establish the Sidelink connection, wherein the feedback can be sent through Direct communication accept message.

(403) After establishing the Sidelink connection, the second terminal may request positioning assistance information of the third terminal or the first network device from the first terminal, including PRS configuration and the like.

(404) After the first terminal acquires the positioning auxiliary information of the third terminal or the first network device, the first terminal forwards the positioning auxiliary information to the second terminal through the SL connection.

(405) And the second terminal performs positioning measurement according to the positioning auxiliary information and optionally calculates a positioning result according to terminal capability, a request and the like.

(401) And the second terminal sends the positioning measurement result or the positioning result to the first terminal through the Sidelink.

(401) The first terminal sends the positioning measurement result to a network side, such as an LMF (Location Management Function), and the network side calculates the positioning result of the second terminal based on the positioning measurement result.

(401) And the network side sends the positioning result of the second terminal to the first terminal.

(401) And the first terminal forwards the positioning result to the second terminal through the Sidelink.

Example 2

The first terminal forwards the measurement results or positioning results (such as UEMeasInformation and uelocalnformation) of the multiple second terminals, and the measurement results/positioning results can be reported in a differential manner (such as RSRP-ResultDiff and LocationInformationDiff), so that the reported data volume is reduced.

In this embodiment, the signaling amount of the PC5 interface and/or the Uu interface can be further reduced by further configuring the SL positioning related information and setting the SL connection establishment condition, and the reliability and stability of the wireless communication are ensured.

As shown in fig. 6, a flowchart of a positioning method 600 provided in an exemplary embodiment of the present application is shown, where the method 600 may be, but is not limited to be, executed by a terminal, and in particular may be executed by hardware and/or software installed in the terminal. In this embodiment, the method 600 may include at least the following steps.

S610, the second terminal receives SL positioning related information broadcast by at least one first terminal.

S620, the second terminal determines a target terminal of the at least one first terminal according to the positioning related information.

The target terminal is configured to transmit first information of the second terminal, where the first information includes at least one of a positioning measurement result, a positioning result, and positioning assistance information.

In one possible implementation, the positioning related information includes at least one of: identification information of the first terminal; a first threshold, which is a signal strength threshold, and is used for a second terminal to judge whether to establish or not establish an SL connection with the first terminal; first indication information for indicating that the first terminal has or does not have a capability of forwarding SL positioning assistance information of at least one third terminal; second indication information for indicating that the first terminal has or does not have a capability of feeding back a positioning measurement result of the second terminal; third indication information for indicating that the first terminal has or does not have the capability of forwarding positioning assistance information of the first network device; fourth indication information for indicating that the first terminal has or does not have a capability of feeding back a SL positioning measurement result of a second terminal; fifth indication information, configured to indicate that the first terminal caches or does not cache the positioning result of the first terminal; the first time information is used for indicating the acquisition time of the positioning result of the first terminal; a first positioning capability, configured to indicate a positioning manner supported by the first terminal; a state of the first terminal.

Another possible implementation manner, the state of the first terminal includes at least one of the following: the area mark where the first terminal is located; a moving state of the first terminal; a network coverage status of the first terminal; and the PC5 of the first terminal is connected with the unicast link state in a unicast mode.

In another possible implementation manner, the moving state of the first terminal includes any one of: moving; standing; moving and the moving speed is in a predetermined interval.

In another possible implementation manner, the network coverage status of the first terminal includes any one of: is in the coverage area of the cellular network; not in the cellular network coverage area.

In another possible implementation manner, the PC5 unified link state of the first terminal includes at least one of: the number of established PC5 unicasting links; the interval to which the number of established PC5 unique links belongs; interval indicating information to which the number of the established PC5 unique links belongs; the established PC5 unique link exceeds or does not exceed the predetermined value.

In another possible implementation manner, the SL positioning related information is broadcast through a first message, where the first message includes any one of the following: a direct communication request; primary information block sidelink information; a PC5-S message, the PC5-S message dedicated to the transmission of the SL positioning related information; PC 5-radio resource control, RRC, message, the PC5-RRC message dedicated to transmission of the SL positioning related information.

In another possible implementation, the method further comprises at least one of: based on the SL positioning related information and/or the received application layer indication information, the second terminal establishes SL connection with the first terminal; the SL connection is used for the second terminal to report a positioning measurement result and/or a positioning result, and/or the SL connection is used for receiving the positioning result forwarded by the first terminal.

Another possible implementation manner is that, based on the positioning-related information and/or the received application layer indication information, the step of the second terminal establishing an SL connection with the first terminal includes: the second terminal establishes a SL connection with the first terminal based on the SL positioning related information and/or the received application layer indication information, if at least one of the following is satisfied: the RSRP measured by the second terminal meets the first threshold; the first indication information indicates that the first terminal has the capability of forwarding SL positioning assistance information of at least one third terminal; the second indication information indicates that the first terminal has the capability of feeding back the SL positioning measurement result of the second terminal; the third indication information indicates that the first terminal has the capability of forwarding the positioning assistance information of the first network equipment; the fourth indication information indicates that the first terminal has the capability of feeding back the positioning measurement result of the first network equipment; the fifth indication information indicates that the first terminal caches the positioning result of the first terminal, and the first time information indicates that the acquisition time of the positioning result of the first terminal is within a first time range; and determining that the positioning capability of the first terminal meets a preset requirement according to the first positioning capability.

