CN117014793A - Positioning method and device for sidelink and readable storage medium - Google Patents
Positioning method and device for sidelink and readable storage medium Download PDFInfo
- Publication number
- CN117014793A CN117014793A CN202210473551.4A CN202210473551A CN117014793A CN 117014793 A CN117014793 A CN 117014793A CN 202210473551 A CN202210473551 A CN 202210473551A CN 117014793 A CN117014793 A CN 117014793A
- Authority
- CN
- China
- Prior art keywords
- information
- positioning
- reference signal
- measurement
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 301
- 238000005259 measurement Methods 0.000 claims abstract description 461
- 230000011664 signaling Effects 0.000 claims abstract description 133
- 230000003993 interaction Effects 0.000 claims description 87
- 230000008569 process Effects 0.000 claims description 86
- 238000004364 calculation method Methods 0.000 claims description 65
- 230000008054 signal transmission Effects 0.000 claims description 17
- 239000000523 sample Substances 0.000 claims 3
- 239000000758 substrate Substances 0.000 claims 3
- 238000004891 communication Methods 0.000 abstract description 20
- 230000005540 biological transmission Effects 0.000 description 74
- 230000006870 function Effects 0.000 description 56
- 230000000737 periodic effect Effects 0.000 description 19
- 238000012545 processing Methods 0.000 description 18
- 125000004122 cyclic group Chemical group 0.000 description 12
- 238000004590 computer program Methods 0.000 description 11
- 238000007726 management method Methods 0.000 description 9
- 239000013256 coordination polymer Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 238000013507 mapping Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 230000004913 activation Effects 0.000 description 4
- 230000001413 cellular effect Effects 0.000 description 4
- 230000002452 interceptive effect Effects 0.000 description 4
- 238000005070 sampling Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 230000003190 augmentative effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000013523 data management Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000013468 resource allocation Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical group [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000010187 selection method Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L5/00—Arrangements affording multiple use of the transmission path
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L5/00—Arrangements affording multiple use of the transmission path
- H04L5/003—Arrangements for allocating sub-channels of the transmission path
- H04L5/0048—Allocation of pilot signals, i.e. of signals known to the receiver
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
The application discloses a positioning method and device for a sidelink and a readable storage medium, belonging to the technical field of communication, wherein the method comprises the following steps: the first device sends first information to one or more second devices, the first information comprising location request signaling; the first device sends a first positioning reference signal to the second device or the first device receives a second positioning reference signal from the second device; and the first equipment obtains a positioning resolving result of the first equipment according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or the first equipment receives the positioning resolving result of the first equipment from the second equipment.
Description
Technical Field
The application belongs to the technical field of communication, and particularly relates to a positioning method and device for sidelink and a readable storage medium.
Background
Within the coverage of the cellular network, the base station transmits a downlink positioning reference signal (Positioning Reference Signal, PRS) of the cell-specific, the terminal (UE) transmits an uplink sounding reference signal (sounding reference signal, SRS) for positioning, and correspondingly, the terminal can measure a reference signal time difference (Reference signal time difference, RSTD), or measure a reference signal received power (Reference Signal Receiving Power, RSRP) of the DL PRS, or measure a time difference between the terminal receiving the DL PRS and transmitting the SRS; the base station may measure the uplink reference signal arrival time (Relative Time of Arrival, RTOA), RSRP of the SRS, time difference between the reception of the SRS by the gNB and the transmission of the DL PRS by the gNB, and angle measurements, etc. The location of the UE is calculated by processing the measurements.
Research and standardization related work on through link positioning (sidelink Positioning) are actively being conducted, sidelink is different from NR Downlink and Uplink, and main application scenarios include indoor, outdoor, tunnel area, and the like, and outdoor and tunnel area scenarios also need to support positioning services with a moving speed up to 250km/h, and the like, so that a corresponding positioning measurement procedure between UEs needs to be redesigned to adapt to sidelink Positioning technology.
Disclosure of Invention
The embodiment of the application provides a positioning method and device for sidelink and a readable storage medium, which can solve the problem that a corresponding positioning measurement flow among UE (user equipment) needs to be redesigned so as to be suitable for sidelink Positioning technology.
In a first aspect, a positioning method for a direct link sidelink is provided, which is characterized by comprising:
the first device sends first information to one or more second devices, the first information comprising location request signaling;
the first device sends a first positioning reference signal to the second device or the first device receives a second positioning reference signal from the second device;
and the first equipment obtains a positioning resolving result of the first equipment according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or the first equipment receives the positioning resolving result of the first equipment from the second equipment.
In a second aspect, a positioning method for sidelink is provided, including:
the second device receives first information from one or more first devices, the first information comprising location request signaling;
the second device receives a first positioning reference signal from the first device or the second device sends a second positioning reference signal to the first device;
and obtaining a positioning resolving result of the first device by the first device according to the measurement result of the second positioning reference signal, or sending the measurement result of the first positioning reference signal to the first device by the second device, or obtaining the positioning resolving result of the first device by the second device according to the measurement result of the first positioning reference signal, and sending the positioning resolving result of the first device to the first device.
In a third aspect, a positioning method for sidelink is provided, which is characterized in that the positioning method includes:
the method comprises the steps that a first device sends first information to one or more second devices, wherein the first information comprises positioning indication signaling;
the first device sends a first positioning reference signal to the second device or the first device receives a second positioning reference signal from the second device;
And obtaining a positioning resolving result of the second device by the second device according to the measurement result of the first positioning reference signal, or sending the measurement result of the second positioning reference signal to the second device by the first device, or obtaining the positioning resolving result of the second device by the first device according to the measurement result of the second positioning reference signal, and sending the positioning resolving result of the second device to the second device.
In a fourth aspect, a positioning method for sidelink is provided, including:
the second device receives first information from one or more first devices, the first information comprising positioning indication signaling;
the second device receives a first positioning reference signal from the first device or the second device sends a second positioning reference signal to the first device;
and the second equipment obtains a positioning resolving result of the second equipment according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or the second equipment receives the positioning resolving result of the second equipment from the first equipment.
