CN115942230A

CN115942230A - Method and device for determining position

Info

Publication number: CN115942230A
Application number: CN202210463836.XA
Authority: CN
Inventors: 许胜锋
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2021-08-24
Filing date: 2022-04-29
Publication date: 2023-04-07

Abstract

The application provides a method and a device for determining a position. The method can comprise the following steps: the first terminal device receives a first message from the second terminal device requesting a first target location, the first target location comprising at least one of: a first relative position, an absolute position of the third terminal device, or a second relative position, where the first relative position is used to represent a relative position between the third terminal device and the first terminal device, and the second relative position is used to represent a relative position between the third terminal device and the second terminal device; and the first terminal equipment sends the first target position to the second terminal equipment according to the first message. According to the method and the device, the first terminal equipment assists the second terminal equipment to obtain the relative position between the third terminal equipment and the second terminal equipment, so that not only can the relative positioning between the second terminal equipment and the third terminal equipment be realized, but also the precision of the relative position between the third terminal equipment and the second terminal equipment can be improved.

Description

Method and device for determining position

Technical Field

The present application relates to the field of communications, and more particularly, to a method and apparatus for position determination.

Background

The relative position between the terminal devices may be obtained by measuring the distance and/or angle between the terminal devices. The distance between the terminal devices can be obtained by ranging, and the angle between the terminal devices can be obtained by angle measurement.

Take terminal device 1 and terminal device 2 as examples. Currently, the method for ranging between terminal device 1 and terminal device 2 includes: the terminal device 1 sends a ranging signal to the terminal device 2, the terminal device 2 sends a feedback signal to the terminal device 1 after receiving the ranging signal, and the terminal device 1 calculates the distance between the terminal device 1 and the terminal device 2 according to the time difference between the sending of the ranging signal and the receiving of the feedback signal. The method for measuring the angle between the terminal equipment 1 and the terminal equipment 2 comprises the following steps: the terminal device 1 sends a signal to the terminal device 2, and the angle between the terminal device 1 and the terminal device 2 is calculated by measuring the included angle between the direction in which the terminal device 1 sends the signal and the reference direction, or measuring the included angle between the direction in which the terminal device 2 receives the signal and the reference direction.

However, in some cases, such as the case where there is a shielding object between the terminal device 1 and the terminal device 2, due to the existence of the shielding object, the signal cannot be directly transmitted in the line of sight between the terminal device 1 and the terminal device 2, the direction in which the terminal device 2 receives the signal is not the true direction in which the terminal device 1 sends the signal, and the distance in which the signal is transmitted is longer than the true relative distance between the terminal device 1 and the terminal device 2, and the adoption of the above-mentioned distance measurement method or angle measurement method may result in low accuracy of the obtained relative position between the terminal device 1 and the terminal device 2.

Disclosure of Invention

The application provides a method and a device for determining a position, which can improve the precision of a relative position between terminal devices.

In a first aspect, a method for determining a location is provided, where the method may be performed by a terminal device, or may also be performed by a component (e.g., a chip or a circuit) of the terminal device, and this is not limited thereto, and for convenience of description, the following description will be made by taking the first terminal device as an example.

The method can comprise the following steps: the method comprises the steps that a first terminal device receives a first message from a second terminal device, the first message is used for requesting a first target position, and the first target position comprises at least one of the following items: a first relative position, an absolute position of a third terminal device, or a second relative position, wherein the first relative position is used to characterize the relative position between the third terminal device and the first terminal device, and the second relative position is used to characterize the relative position between the third terminal device and the second terminal device; and the first terminal equipment sends a second message to the second terminal equipment according to the first message, wherein the second message comprises the first target position.

For a scene with a shielding object between the second terminal device and the third terminal device, due to the existence of the shielding object, the signal cannot be directly transmitted between the second terminal device and the third terminal device in the line-of-sight mode, and if the second terminal device adopts the distance measuring method or the angle measuring method, the obtained relative position accuracy between the second terminal device and the third terminal device is low. In this embodiment, the first terminal device may assist the second terminal device to obtain a relative position between the third terminal device and the second terminal device. Specifically, a first terminal device receives a first message from a second terminal device, and sends a second message to the second terminal device according to the first message, where the second message includes a first target location, and the first target location includes at least one of: a relative position between the third terminal device and the first terminal device, an absolute position of the third terminal device, or a relative position between the third terminal device and the second terminal device. According to the embodiment of the application, the first terminal equipment assists the second terminal equipment to obtain the relative position between the third terminal equipment and the second terminal equipment, so that the relative positioning between the second terminal equipment and the third terminal equipment can be realized, and the precision of the relative position between the third terminal equipment and the second terminal equipment can be improved.

With reference to the first aspect, in certain implementations of the first aspect, the method further includes: the first terminal device determines the first target location.

Based on the above scheme, after receiving a first message from a second terminal device, a first terminal device determines a first target location according to the first message, and sends the first target location to the second terminal device.

With reference to the first aspect, in certain implementations of the first aspect, the determining, by the first terminal device, the first target location includes the second relative location, and includes: the first terminal device determines the first relative position; the first terminal device determines a third relative position, wherein the third relative position is used for representing the relative position between the second terminal device and the first terminal device; and the first terminal equipment determines the second relative position according to the first relative position and the third relative position.

Based on the above scheme, if the first target location includes the relative location between the third terminal device and the second terminal device, the first terminal device may determine the relative location between the third terminal device and the second terminal device according to the relative location between the third terminal device and the first terminal device and the relative location between the second terminal device and the first terminal device.

With reference to the first aspect, in certain implementations of the first aspect, the determining, by the first terminal device, the first target location includes the second relative location, and includes: the first terminal equipment obtains the absolute position of the second terminal equipment; the first terminal equipment obtains the absolute position of the third terminal equipment; and the first terminal equipment determines the second relative position according to the absolute position of the second terminal equipment and the absolute position of the third terminal equipment.

Based on the above scheme, if the first target location includes the relative location between the third terminal device and the second terminal device, the first terminal device may determine the relative location between the third terminal device and the second terminal device according to the absolute location of the second terminal device and the absolute location of the third terminal device.

With reference to the first aspect, in certain implementations of the first aspect, the determining, by the first terminal device, the first target location includes: the first terminal equipment determines the first relative position; and the first terminal equipment determines the absolute position of the third terminal equipment according to the first relative position and the absolute position of the first terminal equipment.

Based on the above solution, if the first target location includes the absolute location of the third terminal device, the first terminal device may determine the absolute location of the third terminal device according to the relative location between the third terminal device and the first terminal device and the absolute location of the first terminal device.

With reference to the first aspect, in certain implementations of the first aspect, the first message includes at least one of: an accuracy of the first target location, a threshold of the second relative location, or first information; the first information is used for triggering the first terminal device to send the first target position to the third terminal device.

With reference to the first aspect, in certain implementations of the first aspect, the first message includes an accuracy of the first target location, the method further comprising: and the first terminal equipment determines the first target position according to the accuracy of the first target position.

Based on the above scheme, the first message sent by the second terminal device to the first terminal device includes the accuracy of the first target position, and the first terminal device determines the first target position according to the accuracy of the first target position, so that the first target position determined by the first terminal device meets the accuracy of the first target position.

With reference to the first aspect, in certain implementations of the first aspect, the first target location includes the second relative location, and the method further includes: the first terminal equipment obtains first accuracy and second accuracy according to the accuracy of the first target position; the first terminal device determines the first target position according to the accuracy of the first target position, and the method comprises the following steps: the first terminal equipment determines the first relative position according to the first accuracy; the first terminal device determines the third relative position according to the second accuracy; and the first terminal equipment determines the second relative position according to the first relative position and the third relative position.

Based on the above solution, if the first message sent by the second terminal device to the first terminal device includes the accuracy of the first target location, and the first terminal device determines the relative location between the third terminal device and the second terminal device according to the relative location between the third terminal device and the first terminal device and the relative location between the second terminal device and the first terminal device, the first terminal device may obtain the first accuracy and the second accuracy according to the accuracy of the first target location, determine the relative location between the third terminal device and the first terminal device according to the first accuracy, and determine the relative location between the second terminal device and the first terminal device according to the second accuracy.

With reference to the first aspect, in certain implementation manners of the first aspect, the first message includes the first information, and the first information is used to trigger the first terminal device to send the first target location to the third terminal device, where the method further includes: and the first terminal equipment sends the first target position to the third terminal equipment.

Based on the above scheme, the first message sent by the second terminal device to the first terminal device includes the first information, and after the first terminal device determines the first target location, the first terminal device sends the first target location to the third terminal device according to the first information.

With reference to the first aspect, in some implementations of the first aspect, the first target location includes the second relative location, the first message includes a threshold value of the second relative location, and the sending, by the first terminal device, the second message to the second terminal device includes: and the first terminal equipment sends the second message to the second terminal equipment according to the second relative position and the threshold value of the second relative position, wherein the second message comprises the second relative position.

Based on the above scheme, the first message sent by the second terminal device to the first terminal device includes the threshold of the second relative position, and after the first terminal device determines the second relative position, the second terminal device sends the second relative position to the second terminal device according to the second relative position and the threshold of the second relative position.

With reference to the first aspect, in certain implementations of the first aspect, the method further includes: the first terminal device sends a third message, where the third message is used to broadcast information of a terminal device that establishes a communication connection with the first terminal device, or the third message is used to broadcast information of a terminal device whose position is known by the first terminal device, where the third message includes information of the third terminal device.

Based on the above scheme, the first terminal device may send a third message, where the third message is used to broadcast information of one or more terminal devices. The one or more terminal devices may be terminal devices that establish a communication connection with the first terminal device, or the first terminal device has learned an absolute position of the one or more terminal devices, or the first terminal device has learned a relative position between the first terminal device and the one or more terminal devices.

With reference to the first aspect, in certain implementations of the first aspect, the method further includes: the first terminal device receives a fourth message from the second terminal device, where the fourth message is used to discover a terminal device that assists in locating the third terminal device, and the fourth message includes information of the third terminal device; and if the first terminal equipment meets the preset condition, the first terminal equipment sends a response message of the fourth message to the second terminal equipment.

Based on the above scheme, the first terminal device receives a fourth message from the second terminal device, where the fourth message is used to discover a terminal device that assists in positioning the third terminal device, and if the first terminal device meets a preset condition, the first terminal device sends a response message of the fourth message to the second terminal device, so that the second terminal device knows that the first terminal device is a device that assists in positioning the third terminal device.

With reference to the first aspect, in certain implementations of the first aspect, the first relative position includes at least one of: distance or angle.

With reference to the first aspect, in certain implementations of the first aspect, the second relative position includes at least one of: distance or angle.

In a second aspect, a method for determining a location is provided, which may be performed by a terminal device, or may also be performed by a component (e.g., a chip or a circuit) of the terminal device, and this is not limited thereto, and for convenience of description, the following description will be made by taking the second terminal device as an example.

The method can comprise the following steps: the second terminal equipment sends a first message to the first terminal equipment, wherein the first message is used for requesting a first target position, and the first target position comprises at least one of the following items: a first relative position, an absolute position of a third terminal device, or a second relative position, wherein the first relative position is used to characterize the relative position between the third terminal device and the first terminal device, and the second relative position is used to characterize the relative position between the third terminal device and the second terminal device; the second terminal equipment receives a second message from the first terminal equipment, wherein the second message comprises the first target position; and the second terminal equipment obtains the second relative position according to the second message.

For a scene with a shelter between the second terminal device and the third terminal device, due to the existence of the shelter, signals cannot be directly transmitted between the second terminal device and the third terminal device in a line of sight manner, and if the second terminal device adopts the distance measurement method or the angle measurement method, the obtained relative position precision between the second terminal device and the third terminal device is low. In this embodiment of the application, the second terminal device may obtain the relative position between the third terminal device and the second terminal device with the assistance of the first terminal device. Specifically, the second terminal device requests the first terminal device for a first target location, and receives a second message from the first terminal device, where the second message includes the first target location, and the second terminal device obtains a relative location between the third terminal device and the second terminal device according to the first target location, where the first target location includes at least one of: a relative position between the third terminal device and the first terminal device, an absolute position of the third terminal device, or a relative position between the third terminal device and the second terminal device. A relative position between the third terminal device and the second terminal device. According to the embodiment of the application, the first terminal equipment assists the second terminal equipment to obtain the relative position between the third terminal equipment and the second terminal equipment, so that the relative positioning between the second terminal equipment and the third terminal equipment can be realized, and the precision of the relative position between the third terminal equipment and the second terminal equipment can be improved.

With reference to the second aspect, in certain implementations of the second aspect, the first message includes at least one of: an accuracy of the first target location, a threshold of the second relative location, or first information; the first information is used for triggering the first terminal device to send the first target position to the third terminal device.

With reference to the second aspect, in some implementations of the second aspect, the sending, by the second terminal device, the first message to the first terminal device includes: and if the relative position between the third terminal equipment and the second terminal equipment, which is stored by the second terminal equipment, does not meet a preset condition, the second terminal equipment sends the first message to the first terminal equipment.

Based on the above scheme, under the condition that the relative position between the third terminal device and the second terminal device stored by the second terminal device does not satisfy the preset condition, the second terminal device obtains the relative position between the third terminal device and the second terminal device with the assistance of the first terminal device, that is, the second terminal device sends the first message to the first terminal device.

With reference to the second aspect, in certain implementations of the second aspect, the method further includes: the second terminal device receives a third message from the first terminal device, where the third message is used to broadcast information of a terminal device that establishes a communication connection with the first terminal device, or the third message is used to broadcast information of a terminal device whose position has been known by the first terminal device, where the third message includes information of the third terminal device.

Based on the above scheme, the first terminal device may send a third message, where the third message is used to broadcast information of one or more terminal devices, and if the one or more terminal devices include the third terminal device, it indicates that the first terminal device is a device capable of assisting in positioning the third terminal device, and then the second terminal device sends the first message to the first terminal device. The one or more terminal devices may be terminal devices that establish a communication connection with the first terminal device, or the first terminal device has learned an absolute position of the one or more terminal devices, or the first terminal device has learned a relative position between the first terminal device and the one or more terminal devices.

With reference to the second aspect, in some implementations of the second aspect, before the second terminal device sends the first message to the first terminal device, the method further includes: the second terminal device sends a fourth message, where the fourth message is used to discover a terminal device that assists in positioning the third terminal device, and the fourth message includes information of the third terminal device; and the second terminal equipment receives a response message of the fourth message from the first terminal equipment.

Based on the above scheme, the second terminal device sends a fourth message, where the fourth message is used to discover a terminal device that assists in positioning the third terminal device, and after receiving a response message from the fourth message of the first terminal device, the second terminal device indicates that the first terminal device is a device that can assist in positioning the third terminal device, and then the second terminal device sends the first message to the first terminal device.

With reference to the second aspect, in certain implementations of the second aspect, the second relative position includes at least one of: distance or angle.

In a third aspect, a method for position determination is provided, which may be performed by a network device, or may be performed by a component (e.g., a chip or a circuit) of a network device, which is not limited herein.

The method can comprise the following steps: the network equipment receives a fifth message from a second terminal equipment, wherein the fifth message is used for triggering the sending of a second target position to the second terminal equipment, and the second target position comprises at least one of the following items: a second relative position, or an absolute position of a third terminal device, wherein the second relative position is used to characterize a relative position between the third terminal device and the second terminal device; and the network equipment sends a sixth message to the second terminal equipment according to the fifth message, wherein the sixth message comprises the second target position.

For a scene with a shielding object between the second terminal device and the third terminal device, due to the existence of the shielding object, the signal cannot be directly transmitted between the second terminal device and the third terminal device in the line-of-sight mode, and if the second terminal device adopts the distance measuring method or the angle measuring method, the obtained relative position accuracy between the second terminal device and the third terminal device is low. In this embodiment, the network device may assist the second terminal device to obtain a relative position between the third terminal device and the second terminal device. Specifically, the network device receives a fifth message from the second terminal device, and sends a sixth message to the second terminal device, where the sixth message includes a second target location, and the second target location includes at least one of the following: an absolute position of the third terminal device, or a relative position between the third terminal device and the second terminal device. According to the embodiment of the application, the network equipment assists the second terminal equipment to obtain the relative position between the third terminal equipment and the second terminal equipment, so that the relative positioning between the second terminal equipment and the third terminal equipment can be realized, and the precision of the relative position between the third terminal equipment and the second terminal equipment can be improved.

With reference to the third aspect, in certain implementations of the third aspect, the method further includes: the network device determines the second target location.

With reference to the third aspect, in certain implementations of the third aspect, the second target location includes the second relative location, and the determining, by the network device, the second target location includes: the network device determines an absolute position of the second terminal device; the network device determines an absolute position of the third terminal device; and the network equipment determines the second relative position according to the absolute position of the second terminal equipment and the absolute position of the third terminal equipment.

Based on the above scheme, if the second target location includes the relative location between the third terminal device and the second terminal device, the network device may determine the relative location between the third terminal device and the second terminal device according to the absolute location of the second terminal device and the absolute location of the third terminal device.

With reference to the third aspect, in certain implementations of the third aspect, the fifth message includes at least one of: an accuracy of the second target location, a threshold of the second relative location, or second information; the second information is used for triggering the network device to send the second target location to the third terminal device.

With reference to the third aspect, in certain implementations of the third aspect, the fifth message includes an accuracy of the second target location, the method further comprising: the network device determines the second target location based on the accuracy of the second target location.

Based on the above scheme, the fifth message sent by the second terminal device to the network device includes the accuracy of the second target location, and the network device determines the second target location according to the accuracy of the second target location, so that the second target location determined by the network device meets the accuracy of the second target location.

With reference to the third aspect, in some implementations of the third aspect, the second target location includes an absolute location of the third terminal device and an absolute location of the second terminal device, and the determining, by the network device, the second target location according to an accuracy of the second target location includes: the network device obtains a third accuracy and a fourth accuracy according to the accuracy of the second target location; the network equipment determines the absolute position of the second terminal equipment according to the third accuracy; and the network equipment determines the absolute position of the third terminal equipment according to the fourth accuracy.

Based on the above scheme, if the fifth message sent by the second terminal device to the network device includes the accuracy of the second target location, and the network device determines the relative location between the third terminal device and the second terminal device according to the absolute location of the second terminal device and the absolute location of the third terminal device, the network device may obtain a third accuracy and a fourth accuracy according to the accuracy of the second target location, determine the absolute location of the second terminal device according to the third accuracy, and determine the absolute location of the third terminal device according to the fourth accuracy.

With reference to the third aspect, in certain implementations of the third aspect, the fifth message includes first information, and the second information is used to trigger the network device to send the second target location to the third terminal device, and the method further includes: and the network equipment sends the second target position to the third terminal equipment.

Based on the above scheme, the fifth message sent by the second terminal device to the network device includes the first information, and after the network device determines the second target location, the second target location is sent to the third terminal device according to the second information.

With reference to the third aspect, in some implementations of the third aspect, the second target location includes the second relative location, the fifth message includes a threshold value of the second relative location, and the network device sends a sixth message to the second terminal device, including: and the network device sends the sixth message to the second terminal device according to the second relative position and the threshold value of the second relative position, wherein the sixth message comprises the second relative position.

Based on the above solution, the fifth message sent by the second terminal device to the network device includes the threshold of the second relative position, and after the network device determines the second relative position, the network device sends the second relative position to the second terminal device according to the second relative position and the threshold of the second relative position.

With reference to the third aspect, in certain implementations of the third aspect, the second relative position includes at least one of: distance or angle.

In a fourth aspect, a method for determining a location is provided, where the method may be performed by a terminal device, or may also be performed by a component (e.g., a chip or a circuit) of the terminal device, and this is not limited thereto, and for convenience of description, the following description will be made by taking a second terminal device as an example.

The method can comprise the following steps: the second terminal device sends a fifth message to the network device, where the fifth message is used to trigger sending a second target location to the second terminal device, and the second target location includes at least one of the following: a second relative position, or an absolute position of a third terminal device, wherein the second relative position is used to characterize a relative position between the third terminal device and the second terminal device; the second terminal device receiving a sixth message from the network device, the sixth message including the second target location; and the second terminal equipment obtains the second relative position according to the sixth message.

For a scene with a shelter between the second terminal device and the third terminal device, due to the existence of the shelter, signals cannot be directly transmitted between the second terminal device and the third terminal device in a line of sight manner, and if the second terminal device adopts the distance measurement method or the angle measurement method, the obtained relative position precision between the second terminal device and the third terminal device is low. In this embodiment of the application, the second terminal device may obtain, with the assistance of the network device, a relative position between the third terminal device and the second terminal device. Specifically, the second terminal device requests the network device for a second target location, and receives a sixth message from the network device, where the sixth message includes the second target location, and the second terminal device obtains a relative location between the third terminal device and the second terminal device according to the second target location, where the second target location includes at least one of: an absolute position of the third terminal device, or a relative position between the third terminal device and the second terminal device. According to the embodiment of the application, the network equipment assists the second terminal equipment to obtain the relative position between the third terminal equipment and the second terminal equipment, so that the relative positioning between the second terminal equipment and the third terminal equipment can be realized, and the precision of the relative position between the third terminal equipment and the second terminal equipment can be improved.

With reference to the fourth aspect, in certain implementations of the fourth aspect, the fifth message includes at least one of: an accuracy of the second target location, a threshold of the second relative location, or second information; the second information is used for triggering the network device to send the second target location to the third terminal device.

With reference to the fourth aspect, in some implementations of the fourth aspect, the sending, by the second terminal device, the fifth message to the network device includes: and if the relative position between the third terminal device and the second terminal device, which is stored by the second terminal device, does not meet a preset condition, the second terminal device sends the fifth message to the network device.

With reference to the fourth aspect, in certain implementations of the fourth aspect, the second relative position includes at least one of: distance or angle.

In a fifth aspect, a method for position determination is provided, and the method may be executed by an Application Function (AF), such as a position loCation services (LCS) client, or may be executed by a component (such as a chip or a circuit) of the AF, which is not limited to this, and for convenience of description, the following description is given by taking an AF as an example.

The method can comprise the following steps: the AF sends a ninth message to the network equipment, wherein the ninth message is used for requesting a second relative position, and the second relative position is used for representing the relative position between the third terminal equipment and the second terminal equipment; the AF receives the second relative position from the network device.

Based on the above scheme, the AF may request the network device for the relative position between the two terminal devices, and may further obtain the relative position between the two terminal devices with the assistance of the network device. By the embodiment of the application, the network equipment determines the relative position between the third terminal equipment and the second terminal equipment based on the request of the AF, and the relative positioning between the second terminal equipment and the third terminal equipment can be realized.

With reference to the fifth aspect, in some implementations of the fifth aspect, before the AF sends the ninth message to the network device, the method further includes: the AF receives a tenth message from a second terminal device, the tenth message requesting the second relative position.

In a sixth aspect, a method for position determination is provided, which may be performed by a network device, or may be performed by a component (e.g., a chip or a circuit) of a network device, which is not limited herein.

The method can comprise the following steps: the network equipment receives a ninth message from the AF, wherein the ninth message is used for requesting a second relative position, and the second relative position is used for representing the relative position between third terminal equipment and second terminal equipment; the network device determines the second relative position according to the ninth message; the network device sends the second relative position to the AF.

Illustratively, the network device may be a Network Exposure Function (NEF) or a Gateway Mobile Location Center (GMLC).