Another possible implementation manner, after the step of determining a target terminal of the at least one first terminal according to the positioning related information, the method further includes at least one of: sending a first request to the target terminal, wherein the first request is used for requesting the target terminal to forward SL positioning auxiliary information of at least one third terminal; sending a second request to the target terminal, wherein the second request is used for requesting the target terminal to forward the positioning auxiliary information of the first network equipment; sending a third request, wherein the third request is used for requesting the target terminal to send a positioning result of the target terminal; and sending a positioning measurement result or a positioning result to the target terminal.

Another possible implementation manner, the SL positioning assistance information of the third terminal includes at least one of: identification information of the third terminal; synchronization related information of the third terminal; absolute position information of the third terminal; configuration information of a reference signal of the third terminal.

Another possible implementation manner, the positioning assistance information of the first network device includes at least one of the following: identification information of the first network device; synchronization related information of the first network device; absolute location information of the first network device; configuration information of a reference signal of the first network device.

Another possible implementation manner, the positioning measurement result includes at least one of the following: SL PRS measurement results of a second terminal device with respect to the third terminal; DL PRS measurements by a second terminal device with respect to the first network device.

Another possible implementation manner, the SL PRS measurement result includes at least one of: identification information of the second terminal; identification information of the third terminal; identification information of the SL PRS; reference information received power (RSRP) of the SL PRS; toA of the SL PRS; TDoA of the SL PRS; an acquisition time of the SL PRS measurement.

Another possible implementation manner, the DL PRS measurement result includes at least one of: identification information of the second terminal; identification information of the first network device; identification information of the DL PRS; reference information received power (RSRP) of the DL PRS; toA of the DL PRS; TDoA of the DL PRS; an acquisition time of the DL PRS measurement.

In another possible implementation manner, the positioning result of the target terminal includes at least one of the following: absolute position information of the target terminal; and obtaining the positioning result of the target terminal.

In another possible implementation manner, the third request further carries a first time threshold, where the first time threshold is used to indicate that the time for acquiring the SL positioning result of the target terminal requested by the second terminal needs to be located after the first time threshold.

In another possible implementation manner, the positioning result sent by the second terminal to the target terminal includes at least one of the following: absolute position information of the second terminal; relative position information of the second terminal; and obtaining the positioning result of the second terminal.

It can be understood that, for implementation processes of each implementation manner in method embodiment 600, reference may be made to relevant descriptions in method embodiments 300 and/or 500, and corresponding technical effects can be achieved, and details are not described herein again to avoid repetition.

In this embodiment, the second terminal receives the SL positioning related information broadcast by the first terminal, and determines the target terminal according to the SL positioning related information, so that the target terminal transmits the first information of at least one second terminal, thereby enabling a plurality of second terminals to interact with positioning information by means of the target terminal, effectively reducing the number of establishing PC5 connections and/or Uu interface signaling overhead, and ensuring the stability and reliability of wireless communication.

In the positioning method provided in the embodiment of the present application, the execution main body may be a positioning device, or a control module in the positioning device for executing the positioning method. In the embodiment of the present application, a positioning device executing a positioning method is taken as an example to describe the positioning device provided in the embodiment of the present application.

As shown in fig. 7, a schematic structural diagram of a positioning apparatus 700 provided in an exemplary embodiment of the present application is shown, where the apparatus 700 includes a first sending module 710 for broadcasting positioning related information of a sidelink SL; the SL positioning related information is used for at least one second terminal to determine a target terminal, where the target terminal is used to transmit first information of the at least one second terminal, and the first information includes at least one of a positioning measurement result, a positioning result, and positioning assistance information.

Optionally, the apparatus 700 may further include a configuration module configured to configure the SL positioning related information.

Optionally, the SL positioning related information comprises at least one of: identification information of the first terminal; a first threshold, where the first threshold is a signal strength threshold, and the first threshold is used for the second terminal to determine whether to establish or not establish an SL connection with the first terminal; first indication information for indicating that the first terminal has or does not have a capability of forwarding SL positioning assistance information of at least one third terminal; second indication information for indicating that the first terminal has or does not have the capability of feeding back the SL positioning measurement result of the second terminal; third indication information, the third indication information being used for indicating that the first terminal has or does not have the capability of forwarding the positioning assistance information of the first network equipment; fourth indication information, wherein the fourth indication information is used for indicating that the first terminal has or does not have the capability of feeding back the positioning measurement result of the first network equipment; the fifth indication information is used for indicating that the first terminal caches or does not cache the positioning result of the first terminal; the first time information is used for indicating the acquisition time of the positioning result of the first terminal; a first positioning capability, which is used for indicating a positioning mode supported by the first terminal; a state of the first terminal.

Optionally, the state of the first terminal comprises at least one of: the area identifier where the first terminal is located; a moving state of the first terminal; a network coverage status of the first terminal; and the PC5 of the first terminal is connected with the unicast link state in a unicast mode.

Optionally, the moving state of the first terminal includes any one of: moving; standing; moving and the moving speed is in a predetermined interval.

Optionally, the network coverage status of the first terminal includes any one of: is in the coverage area of the cellular network; not in the cellular network coverage area.

Optionally, the PC5 unique link status of the first terminal includes at least one of: the number of established PC5 unique links; the interval to which the number of established PC5 unique links belongs; interval indicating information to which the number of the established PC5 unique links belongs; the established PC5 unique link exceeds or does not exceed the predetermined value.

Optionally, the SL positioning related information is broadcast through a first message; wherein the first message comprises any one of: a direct communication request; primary information block sidelink information; a PC5-S message, the PC5-S message dedicated to the transmission of the SL positioning related information; PC 5-radio resource control, RRC, message, the PC5-RRC message dedicated to transmission of the SL positioning related information.