In a fifth aspect, a positioning device for sidelink is provided, including:
A first sending module, configured to send, by a first device, first information to one or more second devices, where the first information includes positioning request signaling;
a first transceiver module, configured to send a first positioning reference signal to the second device by the first device, or receive a second positioning reference signal from the second device by the first device;
and the first positioning module is used for obtaining a positioning resolving result of the first equipment according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal by the first equipment, or receiving the positioning resolving result of the first equipment by the first equipment from the second equipment.
In a sixth aspect, a positioning device for sidelink is provided, including:
a first receiving module for receiving, by a second device, first information from one or more first devices, the first information including positioning request signaling;
a second transceiver module, configured to receive, by the second device, a first positioning reference signal from the first device, or send, by the second device, a second positioning reference signal to the first device;
the second positioning module is configured to obtain, by the first device, a positioning solution result of the first device according to the measurement result of the second positioning reference signal, or send, by the second device, the measurement result of the first positioning reference signal to the first device, or obtain, by the second device, a positioning solution result of the first device according to the measurement result of the first positioning reference signal, and send, by the second device, the positioning solution result of the first device to the first device.
In a seventh aspect, a positioning device for sidelink is provided, including:
a second sending module, configured to send, by a first device, first information to one or more second devices, where the first information includes positioning indication signaling;
a third transceiver module, configured to send a first positioning reference signal to the second device by the first device, or receive a second positioning reference signal from the second device by the first device;
and the third positioning module is used for obtaining a positioning resolving result of the second device by the second device according to the measurement result of the first positioning reference signal, or sending the measurement result of the second positioning reference signal to the second device by the first device, or obtaining the positioning resolving result of the second device by the first device according to the measurement result of the second positioning reference signal, and sending the positioning resolving result of the second device to the second device.
In an eighth aspect, there is provided a positioning device for a sidelink, including:
a second receiving module, configured to receive, by a second device, first information from one or more first devices, where the first information includes positioning indication signaling;
A fourth transceiver module, configured to receive, by the second device, a first positioning reference signal from the first device, or send, by the second device, a second positioning reference signal to the first device;
and the fourth positioning module is used for obtaining a positioning resolving result of the second equipment according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal by the second equipment, or receiving the positioning resolving result of the second equipment from the first equipment by the second equipment.
In a ninth aspect, there is provided a positioning device for sidelink, including: memory, transceiver, processor:
a memory for storing a computer program; a transceiver for transceiving data under control of the processor; a processor for reading the computer program in the memory and performing the following operations:
the first device sends first information to one or more second devices, the first information comprising location request signaling;
the first device sends a first positioning reference signal to the second device or the first device receives a second positioning reference signal from the second device;
And the first equipment obtains a positioning resolving result of the first equipment according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or the first equipment receives the positioning resolving result of the first equipment from the second equipment.
In a tenth aspect, there is provided a positioning device for a sidelink, including: memory, transceiver, processor:
the second device receives first information from one or more first devices, the first information comprising location request signaling;
the second device receives a first positioning reference signal from the first device or the second device sends a second positioning reference signal to the first device;
and obtaining a positioning resolving result of the first device by the first device according to the measurement result of the second positioning reference signal, or sending the measurement result of the first positioning reference signal to the first device by the second device, or obtaining the positioning resolving result of the first device by the second device according to the measurement result of the first positioning reference signal, and sending the positioning resolving result of the first device to the first device.
In an eleventh aspect, there is provided a positioning device for a sidelink, including: memory, transceiver, processor:
the method comprises the steps that a first device sends first information to one or more second devices, wherein the first information comprises positioning indication signaling;
the first device sends a first positioning reference signal to the second device or the first device receives a second positioning reference signal from the second device;
and obtaining a positioning resolving result of the second device by the second device according to the measurement result of the first positioning reference signal, or sending the measurement result of the second positioning reference signal to the second device by the first device, or obtaining the positioning resolving result of the second device by the first device according to the measurement result of the second positioning reference signal, and sending the positioning resolving result of the second device to the second device.
In a twelfth aspect, there is provided a positioning device for sidelink, including: memory, transceiver, processor:
the second device receives first information from one or more first devices, the first information comprising positioning indication signaling;
the second device receives a first positioning reference signal from the first device or the second device sends a second positioning reference signal to the first device;
And the second equipment obtains a positioning resolving result of the second equipment according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or the second equipment receives the positioning resolving result of the second equipment from the first equipment.
In a thirteenth aspect, there is provided a readable storage medium storing thereon a program or instructions which, when executed by a processor, implement the steps of the positioning method for sidelink as described in the first aspect, or implement the steps of the positioning method for sidelink as described in the second aspect, or implement the steps of the positioning method for sidelink as described in the third aspect, or implement the steps of the positioning method for sidelink as described in the fourth aspect.
In a fourteenth aspect, there is provided a chip comprising a processor and a communication interface, the communication interface being coupled to the processor, the processor being configured to execute a program or instructions to implement the steps of the positioning method for a sidelink as described in the first aspect, or to implement the steps of the positioning method for a sidelink as described in the second aspect, or to implement the steps of the positioning method for a sidelink as described in the third aspect, or to implement the steps of the positioning method for a sidelink as described in the fourth aspect.
A fifteenth aspect provides a computer program/program product stored in a storage medium, the computer program/program product being executable by at least one processor to implement the steps of the positioning method for sidelink as described in the first aspect, or to implement the steps of the positioning method for sidelink as described in the second aspect, or to implement the steps of the positioning method for sidelink as described in the third aspect, or to implement the steps of the positioning method for sidelink as described in the fourth aspect.
In the embodiment of the application, the first equipment sends the first information to the second equipment to trigger the positioning process, the first equipment and the second equipment interact with each other by the first positioning reference signal or the second positioning reference signal, and a positioning resolving result is obtained according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, so that positioning measurement among the UE in a sidelink scene is realized.