With reference to the sixth aspect, in certain implementations of the sixth aspect, the network device determining the second relative position includes: the network equipment determines the absolute position of the UE2 and the absolute position of the UE3, and the network equipment determines the second relative position according to the absolute position of the UE2 and the absolute position of the UE 3.

Based on the above scheme, the network device determines the relative position between the two terminal devices based on the request of the AF, and sends the relative position between the two terminal devices to the AF. By the embodiment of the application, the network equipment determines the relative position between the third terminal equipment and the second terminal equipment based on the request of the AF, and the relative positioning between the second terminal equipment and the third terminal equipment can be realized.

With reference to the fifth or sixth aspect, in certain implementations, the ninth message includes at least one of: an accuracy of the second relative position, a threshold of the second relative position.

With reference to the fifth or sixth aspect, in certain implementations, the second relative position includes at least one of: distance or angle.

In a seventh aspect, a method for determining a location is provided, where the method may be performed by a terminal device, or may also be performed by a component (e.g., a chip or a circuit) of the terminal device, and this is not limited to this, and for convenience of description, the following description will be made by taking a second terminal device as an example.

The method can comprise the following steps: the second terminal device sends an eleventh message to the third terminal device, wherein the eleventh message is used for triggering the third terminal device to send a first relative position, and the first relative position is used for representing the relative position between the third terminal device and the first terminal device; the second terminal device receives a twelfth message from the third terminal device, the twelfth message including the first relative position; and the second terminal device determines a second relative position according to the first relative position and a third relative position, wherein the third relative position is used for representing the relative position between the second terminal device and the first terminal device, and the second relative position is used for representing the relative position between the third terminal device and the second terminal device.

For a scene with a shelter between the second terminal device and the third terminal device, due to the existence of the shelter, signals cannot be directly transmitted between the second terminal device and the third terminal device in a line of sight manner, and if the second terminal device adopts the distance measurement method or the angle measurement method, the obtained relative position precision between the second terminal device and the third terminal device is low. In this embodiment, the second terminal device may obtain the relative position between the third terminal device and the second terminal device with the assistance of the third terminal device. Specifically, the second terminal device receives a twelfth message from the third terminal device, where the twelfth message includes a relative position between the third terminal device and the first terminal device, and the second terminal device determines the relative position between the third terminal device and the second terminal device according to the relative position between the third terminal device and the first terminal device and the relative position between the second terminal device and the first terminal device. According to the embodiment of the application, the third terminal device assists the second terminal device to obtain the relative position between the third terminal device and the second terminal device, so that the relative positioning between the second terminal device and the third terminal device can be realized, and the precision of the relative position between the third terminal device and the second terminal device can be improved.

With reference to the seventh aspect, in certain implementations of the seventh aspect, the method further includes: the second terminal device determines a third relative position.

With reference to the seventh aspect, in certain implementations of the seventh aspect, the method further includes: the eleventh message includes the accuracy of the first relative position.

With reference to the seventh aspect, in certain implementations of the seventh aspect, the method further includes: before the second terminal device sends the eleventh message to the third terminal device, the method further comprises: the first terminal device obtains the accuracy of the first relative position and the accuracy of the third relative position from the accuracy of the second relative position.

With reference to the seventh aspect, in certain implementations of the seventh aspect, the method further includes: the method further comprises the following steps: the second terminal device receives a third message from the first terminal device, where the third message is used to broadcast information of a terminal device that establishes a communication connection with the first terminal device, or the third message is used to broadcast information of a terminal device whose position has been known by the first terminal device, where the third message includes information of the third terminal device.

Based on the above scheme, the first terminal device may send a third message, where the third message is used to broadcast information of one or more terminal devices, and if the one or more terminal devices include a third terminal device, it indicates that the first terminal device is a device capable of assisting in positioning the third terminal device, and then the second terminal device sends an eleventh message to the third terminal device. The one or more terminal devices may be terminal devices that establish a communication connection with the first terminal device, or the first terminal device has learned an absolute position of the one or more terminal devices, or the first terminal device has learned a relative position between the first terminal device and the one or more terminal devices.

With reference to the seventh aspect, in certain implementations of the seventh aspect, the method further includes: before the second terminal device sends the eleventh message to the third terminal device, the method further comprises: the second terminal equipment sends a fourth message, wherein the fourth message is used for discovering terminal equipment for assisting in positioning third terminal equipment, and the fourth message comprises information of the third terminal equipment; the second terminal device receives a response message to the fourth message from the first terminal device.

Based on the above scheme, the second terminal device sends a fourth message, where the fourth message is used to discover a terminal device that assists in positioning the third terminal device, and after receiving a response message from the fourth message of the first terminal device, the second terminal device indicates that the first terminal device is a device that can assist in positioning the third terminal device, and then the second terminal device sends an eleventh message to the third terminal device.

With reference to the seventh aspect, in certain implementations of the seventh aspect, the method further includes: the eleventh message includes information of the first terminal device.

With reference to the seventh aspect, in some implementations of the seventh aspect, the eleventh message includes a positioning time, and the positioning time is used to characterize a time for determining the first relative position.

Based on the scheme, the second terminal device and the third terminal device can respectively obtain the third relative position and the first relative position according to the positioning time, and the positioning accuracy is improved.

With reference to the seventh aspect, in certain implementations of the seventh aspect, the method further includes: the first relative position comprises at least one of: distance or angle; the second relative position includes at least one of: distance or angle; the third relative position comprises at least one of: distance or angle.

In an eighth aspect, a method for determining a position is provided, where the method may be performed by a terminal device, or may also be performed by a component (e.g., a chip or a circuit) of the terminal device, and this is not limited, and for convenience of description, the following description will be given by taking an example of the third terminal device.

The method can comprise the following steps: the third terminal device receives an eleventh message from the second terminal device, wherein the eleventh message is used for triggering the third terminal device to send a first relative position, and the first relative position is used for representing the relative position between the third terminal device and the first terminal device; and the third terminal equipment sends a twelfth message to the second terminal equipment, wherein the twelfth message comprises the first relative position.

For a scene with a shelter between the second terminal device and the third terminal device, due to the existence of the shelter, signals cannot be directly transmitted between the second terminal device and the third terminal device in a line of sight manner, and if the second terminal device adopts the distance measurement method or the angle measurement method, the obtained relative position precision between the second terminal device and the third terminal device is low. In this embodiment, the second terminal device may obtain the relative position between the third terminal device and the second terminal device with the assistance of the third terminal device. Specifically, the third terminal device sends a twelfth message to the second terminal device, where the twelfth message includes the relative position between the third terminal device and the first terminal device, so that the second terminal device can determine the relative position between the third terminal device and the second terminal device according to the relative position between the third terminal device and the first terminal device and the relative position between the second terminal device and the first terminal device. According to the embodiment of the application, the third terminal device assists the second terminal device to obtain the relative position between the third terminal device and the second terminal device, so that the relative positioning between the second terminal device and the third terminal device can be realized, and the precision of the relative position between the third terminal device and the second terminal device can be improved.

With reference to the eighth aspect, in certain implementations of the eighth aspect, the method further includes: the third terminal device determines the first relative position.

With reference to the eighth aspect, in some implementations of the eighth aspect, the eleventh message includes an accuracy of the first relative position; the third terminal device determines the first relative position, including: the third terminal device determines the first relative position according to the accuracy of the first relative position.

With reference to the eighth aspect, in some implementations of the eighth aspect, the eleventh message includes information of the first terminal device.

With reference to the eighth aspect, in some implementations of the eighth aspect, the eleventh message includes a positioning time, the positioning time is used to characterize a time for determining the first relative position, and the third terminal device determines the first relative position, including: and the third terminal equipment determines the first relative position according to the positioning time.

With reference to the eighth aspect, in certain implementations of the eighth aspect, the first relative position includes at least one of: distance or angle.

In a ninth aspect, an apparatus for position determination is provided, which is configured to perform the method in any one of the possible implementations of the first aspect to the eighth aspect. In particular, the apparatus may comprise means and/or modules, such as a processing means and/or a communication means, for performing the method in any one of the possible implementations of the first to eighth aspects.

In one implementation, the apparatus is a communication device (e.g., a terminal device or a network device). When the apparatus is a communication device, the communication unit may be a transceiver, or an input/output interface; the processing unit may be at least one processor. Alternatively, the transceiver may be a transmit-receive circuit. Alternatively, the input/output interface may be an input/output circuit.

In another implementation, the apparatus is a chip, a system of chips, or a circuit for a communication device (e.g., a terminal device or a network device). When the apparatus is a chip, a system of chips or a circuit for a communication device, the communication unit may be an input/output interface, an interface circuit, an output circuit, an input circuit, a pin or a related circuit on the chip, the system of chips or the circuit; the processing unit may be at least one processor, processing circuitry, logic circuitry, or the like.

In a tenth aspect, there is provided an apparatus for position determination, the apparatus comprising: at least one processor configured to execute the computer program or instructions stored in the memory to perform the method in any one of the possible implementations of the first aspect to the second aspect, and the fourth aspect, the seventh aspect, and the eighth aspect. Optionally, the apparatus further comprises a memory for storing the computer program or instructions. Optionally, the apparatus further comprises a communication interface through which the processor reads the computer program or instructions stored by the memory.

In one implementation, the apparatus is a terminal device.

In another implementation, the apparatus is a chip, a system of chips, or a circuit for a terminal device.

In an eleventh aspect, there is provided an apparatus for position determination, the apparatus comprising: at least one processor configured to execute the computer program or instructions stored in the memory to perform the method of any one of the possible implementations of the third aspect or the sixth aspect. Optionally, the apparatus further comprises a memory for storing the computer program or instructions. Optionally, the apparatus further comprises a communication interface through which the processor reads the computer program or instructions stored by the memory.

In one implementation, the apparatus is a network device.

In another implementation, the apparatus is a chip, a system-on-chip, or a circuit for a network device.

In a twelfth aspect, there is provided an apparatus for position determination, the apparatus comprising: at least one processor configured to execute the computer program or instructions stored in the memory to perform the method of any one of the possible implementations of the fifth aspect. Optionally, the apparatus further comprises a memory for storing the computer program or instructions. Optionally, the apparatus further comprises a communication interface through which the processor reads the computer program or instructions stored by the memory.

In one implementation, the apparatus is a device (e.g., AF).

In another implementation, the apparatus is a chip, a system of chips, or a circuit for a device.

In a thirteenth aspect, the present application provides a processor for performing the methods provided by the above aspects.

For operations such as transmitting, acquiring, receiving and the like related to the processor, if not specifically stated, or if not contradictory to the actual role or inherent logic thereof in the related description, operations such as processor output and receiving, input and the like, and operations such as transmitting and receiving performed by the radio frequency circuit and the antenna may be understood, and the present application is not limited thereto.

In a fourteenth aspect, a computer-readable storage medium is provided, which stores program code for execution by a device, the program code comprising instructions for performing the method in any one of the possible implementations of the first to eighth aspects.

In a fifteenth aspect, a computer program product containing instructions is provided, which when run on a computer causes the computer to perform the method of any one of the possible implementations of the first to eighth aspects.

In a sixteenth aspect, a system for position determination is provided, which includes one or more of the foregoing first terminal device, second terminal device, third terminal device, network device, and AF.

Drawings

Fig. 1 shows a schematic diagram of a network architecture.

Fig. 2 shows a schematic diagram of another network architecture.

Fig. 3 is a schematic diagram of a method 300 for determining a position according to an embodiment of the present disclosure.

Fig. 4 is a schematic diagram of another method 400 for position determination according to an embodiment of the present application.

Fig. 5 is a schematic flow chart of a method 500 for position determination provided by an embodiment of the present application.

Fig. 6 is a schematic flow chart diagram of another method 600 for position determination provided by an embodiment of the present application.

Fig. 7 is a schematic flow chart diagram of another method 700 for position determination provided by an embodiment of the present application.

Fig. 8 is a schematic flow chart diagram of another method 800 for position determination provided by an embodiment of the present application.

Fig. 9 is a schematic flow chart diagram of another method 900 for determining a location according to an embodiment of the present application.

Fig. 10 is a schematic flow chart diagram of another method 1000 for position determination provided by an embodiment of the present application.

Fig. 11 is a diagram illustrating another method 1100 for location determination according to an embodiment of the present application.

Fig. 12 is a schematic flow chart of another method 1200 for position determination provided by an embodiment of the present application.

Fig. 13 is a diagram of an apparatus 1300 for position determination according to an embodiment of the present application.

Fig. 14 is a schematic diagram of an apparatus 1400 for providing another position determination according to an embodiment of the present application.

Detailed Description

The technical solution in the present application will be described below with reference to the accompanying drawings.

The technical scheme provided by the application can be applied to various communication systems, such as: fifth generation (5 th generation,5 g) or New Radio (NR) systems, long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, and so on. The technical scheme provided by the application can also be applied to future communication systems, such as a sixth generation mobile communication system. The technical scheme provided by the application can also be applied to device-to-device (D2D) communication, vehicle-to-everything (V2X) communication, machine-to-machine (M2M) communication, machine Type Communication (MTC), and internet of things (IoT) communication systems or other communication systems.

A brief introduction of a network architecture suitable for use in the present application is first provided below.

As an example, fig. 1 shows a schematic diagram of a network architecture.

As shown in FIG. 1, the network architecture is exemplified by the 5G system (the 5 generation system,5 GS). The network architecture may include, but is not limited to: network Slice Selection Function (NSSF), authentication server function (AUSF), unified Data Management (UDM), network Exposure Function (NEF), network storage function (NF) NRF), policy Control Function (PCF), application Function (AF), access and mobility management function (AMF), session Management Function (SMF), user equipment (user equipment, UE), radio access network equipment (ran), user plane function (user plane function, UPF), data network (data network).

Wherein DN can be Internet; NSSF, AUSF, UDM, NEF, NRF, PCF, AF, AMF, SMF, UPF belong to network elements in the core network, which may be referred to as a 5G core network (5G core network,5gc or 5 GCN) since fig. 1 illustrates a 5G system as an example.

The network elements shown in fig. 1 are briefly described below.

1. The UE: and may be referred to as a terminal device, an access terminal, a subscriber unit, a subscriber station, mobile, remote station, remote terminal, mobile device, user terminal, wireless communication device, user agent, or user equipment.

The terminal device may be a device that provides voice/data to a user, such as a handheld device, a vehicle-mounted device, etc. having a wireless connection function. Currently, some examples of terminals are: a mobile phone (mobile phone), a tablet computer, a notebook computer, a palm top computer, a Mobile Internet Device (MID), a Virtual Reality (VR) device, an Augmented Reality (AR) device, a wireless terminal in industrial control (industrial control), a wireless terminal in self driving (self driving), an Unmanned Aerial Vehicle (UAV), a controller, a wireless terminal in remote surgery (remote medical supply), a wireless terminal in smart grid (smart grid), a wireless terminal in transportation safety (transportation safety), a wireless terminal in smart city (smart city), a wireless terminal in smart home (smart home), a cellular phone, a PDA, a Session Initiation Protocol (SIP), a wireless terminal in smart phone city (smart phone), a wireless terminal in wireless local network (wireless modem, wireless network (wireless modem), a wireless terminal in wireless local network (wireless network), a wireless network device (wireless network) or other devices with wireless network function (PLMN) or wireless network function not limited to wireless network (wireless network) and not limited to wireless network (wireless network) or wireless network (wireless network) devices.

By way of example and not limitation, in the embodiments of the present application, the terminal device may also be a wearable device. Wearable equipment can also be called wearable intelligent equipment, is the general term of applying wearable technique to carry out intelligent design, develop the equipment that can dress to daily wearing, like glasses, gloves, wrist-watch, dress and shoes etc.. The wearable device may be worn directly on the body or may be a portable device integrated into the user's clothing or accessory. The wearable device is not only a hardware device, but also realizes powerful functions through software support, data interaction and cloud interaction. The generalized wearable smart device includes full functionality, large size, and can implement full or partial functionality without relying on a smart phone, such as: smart watches or smart glasses and the like, and only focus on a certain type of application function, and need to be matched with other equipment such as a smart phone for use, such as various smart bracelets for physical sign monitoring, smart jewelry and the like.

In addition, in the embodiment of the application, the terminal device may also be a terminal device in an IoT system, where IoT is an important component of future information technology development, and the main technical feature of the IoT system is to connect an article with a network through a communication technology, so as to implement an intelligent network with interconnected human-computer and interconnected articles.

It should be noted that the terminal device and the access network device may communicate with each other by using a certain air interface technology (such as NR or LTE technology). The terminal device and the terminal device may also communicate with each other by using a certain air interface technology (such as NR or LTE technology).

In the embodiment of the present application, the apparatus for implementing the function of the terminal device may be the terminal device, or may be an apparatus capable of supporting the terminal device to implement the function, such as a system on a chip or a chip, and the apparatus may be installed in the terminal device. In the embodiment of the present application, the chip system may be composed of a chip, and may also include a chip and other discrete devices.

2. (radio) access network (R) AN device: the function of accessing the communication network may be provided for authorized users in a specific area, and specifically, the function may include a wireless network device in a third generation partnership project (3 rd generation partnership project,3 GPP) network and an access point in a non-3GPP (non-3 GPP) network. The following is represented by AN apparatus for convenience of description.

The AN devices may be of different radio access technologies. There are two types of current radio access technologies: 3GPP access technologies (e.g., radio access technologies employed in third generation (3rd generation, 3G), fourth generation (4th generation, 4G), or 5G systems) and non-3GPP (non-3 GPP) access technologies. The 3GPP access technology refers to an access technology conforming to 3GPP standard specifications, for example, an access network device in a 5G system is called a next generation Base station (gNB) or RAN device. The non-3GPP access technology may include an air interface technology represented by an Access Point (AP) in wireless fidelity (WiFi), worldwide Interoperability for Microwave Access (WiMAX), code Division Multiple Access (CDMA), and the like. The AN device may allow interworking between the terminal device and the 3GPP core network using non-3GPP technology.

The AN device can be responsible for functions of radio resource management, quality of service (QoS) management, data compression and encryption, etc. on the air interface side. The AN equipment provides access service for the terminal equipment, and then forwarding of the control signal and the user data between the terminal equipment and the core network is completed.

AN devices may include, for example, but are not limited to: macro base stations, micro base stations (also called small stations), radio Network Controllers (RNCs), node bs (Node bs, NB), base Station Controllers (BSCs), base Transceiver Stations (BTSs), home base stations (e.g., home evolved NodeB, or home Node B, HNBs), base Band Units (BBUs), APs, wireless relay nodes, wireless backhaul nodes, transmission Points (TPs) or Transmission Reception Points (TRPs) in a WiFi system, and may also be a gbb or a transmission point (TRP or TP) in a 5G (e.g., NR) system, one or a group (including multiple antenna panels) of base stations in a 5G system, or may also be a network Node constituting a NB or a transmission point, such as a distributed unit (distributed unit), or a next generation communication base station in a 6G system. The embodiment of the present application does not limit the specific technology and the specific device form used by the AN device.

3. AMF: the method is mainly used for functions of access control, mobility management, attachment and detachment and the like.

4. SMF: the method is mainly used for user plane network element selection, user plane network element redirection, internet Protocol (IP) address allocation of terminal equipment, session establishment, modification and release and QoS control.

5. UPF: the method is mainly used for receiving and forwarding the user plane data. For example, the UPF may receive user plane data from the DN and transmit the user plane data to the terminal device through the AN device. The UPF may also receive user plane data from the end device through the AN device and forward to the DN.

6. NEF: mainly for securely opening services and capabilities provided by 3GPP network functions to the outside, and the like.

7. PCF: the method is mainly used for guiding a unified policy framework of network behaviors, providing policy rule information for control plane network elements (such as AMF, SMF and the like), and the like.

8. AF: the method is mainly used for providing services for the 3GPP network, such as interacting with PCF for policy control and the like.

9. Network Slice Selection Function (NSSF): the method is mainly used for network slice selection.

10. UDM: the method is mainly used for subscription data management of the UE, and comprises storage and management of UE identification, access authorization of the UE and the like.

11. DN: mainly for operator networks providing data services for UEs. Such as the Internet (Internet), a third party's service network, an IP Multimedia Services (IMS) network, etc.

12. AUSF: the method is mainly used for user authentication and the like.

13. NRF: the method is mainly used for storing the description information of the network functional entity and the service provided by the network functional entity, and the like.

As an example, fig. 2 shows a schematic diagram of another network architecture.

As shown in fig. 2, the network architecture is exemplified by a 5G loCation services (LCS) (5G LCS) architecture. The network architecture may include, but is not limited to: UE, AN apparatus, AMF, location Management Function (LMF), UDM, NEF, gateway Mobile Location Center (GMLC), location Retrieval Function (LRF), LCS client (LCS client), and AF. The LMF is mainly used for managing and controlling a location service request of the UE, and for example, the LMF may send location-related auxiliary information to the UE based on an LTE Positioning Protocol (LPP). GMLC is mainly used to open location services to external LCS clients. The LRF is mainly used to obtain location information about the UE for external LCS clients. In the unmanned aerial vehicle scenario, NEF may also be replaced with an Unmanned Air System (UAS) network open (NF) (UAS NF). UAS NF: the unmanned aerial vehicle identification method is mainly used for unmanned aerial vehicle authorization, tracking and identification. For other network elements in fig. 2, reference may be made to the above description, and details are not repeated.

It should be understood that the network architectures shown in fig. 1 and fig. 2 are only exemplary, and the network architecture to which the embodiments of the present application are applied is not limited thereto, and any network architecture capable of implementing the functions of the network elements described above is applicable to the embodiments of the present application.

It should also be understood that the functions or network elements shown in fig. 1 and 2, such as AMF, SMF, UPF, PCF, UDM, NSSF, AUSF, etc., can be understood as network elements for implementing different functions, e.g., can be combined into network slices as needed. These network elements may be independent devices, or may be integrated in the same device to implement different functions, or may be network elements in a hardware device, or may be software functions running on dedicated hardware, or virtualization functions instantiated on a platform (e.g., a cloud platform), and the present application is not limited to the specific form of the above network elements.

It is also to be understood that the above-described nomenclature is defined merely to distinguish between different functions, and is not intended to limit the application in any way. This application does not exclude the possibility of using other nomenclature in 6G networks and other networks in the future. For example, in a 6G network, some or all of the above network elements may follow the terminology in 5G, and may also adopt other names, etc.

To facilitate understanding of the embodiments of the present application, terms referred to in the present application will be briefly described.

1. Absolute position (absolute position) of terminal device: may refer to the geographical location of the terminal device, may be a specific fixed point, and may be represented by a coordinate system such as latitude and longitude.

The method for acquiring the absolute position of the terminal device or other terminal devices is not limited by the application. Take UE1 as an example to obtain the absolute position.

In a possible manner, the UE1 may obtain the absolute position of itself from the network side, and the UE1 may also obtain the absolute positions of other terminal devices from the network side, and the specific obtaining manner may refer to the existing process, which is not described in detail herein.

In another possible way, UE1 may determine its own absolute position, and UE1 may also determine the absolute positions of other terminal devices.

Taking the UE1 determining its own absolute position as an example, for example, the UE1 may determine the absolute position of the UE1 itself by using a geometric computation method according to the relative position between the UE1 and a certain terminal device and the absolute position of the certain terminal device.