Optionally, the apparatus 700 further comprises: an execution module, configured to, if the first terminal is determined to be the target terminal, perform at least one of: under the condition of receiving a first request sent by the second terminal, forwarding SL positioning auxiliary information of at least one third terminal to the second terminal; forwarding the positioning auxiliary information of the first network equipment to the second terminal under the condition of receiving a second request sent by the second terminal; under the condition of receiving a third request sent by the second terminal, sending a positioning result of the target terminal to the second terminal; and receiving a positioning measurement result or a positioning result sent by the second terminal.

Optionally, the SL positioning assistance information of the third terminal includes at least one of: identification information of the third terminal; synchronization related information of the third terminal; absolute position information of the third terminal; configuration information of a reference signal of the third terminal.

Optionally, the positioning assistance information of the first network device comprises at least one of: identification information of the first network device; synchronization related information of the first network device; absolute location information of the first network device; configuration information of a reference signal of the first network device.

Optionally, the positioning measurement comprises at least one of: SL PRS measurements by the second terminal with respect to the third terminal; DL PRS measurements by the second terminal with respect to the first network device.

Optionally, the SL PRS measurements include at least one of: identification information of the second terminal; identification information of the third terminal; identification information of the SL PRS; a reference information received power, RSRP, of the SL PRS; toA of the SL PRS; TDoA of the SL PRS; an acquisition time of the SL PRS measurement.

Optionally, the DL PRS measurement comprises at least one of: identification information of the second terminal; identification information of the first network device; identification information of the DL PRS; reference information received power (RSRP) of the DL PRS; toA of the DL PRS; TDoA of the DL PRS; an acquisition time of the DL PRS measurement.

Optionally, the positioning result of the target terminal includes at least one of: absolute position information of the target terminal; and obtaining time of the positioning result of the target terminal.

Optionally, the executing module is further configured to, in a case that the third request further carries a first time threshold and the target terminal does not cache the positioning result that meets the first time threshold, execute any one of the following: canceling feedback of a positioning result of the target terminal; restarting a positioning process, and feeding back the positioning result to the second terminal under the condition of acquiring the positioning result meeting the first time threshold; the first time threshold is used to indicate that the acquisition time of the positioning result of the target terminal requested by the second terminal needs to be after the first time threshold.

Optionally, the positioning result sent by the second terminal to the target terminal includes at least one of the following: absolute position information of the second terminal; relative position information of the second terminal; and obtaining the positioning result of the second terminal.

Optionally, the first sending module 710 is further configured to report, in a differential manner, the positioning measurement results or the positioning results sent by the multiple second terminals when the first terminal is determined as the target terminal and the target terminal receives the positioning measurement results or the positioning results sent by the multiple second terminals.

As shown in fig. 8, a schematic structural diagram of a positioning apparatus 800 provided for an exemplary embodiment of the present application is shown, where the apparatus 800 includes a receiving module 810 for receiving SL positioning related information broadcast by at least one first terminal; a determining module 820, configured to determine a target terminal of the at least one first terminal according to the positioning related information; the target terminal is configured to transmit first information of the second terminal, where the first information includes at least one of a positioning measurement result, a positioning result, and positioning assistance information.

Optionally, the positioning related information comprises at least one of: identification information of the first terminal;

a first threshold, which is a signal strength threshold, and is used for a second terminal to judge whether to establish or not establish an SL connection with the first terminal; first indication information for indicating that the first terminal has or does not have a capability of forwarding SL positioning assistance information of at least one third terminal; second indication information for indicating that the first terminal has or does not have a capability of feeding back a positioning measurement result of the second terminal; third indication information, the third indication information being used for indicating that the first terminal has or does not have the capability of forwarding the positioning assistance information of the first network equipment; fourth indication information for indicating that the first terminal has or does not have a capability of feeding back a SL positioning measurement result of a second terminal; fifth indication information, configured to indicate that the first terminal caches or does not cache the positioning result of the first terminal; the first time information is used for indicating the acquisition time of the positioning result of the first terminal; a first positioning capability, configured to indicate a positioning manner supported by the first terminal; a state of the first terminal.

Optionally, the state of the first terminal comprises at least one of: the area identifier where the first terminal is located; a moving state of the first terminal; a network coverage status of the first terminal; the PC5 of the first terminal unicast-connects a unicast link status.

Optionally, the network coverage status of the first terminal includes any one of: is in the coverage range of the cellular network; not within the cellular network coverage area.

Optionally, the PC5 unique link status of the first terminal includes at least one of: the number of established PC5 unique links; the interval to which the number of the established PC5 unicastic links belongs; interval indicating information to which the number of the established PC5 unique links belongs; the established PC5 unique link exceeds or does not exceed the predetermined value.

Optionally, the SL positioning related information is broadcast through a first message, where the first message includes any one of: a direct communication request; primary information block sidelink information; a PC5-S message, the PC5-S message dedicated to transmission of the SL positioning-related information; PC 5-radio resource control, RRC, message, the PC5-RRC message dedicated to transmission of the SL positioning-related information.

Optionally, the execution module is configured to establish an SL connection with the first terminal based on the SL positioning related information and/or the received application layer indication information; the SL connection is used for the second terminal to report a positioning measurement result and/or a positioning result, and/or the SL connection is used for receiving the positioning result forwarded by the first terminal.