Drawings
Fig. 1 is a block diagram of a wireless communication system provided by an embodiment of the present application;
FIG. 2 is a schematic flow chart of a positioning method for sidelink according to an embodiment of the present application;
FIG. 3 is a second flowchart of a positioning method for sidelink according to an embodiment of the present application;
FIG. 4 is a third flowchart of a positioning method for sidelink according to an embodiment of the present application;
FIG. 5 is a flowchart of a positioning method for sidelink according to an embodiment of the present application;
FIG. 6a is one of the flow diagrams of an implementation example provided by an embodiment of the present application;
FIG. 6b is a second flow chart of an embodiment of the present application;
FIG. 6c is a third flow chart of an implementation example provided by an embodiment of the present application;
FIG. 6d is a fourth flow chart of an implementation example provided by an embodiment of the present application;
FIG. 6e is a fifth flow chart of an implementation example provided by an embodiment of the present application;
FIG. 6f is a flowchart illustrating an example implementation provided by an embodiment of the present application;
FIG. 6g is a flow chart of an example implementation provided by an embodiment of the present application;
FIG. 6h is a flowchart illustrating an example implementation provided by an embodiment of the present application;
FIG. 6i is a flowchart illustrating a method according to an embodiment of the present application;
FIG. 6j is a flowchart illustrating a method according to an embodiment of the present application;
FIG. 7 is a schematic structural diagram of a positioning device for a sidelink according to an embodiment of the present application;
FIG. 8 is a second schematic diagram of a positioning device for a sidelink according to an embodiment of the present application;
FIG. 9 is a third schematic diagram of a positioning device for a sidelink according to an embodiment of the present application;
FIG. 10 is a schematic diagram of a positioning device for a sidelink according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of a positioning device for sidelink according to an embodiment of the present application.
Detailed Description
The technical solutions of the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the application, fall within the scope of protection of the application.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application are capable of operation in sequences other than those illustrated or otherwise described herein, and that the "first" and "second" distinguishing between objects generally are not limited in number to the extent that the first object may, for example, be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/" generally means a relationship in which the associated object is an "or" before and after.
It should be noted that the techniques described in the embodiments of the present application are not limited to long term evolution (Long Term Evolution, LTE)/LTE evolution (LTE-Advanced, LTE-a) systems, but may also be used in other wireless communication systems, such as code division multiple access (Code Division Multiple Access, CDMA), time division multiple access (Time Division Multiple Access, TDMA), frequency division multiple access (Frequency Division Multiple Access, FDMA), orthogonal frequency division multiple access (Orthogonal Frequency Division Multiple Access, OFDMA), single carrier frequency division multiple access (Single-carrier Frequency Division Multiple Access, SC-FDMA), and other systems. The terms "system" and "network" in embodiments of the application are often used interchangeably, and the techniques described may be used for both the above-mentioned systems and radio technologies, as well as other systems and radio technologies. The following description describes a New air interface (NR) system for purposes of example and uses NR terminology in much of the description that follows, but these techniques are also applicable to applications other than NR system applications, such as generation 6 (6) th Generation, 6G) communication system.
Fig. 1 shows a block diagram of a wireless communication system to which an embodiment of the present application is applicable. The wireless communication system includes a terminal 11 and a network device 12. The terminal 11 may be a mobile phone, a tablet (Tablet Personal Computer), a Laptop (Laptop Computer) or a terminal-side Device called a notebook, a personal digital assistant (Personal Digital Assistant, PDA), a palm top, a netbook, an ultra-mobile personal Computer (ultra-mobile personal Computer, UMPC), a mobile internet appliance (Mobile Internet Device, MID), an augmented reality (augmented reality, AR)/Virtual Reality (VR) Device, a robot, a Wearable Device (weather Device), a vehicle-mounted Device (VUE), a pedestrian terminal (PUE), a smart home (home Device with a wireless communication function, such as a refrigerator, a television, a washing machine, or a furniture), a game machine, a personal Computer (personal Computer, PC), a teller machine, or a self-service machine, and the Wearable Device includes: intelligent wrist-watch, intelligent bracelet, intelligent earphone, intelligent glasses, intelligent ornament (intelligent bracelet, intelligent ring, intelligent necklace, intelligent anklet, intelligent foot chain etc.), intelligent wrist strap, intelligent clothing etc.. It should be noted that the specific type of the terminal 11 is not limited in the embodiment of the present application. The network-side device 12 may comprise an access network device or a core network device, wherein the access network device 12 may also be referred to as a radio access network device, a radio access network (Radio Access Network, RAN), a radio access network function or a radio access network element. Access network device 12 may include a base station, a WLAN access point, a WiFi node, or the like, which may be referred to as a node B, an evolved node B (eNB), an access point, a base transceiver station (Base Transceiver Station, BTS), a radio base station, a radio transceiver, a basic service set (Basic Service Set, BSS), an extended service set (Extended Service Set, ESS), a home node B, a home evolved node B, a transmission and reception point (Transmitting Receiving Point, TRP), or some other suitable terminology in the art, and the base station is not limited to a particular technical vocabulary so long as the same technical effect is achieved, and it should be noted that in the embodiment of the present application, only a base station in the NR system is described as an example, and the specific type of the base station is not limited. The core network device may include, but is not limited to, at least one of: core network nodes, core network functions, mobility management entities (Mobility Management Entity, MME), access mobility management functions (Access and Mobility Management Function, AMF), session management functions (Session Management Function, SMF), user plane functions (User Plane Function, UPF), policy control functions (Policy Control Function, PCF), policy and charging rules function units (Policy and Charging Rules Function, PCRF), edge application service discovery functions (Edge Application Server Discovery Function, EASDF), unified data management (Unified Data Management, UDM), unified data repository (Unified Data Repository, UDR), home subscriber server (Home Subscriber Server, HSS), centralized network configuration (Centralized network configuration, CNC), network storage functions (Network Repository Function, NRF), network opening functions (Network Exposure Function, NEF), local NEF (or L-NEF), binding support functions (Binding Support Function, BSF), application functions (Application Function, AF), and the like. It should be noted that, in the embodiment of the present application, only the core network device in the NR system is described as an example, and the specific type of the core network device is not limited.
For a better understanding of the technical solution of the present application, the following description will be given first:
in NR sidelink, a physical through link control channel (Physical sidelink control channel, PSCCH) and a physical through link shared channel (Physical sidelink shared channel, PSSCH) adopt a time division multiplexing (time division multiplexing, TDM) and frequency division multiplexing (frequency division multiplexing, FDM) mode, and introduce second-level system control information (2 nd-stage SCI), which is carried by the PSSCH with data; the 1st-stage SCI is carried by the PSCCH and is used for indicating the information such as the time-frequency resource position, priority, period and corresponding modulation coding scheme (Modulation and coding scheme, MCS) occupied by the current transport block TB, and no corresponding sidelink PRS is introduced.