Taking UE1 to determine the absolute position of a certain terminal device as an example, UE1 may determine the absolute position of the certain terminal device according to the relative position between UE1 and the certain terminal device and the absolute position of UE1 by using a geometric calculation method, for example.

It should be noted that the geometric computation method belongs to the prior art, and details are not described in this application.

The present application does not limit the manner in which the network device determines the absolute location of the terminal device. The method for determining the absolute position of the terminal device by the network device may refer to the existing process, which is not described in detail herein.

2. Relative position between terminal devices: the position of another terminal device relative to a certain terminal device with reference to the certain terminal device may be referred to as a relative position.

Taking UE1 and UE2 as an example, the relative position between UE1 and UE2 may be described as the position of UE2 relative to UE1 with UE1 as a reference; or may also be described as the position of UE1 relative to UE2, with UE2 as a reference.

Relative positions may include: distance and/or angle. Taking UE1 and UE2 as an example, the relative position between UE1 and UE2 may include at least one of the following: the distance between UE1 and UE2, or the angle between UE1 and UE 2.

The distance between UE1 and UE2 may be an absolute distance between UE1 and UE 2.

The angle between the UE1 and the UE2 may be an angle of arrival (AoA) or an angle of departure (AoD). The arrival angle is used for representing an included angle between the direction of receiving the signal by the receiving end and the reference direction; and the departure angle is used for indicating the included angle between the direction of the signal sent by the sending end and the reference direction.

Wherein the reference direction may be a direction determined according to a position and/or a shape of the antenna. As an example, the reference direction may be a direction perpendicular to a normal direction of the antenna array.

The manner in which the relative position between two terminal devices is determined is not limited by this application. Taking the determination of the relative position between the UE1 and the UE2 as an example, the relative position can be obtained by performing relative positioning between the UE1 and the UE 2. The relative positioning between the UE1 and the UE2 may include: measure the distance between UE1 and UE2, and/or measure the angle between UE1 and UE 2.

The manner of measuring the distance between UE1 and UE2 may include: the UE1 sends a ranging signal to the UE2, the UE2 sends a feedback signal to the UE1 after receiving the ranging signal, the UE1 receives the feedback signal, and the UE1 calculates the distance between the UE1 and the UE2 according to the time difference between the sending of the ranging signal and the receiving of the feedback signal. Specifically, let the distance between UE1 and UE2 be denoted as D, D can be determined by: d = time of flight x speed of light, where time of flight (TOF) satisfies: TOF = T _prop ＝(T _round -T _reply )/2. Wherein, T _round Represents the length of time, T, between the time UE1 sends a ranging signal to UE2 and the time UE1 receives a feedback signal from UE2 _reply Represents the length of time between the time when UE2 receives the ranging signal from UE1 and the time when UE2 transmits the feedback signal to UE 1.

The manner of measuring the angle between UE1 and UE2 may include: UE1 sends a signal to UE2, UE2 receives the signal, and the angle of UE1 relative to UE2 is taken as the angle between UE1 and UE2, and the angle of UE1 relative to UE2 may be the angle between the direction in which UE2 receives the signal and the reference direction (i.e. the angle of arrival), or may also be the angle between the direction of the signal sent by UE1 and the reference direction (i.e. the angle of departure).

The above is an exemplary illustration, and the present application is not limited thereto, and as to the manner of determining the relative position, reference may be made to the existing flow, without limitation.

3. Accuracy (accuracy): the degree of error magnitude between the measured data and the actual data may be referred to as accuracy.

The accuracy of the position is used to indicate the degree of error between the measured position and the actual position (or referred to as the true position). If the accuracy is high, it may indicate that the error between the measured position and the actual position is small, i.e. the measured position is close to the actual position.

Typically, the accuracy may be a range. Assuming that the measured object includes distance, the accuracy may be: m is less than or equal to m, m being a number greater than 0. Taking the example of measuring the distance between UE1 and UE2, if m is 0.5 m, the accuracy is: less than or equal to 0.5 meter, the error between the distance between UE1 and UE2 measured by UE1 and the actual distance between UE1 and UE2 is less than or equal to 0.5 meter.

It is understood that when the measured objects include distance and angle, there may be 2 accuracies, one for measuring distance (e.g., with an accuracy of less than or equal to 0.5 meters, i.e., the measured distance between UE1 and UE2, and the actual distance between UE1 and UE2, with an error of no more than 0.5 meters), and another for measuring angle (e.g., with an accuracy of less than or equal to 2 degrees, i.e., the measured angle between UE1 and UE2, and the actual angle between UE1 and UE2, with an error of no more than 2 degrees).

Accuracy, which can be used to select appropriate transmission parameters during the measurement process. The transmission parameters may, for example, comprise at least one of: bandwidth used to transmit and/or receive signals during the measurement, and a beam used to transmit and/or receive signals during the measurement (e.g., a beam width used to transmit and/or receive signals). Assuming that the measured object includes the distance between UE1 and UE2, the transmission parameters may include: the bandwidth employed in transmitting and/or receiving signals during the distance between UE1 and UE2 is measured. Specifically, if the accuracy is high, it indicates that the error between the measured position and the actual position is small, so when measuring the distance between UE1 and UE2, a larger bandwidth may be used to transmit and/or receive the signal (since the larger the signal bandwidth, the shorter the slot length for transmitting the signal, the more accurate the calculated distance). Assuming that the object of measurement includes an angle between UE1 and UE2, the transmission parameters may include: the beam width used for transmitting and/or receiving signals during the distance between UE1 and UE2 is measured. Specifically, if the accuracy is high, it indicates that the error between the measured position and the actual position is small, so that when measuring the angle between UE1 and UE2, a finer beam may be used to transmit and/or receive signals (because the finer the beam is, the more accurate the direction is).

It is to be understood that the term "and/or" herein is merely one type of association relationship describing an associated object, meaning that three types of relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

The above description is provided for the simple description of the terms involved in the present application, and the description in the following embodiments is omitted. In addition, the determination of the relative position or the absolute position is mentioned several times below, and the specific determination manner may refer to the above description, which is not described in detail in the following embodiments.

The method for determining a position provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments provided in this application may be applied to the network architecture shown in fig. 1 or fig. 2, and are not limited.

Fig. 3 is a schematic diagram of a method 300 for determining a position according to an embodiment of the present disclosure. The method 300 may include the following steps.

S301, the second terminal device sends a first message to the first terminal device.

Accordingly, the first terminal device receives the first message from the second terminal device.

Wherein the first message may be used to request a first target location. The first target location comprises at least one of: a first relative position, an absolute position of the third terminal device, or a second relative position.

Wherein the first relative position may be used to characterize the relative position between the third terminal device and the first terminal device. The first relative position comprises at least one of: distance or angle. In particular, the first relative position comprises at least one of: a distance between the third terminal device and the first terminal device, or an angle between the third terminal device and the first terminal device.

Wherein the second relative position may be used to characterize the relative position between the third terminal device and the second terminal device. The second relative position includes at least one of: distance or angle. Specifically, the second relative position includes at least one of: a distance between the third terminal device and the second terminal device, or an angle between the third terminal device and the second terminal device.

The first message may be an existing message, such as a proximity-based services communication 5 (pc5) Radio Resource Control (RRC) message, or a PC5 signaling (PC 5-signaling, PC 5-S); or may be a newly defined message, such as a location request message (location request message), without limitation.

S302, the first terminal device sends a second message to the second terminal device according to the first message.

Wherein the second message may include the first target location.

For example, if the first message is used to request the first relative position, the second message sent by the first terminal device to the second terminal device includes the first relative position. For another example, if the first message is used to request the absolute position of the third terminal device, the second message sent by the first terminal device to the second terminal device includes the absolute position of the third terminal device. For another example, if the first message is used to request the second relative position, the second message sent by the first terminal device to the second terminal device includes the second relative position.

Accordingly, the second terminal device receives a second message from the first terminal device, the second message including the first target location. Further method 300 may include: and the second terminal equipment obtains a second relative position according to the second message. For example, if the second message includes the first relative position, the obtaining, by the second terminal device, the second relative position according to the second message includes: and the second terminal equipment determines a second relative position according to the first relative position. For another example, if the second message includes the absolute position of the third terminal device, the obtaining, by the second terminal device, the second relative position according to the second message includes: the second terminal device determines a second relative position based on the absolute position of the third terminal device. For another example, if the second message includes the second relative position, the obtaining, by the second terminal device, the second relative position according to the second message includes: the second terminal device obtains the second relative position from the second message. Obviously, in the case that the second message includes the second relative position, the second terminal device obtains the second relative position according to the second message, which can be understood as: the second relative position is directly obtained from the second message, obviously, in this case, the steps may not be performed: and the second terminal equipment acquires a second relative position according to the second message.

For a scene with a shielding object between the second terminal device and the third terminal device, due to the existence of the shielding object, a signal cannot be directly transmitted between the second terminal device and the third terminal device in a line-of-sight manner, and if the second terminal device directly measures the distance between the second terminal device and the third terminal device by using a distance measuring method or the second terminal device directly measures the angle between the second terminal device and the third terminal device by using an angle measuring method, the obtained relative position accuracy between the second terminal device and the third terminal device is low. By adopting the method provided by the above embodiment, the first terminal device may assist the second terminal device to obtain the relative position between the third terminal device and the second terminal device. Specifically, the first terminal device receives a first message from a second terminal device, and sends a second message to the second terminal device according to the first message, where the second message includes the first target location, and the first target location includes at least one of: a relative position between the third terminal device and the first terminal device, an absolute position of the third terminal device, or a relative position between the third terminal device and the second terminal device. By the method provided by the embodiment, the first terminal device assists the second terminal device to obtain the relative position between the third terminal device and the second terminal device, so that the relative positioning between the second terminal device and the third terminal device can be realized, and the accuracy of the relative position between the third terminal device and the second terminal device can be improved.

Optionally, the method 300 further comprises: the first terminal device determines a first target position.

For example, the first terminal device may determine the first target location according to a first message, where the first terminal device receives the first message and triggers the first terminal device to determine the first target location.

The first terminal device may determine the first target location in different embodiments. Each of which is described in detail below.

As a first possible scenario, the first target location includes the second relative location, and the first terminal device determines the first target location, including: the first terminal equipment obtains the absolute position of the second terminal equipment and the absolute position of the third terminal equipment; and the first terminal equipment determines the second relative position according to the absolute position of the second terminal equipment and the absolute position of the third terminal equipment.

For example, the first terminal device obtains the absolute position of the second terminal device and the absolute position of the third terminal device, and the first terminal device obtains the relative position between the third terminal device and the second terminal device according to the absolute position of the second terminal device and the absolute position of the third terminal device by using a geometric calculation method.

It should be noted that obtaining the relative position between two terminal devices according to the absolute positions of the two terminal devices by using a geometric calculation method belongs to the prior art, and is not described in detail herein.

For a specific manner of obtaining the absolute position of the second terminal device and the absolute position of the third terminal device, reference may be made to the description above of UE1 obtaining the absolute positions of other terminal devices, which is not described again.

Further, in combination with the first possible scenario, the obtaining, by the second terminal device, the second relative position according to the second message may include: the second terminal device obtains the second relative position from the second message.

Specifically, the first terminal device determines a second relative position according to the absolute position of the second terminal device and the absolute position of the third terminal device, and sends a second message to the second terminal device, where the second message includes the second relative position; the second terminal device receives a second message from the first terminal device, and the second terminal device can acquire the second relative position from the second message.

As a second possible scenario, the first target location includes a second relative location, and the first terminal device determines the first target location, including: the first terminal device determines the first relative position and the third relative position, and determines the second relative position based on the first relative position and the third relative position.

Wherein the third relative position can be used to characterize the relative position between the second terminal device and the first terminal device. The third relative position includes at least one of: distance or angle. In particular, the third relative position comprises at least one of: the distance between the second terminal device and the first terminal device, or the angle between the second terminal device and the first terminal device.

For example, the first terminal device determines a relative position between the third terminal device and the first terminal device and a relative position between the second terminal device and the first terminal device, and the first terminal device obtains the relative position between the third terminal device and the second terminal device according to the relative position between the third terminal device and the first terminal device and the relative position between the second terminal device and the first terminal device by using a geometric calculation method. In this example, how to obtain the relative position between the third terminal device and the second terminal device by using the geometric calculation method belongs to the prior art, and details are not described again.

For the relative position between the third terminal device and the first terminal device and the relative position between the second terminal device and the first terminal device, reference may be made to the description above for determining the relative position between UE1 and UE2, which is not described in detail again.

Further, in combination with the second possible situation, the obtaining, by the second terminal device, the second relative position according to the second message may include: the second terminal device obtains the second relative position from the second message.

Specifically, the first terminal device determines a second relative position according to the relative position between the third terminal device and the first terminal device and the relative position between the second terminal device and the first terminal device, and sends a second message to the second terminal device, where the second message includes the second relative position; the second terminal device receives a second message from the first terminal device, and the second terminal device can acquire the second relative position from the second message.

As a third possible scenario, the first target location includes an absolute location of the third terminal device, and the first terminal device determines the first target location, including: the first terminal device determines a first relative position and, based on the first relative position and the absolute position of the first terminal device, determines an absolute position of the third terminal device.

For example, the first terminal device determines a relative position between the third terminal device and the first terminal device, and the first terminal device obtains an absolute position of the third terminal device by using a geometric calculation method according to the relative position between the third terminal device and the first terminal device and the absolute position of the first terminal device. For the relative position between the third terminal device and the first terminal device, reference may be made to the description above for determining the relative position between UE1 and UE2, which is not described in detail again.

For a specific manner of obtaining the absolute position of the first terminal device, reference may be made to the description above of UE1 obtaining its own absolute position, which is not described again.

Further, in combination with the third possible scenario, the obtaining, by the second terminal device, the second relative position according to the second message may include: the second terminal device determines a second relative position based on the absolute position of the third terminal device.

Specifically, the first terminal device determines an absolute position of the third terminal device according to the first relative position and the absolute position of the first terminal device, and sends a second message to the second terminal device, where the second message includes the absolute position of the third terminal device; the second terminal device receives a second message from the first terminal device, and the second terminal device determines a second relative position according to the absolute position of the third terminal device.

The determining, by the second terminal device, the second relative position according to the absolute position of the third terminal device may include: and the second terminal equipment obtains the relative position between the third terminal equipment and the second terminal equipment according to the absolute position of the third terminal equipment and the absolute position of the second terminal equipment. For a specific manner of obtaining the absolute position of the second terminal device, reference may be made to the description above of UE1 obtaining the absolute positions of other terminal devices, and details are not repeated.

As a fourth possible scenario, the first target location includes a first relative location, and the determining, by the first terminal device, the first target location includes: the first terminal device determines a first relative position.

For determining the relative position between the third terminal device and the first terminal device, reference may be made to the description above for determining the relative position between UE1 and UE2, which is not described in detail again.

Further, in combination with the fourth possible scenario, the obtaining, by the second terminal device, the second relative position according to the second message may include: the second terminal device determines a second relative position according to the first relative position.

Specifically, a first terminal device determines a first target position and sends a second message to a second terminal device, wherein the second message comprises a first relative position; and the second terminal equipment receives a second message from the first terminal equipment, and determines a second relative position according to the first relative position.

The determining, by the second terminal device, the second relative position according to the first relative position may include: and the second terminal equipment determines the second relative position according to the first relative position and the third relative position. For example, the second terminal device obtains the relative position between the third terminal device and the second terminal device according to the relative position between the third terminal device and the first terminal device and the relative position between the second terminal device and the first terminal device by using a geometric calculation method. The third relative position may be determined by the first terminal device, for example, the first target position includes the third relative position; or may be determined by the second terminal device, without limitation. For the relative position between the third terminal device and the first terminal device and the relative position between the second terminal device and the first terminal device, reference may be made to the description of the relative position between UE1 and UE2, which is not described in detail herein.

Or, the determining, by the second terminal device, the second relative position according to the first relative position may include: the second terminal device determines the absolute position of the third terminal device according to the first relative position and the absolute position of the first terminal device; and the second terminal equipment determines a second relative position according to the absolute position of the third terminal equipment and the absolute position of the second terminal equipment. For example, the second terminal device determines the absolute position of the third terminal device according to the relative position between the third terminal device and the first terminal device and the absolute position of the first terminal device by using a geometric calculation method, and obtains the relative position between the third terminal device and the second terminal device according to the absolute position of the third terminal device and the absolute position of the second terminal device. For the relative position between the third terminal device and the first terminal device, reference may be made to the description of the relative position between UE1 and UE2, which is not described in detail herein. For a specific manner of obtaining the absolute position of the first terminal device, reference may be made to the description of obtaining the absolute position by UE1 above, and details are not repeated.

As a fifth possible scenario, the first target location includes a first relative location and an absolute location of the third terminal device, and the first terminal device determines the first target location, including: the first terminal device determines a first relative position and an absolute position of the third terminal device.

For determining the absolute position of the third terminal device by the first terminal device, reference may be made to the description in the third possible scenario above, and details are not repeated. For the first terminal device to determine the first relative position, reference may be made to the description in the fourth possible scenario above, and details are not repeated.

Further, with reference to the fifth possible scenario, the obtaining, by the second terminal device, the second relative position according to the second message may include: the second terminal device determines a second relative position based on the first relative position and an absolute position of the third terminal device.

Specifically, the first terminal device determines a first relative position and an absolute position of the third terminal device, and sends a second message to the second terminal device, where the second message includes the first relative position and the absolute position of the third terminal device; and the second terminal equipment receives a second message from the first terminal equipment, and determines a second relative position according to the first relative position and the absolute position of the third terminal equipment.

The determining, by the second terminal device, the second relative position according to the first relative position and the absolute position of the third terminal device may include: the second terminal equipment determines the absolute position of the first terminal equipment according to the first relative position and the absolute position of the third terminal equipment; the second terminal equipment determines a third relative position according to the absolute position of the first terminal equipment and the absolute position of the second terminal equipment; and the second terminal equipment determines the second relative position according to the first relative position and the third relative position. For example, the second terminal device determines the absolute position of the first terminal device according to the relative position between the third terminal device and the first terminal device and the absolute position of the third terminal device by using a geometric calculation method; determining the relative position between the second terminal equipment and the first terminal equipment according to the absolute position of the first terminal equipment and the absolute position of the second terminal equipment; and obtaining the relative position between the third terminal device and the second terminal device according to the relative position between the third terminal device and the first terminal device and the relative position between the second terminal device and the first terminal device. For a specific manner of obtaining the absolute position of the second terminal device, reference may be made to the description of obtaining the absolute position by UE1 above, which is not described in detail again.

It is to be understood that the above description is intended to be illustrative, and not restrictive.

Optionally, in an implementation scenario of the foregoing embodiment, the first message includes at least one of: an accuracy of the first target location, a threshold of the second relative location, or the first information.

In a first example, the first message includes an accuracy of the first target location. Further optionally, the method 300 further comprises: the first terminal device determines the first target position according to the accuracy of the first target position.

The accuracy of the first target position can be used for the first terminal device to select an appropriate transmission parameter in the process of determining the first target position. Transmission parameters may include at least one of: bandwidth used to transmit and/or receive signals, and a beam used to transmit and/or receive signals (e.g., a beamwidth used to transmit and/or receive signals). Take the example that the first target position includes the second relative position. Specifically, if the accuracy of the second relative position is higher, it indicates that the error between the measured second relative position and the actual second relative position is small, so that when the second relative position is measured, a larger bandwidth may be used to transmit and/or receive signals (since the larger the signal bandwidth is, the shorter the time slot length for transmitting the signal is, the more accurate the calculated distance is), and/or a finer beam may be used to transmit and/or receive signals (since the finer the beam is, the more accurate the direction is).

Optionally, if the first target position includes the first relative position and/or the second relative position in step S301, the accuracy of the first target position includes at least one of the following: distance accuracy, or angle accuracy. Take the example that the first target position includes the second relative position. For example, the accuracy of the distance is less than or equal to m, which means that the error between the distance between the third terminal device and the second terminal device (or measured by the first terminal device) determined by the first terminal device and the actual distance between the third terminal device and the second terminal device does not exceed m. As another example, the accuracy of the angle is less than or equal to d (the unit of d is, for example, degrees), that is, the error between the angle determined by the first terminal device (or measured by the first terminal device) between the third terminal device and the second terminal device and the actual angle between the third terminal device and the second terminal device does not exceed d.

Optionally, in step S301, the first target position includes a second relative position, and the method 300 further includes: the first terminal equipment obtains first accuracy and second accuracy according to the accuracy of the first target position; the determining, by the first terminal device, the first target location according to the accuracy of the first target location may include: the first terminal equipment determines a first relative position according to the first accuracy; the first terminal equipment determines a third relative position according to the second accuracy; and the first terminal equipment determines the second relative position according to the first relative position and the third relative position.

Wherein, the "obtaining, by the first terminal device, the first accuracy and the second accuracy according to the accuracy of the first target position" can be achieved in the following two ways.

In a first mode, the accuracy of the first target location includes a first accuracy and a second accuracy, and obtaining the first accuracy and the second accuracy by the first terminal device according to the accuracy of the first target location may be understood as directly obtaining from the accuracy of the first target location in the first message. Obviously, in this case, the steps may not be performed: the first terminal device obtains a first accuracy and a second accuracy from the accuracy of the first target position.

In a second mode, the first terminal device determines the first accuracy and the second accuracy according to the accuracy of the first target position.

Taking distance as an example, if the accuracy of the first target position includes the accuracy of the distance, the accuracy of the distance is less than or equal tom, the first terminal device may determine: the first accuracy is less than or equal to x ₁ * m, second accuracy is less than or equal to x ₂ * And m is selected. Wherein x is ₁ And x ₂ Is a number greater than 0 and less than 1, exemplarily x ₁ And x ₂ The sum being less than or equal to 1, e.g. x ₁ And x ₂ Is 0.5. Specifically, the error between the distance between the third terminal device and the first terminal device determined by the first terminal device and the actual distance between the third terminal device and the first terminal device is less than or equal to x ₁ * m; the error between the distance between the second terminal equipment and the first terminal equipment determined by the first terminal equipment and the actual distance between the second terminal equipment and the first terminal equipment is less than or equal to x ₂ *m。

Taking the angle as an example, if the accuracy of the first target position includes the accuracy of the angle, which is less than or equal to d, the first terminal device may determine that: a first accuracy of less than or equal to y ₁ * d, the second accuracy is less than or equal to y ₂ * d. Wherein, y ₁ And y ₂ Is a number greater than 0 and less than 1, exemplarily, y ₁ And y ₂ The sum being less than or equal to 1, e.g. y ₁ And y ₂ Is 0.5. Specifically, the error between the angle between the third terminal device and the first terminal device determined by the first terminal device and the actual angle between the third terminal device and the first terminal device is less than or equal to y ₁ * d; the error between the angle between the second terminal equipment and the first terminal equipment determined by the first terminal equipment and the actual angle between the second terminal equipment and the first terminal equipment is less than or equal to y ₂ *d。

For example, the accuracy of the first target position includes a first accuracy, the first terminal device determines a second accuracy according to the first accuracy, and the first terminal device obtains the first accuracy and the second accuracy. For example, if the accuracy of the first target location includes the first accuracy, the second accuracy determined by the first terminal device may be the same as or different from the first accuracy, without limitation.