Optionally, the executing module establishes a SL connection with the first terminal based on the SL positioning related information and/or the received application layer indication information, if at least one of the following is satisfied: the RSRP measured by the second terminal meets the first threshold; the first indication information indicates that the first terminal has the capability of forwarding SL positioning assistance information of at least one third terminal; the second indication information indicates that the first terminal has the capability of feeding back the SL positioning measurement result of the second terminal; the third indication information indicates that the first terminal has the capability of forwarding the positioning assistance information of the first network equipment; the fourth indication information indicates that the first terminal has the capability of feeding back the positioning measurement result of the first network equipment; the fifth indication information indicates that the first terminal caches the positioning result of the first terminal, and the first time information indicates that the obtaining time of the positioning result of the first terminal is within a first time range; and determining that the positioning capability of the first terminal meets a preset requirement according to the first positioning capability.

The apparatus 800 further comprises a second sending module configured to at least one of: sending a first request to the target terminal, wherein the first request is used for requesting the target terminal to forward SL positioning auxiliary information of at least one third terminal; sending a second request to the target terminal, wherein the second request is used for requesting the target terminal to forward the positioning auxiliary information of the first network equipment; sending a third request, wherein the third request is used for requesting the target terminal to send a positioning result of the target terminal; and sending a positioning measurement result or a positioning result to the target terminal.

Optionally, the positioning measurements comprise at least one of: SL PRS measurement results of a second terminal device with respect to the third terminal; DL PRS measurements by a second terminal device with respect to the first network device.

Optionally, the DL PRS measurements comprise at least one of: identification information of the second terminal; identification information of the first network device; identification information of the DL PRS; reference information received power (RSRP) of the DL PRS; toA of the DL PRS; TDoA of the DL PRS; an acquisition time of the DL PRS measurement.

Optionally, the third request further carries a first time threshold, where the first time threshold is used to indicate that the time for acquiring the SL positioning result of the target terminal requested by the second terminal needs to be located after the first time threshold.

The

positioning apparatus

700 or 800 in the embodiment of the present application may be an apparatus, an apparatus or an electronic device having an operating system, or may be a component, an integrated circuit, or a chip in a terminal. The device or the electronic equipment can be a mobile terminal or a non-mobile terminal. For example, the mobile terminal may include, but is not limited to, the type of the terminal 11 listed above, and the non-mobile terminal may be a server, a Network Attached Storage (NAS), a Personal Computer (PC), a television (television), a teller machine (teller machine), a self-service machine (kiosk), or the like, and the embodiments of the present application are not limited in particular.

The

positioning apparatus

700 or 800 provided in this embodiment of the application can implement each process implemented by the method embodiments of fig. 3 to fig. 6, and achieve the same technical effect, and for avoiding repetition, details are not repeated here.

An embodiment of the present application further provides a terminal, including a processor and a communication interface, where the communication interface is coupled to the processor, and the processor is configured to execute a program or instructions to implement the steps of the method as described in

method embodiments

200, 500, or 600. The terminal embodiment corresponds to the terminal-side method embodiment, and all implementation processes and implementation manners of the method embodiment can be applied to the terminal embodiment and can achieve the same technical effect. Specifically, fig. 9 is a schematic diagram of a hardware structure of a terminal for implementing the embodiment of the present application.

The terminal 900 includes but is not limited to: a radio frequency unit 901, a network module 902, an audio output unit 903, an input unit 904, a sensor 905, a display unit 906, a user input unit 907, an interface unit 908, a memory 909, and a processor 910, and the like.

Those skilled in the art will appreciate that the terminal 900 may further include a power source (e.g., a battery) for supplying power to various components, and the power source may be logically connected to the processor 910 through a power management system, so as to manage charging, discharging, and power consumption management functions through the power management system. The terminal structure shown in fig. 9 does not constitute a limitation of the terminal, and the terminal may include more or less components than those shown, or combine some components, or have a different arrangement of components, and thus will not be described again.

It should be understood that in the embodiment of the present application, the input Unit 904 may include a Graphics Processing Unit (GPU) 1041 and a microphone 9042, and the Graphics processor 9041 processes image data of a still picture or a video obtained by an image capturing device (such as a camera) in a video capturing mode or an image capturing mode. The display unit 906 may include a display panel 9061, and the display panel 9061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 907 includes a touch panel 9071 and other input devices 9072. A touch panel 9071 also referred to as a touch screen. The touch panel 9071 may include two parts, a touch detection device and a touch controller. Other input devices 9072 may include, but are not limited to, a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which are not described in detail herein.

In this embodiment, the radio frequency unit 901 receives downlink data from a network device and then processes the downlink data to the processor 910; in addition, the uplink data is sent to the network side equipment. Generally, the radio frequency unit 901 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like.

Memory 909 can be used to store software programs or instructions as well as various data. The memory 909 may mainly include a stored program or instruction area and a stored data area, wherein the stored program or instruction area may store an operating system, an application program or instruction (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like. In addition, the Memory 909 may include a high-speed random access Memory, and may also include a nonvolatile Memory, wherein the nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable Programmable PROM (EPROM), an Electrically Erasable Programmable ROM (EEPROM), or a flash Memory. Such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device.

Processor 910 may include one or more processing units; alternatively, the processor 910 may integrate an application processor, which primarily handles operating system, user interface, and applications or instructions, etc., and a modem processor, which primarily handles wireless communications, such as a baseband processor. It will be appreciated that the modem processor described above may not be integrated into processor 910.