For NR positioning, two reference signals for positioning are mainly introduced: the downlink positioning reference signal PRS and the uplink sounding reference signal SRS for positioning for positioning.
The downlink positioning reference signal PRS adopts Gold sequence, and PRS resource, PRS resource set, PRS positioning frequency layer and other designs are introduced. The PRS resource frequency domain can adopt a comb structure, and the time domain can occupy a plurality of continuous OFDM symbols. With a single port, the maximum bandwidth cannot exceed 272PRBs and the minimum bandwidth cannot be below 24PRBs. PRS only support periodic transmissions.
The uplink sounding reference signal SRS for positioning for positioning adopts a ZC sequence, can continuously occupy a plurality of OFDM symbols in the time domain, and also adopts a comb structure in the frequency domain, so as to support frequency division multiplexing of a plurality of Sounding Reference Signals (SRS) -Positioning (POS) on the same orthogonal frequency division multiplexing (orthogonal frequency division multiplexing, OFDM) symbol. By adopting a single port, compared with the transmission of two ports, the advantage of the single port is that the power spectrum density of the SRS-POS signal at the base station receiver side can be improved, so that the coverage range and quality of the SRS-POS signal can be improved. The maximum bandwidth supported in the frequency domain is 272RBs, and the minimum bandwidth is 4RBs. SRS-POS supports three resource type configurations, periodic, semi-persistent, and aperiodic.
NR positioning supports "radio access technology independent" positioning technologies including global navigation satellite system (Global Navigation Satellite System, GNSS) positioning, barometric pressure sensor positioning, WLAN positioning, inertial navigation positioning, bluetooth positioning, terrestrial beacon system positioning.
NR positioning "RAT-dependent" and hybrid positioning techniques have been studied to improve positioning accuracy. The main scheme is as follows: the gNB periodically transmits Downlink PRS (Positioning Reference Signal) supporting DL (Downlink) -TDOA, DL-AoD (Angle of Departure) measurement and E-CID (Enhanced Cell Identification) detection; the terminal sends Uplink SRS (Sounding Reference Symbol) for positioning and supports UL (Uplink) -TDOA and UL-AoA (Angle of Arrival) measurement; support uplink and downlink combining RTT (Round Trip Time) measurements, and position location can be performed based on Multi-RTT measurements from multiple base stations.
The overall positioning procedure of NR/LTE positioning is managed and scheduled by the base station and LMF.
Disadvantages of the prior art:
the existing cellular network positioning scheme needs interaction between gNB and LMF, and is not supported for cellular coverage external scene. And SL positioning performs distributed positioning processing, possibly works in a scene outside cellular coverage, and has no interaction between gNB and LMF, which cannot be supported by the existing mechanism.
The positioning method for the sidelink provided by the embodiment of the application is described in detail through some embodiments and application scenes thereof by combining the attached drawings.
Referring to fig. 2, an embodiment of the present application provides a positioning method for a sidelink, where an execution body of the method is a first device, and the first device may specifically be a terminal, and correspondingly, an opposite device that performs communication interaction with the first device is a second device, and the second device may also be a terminal, where sidelink communication is adopted between the first device and the second device, including:
step 201: the first device sending first information to one or more second devices, the first information comprising location request signalling;
in an embodiment of the present application, the first information includes positioning request signaling for requesting the second device to assist the first device in positioning (or ranging). The first device may send the first information to one or more second devices, that is, the first device may request one or more second devices to assist the first device in locating (or ranging).
Step 202: the first device sends a first positioning reference signal to the second device, or the first device receives a second positioning reference signal from the second device;
in the embodiment of the application, the interaction of the positioning reference signal is performed between the first device and the second device, wherein the first device sends the first positioning reference signal (which can be simply referred to as a first PRS or a first SL-PRS, etc.), and the second device sends the second positioning reference signal (which can be simply referred to as a second PRS or a second SL-PRS, etc.), to the second device;
it should be noted that, a specific information transmission sequence flow for performing the interaction of the positioning reference signal between the first device and the second device may have various embodiments, which will be described in detail later.
Step 203: the first device obtains a positioning resolving result of the first device according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or the first device receives the positioning resolving result of the first device from the second device;
in the embodiment of the application, the first device may obtain a positioning solution result of the first device according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, that is, the positioning solution may be performed by the first device, or the first device may receive the positioning solution result of the first device from the second device, that is, the positioning solution may be performed by the second device and then sent to the first device by the second device;
The measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal may specifically be a time of arrival (TOA) of the first positioning reference signal or the second positioning reference signal, that is, the first device measures the arrival time of the first PRS transmission or the second PRS reception, and performs final positioning calculation according to the arrival time, so as to implement a positioning method based on the TOA or the TDOA.
In the embodiment of the application, the first equipment sends the first information to the second equipment to trigger the positioning process, the first equipment and the second equipment interact with each other by the first positioning reference signal or the second positioning reference signal, and a positioning resolving result is obtained according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, so that positioning measurement among the UE in a sidelink scene is realized.
In one possible implementation, the first information includes one or more of the following:
(1) Signaling type information of the first information, including: at least one of the positioning reference signal request signaling and the positioning request flag bit; the positioning reference signal request signaling is used for triggering at least one second device to assist the first device to perform positioning or ranging; the positioning request flag bit is used for distinguishing the current information as positioning request signaling.
(2) Identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID; the interaction process ID represents ID information of the positioning process, because the first device may request the plurality of second devices to assist positioning, the measured positioning reference signals and the corresponding second devices can be determined through the interaction process ID, and the situation that the positioning reference signals correspond to errors in the process of interacting with the plurality of second devices is prevented.
(3) Positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
(4) Positioning measurement configuration information: comprising the following steps: at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning resolution function indication information, measurement assistance information, feedback delay bound, time domain reference point, and positioning priority information.