For another example, the accuracy of the first target position includes a second accuracy, the first terminal device determines the first accuracy according to the second accuracy, and the first terminal device obtains the first accuracy and the second accuracy. For example, if the accuracy of the first target location includes the second accuracy, the first accuracy determined by the first terminal device may be the same as or different from the second accuracy, without limitation.

In a second example, the first message includes the first information. Further optionally, the method 300 further comprises: the first terminal device sends the first target position to the third terminal device.

It should be noted that the second example can be combined with the foregoing examples without limitation.

Wherein the first information may be used to trigger (or characterize, or indicate, or inform) the first terminal device to send the first target location to the third terminal device.

Specifically, the first message includes first information, and the first terminal device learns, according to the first information, to send the first target position to the third terminal device, so that the first terminal device can send the first target position to the third terminal device after determining the first target position.

In one possible embodiment, the first information is implemented by one or more bits. For example, if it is assumed that 1 bit is used to indicate whether the first terminal device sends the first target location to the third terminal device, if the bit is set to "0", it indicates that the first terminal device sends the first target location to the third terminal device; if the bit is set to "1", it indicates that the first terminal device does not transmit the first target location to the third terminal device. It is to be understood that the above description is intended to be illustrative, and not restrictive.

In a third example, the first message includes a threshold value for the second relative position. Further optionally, step S302 includes: and the first terminal equipment sends a second message to the second terminal equipment according to the second relative position and the threshold value of the second relative position, wherein the second message comprises the second relative position.

It should be noted that the third example can be combined with the foregoing examples without limitation.

The threshold of the second relative position may be used for the first terminal device to determine (or determine) whether to send the second relative position to the second terminal device.

Here, the "first terminal device sends the second message to the second terminal device according to the second relative position and the threshold value of the second relative position," where the second message includes the second relative position "may be understood by the following example.

For example, if the second relative position is a distance between the third terminal device and the second terminal device, and the threshold of the second relative position is a distance (which may be referred to as a distance threshold), the first terminal device sends a second message to the second terminal device when the distance between the third terminal device and the second terminal device determined by the first terminal device is smaller than or equal to the distance threshold, where the second message includes the distance between the third terminal device and the second terminal device.

For another example, if the second relative position is an angle between the third terminal device and the second terminal device, and the threshold of the second relative position is an angle (which may be referred to as an angle threshold), the first terminal device sends a second message to the second terminal device when the angle between the third terminal device and the second terminal device determined by the first terminal device is smaller than or equal to the angle threshold, where the second message includes the angle between the third terminal device and the second terminal device; or, when the angle between the third terminal device and the second terminal device determined by the first terminal device is greater than or equal to the angle threshold, the first terminal device sends a second message to the second terminal device, where the second message includes the angle between the third terminal device and the second terminal device.

As another example, if the second relative position includes: the angle between the third terminal device and the second terminal device, and the distance between the third terminal device and the second terminal device, where the threshold of the second relative position includes an angle threshold and a distance threshold, then the distance between the third terminal device and the second terminal device determined by the first terminal device is less than or equal to the distance threshold, and the angle between the third terminal device and the second terminal device is less than or equal to the angle threshold, the first terminal device sends a second message to the second terminal device, where the second message includes the distance and the angle between the third terminal device and the second terminal device; or, the first terminal device sends a second message to the second terminal device under the condition that the distance between the third terminal device and the second terminal device, which is determined by the first terminal device, is smaller than or equal to the distance threshold value, and the angle between the third terminal device and the second terminal device is greater than or equal to the angle threshold value, where the second message includes the distance and the angle between the third terminal device and the second terminal device.

In a fourth example, the first message includes the first information and a threshold value for the second relative position. Further optionally, the method 300 further comprises: and the first terminal equipment sends the second relative position to the third terminal equipment according to the second relative position and the threshold value of the second relative position.

For example, if the second relative position is a distance between the third terminal device and the second terminal device, and the threshold of the second relative position is a distance threshold, the first terminal device sends the distance between the third terminal device and the second terminal device to the third terminal device if the first message includes the first information under the condition that the distance between the third terminal device and the second terminal device determined by the first terminal device is smaller than or equal to the distance threshold.

For another example, if the second relative position is an angle between the third terminal device and the second terminal device, and the threshold of the second relative position is an angle threshold, the first terminal device sends the angle between the third terminal device and the second terminal device to the third terminal device if the first message includes the first message under the condition that the angle between the third terminal device and the second terminal device, which is determined by the first terminal device, is smaller than or equal to the angle threshold; or, when the angle between the third terminal device and the second terminal device determined by the first terminal device is greater than or equal to the angle threshold, if the first message includes the first information, the first terminal device sends the angle between the third terminal device and the second terminal device to the third terminal device.

The order of the determination condition based on the first information and the determination condition based on the threshold value of the second relative position may be changed. For example, in a case that the first message includes the first information, if the distance between the third terminal device and the second terminal device determined by the first terminal device is smaller than or equal to the distance threshold, the first terminal device sends the distance between the third terminal device and the second terminal device to the third terminal device.

Optionally, in another implementation scenario of the foregoing embodiment, the method 300 further includes: the first terminal device sends a third message.

The third message may be an existing message, such as a discovery announcement (discovery announcement) message, or may be a newly defined message, which is not limited.

The third message may be used to broadcast information of a terminal device that establishes a communication connection with the first terminal device, or the third message may be used to broadcast information of a terminal device whose location has been known by the first terminal device. The terminal device whose position is known by the first terminal device may include at least one of: the first terminal device already knows the terminal device of the absolute position, or the first terminal device already knows the terminal device of the relative position between the first terminal device and the first terminal device.

The third message includes information of the third terminal device, and the information of the third terminal device may be, for example, an identifier of the third terminal device. Further, step S301 may include: and the second terminal equipment receives a third message from the first terminal equipment, and if the third message comprises the information of the third terminal equipment, the second terminal equipment sends the first message to the first terminal equipment.

For example, a first terminal device establishes a communication connection with one or more terminal devices, including a third terminal device; the first terminal device sends a third message, where the third message is used to broadcast information of terminal devices that establish communication connection with the first terminal device (i.e. information of the one or more terminal devices), and the information of terminal devices that establish communication connection with the first terminal device, which is broadcast by the third message, includes information of the third terminal device (e.g. an identifier of the third terminal device); after receiving the third message from the first terminal device, the second terminal device may send a first message to the first terminal device to request the first target location.

For another example, the first terminal device already knows the absolute positions of one or more terminal devices, where the one or more terminal devices include a third terminal device; the first terminal device sends a third message, where the third message is used to broadcast information of terminal devices whose absolute positions have been known by the first terminal device (i.e., information of the one or more terminal devices), and the information of terminal devices whose absolute positions have been known by the first terminal device, which is broadcast by the third message, includes information of a third terminal device (e.g., an identifier of the third terminal device); after receiving the third message from the first terminal device, the second terminal device may send a first message to the first terminal device to request the first target location, such as requesting an absolute location of the third terminal device.

For another example, the first terminal device already knows the relative position between the first terminal device and one or more terminal devices, where the one or more terminal devices include the third terminal device; the first terminal device sends a third message, where the third message is used to broadcast information of terminal devices whose relative positions have been known by the first terminal device (i.e., information of the one or more terminal devices), and the information of terminal devices whose relative positions have been known by the first terminal device, which is broadcast by the third message, includes information of the third terminal device (e.g., an identifier of the third terminal device); after receiving the third message from the first terminal device, the second terminal device may send a first message to the first terminal device to request the first target location, such as requesting a relative location between the third terminal device and the first terminal device.

Optionally, in another implementation scenario of the foregoing embodiment, the method 300 further includes: and the first terminal equipment receives a fourth message from the second terminal equipment, and if the first terminal equipment meets the preset condition, the first terminal equipment sends a response message of the fourth message to the second terminal equipment.

Wherein the fourth message may be used to discover a terminal device assisting in locating the third terminal device. Specifically, the second terminal device sends (or broadcasts) a fourth message, the first terminal device receives the fourth message sent by the second terminal device, if the first terminal device meets the preset condition, the first terminal device sends a response message of the fourth message to the second terminal device, and the first terminal device can be indicated as a device for assisting positioning through the response message. It will be appreciated that the first terminal device is a sidelink location capable device.

The fourth message includes information of the third terminal device, where the information of the third terminal device is used to identify (or learn, or determine) the terminal device that needs assisted positioning as the third terminal device. The information of the third terminal device may be, for example, an identifier of the third terminal device. Optionally, the fourth message further comprises capability indication information for discovering a sidelink location capable device.

It is understood that the fourth message may be an existing message, such as a discovery solicitation (discovery solicitation) message, or may be a newly defined message, without limitation.

If the first terminal device meets the preset condition, the first terminal device sends a response message of the fourth message to the second terminal device, which may be as follows.

In the method 1, if the first terminal device establishes the communication connection with the third terminal device, the first terminal device sends a response message of the fourth message to the second terminal device.

Specifically, the second terminal device sends a fourth message, the first terminal device receives the fourth message sent by the second terminal device, the first terminal device identifies the third terminal device according to information of the third terminal device included in the fourth message, and if the first terminal device establishes a communication connection with the third terminal device, the first terminal device sends a response message of the fourth message to the second terminal device. Optionally, the sending, by the first terminal device, a response message of the fourth message to the second terminal device includes: if the first terminal device determines that the first terminal device has the sidelink positioning capability, the first terminal device sends a response message of the fourth message to the second terminal device.

In the method 2, if the first terminal device already knows the absolute position of the third terminal device, the first terminal device sends a response message of the fourth message to the second terminal device.

Specifically, the second terminal device sends a fourth message, the first terminal device receives the fourth message sent by the second terminal device, the first terminal device identifies the third terminal device according to information of the third terminal device included in the fourth message, and if the first terminal device knows the absolute position of the third terminal device, the first terminal device sends a response message of the fourth message to the second terminal device.

In the method 3, if the first terminal device knows the relative position between the first terminal device and the third terminal device, the first terminal device sends a response message of the fourth message to the second terminal device.

Specifically, the second terminal device sends a fourth message, the first terminal device receives the fourth message sent by the second terminal device, the first terminal device identifies the third terminal device according to information of the third terminal device included in the fourth message, and if the first terminal device knows the relative position between the first terminal device and the third terminal device, the first terminal device sends a response message of the fourth message to the second terminal device.

In the method 4, if the first terminal device can find the third terminal device, the first terminal device sends a response message of the fourth message to the second terminal device.

Specifically, the second terminal device sends a fourth message, the first terminal device receives the fourth message sent by the second terminal device, and the first terminal device sends a seventh message, where the seventh message is used to discover the third terminal device; if the first terminal device can find the third terminal device, if the first terminal device receives a response message of the seventh message from the third terminal device, the first terminal device sends a response message of the fourth message to the second terminal device. Optionally, the sending, by the first terminal device, a response message of the fourth message to the second terminal device includes: and if the first terminal equipment determines that the first terminal equipment has the sidelink positioning capability, the first terminal equipment sends a response message of the fourth message to the second terminal equipment. It is to be understood that the first terminal device sends the seventh message when the first terminal device has sidelink positioning capability, and sends a response message to the fourth message to the second terminal device after receiving the response message to the seventh message.

It can be understood that, the above example of the response message that the first terminal device sends the fourth message to the second terminal device if the first terminal device meets the preset condition is only for easy understanding, and the application is not limited thereto.

The above describes a scheme in which the first terminal device assists the second terminal device to obtain the relative position between the third terminal device and the second terminal device in conjunction with the method 300, and the following describes a scheme in which the network device assists the second terminal device to obtain the relative position between the third terminal device and the second terminal device in conjunction with the method 400.

Fig. 4 is a schematic diagram of another method 400 for position determination according to an embodiment of the present application. The method 400 may include the following steps.

S401, the second terminal device sends a fifth message to the network device.

Accordingly, the network device receives a fifth message from the second terminal device.

Wherein the fifth message may be used to trigger sending the second target location to the second terminal device. The second target location comprises at least one of: a second relative position, or an absolute position of the third terminal device. With respect to the second relative position, the above description is referred to, and no further description is given.

The fifth message may be an existing message, such as an uplink NAS transport (uplink NAS) message, or a mobile originating location Request (MO-LR Request) message; or may be a newly defined message, without limitation.

S402, the network device sends a sixth message to the second terminal device according to the fifth message, wherein the sixth message comprises a second target position.

For example, if the fifth message is used to trigger sending of the absolute position of the third terminal device to the second terminal device, the network device sends the absolute position of the third terminal device to the second terminal device. For another example, if the fifth message is used to trigger sending the second relative position to the second terminal device, the network device sends the second relative position to the second terminal device.

Accordingly, the second terminal device receives a sixth message from the network device, the sixth message including the second target location. Further method 400 may include: and the second terminal equipment obtains the second relative position according to the sixth message. For example, if the sixth message includes the absolute position of the third terminal device, the obtaining, by the second terminal device, the second relative position according to the sixth message includes: the second terminal device determines a second relative position based on the absolute position of the third terminal device. For another example, if the sixth message includes the second relative position, the obtaining, by the second terminal device, the second relative position according to the sixth message includes: and the second terminal equipment acquires the second relative position from the sixth message. Obviously, in the case that the sixth message includes the second relative position, the second terminal device obtains the second relative position according to the sixth message, which can be understood as: the second relative position is directly obtained from the sixth message, obviously, in this case, the steps may not be performed: and the second terminal equipment obtains a second relative position according to the sixth message.

For a scene with a shelter between the second terminal device and the third terminal device, due to the existence of the shelter, signals cannot be directly transmitted between the second terminal device and the third terminal device in a line of sight manner, and if the second terminal device directly adopts a distance measurement method to measure the distance between the second terminal device and the third terminal device, or the second terminal device directly adopts an angle measurement method to measure the angle between the second terminal device and the third terminal device, the obtained relative position precision between the second terminal device and the third terminal device is low. By adopting the method provided by the above embodiment, the network device can assist the second terminal device to obtain the relative position between the third terminal device and the second terminal device. Specifically, the network device receives a fifth message from the second terminal device, and sends a sixth message to the second terminal device, where the sixth message includes the second target location, and the second target location includes at least one of the following: an absolute position of the third terminal device, or a relative position between the third terminal device and the second terminal device. By the method provided by the embodiment, the network device assists the second terminal device to obtain the relative position between the third terminal device and the second terminal device, so that the relative positioning between the second terminal device and the third terminal device can be realized, and the accuracy of the relative position between the third terminal device and the second terminal device can be improved.

Optionally, the method 400 further comprises: the network device determines a second target location.

For example, the network device may determine the second target location according to a fifth message, where the network device receives the fifth message to trigger the network device to determine the second target location.

The network device may determine the second target location in different embodiments. Each of which is described in detail below.

As a first scenario, the second target location includes a second relative location, and the network device determines the second target location, including: the network equipment determines the absolute position of the second terminal equipment and the absolute position of the third terminal equipment; and the network equipment determines a second relative position according to the absolute position of the second terminal equipment and the absolute position of the third terminal equipment.

For example, the network device determines an absolute position of the second terminal device and an absolute position of the third terminal device, and the network device may obtain a relative position between the third terminal device and the second terminal device according to the absolute position of the second terminal device and the absolute position of the third terminal device by using a geometric calculation method. The method for determining the absolute position of the terminal device by the network device may refer to the existing process and is not described in detail.

Further, in combination with the first scenario, the obtaining, by the second terminal device, the second relative position according to the sixth message may include: and the second terminal equipment obtains the relative position between the third terminal equipment and the second terminal equipment according to the second target position included by the sixth message.

Specifically, the network device determines a second relative position according to the absolute position of the second terminal device and the absolute position of the third terminal device, and sends a sixth message to the second terminal device, where the sixth message includes the second relative position; the second terminal device receives a sixth message from the network device, and the second terminal device may obtain the second relative position from the sixth message.

As a second case, the second target location includes an absolute location of the third terminal device, and the network device determines the second target location, including: the network device determines an absolute position of the third terminal device.

The method for determining the absolute position of the third terminal device by the network device may refer to the existing flow, and is not described in detail again.

Further, in combination with the second scenario, the obtaining, by the second terminal device, the second relative position according to the sixth message may include: and the second terminal equipment determines the relative position between the third terminal equipment and the second terminal equipment according to the second target position included by the sixth message.

Specifically, the network device determines an absolute position of the third terminal device, and sends a sixth message to the second terminal device, where the sixth message includes the absolute position of the third terminal device; and the second terminal equipment receives the sixth message from the network equipment, and determines a second relative position according to the absolute position of the third terminal equipment. For example, the second terminal device may obtain the relative position between the third terminal device and the second terminal device according to the absolute position of the third terminal device and the absolute position of the second terminal device. The absolute position of the second terminal device may be determined by the network device, for example, the second target position includes the absolute position of the second terminal device. The method for determining the absolute position of the terminal device by the network device may refer to the existing process and is not described in detail.

As a third case, the second target location includes a second relative location and an absolute location of the third terminal device, and the determining, by the network device, the second target location includes: the network device determines the second relative position and the absolute position of the third terminal device.

The method for determining the absolute position of the third terminal device by the network device may refer to the existing flow, and is not described in detail again. The manner in which the network device determines the second relative position may refer to the description in the first scenario above, and is not described again.

Further, in combination with the third scenario, the obtaining, by the second terminal device, the second relative position according to the sixth message may include: the second terminal device obtains the second relative position from the sixth message.

Optionally, in an implementation scenario of the foregoing embodiment, the fifth message includes at least one of: an accuracy of the second target location, a threshold of the second relative location, or second information.

In a first example, the fifth message includes an accuracy of the second target location. Further optionally, the method 400 further comprises: the network device determines a second target location based on the accuracy of the second target location.

Wherein, the accuracy of the second target position can be used for the network device to select the appropriate transmission parameter in the process of determining the second target position. Transmission parameters, which may include at least one of: bandwidth used to transmit and/or receive signals, and a beam used to transmit and/or receive signals (e.g., a beamwidth used to transmit and/or receive signals). For the accuracy of the second target position, reference may be made to the above description, and details are not repeated.

Optionally, in step S401, the second target location includes an absolute location of the second terminal device and an absolute location of the third terminal device, and the method 400 further includes: the network equipment obtains a third accuracy and a fourth accuracy according to the accuracy of the second target position; the network device determining the second target location according to the accuracy of the second target location, including: the network device determines the absolute position of the second terminal device according to the third accuracy, and the network device determines the absolute position of the third terminal device according to the fourth accuracy.

Wherein, the "network device obtains the third accuracy and the fourth accuracy according to the accuracy of the second target position" can be realized by the following two ways.

In a first manner, the accuracy of the second target location includes a third accuracy and a fourth accuracy, and obtaining the third accuracy and the fourth accuracy from the accuracy of the second target location by the network device may be understood as directly obtaining from the accuracy of the second target location in the fifth message. Obviously, in this case, the steps may not be performed: the network device obtains a third accuracy and a fourth accuracy from the accuracy of the second target location.

In a second mode, the network device determines a third accuracy and a fourth accuracy according to the accuracy of the second target location. If the accuracy of the second target location is less than or equal to n, the network device may determine: a third accuracy of less than or equal to z ₁ * n, fourth accuracy is less than or equal to z ₂ * n is the same as the formula (I). Wherein z is ₁ And z ₂ Is a number greater than 0 and less than 1, exemplarily z ₁ And z ₂ And the sum is less than or equal to 1, e.g. z ₁ Is 0.4,z ₂ Is 0.6. In particular, the error between the absolute position of the second terminal device determined by the network device (or measured by the network device) and the actual absolute position of the second terminal device is less than or equal to z ₁ * n; the error between the absolute position of the third terminal device determined by the network device (or measured by the network device) and the actual absolute position of the third terminal device needs to be less than or equal to z ₂ *n。

For example, the accuracy of the second target location includes a third accuracy from which the network device determines a fourth accuracy, and the network device obtains the third accuracy and the fourth accuracy. For example, if the accuracy of the second target location includes a third accuracy, the fourth accuracy determined by the network device may be the same as or different from the third accuracy, without limitation.

For another example, the accuracy of the second target location includes a fourth accuracy, and the network device determines the third accuracy according to the fourth accuracy, and then the network device obtains the third accuracy and the fourth accuracy. For example, if the accuracy of the second target location includes a fourth accuracy, the third accuracy determined by the network device may be the same as or different from the fourth accuracy, and is not limited.

In a second example, the fifth message includes the second information. Further optionally, the method 400 further comprises: and the network equipment sends the second target position to the third terminal equipment.

Wherein the second information may be used to trigger (or characterize, or indicate, or inform) the network device to send the second target location to the third terminal device.

Specifically, the fifth message includes second information, and the network device learns, according to the second information, that the second target position is to be sent to the third terminal device, so that the network device can send the second target position to the third terminal device after determining the second target position.

In one possible embodiment, the second information is implemented by one or more bits. For example, if it is assumed that 1 bit is used to indicate whether the network device sends the second target location to the third terminal device, if the bit is set to "0", it indicates that the network device sends the second target location to the third terminal device; if the bit is set to "1", it indicates that the network device does not transmit the second target location to the third terminal device. It is to be understood that the above description is intended to be illustrative, and not restrictive.

In a third example, the fifth message includes a threshold value for the second relative position. Further optionally, step S402 includes: and the network equipment sends a sixth message to the second terminal equipment according to the second relative position and the threshold value of the second relative position, wherein the sixth message comprises the second relative position.

The threshold of the second relative position may be used for the network device to determine (or determine) whether to send the second relative position to the second terminal device.

Here, the "network device sends a sixth message to the second terminal device according to the second relative position and the threshold value of the second relative position, where the sixth message includes the second relative position" may be understood by the following example.

For example, if the second relative position is a distance between the third terminal device and the second terminal device, and the threshold of the second relative position is a distance (which may be referred to as a distance threshold), the network device sends a sixth message to the second terminal device when the distance between the third terminal device and the second terminal device, which is determined by the network device, is less than or equal to the distance threshold, where the sixth message includes the distance between the third terminal device and the second terminal device.

For another example, if the second relative position is an angle between the third terminal device and the second terminal device, and the threshold of the second relative position is an angle (which may be referred to as an angle threshold), the network device sends a sixth message to the second terminal device when the angle between the third terminal device and the second terminal device determined by the network device is smaller than or equal to the angle threshold, where the sixth message includes the angle between the third terminal device and the second terminal device; or, when the angle between the third terminal device and the second terminal device determined by the network device is greater than or equal to the angle threshold, the network device sends a sixth message to the second terminal device, where the sixth message includes the angle between the third terminal device and the second terminal device.

For another example, if the second relative position comprises: an angle between the third terminal device and the second terminal device, and a distance between the third terminal device and the second terminal device, where the threshold of the second relative position includes an angle threshold and a distance threshold, if the distance between the third terminal device and the second terminal device determined by the network device is smaller than or equal to the distance threshold, and the angle between the third terminal device and the second terminal device is smaller than or equal to the angle threshold, the network device sends a sixth message to the second terminal device, where the sixth message includes the distance and the angle between the third terminal device and the second terminal device; or, the network device sends a sixth message to the second terminal device under the condition that the distance between the third terminal device and the second terminal device determined by the network device is smaller than or equal to the distance threshold and the angle between the third terminal device and the second terminal device is larger than or equal to the angle threshold, where the sixth message includes the distance and the angle between the third terminal device and the second terminal device.