In a possible implementation manner, in a case that the terminal 900 is used as the aforementioned first terminal, the radio frequency unit 901 is configured to broadcast sidelink SL positioning related information; the SL positioning related information is used for at least one second terminal to determine a target terminal, where the target terminal is used to transmit first information of the at least one second terminal, and the first information includes at least one of a positioning measurement result, a positioning result, and positioning assistance information.

Optionally, the SL positioning related information comprises at least one of: identification information of the first terminal; a first threshold, where the first threshold is a signal strength threshold, and the first threshold is used for the second terminal to determine whether to establish or not establish an SL connection with the first terminal; first indication information for indicating that the first terminal has or does not have a capability of forwarding SL positioning assistance information of at least one third terminal; second indication information for indicating that the first terminal has or does not have a capability of feeding back a SL positioning measurement result of the second terminal; third indication information, the third indication information being used for indicating that the first terminal has or does not have the capability of forwarding the positioning assistance information of the first network equipment; fourth indication information, wherein the fourth indication information is used for indicating that the first terminal has or does not have the capability of feeding back the positioning measurement result of the first network equipment; fifth indication information, configured to indicate that the first terminal caches or does not cache the positioning result of the first terminal; the first time information is used for indicating the acquisition time of the positioning result of the first terminal; a first positioning capability, configured to indicate a positioning manner supported by the first terminal; a state of the first terminal.

Optionally, the PC5 unique link status of the first terminal includes at least one of: the number of established PC5 unicasting links; the interval to which the number of the established PC5 unicastic links belongs; interval indication information to which the number of the established PC5 unicastic links belongs; the established PC5 unique link exceeds or does not exceed the predetermined value.

Optionally, the SL positioning related information is broadcasted by a first message; wherein the first message comprises any one of: a direct communication request; primary information block sidelink information; a PC5-S message, the PC5-S message dedicated to transmission of the SL positioning-related information; PC 5-radio resource control, RRC, message, the PC5-RRC message dedicated to transmission of the SL positioning-related information.

Optionally, the processor 910 is configured to, if the first terminal is determined to be the target terminal, perform at least one of the following: under the condition of receiving a first request sent by the second terminal, forwarding SL positioning auxiliary information of at least one third terminal to the second terminal; forwarding the positioning auxiliary information of the first network equipment to the second terminal under the condition of receiving a second request sent by the second terminal; under the condition of receiving a third request sent by the second terminal, sending a positioning result of the target terminal to the second terminal; and receiving a positioning measurement result or a positioning result sent by the second terminal.

Optionally, the SL PRS measurements include at least one of: identification information of the second terminal; identification information of the third terminal; identification information of the SL PRS; reference information received power (RSRP) of the SL PRS; toA of the SL PRS; TDoA of the SL PRS; an acquisition time of the SL PRS measurement.

Optionally, the processor 910 is further configured to, in a case that the third request further carries a first time threshold and the target terminal does not cache the positioning result meeting the first time threshold, execute any one of the following by the target terminal: canceling feedback of a positioning result of the target terminal; restarting a positioning process, and feeding back a positioning result to the second terminal under the condition of acquiring the positioning result meeting the first time threshold; the first time threshold is used to indicate that the time for obtaining the positioning result of the target terminal requested by the second terminal needs to be located after the first time threshold.

Optionally, the radio frequency unit 901 is further configured to report, in a differential manner, the positioning measurement results or the positioning results sent by the multiple second terminals when the first terminal is determined as the target terminal and the target terminal receives the positioning measurement results or the positioning results sent by the multiple second terminals.

In the foregoing implementation manner, the first terminal broadcasts the SL positioning related information, so that the at least one second terminal can determine the target terminal according to the received SL positioning related information, and the target terminal transmits the first information of the at least one second terminal, thereby enabling the plurality of second terminals to interact with the positioning information by means of the target terminal, effectively reducing signaling overhead of the PC5 interface and/or the Uu interface, and ensuring stability and reliability of wireless communication.

In another possible implementation manner, in a case that the terminal 900 serves as the aforementioned second terminal, the radio frequency unit 901 is configured to receive SL positioning related information broadcast by at least one first terminal; the processor 910 is configured to determine a target terminal of the at least one first terminal according to the positioning related information; the target terminal is configured to transmit first information of the second terminal, where the first information includes at least one of a positioning measurement result, a positioning result, and positioning assistance information.

Optionally, the positioning related information comprises at least one of: identification information of the first terminal; a first threshold, which is a signal strength threshold, and is used for a second terminal to judge whether to establish or not establish an SL connection with the first terminal; first indication information for indicating that the first terminal has or does not have a capability of forwarding SL positioning assistance information of at least one third terminal; second indication information for indicating that the first terminal has or does not have a capability of feeding back a positioning measurement result of the second terminal; third indication information for indicating that the first terminal has or does not have the capability of forwarding positioning assistance information of the first network device; fourth indication information for indicating that the first terminal has or does not have a capability of feeding back a SL positioning measurement result of a second terminal; fifth indication information, configured to indicate that the first terminal caches or does not cache the positioning result of the first terminal; the first time information is used for indicating the acquisition time of the positioning result of the first terminal; a first positioning capability, which is used for indicating a positioning mode supported by the first terminal; a state of the first terminal.

Optionally, the network coverage status of the first terminal includes any one of: is in the coverage area of the cellular network; not within the cellular network coverage area.

Optionally, the SL positioning related information is broadcast through a first message, where the first message includes any one of: a direct communication request; primary information block sidelink information; a PC5-S message, the PC5-S message dedicated to the transmission of the SL positioning related information; PC 5-radio resource control, RRC, message, the PC5-RRC message dedicated to transmission of the SL positioning related information.