It should be noted that at least a part of the information content of the first information may be configured or preconfigured by a high-level parameter, that is, the first information may include only a part of the information content, and the rest of the information content may be configured or preconfigured by a high-level parameter.
In one possible implementation, step 202: the first device receiving a second positioning reference signal from a second device, comprising:
the first device receives second information and second positioning reference signals from the second device;
in the embodiment of the application, the information interaction flow between the first device and the second device is as follows: the second device sends the second information and the second positioning reference signal to the first device, and it should be noted that, when the second device sends the second information and the second positioning reference signal to the first device, the second information and the second positioning reference signal may be sent simultaneously, or may not be sent simultaneously, that is, the second information and the second positioning reference signal may be sent together in the same slot, or may be sent separately in different slots. In the following description of other steps for transmitting a plurality of pieces of information, the rule is also followed, and the pieces of information may be transmitted simultaneously or may not be transmitted simultaneously, and will not be repeated.
Step 203: the first device obtains a positioning resolving result of the first device according to the measurement result of the second positioning reference signal, and the method comprises the following steps:
(1) The first equipment performs positioning measurement according to the second information and/or the second positioning reference signal to obtain a first positioning measurement value;
(2) And the first equipment obtains a positioning resolving result of the first equipment according to the second information and/or the first positioning measured value.
In the embodiment of the application, corresponding to the interaction flow, the first device performs positioning calculation according to the measurement result of the second positioning reference signal to obtain a positioning calculation result of the first device; the measurement result obtained by the first device measuring the second positioning reference signal is referred to as a first positioning measurement value, and the measurement result obtained by the second device measuring the first positioning reference signal is referred to as a second positioning measurement value, and this naming method will also be followed hereinafter and will not be repeated.
In the process of obtaining the first positioning measurement value by the first device through positioning measurement, the first device may measure according to the second positioning reference signal, that is, the first device directly measures the second positioning reference signal; or, the first device may perform measurement according to the second information and the second positioning reference signal, where the second information may carry configuration information or auxiliary information related to positioning measurement, and is used for the first device to perform positioning measurement; in the same way, in the process of performing positioning calculation by the first device, the first device may perform positioning calculation according to the first positioning measurement value, or the first device may perform positioning calculation according to second information and the first positioning measurement value, where the second information may carry configuration information or auxiliary information related to positioning calculation, which is used for positioning measurement by the first device, or the second information may carry coordinate information, position information, and the like of the second device, which is used for positioning calculation by the first device in an absolute positioning scene;
In one possible implementation, step 202: the first device transmitting a first positioning reference signal to the second device, comprising:
(1) The first device sends a first positioning reference signal to the second device;
(2) The first device receives second information from the second device;
in the embodiment of the application, the information interaction flow between the first device and the second device is as follows: the first device sends a first positioning reference signal to the second device, wherein the first positioning reference signal can be sent simultaneously with the first information or not simultaneously with the first information, and then the second device sends second information to the first device, and the second information is feedback information of the first information;
step 203: the first device obtains a positioning resolving result of the first device according to a measurement result of the first positioning reference signal, and the positioning resolving result comprises the following steps:
(1) The first device receiving second positioning measurements measured by the second device from the second device via the second information;
(2) The first equipment obtains a positioning calculation result of the first equipment according to the second information and/or the second positioning measurement value;
in the embodiment of the present application, the positioning solution is correspondingly executed by the first device, and after the first device interacts with the second device according to the interaction flow and obtains the second positioning measurement value, the first device may specifically perform positioning solution according to the second positioning measurement value, or may also perform positioning solution according to the second information and the second positioning measurement value.
Step 203: the first device receiving a positioning solution of the first device from the second device, comprising:
(1) The first device receives a positioning solution of the first device from the second device through the second information, wherein the positioning solution of the first device is obtained by the second device according to the first information and/or a second positioning measured value measured by the second device.
In the embodiment of the present application, the positioning solution is correspondingly executed by the second device, and after the first device interacts with the second device according to the interaction procedure and obtains the second positioning measurement value, the second device may specifically perform positioning solution according to the second positioning measurement value, or may also perform positioning solution according to the first information and the second positioning measurement value.
It should be noted that, when the first device transmits the first SL-PRS:
1) The resource location for transmitting the first SL-PRS and/or the sequence generation of the first SL-PRS may have a certain association with the content of the first information/the second information/the fourth information and/or the resource location occupied by the same, may be within the same BWP or may be on different BWP
2) Or the first device multiplexes the first information or the fourth information and the first SL-PRS to be transmitted in one or more physical channels on the same time slot; if the first or fourth information is carried by PSCCH (1 st stage SCI) or PSSCH (2 nd stage SCI or MAC CE) or positioning dedicated channel, the same time-frequency position is multiplexed by SL-PRS and PSSCH, and the overlapping position of PSSCH and SL-PRS adopts the mapping mode of rate mapping or pushing.
3) Or, the first device may also send a corresponding first SL-PRS according to a SL-PRS configuration parameter, where the SL-PRS configuration parameter is obtained by configuring or pre-configuring the first information/second information/fourth information and/or a higher layer parameter, or the SL-PRS configuration parameter in the first information/fourth information is used to indicate that the first SL-PRS specifically occupies a time-frequency resource location.
4) It may also be defined that the SL-PRS needs to occupy at least N (> =3) consecutive OFDM symbols for transmission, where the SL-PRS is repeatedly mapped on the first two symbols, where the SL-PRS on the first symbol may be used for both AGC processing and positioning measurements, and the last symbol is used as GP.
5) If the SL-PRS is periodically transmitted, signaling triggering is not needed; the first/second/fourth information trigger is required for SL-PRS for aperiodic or semi-persistent transmission.
6) The first/second/third/fourth information and the first SL-PRS can be transmitted separately or in a binding mode
It should be noted that, when the second device sends the second SL-PRS:
1) The resource location for transmitting the second SL-PRS and/or the sequence generation of the second SL-PRS may have a certain association 1) with the content of the second information/the first information and/or the resource location occupied by the same, may be within the same BWP or may be on different BWP
2) Alternatively, the second device multiplexes the second information with the second SL-PRS for transmission within one or more physical channels on the same time slot. If the second information is carried by PSCCH (1 st stage SCI) or PSSCH (2 nd stage SCI or MAC CE) or positioning dedicated channel, the same time-frequency position is used for multiplexing SL-PRS and PSSCH, and the overlapping position of PSSCH and SL-PRS adopts the mapping mode of rate mapping or pushing.