In a fourth example, the fifth message includes the second information and a threshold value for the second relative position. Further optionally, the method 400 further comprises: and the network equipment sends the second relative position to the third terminal equipment according to the second relative position and the threshold value of the second relative position.

For example, if the second relative position is a distance between the third terminal device and the second terminal device, and the threshold of the second relative position is a distance threshold, the network device sends the distance between the third terminal device and the second terminal device to the third terminal device if the fifth message includes the second information under the condition that the distance between the third terminal device and the second terminal device determined by the network device is smaller than or equal to the distance threshold.

For another example, if the second relative position is an angle between the third terminal device and the second terminal device, and the threshold of the second relative position is an angle threshold, the network device sends the angle between the third terminal device and the second terminal device to the third terminal device if the fifth message includes the second information under the condition that the angle between the third terminal device and the second terminal device determined by the network device is smaller than or equal to the angle threshold; or, when the angle between the third terminal device and the second terminal device determined by the network device is greater than or equal to the angle threshold, if the fifth message includes the second information, the network device sends the angle between the third terminal device and the second terminal device to the third terminal device.

The order of the determination condition based on the second information and the determination condition based on the threshold value of the second relative position may be changed. For example, in a case that the fifth message includes the second information, if the distance between the third terminal device and the second terminal device, which is determined by the network device, is less than or equal to the distance threshold, the network device sends the distance between the third terminal device and the second terminal device to the third terminal device.

For ease of understanding, the embodiments of the present application are exemplarily described below with reference to fig. 5 to 9. In the following example, it is assumed that the first terminal device is UE1, the second terminal device is UE2, and the third terminal device is UE3, where the steps involved may specifically refer to the above description.

Fig. 5 is a schematic flow chart of a method 500 for position determination provided by an embodiment of the present application. The method 500 may be used in a scenario where UE1 determines the relative position between UE3 and UE 2. The method 500 may include the following steps.

S501, UE2 determines the relative position between UE3 and UE 2.

The UE2 determines the relative position between the UE3 and the UE2, which may include the UE2 measuring at least one of: the distance between UE3 and UE2, or the angle between UE3 and UE 2. For a specific procedure of determining the relative position between the UE3 and the UE2 by the UE2, reference may be made to the description of the relative position between the UE1 and the UE2, which is not repeated herein.

If the UE2 cannot determine the relative position between the UE3 and the UE2 (for example, the UE2 is far away from the UE3, and the UE3 cannot receive the ranging signal sent by the UE2, so the UE2 cannot determine the relative position between the UE3 and the UE 2), or if the accuracy of the relative position between the UE2 and the UE3 is low (for example, the accuracy of the relative position between the UE3 and the UE2 is lower than a preset value), the method 500 may further include step S502.

S502, the UE2 determines a device for assisting in positioning the UE 3.

The UE2 determines (or discovers) a device for assisting in positioning the UE3 (which may be referred to as UE 1), which may be implemented by different embodiments, and each is described in detail below.

In mode 1, UE1 sends a third message, where the third message may be used to broadcast information of a UE that establishes a communication connection with UE1, or the third message may be used to broadcast information of a UE whose location (e.g., an absolute location, or a relative location with UE 1) is already known by UE 1; if the third message includes the information of UE3, UE2 determines UE1 as a device for assisting in positioning UE 3. Specifically, the UE1 broadcasts a third message, where the third message includes capability indication information and information of one or more UEs, where the capability indication information is used to indicate that the UE1 has a sidelink positioning capability, the one or more UEs are UEs in which the UE1 has established a communication connection or UEs in which the UE1 has learned a location, and the one or more UEs include the UE3; after the UE2 receives the third message, if it wants to obtain the relative position between the UE3 and the UE2, the UE2 and the UE1 establish a PC5 connection. The specific procedure for establishing the PC5 connection between the UE2 and the UE1 can refer to the description in the prior art, and is not limited.

Mode 2, UE2 sends a fourth message, and the fourth message can be used for discovering equipment for assisting in positioning UE 3; if UE2 receives the response message of the fourth message from UE1, UE2 determines that UE1 is a device for assisting in positioning UE 3. Specifically, the UE2 broadcasts a fourth message, where the fourth message is used to discover the device for assisting in positioning the UE3, and the fourth message includes capability indication information and information (e.g., UE3 ID) of the UE3, where the capability indication information is used to indicate that the device for assisting in positioning the UE3 needs to have sidelink positioning capability; after receiving the fourth message, if it is determined that the UE1 is not the UE3 and has the sidelink positioning capability, the UE1 sends a response message of the fourth message to the UE2, and the UE1 is a UE assisting in positioning the UE 3. As a case, the UE2 transmits a fourth message, which is received by a plurality of UEs. If the plurality of UEs judge that the UEs are not the UE3 and have the sidelink positioning capability, the plurality of UEs send an eighth message; the UE3 may receive an eighth message sent by some or all of the UEs from the plurality of UEs, and the UE3 may select UE1 from the some or all UEs (e.g., UE1 selected by UE3 is a UE in line of sight (LOS) communication with UE3, i.e., UE3 receives the eighth message from UE1 via LOS), where UE1 is a UE assisting in positioning UE 3; the UE3 returns a response message of the eighth message to the UE 1; after receiving the response message of the eighth message returned by the UE3, the UE1 sends a response message of the fourth message to the UE 2. Optionally, the multiple UEs send an eighth message to the UE3, including: if the UEs receive the fourth message from UE2 via LOS, the UEs send an eighth message to UE 3. Among them, regarding LOS, reference may be made to the prior art without limitation.

S503, UE2 sends a first message to UE 1.

Wherein the first message may be used to request a relative position between UE3 and UE 2. Wherein the relative position between the UE3 and the UE2 comprises at least one of the following: the distance between UE3 and UE2, or the angle between UE3 and UE 2.

Optionally, the first message comprises at least one of: an accuracy of a relative position between UE3 and UE2, a threshold of a relative position between UE3 and UE2, or the first information.

Wherein, the accuracy of the relative position between the UE3 and the UE2 may include at least one of: the accuracy of the distance between UE3 and UE2, or the accuracy of the angle between UE3 and UE 2. For example, the accuracy of the distance between UE3 and UE2 is less than or equal to m, i.e. the measured distance between UE3 and UE2 and the actual distance between UE3 and UE2 are represented by an error of no more than m. For another example, the accuracy of the angle between UE3 and UE2 is less than or equal to d, i.e. the measured angle between UE3 and UE2 and the actual angle between UE3 and UE2 have an error of no more than d.

The threshold of the relative position between UE3 and UE2 may be used for UE1 to determine (or determine) whether to send the relative position between UE3 and UE2 to UE 2. Specifically, UE1 transmits the relative position between UE3 and UE2 to UE2 according to the relative position between UE3 and UE2 and the threshold value of the relative position between UE3 and UE 2.

Wherein the first information may be used to trigger (or characterize, or indicate, or inform) UE1 to send UE3 the relative position between UE3 and UE 2.

Regarding the accuracy, the threshold, and the first information, reference may be made to the above related description, which is not repeated.

S504, UE1 determines the relative position between UE3 and UE 2.

Wherein, the UE1 determines the relative position between the UE3 and the UE2, which may include the following ways.

Mode 1, UE1 determines the relative position between UE3 and UE2 based on the relative position between UE2 and UE1, and the relative position between UE3 and UE1.

For example, UE1 determines the relative position between UE2 and UE1, UE1 determines the relative position between UE3 and UE1, and UE1 determines the relative position between UE3 and UE2 according to the relative position between UE2 and UE1 and the relative position between UE3 and UE1 by using a geometric calculation method.

Mode 2, UE1 determines the absolute position of UE2 and the absolute position of UE3, and determines the relative position between UE3 and UE2 according to the absolute positions of UE2 and UE 3.

For example, UE1 determines the relative position between UE2 and UE1, and UE1 determines the absolute position of UE2 according to the relative position between UE2 and UE1 and the absolute position of UE 1; UE1 determines the relative position between UE3 and UE1, and UE1 determines the absolute position of UE3 according to the relative position between UE3 and UE1 and the absolute position of UE1. It should be understood that the foregoing is illustrative and that the application is not limited thereto. For example, UE2 may also send UE1 the absolute position of itself carried in the first message.

Optionally, the method 500 further comprises: the UE1 obtains a first accuracy and a second accuracy according to the accuracy of the relative position between the UE3 and the UE 2; UE1 determines the relative position between UE3 and UE1, including: the UE1 determines the relative position between the UE3 and the UE1 according to the first accuracy; UE1 determines the relative position between UE2 and UE1, including: UE1 determines the relative position between UE2 and UE1 according to the second accuracy.

Among them, "UE1 obtains the first accuracy and the second accuracy from the accuracy of the relative position between UE3 and UE 2" can be achieved by the following two ways.

In a first way, the accuracy of the relative position between the UE3 and the UE2 includes a first accuracy and a second accuracy, and the obtaining of the first accuracy and the second accuracy by the UE1 according to the accuracy of the relative position between the UE3 and the UE2 can be understood as being directly obtained from the accuracy of the relative position between the UE3 and the UE2 in the first message. Obviously, in this case, the steps may not be performed: UE1 obtains the first accuracy and the second accuracy from the accuracy of the relative position between UE3 and UE 2.

In the second mode, UE1 determines the first accuracy and the second accuracy according to the accuracy of the relative position between UE3 and UE 2.

Taking distance as an example, if the accuracy of the relative position between UE3 and UE2 includes the accuracy of the distance, which is less than or equal to 1 meter, UE1 may determine that: the first accuracy is less than 0.4 meters and the second accuracy is less than 0.6 meters. Specifically, the error between the distance between the UE3 and the UE1 determined by the UE1 and the actual distance between the UE3 and the UE1 needs to be less than 0.4 m; the error between the distance between UE2 and UE1 determined by UE1, and the actual distance between UE2 and UE1 needs to be less than 0.6 meters. It should be understood that 1 meter, 0.4 meter, 0.6 meter are exemplary illustrations herein, and the application is not limited thereto.

Taking an angle as an example, if the accuracy of the relative position between UE3 and UE2 includes an angle accuracy of less than 2 degrees, UE1 may determine that: the first accuracy is less than 1 degree and the second accuracy is less than 1 degree. Specifically, the error between the angle between UE2 and UE1 determined by UE1 and the actual angle between UE2 and UE1 needs to be less than 1 degree; the error between the angle between UE3 and UE1 determined by UE1, and the actual angle between UE3 and UE1 needs to be less than 1 degree. It should be understood that 2 degrees and 1 degree are exemplary illustrations herein and the application is not limited thereto.

For example, the accuracy of the relative position between UE3 and UE2 includes a first accuracy, from which UE1 determines a second accuracy, and UE1 obtains the first accuracy and the second accuracy. For example, if the accuracy of the relative position between UE3 and UE2 includes the first accuracy, the second accuracy determined by UE1 may be the same as or different from the first accuracy, without limitation.

For another example, the accuracy of the relative position between UE3 and UE2 includes a second accuracy, from which UE1 determines the first accuracy, and UE1 obtains the first accuracy and the second accuracy. For example, if the accuracy of the relative position between UE3 and UE2 includes the second accuracy, the first accuracy determined by UE1 may be the same as or different from the second accuracy, without limitation.

S505, UE1 sends UE2 the relative position between UE3 and UE 2.

For example, UE1 sends a second message to UE2, which includes the relative position between UE3 and UE 2. For the second message, reference may be made to the description in the method 300 above, which is not repeated.

Optionally, if the first message in S503 includes the threshold of the relative position between UE3 and UE2, S505 includes: the UE1 sends the relative position between the UE3 and the UE2 to the UE2 according to the relative position between the UE3 and the UE2 and the relative position threshold value between the UE3 and the UE 2.

For example, if the relative position between UE3 and UE2 includes a distance between UE3 and UE2, and the threshold value of the relative position between UE3 and UE2 includes a distance threshold value, S505 includes: and when the distance between the UE3 and the UE2 determined by the UE1 is smaller than or equal to the distance threshold, the UE1 sends the distance between the UE3 and the UE2 to the UE 2.

For another example, if the relative position between UE3 and UE2 includes an angle between UE3 and UE2, and the threshold value of the relative position between UE3 and UE2 includes an angle threshold value, S505 includes: under the condition that the angle between the UE3 and the UE2 determined by the UE1 is smaller than or equal to the angle threshold value, the UE1 sends the angle between the UE3 and the UE2 to the UE 2; or, in the case that the angle between the UE3 and the UE2 determined by the UE1 is greater than or equal to the angle threshold, the UE1 sends the angle between the UE3 and the UE2 to the UE 2.

For another example, if the relative position between UE3 and UE2 includes: the angle between UE3 and UE2, and the distance between UE3 and UE2, the threshold value of the relative position between UE3 and UE2 includes an angle threshold value and a distance threshold value, then S505 includes: under the condition that the distance between the UE3 and the UE2 determined by the UE1 is smaller than or equal to the distance threshold value and the angle between the UE3 and the UE2 is smaller than or equal to the angle threshold value, the UE1 sends the distance and the angle between the UE3 and the UE2 to the UE 2; or, when the distance between the UE3 and the UE2 determined by the UE1 is less than or equal to the distance threshold and the angle between the UE3 and the UE2 is greater than or equal to the angle threshold, the UE1 sends the distance and the angle between the UE3 and the UE2 to the UE 2.

Optionally, if the first message includes the first information in S503, the method 500 further includes: UE1 sends UE3 the relative position between UE3 and UE 2.

Based on the above scheme, if the UE2 cannot determine the relative position between the UE3 and the UE2, or if the accuracy of the relative position between the UE2 and the UE3 is low, the UE2 may obtain the relative position between the UE3 and the UE2 with the assistance of the UE 1. Specifically, UE2 sends a first message to UE1 requesting the relative position between UE3 and UE 2; based on the first message, UE1 determines the relative position between UE3 and UE2, and sends the relative position between UE3 and UE2 to UE 2. Thereby, not only the relative positioning between the UE2 and the UE3 can be realized, but also the accuracy of the relative position between the UE3 and the UE2 can be improved.

Fig. 6 is a schematic flow chart diagram of another method 600 for position determination provided by an embodiment of the present application. The method 600 may be used in a scenario where UE2 determines the relative position between UE3 and UE 2. The method 600 may include the following steps.

S601, UE2 determines the relative position between UE3 and UE 2.

S602, UE2 determines a device for assisting in positioning UE 3.

Steps S601 to S602 are similar to steps S501 to S502, and are not described herein again.

S603, UE2 sends a first message to UE 1.

Wherein the first message may be used to request a relative position between UE3 and UE1, or the first message may be used to request an absolute position of UE 3. Wherein, the relative position between the UE3 and the UE1 comprises at least one of the following: the distance between UE3 and UE1, or the angle between UE3 and UE 1.

Optionally, if the first message is used to request the relative position between UE3 and UE1, the first message includes at least one of the following: an accuracy of a relative position between UE3 and UE1, a threshold value of a relative position between UE3 and UE1, or the first information.

Optionally, if the first message is available for requesting the absolute position of the UE3, the first message includes the accuracy of the absolute position of the UE3, or the first information.

Regarding the accuracy, the threshold, and the first information, reference may be made to the above description, and details are not repeated.

S604, UE1 determines the relative position between UE3 and UE1, or UE1 determines the absolute position of UE 3.

As a first scenario, if the first message is used to request the relative position between UE3 and UE1 in step S603, S604 includes: UE1 determines the relative position between UE3 and UE 1.

One possible way is to perform relative positioning between UE1 and UE3 to determine the relative position between UE3 and UE 1.

Alternatively, if the first message includes the accuracy of the relative position between UE3 and UE1, S604 includes: the UE1 determines the relative position between the UE3 and the UE1 according to the accuracy of the relative position between the UE3 and the UE 1.

Taking the distance as an example, specifically, if the accuracy of the relative position between the UE3 and the UE1 includes the accuracy of the distance, which is less than 0.4 meter, the error between the distance between the UE3 and the UE1 determined by the UE1 and the actual distance between the UE3 and the UE1 is less than 0.4 meter. It should be understood that 0.4 meters is illustrative here and the application is not limited thereto.

Taking an angle as an example, specifically, if the accuracy of the relative position between the UE3 and the UE1 includes an accuracy of an angle, which is less than 1 degree, an error between the angle between the UE3 and the UE1 determined by the UE1 and an actual angle between the UE3 and the UE1 is less than 1 degree. It should be understood that 1 degree is illustrative here and the application is not limited thereto.

As a second scenario, if the first message is used to request the absolute position of the UE3 in step S603, S604 includes: UE1 determines the absolute position of UE 3.

One possible way is to perform relative positioning between UE1 and UE3 to determine the relative position between UE3 and UE1, and UE1 determines the absolute position of UE3 according to the relative position between UE3 and UE1 and the absolute position of UE 1.

Alternatively, if the first message includes the accuracy of the absolute position of the UE3, S604 includes: the UE1 determines the absolute position of the UE3 according to the accuracy of the absolute position of the UE 3. Regarding the manner of determining the position based on the accuracy, refer to the above related description, and will not be described herein again.

S605, UE1 sends a second message to UE 2.

As a first case, if the first message is used to request the relative position between UE3 and UE1 in step S603, S605 includes: UE1 sends a second message to UE2, the second message comprising the relative position between UE3 and UE 1.

Optionally, if the first message in S603 includes the threshold of the relative position between UE3 and UE1, S605 includes: the UE1 sends the relative position between the UE3 and the UE1 to the UE2 according to the relative position between the UE3 and the UE1 and the relative position threshold value between the UE3 and the UE 1. For details, reference may be made to the implementation manner in step S505, and details are not repeated.

Optionally, if the first message includes the first information, the method 600 further includes: UE1 sends UE3 the relative position between UE3 and UE 1.

As a second case, if the first message is used to request the absolute position of the UE3 in step S603, S605 includes: UE1 sends a second message to UE2, the second message comprising the absolute position of UE 3.

Optionally, if the first message includes the first information, the method 600 further includes: UE1 sends UE3 the absolute position of UE 3.

S606, UE2 determines the relative position between UE3 and UE 2.

As a first case, the first message is used to request a relative position between UE3 and UE1 in step S603.

Further, in connection with the first case, S606 may include: the UE2 determines the relative position between the UE3 and the UE2 according to the relative position between the UE3 and the UE1 and the relative position between the UE2 and the UE 1.

The relative position between UE2 and UE1 can be obtained as follows. In one approach, UE2 determines the relative position between UE2 and UE 1. Specifically, UE2 and UE1 perform relative positioning to determine the relative position between UE2 and UE 1. In another way, UE2 acquires the relative position between UE2 and UE1 from UE 1. Specifically, the first message further includes a relative position between UE2 and UE1, and UE1 determines the relative position between UE2 and UE1 according to the first message, and sends the relative position between UE2 and UE1 to UE 2.

Or, further, in combination with the first scenario, S606 may include: the UE2 determines the absolute position of the UE3 according to the relative position between the UE3 and the UE1 and the absolute position of the UE 1; the UE2 determines the relative position between the UE3 and the UE2 according to the absolute position of the UE3 and the absolute position of the UE 2.

Therein, the absolute position of the UE1 may be obtained in the following manner. In one way, UE2 may obtain the absolute position of UE1 from the network side. Alternatively, UE2 determines the absolute position of UE 1. Specifically, UE2 determines the relative position between UE2 and UE1, and determines the absolute position of UE1 according to the relative position between UE2 and UE1, and the absolute position of UE 2.

As a second scenario, the first message in step S603 is used to request the absolute position of the UE 3.

Further, in combination with the second scenario, S606 may include: the UE2 determines the relative position between the UE3 and the UE2 according to the absolute position of the UE3 and the absolute position of the UE 2.

The absolute position of the UE2 may be obtained as follows. In one way, the UE2 may obtain the absolute position of the UE2 from the network side. Alternatively, UE2 acquires the absolute position of UE2 from UE 1. Specifically, the first message further includes the absolute position of UE2, and UE1 determines the absolute position of UE2 according to the first message, and sends the absolute position of UE2 to UE 2.

Based on the above scheme, if the UE2 cannot determine the relative position between the UE3 and the UE2, or if the accuracy of the relative position between the UE2 and the UE3 is low, the UE2 may obtain the relative position between the UE3 and the UE2 with the assistance of the UE 1. Specifically, UE2 sends a first message to UE1 requesting the relative position between UE3 and UE 1; the UE1 determines the relative position between the UE3 and the UE1 based on the first message, and sends the relative position between the UE3 and the UE1 to the UE 2; the UE2 determines the relative position between the UE3 and the UE2 based on the relative position between the UE3 and the UE 1. Or the UE2 sends a first message to the UE1 to request the absolute position of the UE 3; the UE1 determines the absolute position of the UE3 based on the first message and sends the absolute position of the UE3 to the UE 2; the UE2 determines the relative position between the UE3 and the UE2 based on the absolute position of the UE3 and the absolute position of the UE 2. Thereby, not only the relative positioning between the UE2 and the UE3 can be realized, but also the accuracy of the relative position between the UE3 and the UE2 can be improved.

Fig. 7 is a schematic flow chart diagram of another method 700 for determining a location provided by an embodiment of the present application. The method 700 may be used in a scenario where the AMF determines the relative position between UE3 and UE 2. The method 700 may include the following steps.

S701, UE2 determines the relative position between UE3 and UE 2.

Step S701 is similar to step S501, and is not described herein again.

S702, the UE2 sends a fifth message to the AMF.

Wherein the fifth message may be used to request a trigger to send the relative position between UE3 and UE2 to UE 2.

The fifth message may be an uplink NAS transport message, or a MO-LR Request message.

Optionally, the fifth message is embodied in a message form, and specifically may be a mobile terminal initiated location request message or an LTE Positioning Protocol (LPP) message.

Optionally, the fifth message is embodied in a container (container), and specifically may be a mobile terminal initiated location request container.

Optionally, the fifth message comprises at least one of: accuracy of relative position between UE3 and UE2, a threshold value of relative position between UE3 and UE2, or the second information. Wherein the second information may be used to trigger (or characterize, or indicate, or inform) the AMF to send the relative position between UE3 and UE2 to UE 3. Regarding the accuracy and the threshold, reference may be made to the above description, which is not repeated.

Alternatively, the AMF acquires from the UDM or PCF whether to allow UE2 to acquire the absolute position of UE 3. In particular, the AMF obtains a LCS privacy profile from the UDM or PCF, which may include information of the UE allowing to obtain the absolute location of the UE 3. If the UE allowed to obtain the absolute position of the UE3 includes the UE2, the method 700 may further include step S703.

S703, the AMF sends a request message to the GMLC for requesting the absolute location of the UE 3.

The request message may be a provide location request (provide location request) message.

Optionally, the AMF sends the request message to the GMLC according to a fifth message. For example, when the fifth message is a mobile originated location request message, the AMF sends a request message to the GMLC.

Optionally, the request message includes the accuracy of the absolute position of the UE 3. Specifically, for example, if the fifth message in step S702 includes the accuracy of the relative position between UE3 and UE2, the request message sent by the AMF to the GMLC in step S803 carries the accuracy of the absolute position of UE3, which may be determined according to the accuracy of the relative position between UE3 and UE 2. Specifically, if the accuracy of the distance between UE3 and UE2 is less than or equal to m, the AMF may determine: accuracy of absolute position of UE3 is less than or equal to x ₁ *m。x ₁ Is a number greater than 0 and less than 1, exemplarily x ₁ Is 0.5.