Optionally, the processor 910 is configured to establish an SL connection with the first terminal based on the SL positioning related information and/or the received application layer indication information; the SL connection is used for the second terminal to report a positioning measurement result and/or a positioning result, and/or the SL connection is used for receiving the positioning result forwarded by the first terminal.

Optionally, the processor 910 establishes a SL connection with the first terminal based on the SL positioning related information and/or the received application layer indication information, if at least one of the following is satisfied: the RSRP measured by the second terminal meets the first threshold; the first indication information indicates that the first terminal has the capability of forwarding SL positioning assistance information of at least one third terminal; the second indication information indicates that the first terminal has the capability of feeding back the SL positioning measurement result of the second terminal; the third indication information indicates that the first terminal has the capability of forwarding the positioning assistance information of the first network equipment; the fourth indication information indicates that the first terminal has the capability of feeding back the positioning measurement result of the first network equipment; the fifth indication information indicates that the first terminal caches the positioning result of the first terminal, and the first time information indicates that the obtaining time of the positioning result of the first terminal is within a first time range; and determining that the positioning capability of the first terminal meets a preset requirement according to the first positioning capability.

The radio frequency unit 901 is configured to at least one of: sending a first request to the target terminal, wherein the first request is used for requesting the target terminal to forward SL positioning auxiliary information of at least one third terminal; sending a second request to the target terminal, wherein the second request is used for requesting the target terminal to forward the positioning auxiliary information of the first network equipment; sending a third request, wherein the third request is used for requesting the target terminal to send a positioning result of the target terminal; and sending a positioning measurement result or a positioning result to the target terminal.

Optionally, the positioning measurement comprises at least one of: SL PRS measurements by a second terminal device with respect to the third terminal; DL PRS measurements by a second terminal device with respect to the first network device.

In the foregoing implementation manner, the second terminal determines the target terminal by receiving the SL positioning related information broadcast by the first terminal and according to the SL positioning related information, and further enables the target terminal to transmit the first information of at least one second terminal, so that a plurality of second terminals can interact with positioning information by means of the target terminal, thereby effectively reducing the number of establishing PC5 connections and/or Uu interface signaling overhead, and ensuring stability and reliability of wireless communication.

The embodiment of the present application further provides a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or the instruction is executed by a processor, the program or the instruction implements each process of the foregoing positioning method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.

Wherein, the processor is the processor in the terminal described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a Read-Only Memory (ROM).

The embodiment of the present application further provides a chip, where the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is configured to run a network-side device program or an instruction, so as to implement each process of the foregoing positioning method embodiment, and achieve the same technical effect, and in order to avoid repetition, the description is omitted here.

It should be understood that the chips mentioned in the embodiments of the present application may also be referred to as a system-on-chip, a system-on-chip or a system-on-chip.

The embodiment of the present application further provides a computer program product, where the computer program product includes a processor, a memory, and a program or an instruction stored in the memory and capable of running on the processor, and when the program or the instruction is executed by the processor, the processes of the above positioning method embodiment are implemented, and the same technical effect can be achieved, and in order to avoid repetition, details are not repeated here.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or 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 phrases "comprising a component of' 8230; \8230;" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element. Further, it should be noted that the scope of the methods and apparatus of the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.

While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the present embodiments are not limited to those precise embodiments, which are intended to be illustrative rather than restrictive, and that various changes and modifications may be effected therein by one skilled in the art without departing from the scope of the appended claims.

Claims

1. A method of positioning, comprising:

the first terminal broadcasts positioning related information of a sidelink SL;

the SL positioning related information is used for at least one second terminal to determine a target terminal, the target terminal is used for transmitting first information of the at least one second terminal, the first information includes at least one of a positioning measurement result, a positioning result, and positioning assistance information, and the first terminal and the second terminal are terminals to be positioned.

2. The method of claim 1, wherein the SL positioning-related information comprises at least one of:

identification information of the first terminal;

a first threshold, where the first threshold is a signal strength threshold, and the first threshold is used for the second terminal to determine whether to establish or not establish an SL connection with the first terminal;

first indication information for indicating that the first terminal has or does not have a capability of forwarding SL positioning assistance information of at least one third terminal;

second indication information for indicating that the first terminal has or does not have a capability of feeding back a SL positioning measurement result of the second terminal;

third indication information for indicating that the first terminal has or does not have the capability of forwarding positioning assistance information of the first network device;

fourth indication information, wherein the fourth indication information is used for indicating that the first terminal has or does not have the capability of feeding back the positioning measurement result of the first network equipment;

fifth indication information, configured to indicate that the first terminal caches or does not cache the positioning result of the first terminal;

the first time information is used for indicating the acquisition time of the positioning result of the first terminal;

a first positioning capability, which is used for indicating a positioning mode supported by the first terminal;

a state of the first terminal.

3. The method of claim 2, wherein the state of the first terminal comprises at least one of:

the area identifier where the first terminal is located;

a moving state of the first terminal;

a network coverage status of the first terminal;

the PC5 of the first terminal unicast-connects a unicast link status.

4. The method of claim 3, wherein the mobility state of the first terminal comprises any one of:

moving;

standing;

moving and the moving speed is in a predetermined interval.

5. The method of claim 3, wherein the network coverage status of the first terminal comprises any one of:

is in the coverage area of the cellular network;

not within the cellular network coverage area.