3) Or the second device may also send a corresponding second SL-PRS according to a SL-PRS configuration parameter in combination with a specific SL-PRS resource selection procedure, where the SL-PRS configuration parameter is obtained by configuring or pre-configuring the second information/the first information and/or a higher layer parameter, or the SL-PRS configuration parameter in the second information is used to indicate that the second SL-PRS specifically occupies a time-frequency resource location.
4) It may also be defined that the SL-PRS needs to occupy at least N (> =3) consecutive OFDM symbols for transmission, where the SL-PRS is repeatedly mapped on the first two symbols, where the SL-PRS on the first symbol may be used for both AGC processing and positioning measurements, and the last symbol is used as GP.
5) If the SL-PRS is periodically transmitted, signaling triggering is not needed; for non-periodic or semi-persistent transmission of the SL-PRS, either the first information or the second information trigger is required.
6) The first/second/third/fourth information and the second SL-PRS may be transmitted separately or in a bundled manner.
The following description of the first device transmitting the first SL-PRS and the second device transmitting the second SL-PRS may refer to the above, and will not be repeated.
In a possible implementation manner, the information content of the second information appearing in the above-described interaction flow includes one or more of the following:
(1) At least part of the third information;
(2) Positioning the measured value;
(3) Locating a timestamp of the measurement;
(4) A quality indication of the positioning measurement;
(5) Locating measured value identification information;
(6) Positioning the calculation result information;
the third information includes one or more of the following:
(1.1) signaling type information of the third information, comprising: at least one of the positioning reference signal request signaling and the positioning request flag bit;
(1.2) identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
(1.3) positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
(1.4) positioning measurement configuration information: comprising the following steps: at least one of a positioning measurement type, positioning assistance information, positioning reference signal search assistance information, a positioning method or capability, a positioning type, a measurement window indication, a positioning resolution function indication, measurement assistance information, a feedback delay bound, a time domain reference point, and positioning priority information.
It should be noted that, the second information is the same as the first information, and at least part of the information content of the second information may be configured or preconfigured by the high-level parameters, that is, the second information may include only a part of the information content, and the rest is configured or preconfigured by the high-level parameters.
The above-mentioned positioning measurement quantity types may include: indicating the measurement quantity to be measured, such as SL-PRS RSRP, SL-PRS transmit-receive time difference of device, relative Arrival time (relative time of Arrival, RTOA), reference signal time difference (ReferenceSignal Time Difference, RSTD), angle of Arrival (AoA), angle of departure (Angel Of Depature, AOD), etc.;
The above positioning assistance information may include at least one of: speed, direction of motion, acceleration, location coordinate information, identity ID, SL-SSB time-frequency configuration information, first device or second device related identity information, etc.
The positioning reference signal search assistance information includes at least one of: the expected reference signal time difference (the time difference between the first device as a reference and other adjacent first devices for transmitting the positioning reference signal and the transmission delay difference), the search window (the uncertainty corresponding to the transmission delay difference), and the positioning reference signal search auxiliary information can also be configured or preconfigured by the high-level parameters.
The positioning method or the capability information is used for indicating a method used by the current positioning process, such as Multi-RTT positioning, TDOA positioning, AOA positioning, and AOD positioning;
the positioning type information is used for distinguishing whether the current positioning method is used for relative positioning, ranging and absolute positioning;
the measurement window indication information comprises initial position information, period information and the like of a measurement window;
the positioning resolving function indication information is used for displaying and indicating whether the current equipment supports the positioning resolving function or can only report the measurement quantity for auxiliary positioning;
The measurement assistance information includes at least one of: SL-PRS information (e.g., SL-PRS resource set ID, SL-PRS resource ID, SL-PRS specific time-frequency resource location information, configuration information for SL-PRS, sequence initialization ID, etc.), device SL-PRS positioning measurement reporting granularity, etc., used to indicate the target device to associate when measuring the device positioning measurement.
The positioning reference signal configuration parameter set includes at least one of the following: SL-PRS resource type, power control parameter, sequence ID, SL-PRS resource set ID, frequency domain comb size, inter-symbol frequency domain offset value, cyclic shift parameter, time domain starting position, mapped starting symbol position in slot, number of time domain occupied symbols, SL-PRS time domain period, number or duration of SL-PRS period, frequency domain starting position, frequency domain offset value relative to frequency domain reference point, bandwidth or number of RBs occupied by frequency domain, subcarrier spacing of SL-PRS, cyclic prefix type, SL-PRS priority information
The above-mentioned SL-PRS resource type may be used to indicate that the SL-PRS resource is one of the following: periodic, non-periodic, semi-persistent
The relative reference point of the time-frequency domain can be a resource time-frequency position of mapping positioning request signaling or positioning indication signaling, or a reference time-frequency position configured or preconfigured by a high layer.
The set of SL-PRS configuration parameters may indicate SL-PRS related configurations transmitted by the first device and/or the second device.
Some or all of the parameters in the SL-PRS configuration parameter set may be configured or preconfigured by a higher layer, and related parameters of the higher layer configuration or preconfigured may not be present in the first information or the third information.
The above cyclic prefix type is used to indicate whether the current is normal CP or extended CP
The SL-PRS priority described above may also be determined based on the priority of the physical channel with which it is associated or a priority value carried in the associated control signaling.
The positioning measurements include at least one of: RSTD reference signal time difference, SL-PRS RSRP, first device receiving-transmitting time difference, second device receiving-transmitting time difference, SL-PRS SINR/SNR, RTOA reference signal arrival time, AOA, AOD, strongest path transmission delay (which can assist in removing some erroneous distance estimation), delay difference between multipaths, longitude/latitude/altitude;
the quality indication information of the above measurement includes at least one of: error resolution, error value (combined with error resolution indication) and error sampling point number;
the positioning reference signal search assistance information includes at least one of: the expected reference signal time difference (the time difference between the first device as a reference and other neighboring first devices to transmit the SL-PRS and the transmission delay difference), the search window (corresponding to the uncertainty of the transmission delay difference), the SL-PRS search assistance information may also be configured or preconfigured by higher layer parameters.