Further, based on the request message, the GMLC locates the UE3 to acquire the absolute location of the UE 3. Optionally, the request message includes accuracy of the absolute position of the UE3, and the GMLC locates the UE3 according to the accuracy of the absolute position of the UE 3. The specific procedures of the GMLC for UE3 positioning can refer to the description in the prior art, without limitation.

S704, the GMLC sends the absolute location of UE3 to the AMF.

S705, the AMF determines the relative position between UE3 and UE2 according to the absolute position of UE2 and the absolute position of UE 3.

Specifically, the AMF determines the absolute position of the UE2, and may determine the relative position between the UE3 and the UE2 from the absolute position of the UE2 and the absolute position of the UE3 using a geometric calculation method. The specific procedure of determining the absolute position of the UE2 by the AMF may refer to the description in the prior art, and is not limited.

The AMF sends the relative position between UE3 and UE2 to UE 2S 706.

Optionally, if the fifth message includes a threshold value of the relative position between UE3 and UE2, S706 includes: the AMF transmits the relative position between UE3 and UE2 to UE2 according to the relative position between UE3 and UE2 and a threshold value of the relative position between UE3 and UE 2.

For example, if the relative position between UE3 and UE2 includes a distance between UE3 and UE2, and the threshold value of the relative position between UE3 and UE2 includes a distance threshold value, S706 includes: in the case that the distance between UE3 and UE2 determined by the AMF is smaller than or equal to the distance threshold, the AMF sends the distance between UE3 and UE2 to UE 2.

For another example, if the relative position between UE3 and UE2 includes an angle between UE3 and UE2, and the threshold value of the relative position between UE3 and UE2 includes an angle threshold value, S706 includes: when the angle between the UE3 and the UE2 determined by the AMF is smaller than or equal to the angle threshold, the AMF sends the angle between the UE3 and the UE2 to the UE 2; or, in a case that the angle between UE3 and UE2 determined by the AMF is greater than or equal to the angle threshold, the AMF sends the angle between UE3 and UE2 to UE 2.

For another example, if the relative position between UE3 and UE2 includes: an angle between UE3 and UE2, and a distance between UE3 and UE2, and the threshold value of the relative position between UE3 and UE2 includes an angle threshold value and a distance threshold value, then S706 includes: the AMF sends the distance and the angle between the UE3 and the UE2 to the UE2 under the condition that the distance between the UE3 and the UE2 determined by the AMF is smaller than or equal to the distance threshold value and the angle between the UE3 and the UE2 is smaller than or equal to the angle threshold value; or, in the case that the distance between UE3 and UE2 determined by the AMF is less than or equal to the distance threshold and the angle between UE3 and UE2 is greater than or equal to the angle threshold, the AMF sends the distance and the angle between UE3 and UE2 to UE 2.

Optionally, if the fifth message includes the second information, the method 700 further includes: the AMF sends the relative position between UE3 and UE2 to UE 3.

Based on the above scheme, if the UE2 cannot determine the relative position between the UE3 and the UE2, or if the accuracy of the relative position between the UE2 and the UE3 is low, the UE2 may obtain the relative position between the UE3 and the UE2 with the assistance of the AMF. Specifically, UE2 sends a fifth message to AMF requesting the relative position between UE3 and UE 2; the AMF determines the relative position between the UE3 and the UE2 based on the fifth message, and transmits the relative position between the UE3 and the UE2 to the UE 2. Thereby, not only the relative positioning between the UE2 and the UE3 can be realized, but also the accuracy of the relative position between the UE3 and the UE2 can be improved.

Fig. 8 is a schematic flow chart diagram of another method 800 for determining a location according to an embodiment of the present application. The method 800 may be used in a scenario where GMLC or LMF determines the relative location between UE3 and UE 2. The method 800 may include the following steps.

S801, UE2 determines a relative position between UE3 and UE 2.

S802, the UE2 sends a fifth message to the AMF.

Steps S801 to S802 are similar to steps S701 to S702, and are not described herein again.

S803, the AMF sends a request message to the GMLC or LMF for requesting the relative location between UE3 and UE 2.

Optionally, the AMF sends the request message to the GMLC or the LMF according to the fifth message. For example, when the fifth message is a mobile terminal initiated location request message, the AMF sends a request message to the GMLC or LMF.

Optionally, the request message includes the accuracy of the relative position between UE3 and UE 2. Specifically, for example, if the fifth message in step S802 includes the accuracy of the relative position between UE3 and UE2, the request message sent by the AMF to the GMLC or LMF in step S803 carries the accuracy of the relative position between UE3 and UE 2; or, as yet another example, the AMF determines the accuracy of the relative position between UE3 and UE2, and the request message sent by the AMF to the GMLC or LMF in step S803 carries the accuracy of the relative position between UE3 and UE 2.

As a case, the AMF transmits a request message for requesting a relative location between the UE3 and the UE2 to the GMLC.

In this case, the request message may be a provide location request message.

Further, based on the request message, the GMLC determines the relative position between UE3 and UE 2. Alternatively, the GMLC acquires from the UDM or PCF whether UE2 is allowed to acquire the absolute location of UE 3. In particular, the GMLC obtains an LCS privacy profile from the UDM or PCF, which may include information of the UE that allows the absolute location of the UE3 to be obtained. GMLC determines the relative position between UE3 and UE2, including: if the UE allowed to acquire the absolute position of UE3 includes UE2, the GMLC determines the relative position between UE3 and UE 2.

Alternatively, if the request message in step S803 includes the accuracy of the relative position between UE3 and UE2, the GMLC determines the relative position between UE3 and UE2 according to the accuracy of the relative position between UE3 and UE 2. As to the manner of determining the position based on the accuracy, reference may be made to the above description, and details are not repeated.

Optionally, the GMLC determines the relative position between UE3 and UE2, including: the GMLC determines the relative position between UE3 and UE2 from the absolute position of UE2 and the absolute position of UE 3.

Specifically, the GMLC locates UE2 and UE3, respectively, determines the absolute position of UE2 and the absolute position of UE3, and determines the relative position between UE3 and UE2 according to the absolute positions of UE2 and UE 3. The specific procedures of the GMLC for the positioning of UE2 and UE3 can refer to the description in the prior art, without limitation.

As another scenario, the AMF sends a request message to the LMF for requesting the relative position between UE3 and UE 2.

In this case, the request message may be a determined location request (determination location request) message.

Further, based on the request message, the LMF determines the relative position between UE3 and UE 2. Optionally, the LMF obtains from the UDM or PCF whether UE2 is allowed to obtain the absolute location of UE 3. Specifically, the LMF obtains an LCS privacy profile from the UDM or PCF, which may include information of the UE that allows to obtain the absolute location of UE 3. The LMF determines the relative position between UE3 and UE2, including: if the UE allowing to acquire the absolute position of the UE3 comprises the UE2, the LMF determines the relative position between the UE3 and the UE 2.

Alternatively, if the request message in step S803 includes the accuracy of the relative position between UE3 and UE2, the LMF determines the relative position between UE3 and UE2 according to the accuracy of the relative position between UE3 and UE 2. As to the manner of determining the position based on the accuracy, reference may be made to the above description, and details are not repeated.

Optionally, the LMF determines the relative position between UE3 and UE2, including: the LMF determines the relative position between UE3 and UE2 according to the absolute position of UE2 and the absolute position of UE 3.

Specifically, the LMF locates UE2 and UE3, respectively, determines an absolute position of UE2 and an absolute position of UE3, and determines a relative position between UE3 and UE2 according to the absolute positions of UE2 and UE 3. The specific procedures of the LMF for positioning the UE2 and the UE3 may refer to the description in the prior art, and are not limited.

At S804, the GMLC or the LMF transmits the relative position between UE3 and UE2 to the AMF.

Specifically, if the AMF sends a request message to the GMLC in step S803, the GMLC sends the relative location between UE3 and UE2 to the AMF in step S804; if the AMF sends the request message to the LMF in step S803, the LMF sends the relative position between the UE3 and the UE2 to the AMF in step S804.

Optionally, if the request message includes the threshold of the relative position between UE3 and UE2, step S804 includes: the GMLC or LMF sends the relative position between UE3 and UE2 to the AMF according to the relative position between UE3 and UE2 and the threshold value of the relative position between UE3 and UE 2. For details, reference may be made to the above description, and details are not repeated.

The AMF sends the relative position between UE3 and UE2 to UE 2S 805.

Optionally, if the fifth message includes the threshold of the relative position between UE3 and UE2, step S805 includes: the AMF transmits the relative position between UE3 and UE2 to UE2 according to the relative position between UE3 and UE2 and a threshold value of the relative position between UE3 and UE 2. For details, reference may be made to the above description, and details are not repeated.

Optionally, if the fifth message includes the second information, the method 800 further includes: the AMF sends the relative position between UE3 and UE2 to UE 3.

Based on the above scheme, if the UE2 cannot determine the relative position between the UE3 and the UE2, or if the accuracy of the relative position between the UE2 and the UE3 is low, the UE2 may obtain the relative position between the UE3 and the UE2 with the assistance of the GMLC/LMF. Specifically, UE2 sends a fifth message to AMF, requesting the relative position between UE3 and UE 2; the AMF sends a request to the GMLC/LMF to request the GMLC/LMF to determine the relative position between UE3 and UE2, and sends the relative position between UE3 and UE2 to UE 2. Thereby, not only the relative positioning between the UE2 and the UE3 can be realized, but also the accuracy of the relative position between the UE3 and the UE2 can be improved.

Fig. 9 is a schematic flow chart diagram of another method 900 for position determination provided by an embodiment of the present application. The method 900 may be used in a scenario where UE2 determines the relative position between UE3 and UE 2. The difference between the method 900 and the method 600 is that in the method 600, UE1 provides the absolute position of UE3, in the method 900, AMF provides the absolute position of UE3, and UE2 determines the relative position between UE3 and UE2 according to the absolute position of UE3 provided by AMF. The method 900 may include the following steps.

S901, UE2 determines a relative position between UE3 and UE 2.

Step S901 is similar to step S501, and is not described here again.

S902, UE2 acquires its absolute position.

Specifically, the UE2 may obtain its own absolute position from the network side, and the specific flow may refer to descriptions in the prior art, without limitation.

S903, the UE2 sends a fifth message to the AMF.

Wherein the fifth message is used to trigger sending the absolute position of UE3 to UE 2.

Optionally, the first message is an uplink NAS transport message or an MO-LR Request message.

Optionally, the fifth message is embodied in a message form, and specifically may be a mobile terminal initiated location request message or an LTE LPP message.

Optionally, the fifth message is embodied in a container form, and may specifically be a mobile terminal initiated location request container.

Optionally, the fifth message comprises at least one of: accuracy of absolute position of UE3, second information. Wherein the second information may be used to trigger (or characterize, or indicate, or inform) the AMF to send the absolute position of the UE3 to the UE 3. Regarding accuracy, reference may be made to the above description for details, which are not repeated.

Alternatively, the AMF acquires from the UDM or PCF whether to allow UE2 to acquire the absolute position of UE 3. In particular, the AMF obtains a LCS privacy profile from the UDM or PCF, which may include information of the UE allowing to obtain the absolute location of the UE 3. If the UEs allowing to acquire the absolute position of UE3 include UE2, the method 900 may further include step S904.

S904, the AMF sends a request message to the GMLC.

Wherein the request message may be a provide location request message.

Further, based on the request message, the GMLC locates the UE3 to determine the absolute location of the UE 3. Optionally, if the request message includes the accuracy of the absolute location of the UE3, the GMLC locates the UE3 according to the accuracy of the absolute location of the UE 3. The specific procedures of the GMLC for UE3 positioning can refer to the description in the prior art, without limitation.

S905, the GMLC transmits the absolute location of the UE3 to the AMF.

S906, the AMF sends the absolute position of UE3 to UE 2.

Optionally, if the fifth message includes the second information, the method 900 further includes: the AMF sends the absolute position of UE3 to UE 3.

S907, the UE2 determines a relative position between the UE3 and the UE2 according to the absolute position of the UE2 and the absolute position of the UE 3.

Specifically, the UE2 may determine the relative position between the UE3 and the UE2 according to the absolute position of the UE2 and the absolute position of the UE3 by using a geometric calculation method.

Based on the above scheme, if the UE2 cannot determine the relative position between the UE3 and the UE2, or if the accuracy of the relative position between the UE2 and the UE3 is low, the UE2 may obtain the relative position between the UE3 and the UE2 with the assistance of the UE 1. Specifically, UE2 sends a fifth message to AMF requesting the absolute position of UE 3; AMF requests UE3 absolute position from GMLC; the GMLC determines the absolute position of the UE3 and sends the absolute position of the UE3 to the UE2 through the AMF; the UE2 determines the relative position between the UE3 and the UE2 based on the absolute position of the UE3 and the absolute position of the UE 2. Thereby, not only the relative positioning between the UE2 and the UE3 can be realized, but also the accuracy of the relative position between the UE3 and the UE2 can be improved.

Fig. 10 is a schematic flow chart diagram of another method 1000 for position determination according to an embodiment of the present application. The method 1000 may be used in a scenario where an LCS client requests a relative location between UE3 and UE2 from a GMLC. The method 1000 may include the following steps.

S1002, the LCS client sends a ninth message to the GMLC.

Wherein the ninth message may include: the identity of UE2 and the identity of UE 3. Wherein, the identifier may be a General Public Subscription Identifier (GPSI).

The ninth message may be an LCS service request (LCS service request) message.

Optionally, the ninth message includes at least one of: accuracy of relative position between UE3 and UE2, threshold of relative position between UE3 and UE 2. For accuracy and threshold, refer to the above description, and are not repeated.

Optionally, before step S1002, the method 1000 further includes step S1001. S1001, the UE2 sends a tenth message to the LCS client. Wherein the tenth message is used to request the relative position between UE3 and UE 2. Specifically, UE2 may send a tenth message to the LCS client through the application layer to request the relative position between UE3 and UE 2; and after receiving the tenth message from the LCS client, the UE2 sends a ninth message to the GMLC.

Optionally, the LCS client sends a ninth message to the GMLC, including: the LCS client sends a ninth message to the GMLC via the NEF.

S1003, the GMLC determines the relative position between UE3 and UE 2.

Optionally, the GMLC obtains from the UDM or PCF whether UE2 is allowed to obtain the absolute location of UE 3. In particular, the GMLC obtains an LCS privacy profile from the UDM or PCF, which may include information of the UE that allows the absolute location of the UE3 to be obtained. GMLC determines the relative position between UE3 and UE2, including: if the UE allowed to acquire the absolute position of UE3 includes UE2, GMLC determines the relative position between UE3 and UE 2.

Optionally, if the ninth message includes the accuracy of the relative position between UE3 and UE2, the GMLC determines the relative position between UE3 and UE2 according to the accuracy of the relative position between UE3 and UE 2. As to the manner of determining the position based on the accuracy, reference may be made to the above description, and details are not repeated.

Specifically, the GMLC locates the UE2 and the UE3, respectively, determines the absolute position of the UE2 and the absolute position of the UE3, and determines the relative position between the UE3 and the UE2 according to the absolute position of the UE2 and the absolute position of the UE 3. The specific procedures of the GMLC for the positioning of UE2 and UE3 can refer to the description in the prior art, without limitation.

S1004, the GMLC transmits the relative position between UE3 and UE2 to the LCS client.

Optionally, if the ninth message includes a threshold value of the relative position between UE3 and UE2, S1004 includes: the GMLC transmits the relative position between UE3 and UE2 to UE2 according to the relative position between UE3 and UE2 and the threshold value of the relative position between UE3 and UE 2. For details, reference may be made to the above description, which is not repeated herein.

Optionally, the method 1000 further comprises step S1005. S1005, the LCS client sends the relative position between UE3 and UE2 to UE 2.

In a possible case, if the UE2 sends a tenth message requesting the relative position between the UE3 and the UE2 to the LCS client in step S1001, the LCS receives the relative position between the UE3 and the UE2 from the GMLS, and then sends the relative position between the UE3 and the UE2 to the UE 2.

Based on the above scheme, UE2 can obtain the relative location between UE3 and UE2 with the assistance of GMLC. Specifically, UE2 sends a ninth message to GMLC through LCS client, requesting the relative location between UE3 and UE 2; the GMLC determines the relative position between UE3 and UE2 based on the ninth message and transmits the relative position between UE3 and UE2 to UE 2. Thereby, not only the relative positioning between the UE2 and the UE3 can be realized, but also the accuracy of the relative position between the UE3 and the UE2 can be improved.

It is understood that the method 1000 is mainly exemplified by the GMLC determining the relative position between the UE3 and the UE2, and the application is not limited thereto. For example, the relative position between UE3 and UE2 may also be determined by the LMF. Specifically, S1003 may be replaced with: the GMLC requests the LMF for the relative position between the UE3 and the UE2 through the AMF; the LMF determines the relative position between UE3 and UE2 and sends the relative position between UE3 and UE2 to the GMLC.

It is also to be appreciated that the method 1000 may also determine the relative position between UE3 and UE2 by NEF. For example, when the LCS client requests the relative position between UE3 and UE2, the LCS client may request relative positioning from NEF, and the NEF initiates positioning of UE2 and UE3 to obtain the absolute positions of UE2 and UE 3; the NEF determines the relative position between UE3 and UE2 from the absolute position of UE2 and the absolute position of UE 3. The NEF initiates positioning of the UE2, which may specifically be: NEF requests absolute location of UE2 from GMLC; the NEF initiates positioning of the UE3, which may specifically be: NEF requests the GMLC for the absolute position of UE3, and NEF can determine the relative position between UE3 and UE2 based on the absolute position of UE2 and the absolute position of UE 3.

In the above, a scheme in which the first terminal device assists the second terminal device to obtain the relative position between the third terminal device and the second terminal device, and a scheme in which the network device assists the second terminal device to obtain the relative position between the third terminal device and the second terminal device are introduced, and a scheme in which the third terminal device assists the second terminal device to obtain the relative position between the third terminal device and the second terminal device is introduced below.

Fig. 11 is a diagram illustrating another method 1100 for location determination according to an embodiment of the present disclosure. The method 1100 may include the following steps.

S1101, the second terminal device transmits an eleventh message to the third terminal device.

Wherein the eleventh message may be used to trigger the third terminal device to send the first relative position, or the eleventh message may be used to request the first relative position.

Accordingly, the third terminal device receives the eleventh message from the second terminal device.

For the first relative position, the above description is referred to, and no further description is given.

The eleventh message is of a type of a PC5-RRC message or a PC5-S message.

The eleventh message may be an existing message, for example, a link modification request (link modification request) message; the eleventh message may also be a newly defined message, which may be referred to as a location request message or a relative location request message, for example, without limitation.

Taking the eleventh message as the link modification request message as an example, in one possible implementation manner, the link modification request message may carry indication information, where the indication information is used to trigger the third terminal device to send the first relative location. The indication information may be implemented by one or more bits. For example, it is indicated by 1 bit whether the link modification request message is used to trigger the third terminal device to send the first relative position. If the bit is set to "1", it indicates that the link modification request message triggers the third terminal device to send the first relative position; if the bit is set to "0", it indicates that the link modification request message does not trigger the third terminal device to send the first relative position. In another possible implementation manner, if the link modification request message is carried in a specific container (e.g., a relative positioning request container), the link modification request message is used to trigger the third terminal device to send the first relative position.

S1102, the second terminal device receives a twelfth message from the third terminal device.

Wherein the twelfth message includes the first relative position.

Optionally, the method 1100 further comprises: the third terminal device determines the first relative position. For example, the third terminal device may determine the first relative position according to an eleventh message, wherein the third terminal device receives the eleventh message and triggers the third terminal device to determine the first relative position. For the second relative position, the above description is referred to, and no further description is given.

And S1103, the second terminal device determines a second relative position according to the first relative position and the third relative position.

For the third relative position, the above description is referred to, and no further description is given.

For example, the second terminal device obtains the relative position (i.e. the second relative position) between the third terminal device and the second terminal device according to the relative position (i.e. the first relative position) between the third terminal device and the first terminal device and the relative position (i.e. the third relative position) between the second terminal device and the first terminal device received in step S1102, and the first terminal device obtains the relative position (i.e. the second relative position) between the third terminal device and the second terminal device according to the relative position between the third terminal device and the first terminal device and the relative position between the second terminal device and the first terminal device by using a geometric calculation method. In this example, how to obtain the relative position between the third terminal device and the second terminal device by using the geometric calculation method belongs to the prior art, and details are not described again.

The manner in which the second terminal device obtains the relative position between the second terminal device and the first terminal device includes the following two ways. In one possible approach, the second terminal device determines a relative position between the second terminal device and the first terminal device. In another possible manner, the first terminal device determines a relative position between the second terminal device and the first terminal device, and sends the relative position between the second terminal device and the first terminal device to the second terminal device.

Optionally, in an implementation scenario of the above embodiment, the eleventh message in step S1101 includes the accuracy of the first relative position. Further optionally, the method 1100 further comprises: the third terminal device determines the first relative position according to the accuracy of the first relative position.

The accuracy of the first relative position can be used for the third terminal device to select an appropriate transmission parameter in the process of determining the first relative position. The transmission parameter may include at least one of: bandwidth used to transmit and/or receive signals, and a beam used to transmit and/or receive signals (e.g., a beamwidth used to transmit and/or receive signals). For example, if the accuracy of the first relative position is higher, it indicates that the error between the first relative position determined by the third terminal device and the actual first relative position is small, so when the third terminal device determines the first relative position, the signal can be transmitted and/or received by using a larger bandwidth (because the larger the signal bandwidth, the shorter the slot length for transmitting the signal, the more accurate the calculated distance), and/or the signal can be transmitted and/or received by using a finer beam (because the finer the beam is, the more accurate the direction is).

Regarding the accuracy of the first relative position, reference may be made to the above description, and details are not repeated.

Optionally, the eleventh message in step S1101 includes the accuracy of the first relative position, and the method 1100 further includes: the second terminal device obtains the accuracy of the first relative position and the accuracy of the third relative position from the accuracy of the second relative position.