6. The method of claim 3, wherein the PC5 unicastic link status of the first terminal comprises at least one of:

the number of established PC5 unicastlinks;

the interval to which the number of established PC5 unicastlinks belongs;

interval indicating information to which the number of the established PC5 unicastlinks belongs;

the established PC5 unicastlink exceeds or does not exceed a predetermined value.

7. The method of any of claims 1-6, wherein the SL positioning-related information is broadcast by a first message;

wherein the first message comprises any one of:

a direct communication request;

primary information block sidelink information;

a PC5-S message, the PC5-S message dedicated to the transmission of the SL positioning related information;

PC 5-radio resource control, RRC, message, the PC5-RRC message dedicated to transmission of the SL positioning related information.

8. The method according to any of claims 2-6, wherein after the step of the first terminal broadcasting SL positioning-related information, the method further comprises:

in a case where the first terminal is determined to be the target terminal, performing at least one of:

under the condition of receiving a first request sent by the second terminal, forwarding SL positioning auxiliary information of at least one third terminal to the second terminal;

forwarding the positioning auxiliary information of the first network equipment to the second terminal under the condition of receiving a second request sent by the second terminal;

under the condition of receiving a third request sent by the second terminal, sending a positioning result of the target terminal to the second terminal;

and receiving a positioning measurement result or a positioning result sent by the second terminal.

9. The method of claim 8, wherein the SL positioning assistance information for the third terminal comprises at least one of:

identification information of the third terminal;

synchronization related information of the third terminal;

absolute position information of the third terminal;

configuration information of a reference signal of the third terminal.

10. The method of claim 8, wherein the positioning assistance information of the first network device comprises at least one of:

identification information of the first network device;

synchronization related information of the first network device;

absolute location information of the first network device;

configuration information of a reference signal of the first network device.

11. The method of claim 8, wherein the positioning measurement comprises at least one of:

SL PRS measurements by the second terminal with respect to the third terminal;

downlink DL PRS measurements by the second terminal with respect to the first network device.

12. The method of claim 11, wherein the SL PRS measurements comprise at least one of:

identification information of the second terminal;

identification information of the third terminal;

identification information of the SL PRS;

a reference information received power, RSRP, of the SL PRS;

a time of arrival ToA of the SL PRS;

the arrival time difference TDoA of the SL PRS;

an acquisition time of the SL PRS measurement.

13. The method of claim 11, in which the DL PRS measurements comprise at least one of:

identification information of the second terminal;

identification information of the first network device;

identification information of the DL PRS;

reference information received power (RSRP) of the DL PRS;

ToA of the DL PRS;

TDoA of the DL PRS;

an acquisition time of the DL PRS measurement.

14. The method of claim 8, wherein the positioning result of the target terminal comprises at least one of:

absolute position information of the target terminal;

and obtaining the positioning result of the target terminal.

15. The method of claim 8, wherein in case of receiving a third request sent by the second terminal, the method further comprises:

in a case that the third request further carries a first time threshold and the target terminal does not cache a positioning result satisfying the first time threshold, the target terminal executes any one of the following:

canceling feedback of a positioning result of the target terminal;

restarting a positioning process, and feeding back a positioning result to the second terminal under the condition of acquiring the positioning result meeting the first time threshold;

the first time threshold is used to indicate that the acquisition time of the positioning result of the target terminal requested by the second terminal needs to be after the first time threshold.

16. The method of claim 8, wherein the positioning result sent by the second terminal to the target terminal comprises at least one of:

absolute position information of the second terminal;

relative position information of the second terminal;

and obtaining the positioning result of the second terminal.

17. The method of claim 8, wherein after the step of receiving the positioning measurement result or the positioning result sent by the second terminal, the method further comprises:

and reporting the positioning measurement results or the positioning results sent by the second terminals in a differential mode under the condition that the first terminal is determined as the target terminal and the target terminal receives the positioning measurement results or the positioning results sent by the second terminals.

18. A method of positioning, comprising:

the second terminal receives SL positioning related information broadcast by at least one first terminal;

the second terminal determines a target terminal in the at least one first terminal according to the positioning related information;

the target terminal is configured to transmit first information of the second terminal, where the first information includes at least one of a positioning measurement result, a positioning result, and positioning assistance information, and the first terminal and the second terminal are terminals to be positioned.

19. The method of claim 18, wherein the positioning-related information comprises at least one of:

identification information of the first terminal;

a first threshold, which is a signal strength threshold, and is used for a second terminal to judge whether to establish or not establish an SL connection with the first terminal;

second indication information for indicating that the first terminal has or does not have a capability of feeding back a positioning measurement result of the second terminal;

third indication information, the third indication information being used for indicating that the first terminal has or does not have the capability of forwarding the positioning assistance information of the first network equipment;

fourth indication information for indicating that the first terminal has or does not have a capability of feeding back a SL positioning measurement result of a second terminal;

the fifth indication information is used for indicating that the first terminal caches or does not cache the positioning result of the first terminal;

a state of the first terminal.

20. The method of claim 19, wherein the state of the first terminal comprises at least one of:

the area identifier where the first terminal is located;

a moving state of the first terminal;

a network coverage status of the first terminal;

PC5 of the first terminal unicasts a connected unicastlink status.

21. The method of claim 20, wherein the mobility state of the first terminal comprises any one of:

moving;

standing;

moving and the moving speed is in a predetermined interval.

22. The method of claim 20, wherein the network coverage status of the first terminal comprises any one of:

is in the coverage range of the cellular network;

not within the cellular network coverage area.