In a possible implementation manner, the time interval is carried in the target information, or in the case of high-level parameter configuration or pre-configuration time interval, wherein the target information is at least one of the first information and the second information. The time interval satisfies at least one of:
(1) When the target information activates or schedules the transmission of the positioning reference signal, the time interval is the time interval between the time domain initial transmission position of the positioning reference signal and the target time domain reference point, wherein the target time domain reference point is the time slot position of the target information, or the time domain reference point in the target information, or the time domain reference point configured by the high-level parameter, or the preconfigured time domain reference point;
(2) In the case that the target information supports retransmission, no time interval is carried in the retransmitted target information
(3) Under the condition that the target information supports retransmission and the retransmitted target information carries a time interval, a target time domain reference point of the time interval retransmits the time slot position of the first information;
(4) Under the condition that the target information supports retransmission and the retransmitted target information carries a time interval and a time domain reference point, determining the initial position of positioning reference signal transmission based on the currently transmitted target information;
(5) The granularity of the time interval includes at least one of: time slots, physical time slots, logical time slots, OFDM symbols, subframes;
in a possible implementation manner, the feedback delay limit is carried in the target information, or in the case of configuring or pre-configuring the feedback delay limit by the high-level parameter, wherein the target information is at least one of the first information and the second information;
the method further comprises at least one of:
(1) The first equipment receives feedback information corresponding to the target information from the second equipment within a feedback delay limit;
specifically:
in the case that the first information includes a feedback delay bound, the first device receives second information from the second device within the feedback delay bound;
(2) The first equipment completes the whole positioning process within the feedback delay limit;
the feedback delay bound satisfies at least one of:
(1) The feedback delay limit is the upper limit of the feedback time of the target information;
(2) The target time domain reference point of the feedback time delay limit is a time domain reference point carried in high-level parameter configuration or pre-configuration or target information;
(3) And under the condition that the target information supports retransmission, the retransmitted target information does not carry a feedback delay limit.
(4) The target time domain reference point of the feedback delay limit is the time of sending target information in the system, and the time granularity of the system comprises at least one of the following: time slots, physical time slots, logical time slots, OFDM symbols, subframes;
(5) The target time domain reference point of the feedback delay limit is UTC time;
(6) Under the condition that the target information supports retransmission and the retransmitted target information carries a feedback delay limit, a target time domain reference point of the feedback delay limit retransmits the time slot position of the first information;
(7) Under the condition that the target information supports retransmission and the retransmitted target information carries a time interval and a time domain reference point, the target time domain reference point of the feedback delay limit is the time domain reference point carried in the currently transmitted target information;
(8) In the case that the target information supports at least one of retransmission, periodic transmission, aperiodic transmission, and semi-persistent transmission, the transmission of the target information satisfies an implementation feedback delay bound.
In one possible embodiment, the method further comprises at least one of:
(1) Presetting a time parameter of a first positioning reference signal sent by first equipment and a time parameter of a second positioning reference signal sent by second equipment, wherein the time parameter comprises at least one of the following: positioning a reference signal transmission period, an offset value in the period and a period reference point;
(2) And according to the indication information of the measurement window, the first equipment and the second equipment are ensured to measure the first positioning reference signal and the second positioning reference signal in the same measurement window.
Considering that if a plurality of second devices assist the first device to perform positioning measurement, it is necessary to transmit positioning measurement values corresponding to the second devices, it is possible to ensure that the positioning measurement values using the first and second devices are matched with each other at the time of position resolution by the methods of (1) - (2) described above.
In one possible implementation, step 201: the first device sending first information to one or more second devices, comprising:
the first device sends first information to one or more second devices through a third device;
in the embodiment of the application, for a scene that the third device is used for assisting the positioning interaction between the first device and the second device, the first device can send the first information to the third device.
The method further comprises the steps of:
the first device sends the measurement result of the second positioning reference signal to the third device, and receives the positioning solution result of the first device from the third device.
In the embodiment of the application, aiming at a scene that the third equipment assists positioning interaction between the first equipment and the second equipment, the first equipment sends the measured value of the positioning reference signal to the third equipment, the third equipment performs positioning calculation, and then the positioning calculation result is sent to the first equipment.
That is, compared with the positioning interaction method between the first device and the second device described above, for the scenario in which the third device assists the positioning interaction between the first device and the second device, the interaction of the positioning reference signal is performed between the first device and the second device, and the interaction processing of the positioning reference signal, the information and the measured value is completed by the third device.
The third device may specifically be a location management function (Location Management Function, LMF), or may also be another network element, and the embodiment of the present application does not limit a specific type of the third device.
Referring to fig. 3, in an embodiment of the present application, a positioning method for sidelink is provided, where an execution body of the method is a second device, and the second device may specifically be a terminal, and correspondingly, an opposite device that performs communication interaction with the second device is a first device, where the first device may also be a terminal, and sidelink communication is adopted between the first device and the second device, where the method includes:
step 301: the second device receives first information from one or more first devices, the first information including location request signaling;
step 302: the second device receives the first positioning reference signal from the first device, or the second device sends the second positioning reference signal to the first device;
Step 303: and the first equipment obtains a positioning resolving result of the first equipment according to the measurement result of the second positioning reference signal, or the second equipment sends the measurement result of the first positioning reference signal to the first equipment, or the second equipment obtains the positioning resolving result of the first equipment according to the measurement result of the first positioning reference signal, and sends the positioning resolving result of the first equipment to the first equipment.
The second device method flow shown in fig. 3 is a peer device flow corresponding to the first device method shown in fig. 2, and therefore, information, parameters, information content, etc. referred to hereinafter may be understood with reference to the corresponding description in the first device method side, and will not be described in detail in the second device method side.
In one possible implementation, the first information includes one or more of the following:
(1) Signaling type information of the first information, including: at least one of the positioning reference signal request signaling and the positioning request flag bit; the positioning reference signal request signaling is used for triggering at least one second device to assist the first device to perform positioning or ranging; the positioning request flag bit is used for distinguishing the current information as positioning request signaling.