Taking distance as an example, if the accuracy of the second relative position includes the accuracy of the distance, which is less than or equal to m, the second terminal device may determine that: the accuracy of the first relative position is less than or equal to a ₁ * m, the accuracy of the second relative position is less than or equal to a ₂ * And m is selected. Wherein, a ₁ And a ₂ Is a number greater than 0 and less than 1. By way of example, a ₁ And a ₂ The sum being less than or equal to 1, e.g. a ₁ And a ₂ Is 0.5. Specifically, the error between the distance between the third terminal device and the first terminal device determined by the third terminal device (i.e. the distance between the third terminal device and the first terminal device measured by the third terminal device) and the actual distance between the third terminal device and the first terminal device is less than or equal to a ₁ * m; the distance between the second terminal device and the first terminal device determined by the second terminal device (i.e. the distance between the second terminal device and the first terminal device measured by the second terminal device), and the actual distance between the second terminal device and the first terminal device, the error between the two is less than or equal to a ₂ *m。

Taking the angle as an example, if the accuracy of the second relative position includes the accuracy of the angle, which is less than or equal to d, the second terminal device may determine that: the accuracy of the first relative position is less than or equal to b ₁ * d, the accuracy of the second relative position is less than or equal to b ₂ * d. Wherein, b ₁ And b ₂ Is a number greater than 0 and less than 1, exemplarily b ₁ And b ₂ The sum being less than or equal to 1, e.g. b ₁ And b ₂ Is 0.5. Specifically, an error between an angle between the third terminal device and the first terminal device determined by the third terminal device (that is, an angle between the third terminal device and the first terminal device measured by the third terminal device) and an actual angle between the third terminal device and the first terminal device is less than or equal to b ₁ * d; the angle between the second terminal device and the first terminal device determined by the second terminal device (namely the angle between the second terminal device and the first terminal device measured by the second terminal device) and the actual angle between the second terminal device and the first terminal device are less than or equal to b ₂ *d。

Optionally, in another implementation scenario of the foregoing embodiment, the method 1100 further includes: the first terminal device sends a third message. For the third message, reference is made to the description in the method 300, which is not repeated here. The third message may include information of the third terminal device, and the information of the third terminal device may be, for example, an identifier of the third terminal device. Further, step S1101 may include: and the second terminal equipment receives a third message from the first terminal equipment, and if the third message comprises the information of the third terminal equipment, the second terminal equipment sends an eleventh message to the third terminal equipment.

For example, a first terminal device establishes a communication connection with one or more terminal devices, including a third terminal device; the first terminal device sends a third message, where the third message is used to broadcast information of terminal devices that establish communication connection with the first terminal device (i.e. information of the one or more terminal devices), and the information of terminal devices that establish communication connection with the first terminal device, which is broadcast by the third message, includes information of the third terminal device (e.g. an identifier of the third terminal device); the second terminal device may send an eleventh message to the third terminal device to request a relative position between the third terminal device and the first terminal device after receiving the third message from the first terminal device.

For another example, the first terminal device already knows absolute positions of one or more terminal devices, where the one or more terminal devices include a third terminal device; the first terminal device sends a third message, where the third message is used to broadcast information of terminal devices whose absolute positions have been known by the first terminal device (i.e., information of the one or more terminal devices), and the information of terminal devices whose absolute positions have been known by the first terminal device, which is broadcast by the third message, includes information of a third terminal device (e.g., an identifier of the third terminal device); the second terminal device may send an eleventh message to the third terminal device to request a relative position between the third terminal device and the first terminal device after receiving the third message from the first terminal device.

For another example, the first terminal device already knows the relative position between the first terminal device and one or more terminal devices, where the one or more terminal devices include the third terminal device; the first terminal device sends a third message, where the third message is used to broadcast information of terminal devices whose relative positions have been known by the first terminal device (i.e., information of the one or more terminal devices), and the information of terminal devices whose relative positions have been known by the first terminal device broadcast by the third message includes information of a third terminal device (e.g., an identifier of the third terminal device); the second terminal device may send an eleventh message to the third terminal device to request a relative position between the third terminal device and the first terminal device after receiving the third message from the first terminal device.

Optionally, in another implementation scenario of the foregoing embodiment, the method 1100 further includes: and the second terminal equipment sends a fourth message, wherein the fourth message is used for discovering the terminal equipment assisting in positioning the third terminal equipment.

Wherein the fourth message may include information of the third terminal device.

Accordingly, the second terminal device receives the response message of the fourth message from the first terminal device.

For the fourth message, reference is made to the description in the method 300, which is not repeated here.

Optionally, in another implementation scenario of the foregoing embodiment, the eleventh message includes information of the first terminal device.

The information of the first terminal device is used for the third terminal device to identify that the relative position of the first terminal device is determined, that is, the third terminal device determines the relative position between the third terminal device and the first terminal device.

Optionally, in another implementation scenario of the foregoing embodiment, the eleventh message includes a positioning time (positioning time), and the positioning time is used to characterize a time for determining the first relative position. The time at which the first relative position is determined may in turn be understood as the acquisition time or the calculation time of the first relative position. And after the third terminal equipment receives the positioning time, the third terminal equipment determines a first relative position according to the positioning time. Further optionally, the method 1100 further comprises: and the second terminal equipment determines a third relative position according to the positioning time.

The positioning time may also be referred to as a scheduled positioning time (scheduled positioning time), and the positioning time may be a certain time or a certain time period, which is not limited.

The "the second terminal device determines the third relative position according to the positioning time", which may include any of the following cases.

As a first possible scenario, the second terminal device determines the relative position between the second terminal device and the first terminal device at the positioning time (i.e. at the certain moment in time or within the certain time period). For example, the second terminal device sends a ranging signal to the first terminal device at the positioning time, the first terminal device sends a feedback signal to the second terminal device after receiving the ranging signal, and the second terminal device calculates the distance between the second terminal device and the first terminal device according to the time difference between the sending of the ranging signal and the receiving of the feedback signal. For another example, the second terminal device sends the positioning time to the first terminal device, the first terminal device sends the ranging signal to the second terminal device at the positioning time, and the second terminal device determines the angle or direction between the second terminal device and the first terminal device according to the received ranging signal.

As a second possible scenario, the second terminal device determines the relative position between the second terminal device and the first terminal device within a preset time period before the positioning time. For example, the second terminal device sends a ranging signal to the first terminal device within a preset time period before the positioning time, the first terminal device sends a feedback signal to the second terminal device after receiving the ranging signal, and the second terminal device calculates the distance between the second terminal device and the first terminal device according to the time difference between the sending of the ranging signal and the receiving of the feedback signal. For another example, the second terminal device sends the positioning time to the first terminal device, the first terminal device sends a ranging signal to the second terminal device within a preset time period before the positioning time, and the second terminal device determines an angle or a direction between the second terminal device and the first terminal device according to the received ranging signal.

The above two cases are mainly described by taking the second terminal device as an example to determine the third relative position, and as described above, the first terminal device may also determine the third relative position and send the third relative position to the second terminal device. If the first terminal device determines the third relative position and sends the third relative position to the second terminal device, the method 1100 further includes: and the second terminal equipment sends positioning time to the first terminal equipment, and the first terminal equipment determines a third relative position according to the positioning time. For the scheme that the first terminal device determines the third relative position according to the positioning time, reference may be made to the above two situations, which are not described herein again.

The "third terminal device determines the first relative position based on the positioning time", which may include any of the following cases.

As a first possible scenario, the third terminal device determines the relative position between the third terminal device and the first terminal device according to the positioning time. Specifically, reference may be made to the above description of the first possible case where the second terminal device determines the third relative position from the positioning time.

As a second possible scenario, the third terminal device determines the relative position between the third terminal device and the first terminal device within a preset time period before the positioning time. Specifically, reference may be made to the above description of the second possible situation in the third relative position being determined by the second terminal device from the positioning time.

Optionally, in another implementation scenario of the foregoing embodiment, the eleventh message in step S1101 includes the accuracy of the first relative position and the positioning time. Further optionally, the method 1100 further comprises: the third terminal equipment determines the first relative position according to the accuracy and the positioning time of the first relative position.

In the first example, taking the accuracy of the first relative position as the accuracy of the distance as an example, it is assumed that the accuracy of the first relative position is less than or equal to a ₁ *m。

As a first possible scenario, the third terminal device determines the relative position between the third terminal device and the first terminal device according to the positioning time, and the third terminal device determined by the third terminal device according to the positioning timeThe error between the distance between one terminal device and the actual distance between the third terminal device and the first terminal device is less than or equal to a ₁ *m。

As a second possible scenario, the third terminal device determines the relative position between the third terminal device and the first terminal device within a preset time period before the positioning time, and the error between the distance between the third terminal device and the first terminal device determined by the third terminal device within the preset time period before the positioning time and the actual distance between the third terminal device and the first terminal device is less than or equal to a ₁ *m。

In the second example, taking the accuracy of the first relative position as an example of the accuracy in angle, it is assumed that the accuracy of the first relative position is less than or equal to b ₁ *d。

As a first possible scenario, the third terminal device determines the relative position between the third terminal device and the first terminal device according to the positioning time, and the error between the angle between the third terminal device and the first terminal device determined by the third terminal device according to the positioning time and the actual angle between the third terminal device and the first terminal device is less than or equal to b ₁ *d。

As a second possible scenario, the third terminal device determines the relative position between the third terminal device and the first terminal device within a preset time period before the positioning time, and the error between the angle between the third terminal device and the first terminal device determined by the third terminal device within the preset time period before the positioning time and the actual angle between the third terminal device and the first terminal device is less than or equal to b ₁ *d。

It is noted that the first example and the second example may be combined, without limitation.

For ease of understanding, the following description will exemplarily describe an embodiment of the present application with reference to fig. 12. In the following example, it is assumed that the first terminal device is UE1, the second terminal device is UE2, and the third terminal device is UE3, where the steps involved may specifically refer to the above description.

Fig. 12 is a schematic flow chart of a method 1200 for position determination according to an embodiment of the present application. The method 1200 may be used in a scenario where UE2 determines the relative position between UE3 and UE 2. The method 500 may include the following steps.

S1201, UE2 determines the relative position between UE3 and UE 2.

S1202, UE2 determines a device for assisting in positioning UE 3.

Steps S1201 to S1202 are similar to steps S501 to S502, and are not described herein again.

S1203, UE2 sends an eleventh message to UE 3.

Wherein the eleventh message may be used to trigger the UE3 to send the relative position between the UE3 and the UE1, or the eleventh message may be used to request the relative position between the UE3 and the UE 1. Wherein, the relative position between the UE3 and the UE1 comprises at least one of the following: the distance between UE3 and UE1, or the angle between UE3 and UE 1.

Optionally, the eleventh message comprises at least one of: accuracy of relative position between UE3 and UE1, identity of UE1, or positioning time.

Wherein, the accuracy of the relative position between the UE3 and the UE1 may include at least one of the following: the accuracy of the distance between UE3 and UE1, or the accuracy of the angle between UE3 and UE 1. For example, the accuracy of the distance between UE3 and UE1 is less than or equal to m, i.e. the error between the measured distance between UE3 and UE1 and the actual distance between UE3 and UE1 does not exceed m. For another example, the accuracy of the angle between UE3 and UE1 is less than or equal to d, which means that the error between the measured angle between UE3 and UE1 and the actual angle between UE3 and UE1 does not exceed d.

Regarding the accuracy and the positioning time, reference may be made to the above description, and details are not repeated.

In step S1203, the UE2 may directly send the eleventh message to the UE3, or, if there is no communication connection between the UE2 and the UE3, the UE2 may send the eleventh message to the UE3 through the UE1, that is, the UE1 may serve as a relay UE (relay UE) between the UE2 and the UE3. Wherein, the UE2 sends the eleventh message to the UE3 through the UE1, including: UE2 sends an eleventh message to UE1, which UE1 sends to UE3.

S1204, the UE3 determines a relative position between the UE3 and the UE1 based on the eleventh message.

One possible approach is to perform relative positioning between UE3 and UE1 to determine the relative position between UE3 and UE 1.

Alternatively, if the eleventh message in step S1203 includes the accuracy of the relative position between UE3 and UE1, step S1204 includes: the UE3 determines the relative position between the UE3 and the UE1 according to the accuracy of the relative position between the UE3 and the UE 1.

Taking the distance as an example, specifically, if the accuracy of the relative position between the UE3 and the UE1 includes the accuracy of the distance, which is less than 0.4 meter, the error between the distance between the UE3 and the UE1 determined by the UE3 and the actual distance between the UE3 and the UE1 is less than 0.4 meter. It should be understood that 0.4 meters is exemplary and not limiting.

Taking an angle as an example, specifically, if the accuracy of the relative position between the UE3 and the UE1 includes an accuracy of an angle, which is less than 1 degree, an error between the angle between the UE3 and the UE1 determined by the UE3 and an actual angle between the UE3 and the UE1 is less than 1 degree. It should be understood that 1 degree is illustrative here and the application is not limited thereto.

Optionally, if the eleventh message in step S1203 includes the positioning time, S1204 includes: the UE3 determines the relative position between the UE3 and the UE1 at the positioning time.

Alternatively, if the eleventh message in step S1203 includes the positioning time and the accuracy of the relative position between UE3 and UE1, S1204 includes: the relative position between the UE3 and the UE1 is determined by the accuracy of the relative position between the UE3 and the UE1 at the positioning time by the UE 3.

S1205, UE3 sends a twelfth message to UE2, the twelfth message including the relative position between UE3 and UE 1.

The eleventh message in step S1203 is used to request the relative position between UE3 and UE1, so step S1205 includes: UE3 sends a twelfth message to UE2, which includes the relative position between UE3 and UE 1.

S1206, UE2 determines a relative position between UE3 and UE 2.

Determining, by the UE2, the relative position between the UE3 and the UE2 may include: the UE2 determines the relative position between the UE3 and the UE2 according to the relative position between the UE3 and the UE1 and the relative position between the UE2 and the UE 1.

The relative position between UE2 and UE1 can be obtained as follows.

In one approach, UE2 determines the relative position between UE2 and UE 1. Specifically, UE2 and UE1 perform relative positioning to determine the relative position between UE2 and UE 1. Based on this way, if the eleventh message in step S1203 includes the positioning time, further optionally, the UE2 determines the relative position between the UE2 and the UE1 at the positioning time.

In another way, UE2 acquires the relative position between UE2 and UE1 from UE 1.

Based on the above scheme, if the UE2 cannot determine the relative position between the UE3 and the UE2, or if the accuracy of the relative position between the UE2 and the UE3 is low, the UE2 may obtain the relative position between the UE3 and the UE2 with the assistance of the UE 3. Specifically, UE2 sends an eleventh message to UE3 requesting the relative position between UE3 and UE 1; the UE3 determines the relative position between the UE3 and the UE1 based on the eleventh message and sends the relative position between the UE3 and the UE1 to the UE 2; the UE2 determines the relative position between the UE3 and the UE2 based on the relative position between the UE3 and the UE1, and the relative position between the UE2 and the UE 1. Thereby, not only the relative positioning between the UE2 and the UE3 can be realized, but also the accuracy of the relative position between the relative positions between the UE2 and the UE3 can be improved.

It is to be understood that the examples in fig. 5 to fig. 12 in the embodiment of the present application are only for facilitating the understanding of the embodiment of the present application by those skilled in the art, and the embodiment of the present application is not limited to the specific scenarios illustrated. It will be apparent to those skilled in the art that various equivalent modifications or variations are possible in light of the examples of fig. 5-12, and such modifications or variations are intended to be included within the scope of the embodiments herein.

It is also to be understood that some optional features in the embodiments of the present application may, in some scenarios, not be dependent on other features, or may, in some scenarios, be combined with other features, without limitation.

It is also understood that the schemes in the embodiments of the present application can be used in reasonable combinations, and the explanations or illustrations of the respective terms appearing in the embodiments can be mutually referred or explained in the embodiments, which is not limited thereto.

It should also be understood that the size of each numerical sequence in each embodiment of the present application does not mean the execution sequence, and is merely for convenience of description and distinction, and should not limit the implementation process of the embodiment of the present application. For example, in the method 900, step S902 may be performed simultaneously with steps S903-S906, i.e., UE2 may obtain the absolute position of UE2 and the absolute position of UE3 simultaneously.

It should also be understood that some message names are referred to in the embodiments of the present application, and the names do not limit the scope of the embodiments of the present application.

It is further understood that, in the above embodiments of the method, the method and the operation implemented by the terminal device may also be implemented by a component (e.g., a chip or a circuit) of the terminal device; in addition, the method and operations implemented by the network device may also be implemented by a component (e.g., a chip or a circuit) of the network device, and are not limited thereto.

Corresponding to the methods provided by the above method embodiments, the embodiments of the present application further provide corresponding apparatuses, where the apparatuses include corresponding modules for executing the above method embodiments. The module may be software, hardware, or a combination of software and hardware. It is to be understood that the technical features described in the above-described method embodiments also apply to the following apparatus embodiments.

Fig. 13 is a schematic block diagram of an apparatus for position determination according to an embodiment of the present application. The apparatus 1300 includes a transceiver unit 1310. The transceiving unit 1310 may be configured to implement a corresponding communication function. The transceiving unit 1310 may also be referred to as a communication interface or communication unit.

Optionally, the apparatus 1300 further comprises a processing unit 1320. The processing unit 1320 may be used to perform data processing.

Optionally, the apparatus 1300 further includes a storage unit, which may be configured to store instructions and/or data, and the processing unit 1320 may read the instructions and/or data in the storage unit, so as to enable the apparatus to implement the actions of the network device or different terminal devices in the foregoing method embodiments.

In a first design, the apparatus 1300 may be the first terminal device in the foregoing embodiments, or may be a component (e.g., a chip) of the first terminal device. The apparatus 1300 may implement the steps or processes corresponding to those executed by the first terminal device in the foregoing method embodiments, where the transceiving unit 1310 may be configured to execute operations related to transceiving of the first terminal device in the foregoing method embodiments, and the processing unit 1320 may be configured to execute operations related to processing of the first terminal device in the foregoing method embodiments.

In one possible implementation, the transceiving unit 1310 is configured to receive a first message from a second terminal device, where the first message is used to request a first target location, and the first target location includes at least one of: a first relative position, an absolute position of a third terminal device, or a second relative position, wherein the first relative position is used to characterize the relative position between the third terminal device and the first terminal device, and the second relative position is used to characterize the relative position between the third terminal device and the second terminal device; the transceiving unit 1310 is further configured to send a second message to the second terminal device according to the first message, where the second message includes the first target location.

Optionally, the processing unit 1320 is configured to determine the first target position.

Optionally, the first target position comprises the second relative position, and the processing unit 1320 is configured to determine the first target position, including: the processing unit 1320 is configured to: determining the first relative position; determining a third relative position, wherein the third relative position is used for representing the relative position between the second terminal equipment and the first terminal equipment; and determining the second relative position according to the first relative position and the third relative position.

Optionally, the first target position comprises the second relative position, and the processing unit 1320 is configured to determine the first target position, including: the processing unit 1320 is configured to: determining an absolute position of the second terminal device; determining an absolute position of the third terminal device; and determining the second relative position according to the absolute position of the second terminal device and the absolute position of the third terminal device.

Optionally, the first target location includes an absolute location of the third terminal device, and the processing unit 1320 is configured to determine the first target location, including: the processing unit 1320 is configured to: determining the first relative position; and determining the absolute position of the third terminal equipment according to the first relative position and the absolute position of the first terminal equipment.

Optionally, the first message comprises an accuracy of the first target location, and the processing unit 1320 is configured to determine the first target location according to the accuracy of the first target location.

Optionally, the first target position comprises the second relative position, and the processing unit 1320 is configured to obtain a first accuracy and a second accuracy according to the accuracy of the first target position; the processing unit 1320 is configured to determine the first target location according to the accuracy of the first target location, including: the processing unit 1320 is configured to: determining the first relative position according to a first accuracy; determining the third relative position according to a second accuracy; and determining the second relative position according to the first relative position and the third relative position.

Optionally, the first message includes first information, and the first information is used to trigger the first terminal device to send the first target location to the third terminal device, and the transceiver 1310 is further used to send the first target location to the third terminal device.

Optionally, the first target location includes the second relative location, the first message includes a threshold of the second relative location, and the transceiver 1310 is configured to send a second message to the second terminal device, including: the transceiving unit 1310 is configured to send the second message to the second terminal device according to the second relative position and the threshold of the second relative position, where the second message includes the second relative position.

Optionally, the transceiver 1310 is further configured to send a third message, where the third message is used to broadcast information of a terminal device that establishes a communication connection with the first terminal device, or the third message is used to broadcast information of a terminal device whose location is known by the first terminal device, where the third message includes the information of the third terminal device.

Optionally, the transceiver 1310 is further configured to receive a fourth message from the second terminal device, where the fourth message is used to discover a terminal device that assists in locating the third terminal device, and the fourth message includes information of the third terminal device; if the first terminal device meets a preset condition, the transceiver 1310 is further configured to send a response message of the fourth message to the second terminal device.

Optionally, the first relative position comprises at least one of: distance or angle; the second relative position comprises at least one of: distance or angle.

In a second design, the apparatus 1300 may be the second terminal device in the foregoing embodiment, and may also be a component (e.g., a chip) of the second terminal device. The apparatus 1300 may implement the steps or the flow corresponding to the steps or the flow executed by the second terminal device in the above method embodiment, where the transceiving unit 1310 is configured to execute operations related to transceiving of the second terminal device in the above method embodiment, and the processing unit 1320 is configured to execute operations related to processing of the second terminal device in the above method embodiment.

In one possible implementation manner, the transceiving unit 1310 is configured to send a first message to a first terminal device, where the first message is used to request a first target location, and the first target location includes at least one of: a first relative position, an absolute position of a third terminal device, or a second relative position, wherein the first relative position is used to characterize the relative position between the third terminal device and the first terminal device, and the second relative position is used to characterize the relative position between the third terminal device and the second terminal device; a transceiver unit 1310, further configured to receive a second message from the first terminal device, where the second message includes the first target location; the processing unit 1320 is configured to obtain the second relative position according to the second message.

Optionally, the first message comprises at least one of: an accuracy of the first target location, a threshold of the second relative location, or first information; the first information is used for triggering the first terminal device to send the first target position to the third terminal device.

Optionally, the transceiving unit 1310 is configured to send a first message to a first terminal device, and includes: if the relative position between the third terminal device and the second terminal device stored in the second terminal device does not satisfy the preset condition, the transceiver 1310 is configured to send the first message to the first terminal device.

Optionally, the transceiver 1310 is further configured to receive a third message from the first terminal device, where the third message is used to broadcast information of a terminal device that establishes a communication connection with the first terminal device, or the third message is used to broadcast information of a terminal device whose location is already known by the first terminal device, where the fourth message includes information of the third terminal device.

Optionally, before the second terminal device sends the first message to the first terminal device, the transceiving unit 1310 is further configured to: sending a fourth message, where the fourth message is used to discover a terminal device that assists in locating the third terminal device, and the fourth message includes information of the third terminal device; receiving a response message of the fourth message from the first terminal device.

Optionally, the second relative position comprises at least one of: distance or angle.

In another possible implementation manner, the transceiver 1310 is configured to send a fifth message to the network device, where the fifth message is used to trigger sending a second target location to the second terminal device, and the second target location includes at least one of: a second relative position, or an absolute position of a third terminal device, wherein the second relative position is used to characterize a relative position between the third terminal device and the second terminal device; a transceiving unit 1310, further configured to receive a sixth message from the network device, the sixth message including the second target location; a transceiving unit 1140, configured to obtain the second relative position according to the sixth message.

Optionally, the fifth message comprises at least one of: an accuracy of the second target location, a threshold of the second relative location, or second information; the second information is used for triggering the network device to send the second target location to the third terminal device.

Optionally, the transceiver 1310 is configured to send a fifth message to a network device, where the fifth message includes: if the relative position between the third terminal device and the second terminal device stored in the second terminal device does not satisfy the preset condition, the transceiver 1310 is configured to send the fifth message to the network device.

In another possible implementation manner, the transceiving unit 1310 is configured to send an eleventh message to the third terminal device, where the eleventh message is used to trigger the third terminal device to send a first relative position, and the first relative position is used to represent a relative position between the third terminal device and the first terminal device; a transceiving unit 1310, further configured to receive a twelfth message from the third terminal device, where the twelfth message includes the first relative location; a processing unit 1320, configured to determine a second relative position according to the first relative position and a third relative position, where the third relative position is used to characterize the relative position between the second terminal device and the first terminal device, and the second relative position is used to characterize the relative position between the third terminal device and the second terminal device.