23. The method of claim 20, wherein the PC5 unicastic link status of the first terminal comprises at least one of:

the number of established PC5 unicastinks;

the interval to which the number of established PC5 unicastinks belongs;

interval indicating information to which the number of the established PC5 unicastinks belongs;

the established PC5 unicastink exceeds or does not exceed the predetermined value.

24. The method according to any of claims 18-23, wherein the SL positioning related information is broadcast by a first message comprising any of:

a direct communication request;

primary information block sidelink information;

PC 5-radio resource control, RRC, message, the PC5-RRC message dedicated to transmission of the SL positioning-related information.

25. The method of any one of claims 19-23, wherein the method further comprises:

based on the SL positioning related information and/or the received application layer indication information, the second terminal establishes SL connection with the first terminal;

the SL connection is used for the second terminal to report a positioning measurement result and/or a positioning result, and/or the SL connection is used for receiving the positioning result forwarded by the first terminal.

26. The method according to claim 25, wherein the step of the second terminal establishing a SL connection with the first terminal based on the positioning related information and/or the received application layer indication information comprises:

the second terminal establishes a SL connection with the first terminal based on the SL positioning related information and/or the received application layer indication information, if at least one of the following is satisfied:

the RSRP measured by the second terminal meets the first threshold;

the first indication information indicates that the first terminal has the capability of forwarding SL positioning assistance information of at least one third terminal;

the second indication information indicates that the first terminal has the capability of feeding back the SL positioning measurement result of the second terminal;

the third indication information indicates that the first terminal has the capability of forwarding the positioning assistance information of the first network equipment;

the fourth indication information indicates that the first terminal has the capability of feeding back the positioning measurement result of the first network equipment;

the fifth indication information indicates that the first terminal caches the positioning result of the first terminal, and the first time information indicates that the obtaining time of the positioning result of the first terminal is within a first time range;

and determining that the positioning capability of the first terminal meets a preset requirement according to the first positioning capability.

27. The method according to claim 18, wherein after the step of determining a target terminal of the at least one first terminal based on the positioning related information, the method further comprises at least one of:

sending a first request to the target terminal, wherein the first request is used for requesting the target terminal to forward SL positioning auxiliary information of at least one third terminal;

sending a second request to the target terminal, wherein the second request is used for requesting the target terminal to forward the positioning auxiliary information of the first network equipment;

sending a third request, wherein the third request is used for requesting the target terminal to send a positioning result of the target terminal;

and sending a positioning measurement result or a positioning result to the target terminal.

28. The method of claim 27, wherein the SL positioning assistance information for the third terminal comprises at least one of:

identification information of the third terminal;

synchronization related information of the third terminal;

absolute position information of the third terminal;

configuration information of a reference signal of the third terminal.

29. The method of claim 27, wherein the positioning assistance information of the first network device comprises at least one of:

identification information of the first network device;

synchronization related information of the first network device;

absolute location information of the first network device;

configuration information of a reference signal of the first network device.

30. The method of claim 27, wherein the positioning measurement comprises at least one of:

SL PRS measurement results of a second terminal device with respect to the third terminal;

downlink DL PRS measurements by a second terminal device in relation to the first network device.

31. The method of claim 30, wherein the SL PRS measurements comprise at least one of:

identification information of the second terminal;

identification information of the third terminal;

identification information of the SL PRS;

a reference information received power, RSRP, of the SL PRS;

a time of arrival ToA of the SL PRS;

the arrival time difference TDoA of the SL PRS;

an acquisition time of the SL PRS measurement.

32. The method of claim 30, wherein the DL PRS measurements comprise at least one of:

identification information of the second terminal;

identification information of the first network device;

identification information of the DL PRS;

reference information received power (RSRP) of the DL PRS;

ToA of the DL PRS;

TDoA of the DL PRS;

an acquisition time of the DL PRS measurement.

33. The method of claim 27, wherein the positioning result of the target terminal comprises at least one of:

absolute position information of the target terminal;

and obtaining time of the positioning result of the target terminal.

34. The method of claim 27, wherein the third request further carries a first time threshold, and wherein the first time threshold is used to indicate that the time for acquiring the SL positioning result of the target terminal requested by the second terminal needs to be after the first time threshold.

35. The method of claim 27, wherein the positioning result sent by the second terminal to the target terminal comprises at least one of:

absolute position information of the second terminal;

relative position information of the second terminal;

and obtaining the positioning result of the second terminal.

36. A positioning apparatus, applied to a first terminal, the apparatus comprising:

the first sending module is used for broadcasting positioning related information of the sidelink SL;

the SL positioning related information is used for at least one second terminal to determine a target terminal, the target terminal is used for transmitting first information of the at least one second terminal, the first information includes at least one of a positioning measurement result, a positioning result and positioning auxiliary information, and the first terminal and the second terminal are terminals to be positioned.

37. A positioning apparatus, applied to a second terminal, the apparatus comprising:

a receiving module, configured to receive SL positioning related information broadcast by at least one first terminal;

a determining module, configured to determine a target terminal of the at least one first terminal according to the positioning related information;

38. A terminal comprising a processor, a memory and a program or instructions stored on the memory and executable on the processor, the program or instructions when executed by the processor implementing the steps of the positioning method according to any one of claims 1 to 17 or implementing the steps of the positioning method according to any one of claims 18 to 35.

39. A readable storage medium, characterized in that a program or instructions are stored thereon, which program or instructions, when executed by a processor, carry out the steps of the positioning method according to any one of claims 1-17, or carry out the steps of the positioning method according to any one of claims 18-35.