Optionally, the processing unit 1320 is further configured to determine a third relative position.

Optionally, the eleventh message comprises an accuracy of the first relative position.

Optionally, the processing unit 1320 is further configured to obtain the accuracy of the first relative position and the accuracy of the third relative position according to the accuracy of the second relative position.

Optionally, the transceiving unit 1310 is further configured to receive a third message from the first terminal device, where the third message is used to broadcast information of a terminal device that establishes a communication connection with the first terminal device, or the third message is used to broadcast information of a terminal device whose location is known by the first terminal device, where the third message includes information of the third terminal device.

Optionally, the transceiver 1310 is further configured to send a fourth message, where the fourth message is used to discover a terminal device that assists in locating a third terminal device, where the fourth message includes information of the third terminal device; the transceiving unit 1310 is further configured to receive a response message of the fourth message from the first terminal device.

Optionally, the eleventh message includes information of the first terminal device.

Optionally, the eleventh message comprises a positioning time, the positioning time being indicative of a time at which the first relative position is determined.

Optionally, the first relative position comprises at least one of: distance or angle; the second relative position includes at least one of: distance or angle; the third relative position comprises at least one of: distance or angle.

In a third design, the apparatus 1300 may be the network device in the foregoing embodiment, or may be a component (e.g., a chip) of the network device. The apparatus 1300 may implement the steps or the flow corresponding to the steps or the flow performed by the network device in the above method embodiment, where the transceiving unit 1310 is configured to perform transceiving-related operations of the network device in the above method embodiment, and the processing unit 1320 is configured to perform processing-related operations of the network device in the above method embodiment.

In one possible implementation manner, the transceiving unit 1310 is configured to receive a fifth message from the second terminal device, where the fifth message is used to trigger sending of a second target location to the second terminal device, and the second target location includes at least one of: a second relative position, or an absolute position of the third terminal device, wherein the second relative position is used to characterize a relative position between the third terminal device and the second terminal device; the transceiving unit 1310 is further configured to send a sixth message to the second terminal device according to the fifth message, where the sixth message includes the second target location.

Optionally, the processing unit 1320 is configured to determine the second target position.

Optionally, the second target position comprises a second relative position, and the processing unit 1320 is configured to determine the second target position, including: the processing unit 1320 is configured to: determining an absolute position of the second terminal device; determining an absolute position of the third terminal device; and determining the second relative position according to the absolute position of the second terminal device and the absolute position of the third terminal device.

Optionally, the fifth message comprises at least one of: an accuracy of the second target location, a threshold of the second relative location, or second information; and the second information is used for triggering the network equipment to send a second target position to the third terminal equipment.

Optionally, when the fifth message includes the accuracy of the second target position, the processing unit 1320 is configured to determine the second target position according to the accuracy of the second target position.

Optionally, the second target position includes an absolute position of the third terminal device and an absolute position of the second terminal device, and the processing unit 1320 is configured to determine the second target position according to an accuracy of the second target position, including: the processing unit 1320 is configured to: obtaining a third accuracy and a fourth accuracy according to the accuracy of the second target position; determining the absolute position of the second terminal device according to the third accuracy; and determining the absolute position of the third terminal equipment according to the fourth accuracy.

Optionally, when the fifth message includes the second information, the transceiving unit 1310 is further configured to send the second target location to the third terminal device.

Optionally, the second target location includes a second relative location, and when the fifth message includes a threshold of the second relative location, the transceiver unit 1310 is configured to send a sixth message to the second terminal device, where the sixth message includes the second target location, including: the transceiving unit 1310 is configured to send a sixth message to the second terminal device according to the second relative position and the threshold of the second relative position, where the sixth message includes the second relative position.

In four designs, the apparatus 1300 may be the third terminal device in the foregoing embodiments, and may also be a component (e.g., a chip) of the third terminal device. The apparatus 1300 may implement the steps or processes executed by the third terminal device in the above method embodiment, where the transceiving unit 1310 is configured to execute operations related to transceiving of the third terminal device in the above method embodiment, and the processing unit 1320 is configured to execute operations related to processing of the third terminal device in the above method embodiment.

In a possible implementation manner, the transceiver 1310 is configured to receive an eleventh message from the second terminal device, where the eleventh message is used to trigger the third terminal device to send a first relative position, and the first relative position is used to characterize a relative position between the third terminal device and the first terminal device; the transceiving unit 1310 is further configured to send a twelfth message to the second terminal device, where the twelfth message includes the first relative location.

Optionally, a processing unit 1320 for determining the first relative position.

Optionally, the eleventh message comprises an accuracy of the first relative position; a processing unit 1320 for determining a first relative position, comprising: the processing unit 1320 is configured to determine the first relative position according to the accuracy of the first relative position.

Optionally, the eleventh message includes a positioning time, the positioning time being used for characterizing a time for determining the first relative position, and the processing unit 1320 is configured to determine the first relative position, and includes: the processing unit 1320 is configured to determine a first relative position according to the positioning time.

Optionally, the first relative position comprises at least one of: distance or angle.

It should be understood that the specific processes of the units for executing the corresponding steps have been described in detail in the above embodiments of the methods, and therefore, for brevity, are not described again here.

It should also be appreciated that the apparatus 1300 herein is embodied in the form of a functional unit. The term "unit" herein may refer to an Application Specific Integrated Circuit (ASIC), an electronic circuit, a processor (e.g., a shared, dedicated, or group processor) and memory that execute one or more software or firmware programs, a combinational logic circuit, and/or other suitable components that support the described functionality. In an optional example, it may be understood by those skilled in the art that the apparatus 1300 may be specifically a first terminal device in the foregoing embodiment, and may be configured to execute each process and/or step corresponding to the first terminal device in each method embodiment described above, or the apparatus 1300 may be specifically a second terminal device in the foregoing embodiment, and may be configured to execute each process and/or step corresponding to the second terminal device in each method embodiment described above, and details are not described here again to avoid repetition.

The apparatus 1300 of each of the above solutions has a function of implementing corresponding steps executed by a terminal device (e.g., a first terminal device, or a second terminal device) in the above method, or the apparatus 1300 of each of the above solutions has a function of implementing corresponding steps executed by a network device in the above method. The functions can be realized by hardware, and the functions can also be realized by executing corresponding software by hardware. The hardware or software comprises one or more modules corresponding to the functions; for example, the transceiver unit may be replaced by a transceiver (for example, the transmitting unit in the transceiver unit may be replaced by a transmitter, and the receiving unit in the transceiver unit may be replaced by a receiver), and other units, such as a processing unit, may be replaced by a processor, so as to perform the transceiving operation and the related processing operation in the respective method embodiments, respectively.

In addition, the transceiver 1310 may also be a transceiver circuit (for example, may include a receiving circuit and a transmitting circuit), and the processing unit may be a processing circuit.

It should be noted that the apparatus in fig. 13 may be a network element or a device in the foregoing embodiment, and may also be a chip or a chip system, for example: system on chip (SoC). The transceiver unit can be an input/output circuit and a communication interface; the processing unit is a processor or a microprocessor or an integrated circuit integrated on the chip. And are not limited herein.

As shown in fig. 14, another apparatus 1400 for position determination is provided in the embodiments of the present application. The apparatus 1400 includes a processor 1410, and the processor 1410 is configured to execute computer programs or instructions stored in the memory 1420 or read data stored in the memory 1420 to perform the methods in the above method embodiments. Optionally, the processor 1410 is one or more.

Optionally, as shown in fig. 14, the apparatus 1400 further comprises a memory 1420, the memory 1420 being configured to store computer programs or instructions and/or data. The memory 1420 may be integrated with the processor 1410 or may be provided separately. Optionally, the memory 1420 is one or more.

Optionally, as shown in fig. 14, the apparatus 1400 further comprises a transceiver 1430, the transceiver 1430 being used for receiving and/or transmitting signals. For example, processor 1410 may be configured to control transceiver 1430 for receiving and/or transmitting signals.

As a solution, the apparatus 1400 is configured to implement the operations performed by the terminal device in the foregoing method embodiments.

For example, the processor 1410 is configured to execute the computer program or instructions stored by the memory 1420 to implement the relevant operations of the first terminal device in the above various method embodiments. For example, the method performed by the first terminal device in the embodiment shown in fig. 3, or the method performed by the UE1 in any one of the embodiments shown in fig. 5 to 6.

As another example, the processor 1410 is configured to execute the computer program or instructions stored in the memory 1420 to implement the relevant operations of the second terminal device in the above various method embodiments. For example, the method performed by the second terminal device in the embodiments shown in fig. 3, 4 or 11, or the method performed by the UE2 in any one of the embodiments shown in fig. 5 to 10 and 12.

As another example, processor 1410 is configured to execute computer programs or instructions stored in memory 1420 to implement the relevant operations of the second terminal device in the above various method embodiments. For example, the method performed by the third terminal device in the embodiment shown in fig. 11, or the method performed by the UE3 in the embodiment shown in fig. 12.

Alternatively, the apparatus 1400 is configured to implement the operations performed by the network device in the foregoing method embodiments.

For example, processor 1410 is operative to execute computer programs or instructions stored by memory 1420 to implement the relevant operations of the network device in the various method embodiments described above. For example, the method performed by the network device in the embodiment shown in fig. 4, or the method performed by the AMF or the GMLC in any of the embodiments shown in fig. 7 to 10.

It should be understood that the processor mentioned in the embodiments of the present application may be a Central Processing Unit (CPU), and may also be other general purpose processors, digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It should also be understood that the memories referred to in the embodiments of the present application may be volatile memories and/or nonvolatile memories. The non-volatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. The volatile memory may be a Random Access Memory (RAM). For example, RAM can be used as external cache memory. By way of example, and not limitation, RAM includes the following forms: static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), synchronous Dynamic Random Access Memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), and direct bus RAM (DR RAM).

It should be noted that when the processor is a general-purpose processor, a DSP, an ASIC, an FPGA or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, the memory (memory module) may be integrated into the processor.

It should also be noted that the memory described herein is intended to comprise, without being limited to, these and any other suitable types of memory.

Embodiments of the present application also provide a computer-readable storage medium, on which computer instructions for implementing the method performed by the terminal device or the network device in the foregoing method embodiments are stored.

For example, the computer program, when executed by a computer, causes the computer to implement the method performed by the first terminal device or the second terminal device in the embodiments of the method described above.

For another example, the computer program, when executed by a computer, enables the computer to implement the methods performed by the network device in the embodiments of the method described above.

Embodiments of the present application further provide a computer program product, which includes instructions, when executed by a computer, to implement the method performed by the terminal device or the network device in the foregoing method embodiments.

The embodiment of the present application further provides a system for determining a location, which includes one or more of the foregoing first terminal device, second terminal device, third terminal device, network device, and AF (such as an LCS client).

For the explanation and beneficial effects of the related content in any one of the above-mentioned apparatuses, reference may be made to the corresponding method embodiments provided above, and details are not repeated here.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. Furthermore, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. For example, the computer may be a personal computer, a server, or a network appliance, among others. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more available media. For example, the aforementioned usable medium includes, but is not limited to, a U disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk, or the like.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method of position determination, comprising:

the method comprises the steps that a first terminal device receives a first message from a second terminal device, the first message is used for requesting a first target position, and the first target position comprises at least one of the following items: a first relative position, an absolute position of a third terminal device, or a second relative position, wherein the first relative position is used to characterize the relative position between the third terminal device and the first terminal device, and the second relative position is used to characterize the relative position between the third terminal device and the second terminal device;

and the first terminal equipment sends a second message to the second terminal equipment according to the first message, wherein the second message comprises the first target position.

2. The method of claim 1, further comprising:

the first terminal device determines the first target location.

3. The method of claim 2, wherein the first target position comprises the second relative position,

the first terminal device determines the first target position, including:

the first terminal device determines the first relative position;

the first terminal device determines a third relative position, wherein the third relative position is used for representing the relative position between the second terminal device and the first terminal device;

and the first terminal equipment determines the second relative position according to the first relative position and the third relative position.

4. The method of claim 2, wherein the first target position comprises the second relative position,

the first terminal device determines the first target position, including:

the first terminal equipment obtains the absolute position of the second terminal equipment;

the first terminal equipment obtains the absolute position of the third terminal equipment;

and the first terminal equipment determines the second relative position according to the absolute position of the second terminal equipment and the absolute position of the third terminal equipment.

5. The method according to claim 2, characterized in that the first target position comprises an absolute position of the third terminal device,

the first terminal device determining the first target position includes:

the first terminal device determines the first relative position;

and the first terminal equipment determines the absolute position of the third terminal equipment according to the first relative position and the absolute position of the first terminal equipment.

6. The method of claim 1, wherein the first message includes an accuracy of the first target location, the method further comprising:

and the first terminal equipment determines the first target position according to the accuracy of the first target position.

7. The method of claim 6, wherein the first target position comprises the second relative position, the method further comprising:

the first terminal equipment obtains first accuracy and second accuracy according to the accuracy of the first target position;

the first terminal equipment determines the first target position according to the accuracy of the first target position, and the method comprises the following steps:

the first terminal equipment determines the first relative position according to the first accuracy;

The first terminal device determines the third relative position according to the second accuracy;

8. The method according to any of claims 1 to 7, wherein the first message comprises first information, and the first information is used for triggering the first terminal device to send the first target location to the third terminal device, the method further comprising:

and the first terminal equipment sends the first target position to the third terminal equipment.

9. The method according to any one of claims 1 to 8, wherein the first target location comprises the second relative location, the first message comprises a threshold value for the second relative location;

the first terminal device sends a second message to the second terminal device according to the first message, and the second message comprises:

and the first terminal equipment sends the second message to the second terminal equipment according to the second relative position and the threshold value of the second relative position, wherein the second message comprises the second relative position.

10. The method according to any one of claims 1 to 9, further comprising:

the first terminal device sends a third message, where the third message is used to broadcast information of a terminal device that establishes a communication connection with the first terminal device, or the third message is used to broadcast information of a terminal device whose location has been known by the first terminal device,

wherein the third message includes information of the third terminal device.

11. The method according to any one of claims 1 to 9, further comprising:

the first terminal device receives a fourth message from the second terminal device, where the fourth message is used to discover a terminal device that assists in locating the third terminal device, and the fourth message includes information of the third terminal device;

and if the first terminal equipment meets the preset condition, the first terminal equipment sends a response message of the fourth message to the second terminal equipment.

12. The method according to any one of claims 1 to 11, wherein the first relative position comprises at least one of: a distance or an angle; the second relative position comprises at least one of: distance or angle.

13. A method of position determination, comprising:

the second terminal equipment sends a first message to the first terminal equipment, wherein the first message is used for requesting a first target position, and the first target position comprises at least one of the following items: a first relative position, an absolute position of a third terminal device, or a second relative position, wherein the first relative position is used to characterize the relative position between the third terminal device and the first terminal device, and the second relative position is used to characterize the relative position between the third terminal device and the second terminal device;

the second terminal equipment receives a second message from the first terminal equipment, wherein the second message comprises the first target position;

and the second terminal equipment obtains the second relative position according to the second message.

14. The method of claim 13, wherein the first message comprises at least one of:

an accuracy of the first target location, a threshold of the second relative location, or first information;

the first information is used for triggering the first terminal device to send the first target position to the third terminal device.

15. The method according to claim 13 or 14, wherein the second terminal device sends a first message to the first terminal device, comprising:

and if the relative position between the third terminal equipment and the second terminal equipment, which is stored by the second terminal equipment, does not meet a preset condition, the second terminal equipment sends the first message to the first terminal equipment.

16. The method of any one of claims 13 to 15, further comprising:

the second terminal device receives a third message from the first terminal device, where the third message is used to broadcast information of a terminal device that establishes a communication connection with the first terminal device, or the third message is used to broadcast information of a terminal device whose position has been known by the first terminal device,

wherein the third message includes information of the third terminal device.

17. The method according to any of claims 13 to 15, wherein before the second terminal device sends the first message to the first terminal device, the method further comprises:

the second terminal device sends a fourth message, where the fourth message is used to discover a terminal device assisting in positioning the third terminal device, and the fourth message includes information of the third terminal device;

The second terminal device receives a response message of the fourth message from the first terminal device.

18. The method according to any one of claims 13 to 17, wherein the second relative position comprises at least one of: distance or angle.

19. A method of position determination, comprising:

the network equipment receives a fifth message from a second terminal equipment, wherein the fifth message is used for triggering the sending of a second target position to the second terminal equipment, and the second target position comprises at least one of the following items: a second relative position, or an absolute position of a third terminal device, wherein the second relative position is used to characterize a relative position between the third terminal device and the second terminal device;

and the network equipment sends a sixth message to the second terminal equipment according to the fifth message, wherein the sixth message comprises the second target position.

20. The method of claim 19, further comprising:

the network device determines the second target location.

21. The method of claim 20, wherein the second target position comprises the second relative position,

The network device determining the second target location, comprising:

the network equipment determines the absolute position of the second terminal equipment;

the network device determines an absolute position of the third terminal device;

and the network equipment determines the second relative position according to the absolute position of the second terminal equipment and the absolute position of the third terminal equipment.

22. The method of claim 19, wherein the fifth message includes an accuracy of the second target location, the method further comprising:

the network device determines the second target location based on an accuracy of the second target location.

23. The method according to claim 22, characterized in that the second target position comprises an absolute position of the third terminal device and an absolute position of the second terminal device,

the network device determining the second target location based on the accuracy of the second target location, comprising:

the network equipment obtains a third accuracy and a fourth accuracy according to the accuracy of the second target position;

the network device determines the absolute position of the second terminal device according to the third accuracy;

And the network equipment determines the absolute position of the third terminal equipment according to the fourth accuracy.

24. The method according to any of claims 19 to 23, wherein the fifth message comprises second information, and the second information is used for triggering the network device to send the second target location to the third terminal device, the method further comprising:

and the network equipment sends the second target position to the third terminal equipment.

25. The method of any one of claims 19 to 24, wherein the second target location comprises the second relative location, wherein the fifth message comprises a threshold value for the second relative location,

the network device sends a sixth message to the second terminal device according to the fifth message, including:

and the network equipment sends the sixth message to the second terminal equipment according to the second relative position and the threshold value of the second relative position, wherein the sixth message comprises the second relative position.

26. The method of any one of claims 19 to 25, wherein the second relative position comprises at least one of: distance or angle.

27. A method of position determination, comprising:

the second terminal device sends a fifth message to the network device, where the fifth message is used to trigger sending a second target location to the second terminal device, and the second target location includes at least one of the following: a second relative position, or an absolute position of a third terminal device, wherein the second relative position is used to characterize a relative position between the third terminal device and the second terminal device;

the second terminal device receiving a sixth message from the network device, the sixth message including the second target location;

and the second terminal equipment obtains the second relative position according to the sixth message.

28. The method of claim 27, wherein the fifth message comprises at least one of:

an accuracy of the second target location, a threshold of the second relative location, or second information;

the second information is used for triggering the network device to send the second target location to the third terminal device.

29. The method according to claim 27 or 28, wherein the second terminal device sends a fifth message to the network device, comprising:

And if the relative position between the third terminal device and the second terminal device, which is stored by the second terminal device, does not meet a preset condition, the second terminal device sends the fifth message to the network device.

30. The method of any one of claims 27 to 29, wherein the second relative position comprises at least one of: distance or angle.

31. A method of position determination, comprising:

the method comprises the steps that a second terminal device sends an eleventh message to a third terminal device, wherein the eleventh message is used for triggering the third terminal device to send a first relative position, and the first relative position is used for representing the relative position between the third terminal device and the first terminal device;

the second terminal device receiving a twelfth message from the third terminal device, the twelfth message including the first relative position;

and the second terminal device determines a second relative position according to the first relative position and a third relative position, wherein the third relative position is used for representing the relative position between the second terminal device and the first terminal device, and the second relative position is used for representing the relative position between the third terminal device and the second terminal device.

32. The method of claim 31, further comprising:

the second terminal device determines the third relative position.

33. The method of claim 31 or 32, wherein the eleventh message comprises an accuracy of the first relative position.

34. The method of claim 33, wherein before the second terminal device sends an eleventh message to a third terminal device, the method further comprises:

and the second terminal equipment obtains the accuracy of the first relative position and the accuracy of the third relative position according to the accuracy of the second relative position.

35. The method of any one of claims 31 to 34, further comprising:

wherein the third message includes information of the third terminal device.

36. The method according to any of claims 31 to 34, characterized in that before the second terminal device sends an eleventh message to a third terminal device, the method further comprises:

the second terminal device sends a fourth message, where the fourth message is used to discover a terminal device that assists in positioning the third terminal device, and the fourth message includes information of the third terminal device;

37. The method according to any of claims 31-36, wherein the eleventh message comprises information of the first terminal device.

38. The method of any of claims 31 to 37, wherein the eleventh message comprises a positioning time, wherein the positioning time is used to characterize a time for determining the first relative position.

39. The method of any one of claims 31 to 38, wherein the first relative position comprises at least one of: distance or angle; the second relative position comprises at least one of: distance or angle; the third relative position comprises at least one of: distance or angle.

40. A method of position determination, comprising:

the third terminal device receives an eleventh message from the second terminal device, wherein the eleventh message is used for triggering the third terminal device to send a first relative position, and the first relative position is used for representing the relative position between the third terminal device and the first terminal device;

and the third terminal equipment sends a twelfth message to the second terminal equipment, wherein the twelfth message comprises the first relative position.

41. The method of claim 40, further comprising:

the third terminal device determines the first relative position.

42. The method of claim 41, wherein the eleventh message comprises an accuracy of the first relative position;

the third terminal device determining the first relative position includes:

and the third terminal equipment determines the first relative position according to the accuracy of the first relative position.

43. The method according to any of claims 40 to 42, characterized in that the eleventh message comprises information of the first terminal device.

44. The method according to claim 41 or 42, wherein the eleventh message comprises a positioning time characterizing the time for determining the first relative position, and wherein the third terminal device determines the first relative position, comprising:

and the third terminal equipment determines the first relative position according to the positioning time.

45. The method of any one of claims 40 to 44, wherein the first relative position comprises at least one of: distance or angle.

46. An apparatus for position determination, comprising:

a processor for executing a computer program stored in a memory to cause the apparatus to perform the method of any of claims 1 to 45.

47. The apparatus of claim 46, further comprising the memory.

48. A computer-readable storage medium, having stored thereon a computer program which, when run on a computer, causes the computer to perform the method of any one of claims 1 to 45.

49. A computer program product, characterized in that it comprises instructions for carrying out the method according to any one of claims 1 to 45.

50. A system for position determination, comprising: a first terminal device and a second terminal device;

the first terminal device is configured to perform the method of any one of claims 1 to 12;

the second terminal device is configured to perform the method of any of claims 13 to 18.

51. A system for position determination, comprising: a second terminal device and a network device;

the network device is configured to perform the method of any one of claims 19 to 26;

the second terminal device is configured to perform the method of any of claims 27 to 30.

52. A system for position determination, comprising: a second terminal device and a third terminal device;

the second terminal device is configured to perform the method of any of claims 31 to 39;

the third terminal device is configured to perform the method of any of claims 40 to 45.