(2) Identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID; the interaction process ID represents ID information of the positioning process, because the first device may request the plurality of second devices to assist positioning, the measured positioning reference signals and the corresponding second devices can be determined through the interaction process ID, and the situation that the positioning reference signals correspond to errors in the process of interacting with the plurality of second devices is prevented.
(3) Positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
(4) Positioning measurement configuration information: comprising the following steps: at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning resolution function indication information, measurement assistance information, feedback delay bound, time domain reference point, and positioning priority information.
It should be noted that at least a part of the information content of the first information may be configured or preconfigured by a high-level parameter, that is, the first information may include only a part of the information content, and the rest of the information content may be configured or preconfigured by a high-level parameter.
In one possible implementation, step 302: the second device transmitting a second positioning reference signal to the first device, comprising:
(1) The second device transmits second information, which is feedback information of the first information, and a second positioning reference signal to the first device.
In one possible implementation, step 302: the second device receives a first positioning reference signal from the first device, comprising:
(1) The second device receives a first positioning reference signal from the first device;
(2) The second device sends second information to the first device, wherein the second information is feedback information of the first information;
step 303: the second device sending a measurement of the first positioning reference signal to the first device, comprising:
(1) The second equipment performs positioning measurement according to the first information and/or the first positioning reference signal to obtain a second positioning measurement value;
(2) The second device sends a second positioning measurement value to the first device through second information;
step 303: the second device obtains a positioning resolving result of the first device according to the measurement result of the first positioning reference signal, and sends the positioning resolving result of the first device to the first device, including:
(1) The second equipment performs positioning measurement according to the first information and/or the first positioning reference signal to obtain a second positioning measurement value;
(2) The second equipment obtains a positioning calculation result of the first equipment according to the first information and/or the second positioning measurement value;
(3) And the second device sends the positioning resolving result of the first device to the first device through the second information.
In a possible implementation manner, the information content of the second information appearing in the above-described interaction flow includes one or more of the following:
(1) At least part of the third information;
(2) Positioning the measured value;
(3) Locating a timestamp of the measurement;
(4) A quality indication of the positioning measurement;
(5) Locating measured value identification information;
(6) Positioning the calculation result information;
the third information includes one or more of the following:
(1.1) signaling type information of the third information, comprising: at least one of the positioning reference signal request signaling and the positioning request flag bit;
(1.2) identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
(1.3) positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
(1.4) positioning measurement configuration information: comprising the following steps: at least one of a positioning measurement type, positioning assistance information, positioning reference signal search assistance information, a positioning method or capability, a positioning type, a measurement window indication, a positioning resolution function indication, measurement assistance information, a feedback delay bound, a time domain reference point, and positioning priority information.
It should be noted that, the second information is the same as the first information, and at least part of the information content of the second information may be configured or preconfigured by the high-level parameters, that is, the second information may include only a part of the information content, and the rest is configured or preconfigured by the high-level parameters.
In a possible implementation manner, in the case that the time interval is carried in the target information, or the time interval is configured or preconfigured by the high-level parameters, the time interval satisfies at least one of the following:
(1) When the target information activates or schedules the transmission of the positioning reference signal, the time interval is the time interval between the time domain initial transmission position of the positioning reference signal and the target time domain reference point, wherein the target time domain reference point is the time slot position of the target information, or the time domain reference point in the target information, or the time domain reference point configured by the high-level parameter, or the preconfigured time domain reference point;
(2) In the case that the target information supports retransmission, no time interval is carried in the retransmitted target information
(3) Under the condition that the target information supports retransmission and the retransmitted target information carries a time interval, a target time domain reference point of the time interval retransmits the time slot position of the first information;
(4) Under the condition that the target information supports retransmission and the retransmitted target information carries a time interval and a time domain reference point, determining the initial position of positioning reference signal transmission based on the currently transmitted target information;
(5) The granularity of the time interval includes at least one of: time slots, physical time slots, logical time slots, OFDM symbols, subframes;
the target information is at least one of the first information and the second information.
In a possible implementation manner, in a case that the feedback delay limit is carried in the target information, or the feedback delay limit is configured or preconfigured by the high-level parameter, the method further comprises at least one of the following:
(1) The second equipment sends feedback information corresponding to the target information to the first equipment within a feedback delay limit;
specifically:
under the condition that the first information comprises a feedback delay limit, the second equipment sends second information to the first equipment within the feedback delay limit;
(2) The second equipment completes the whole positioning process within the feedback delay limit;
the target information is at least one of first information and second information;
the feedback delay bound satisfies at least one of:
(1) The feedback delay limit is the upper limit of the feedback time of the target information;
(2) The target time domain reference point of the feedback time delay limit is a time domain reference point carried in high-level parameter configuration or pre-configuration or target information;
(3) And under the condition that the target information supports retransmission, the retransmitted target information does not carry a feedback delay limit.
(4) The target time domain reference point of the feedback delay limit is the time of sending target information in the system, and the time granularity of the system comprises at least one of the following: time slots, physical time slots, logical time slots, OFDM symbols, subframes;
(5) The target time domain reference point of the feedback delay limit is UTC time;
(6) Under the condition that the target information supports retransmission and the retransmitted target information carries a feedback delay limit, a target time domain reference point of the feedback delay limit retransmits the time slot position of the first information;
(7) Under the condition that the target information supports retransmission and the retransmitted target information carries a time interval and a time domain reference point, the target time domain reference point of the feedback delay limit is the time domain reference point carried in the currently transmitted target information;
(8) In the case that the target information supports at least one of retransmission, periodic transmission, aperiodic transmission, and semi-persistent transmission, the transmission of the target information satisfies an implementation feedback delay bound.
In one possible embodiment, the method further comprises at least one of:
(1) Presetting a time parameter of a first positioning reference signal sent by first equipment and a time parameter of a second positioning reference signal sent by second equipment, wherein the time parameter comprises at least one of the following: positioning a reference signal transmission period, an offset value in the period and a period reference point;
(2) And according to the indication information of the measurement window, the first equipment and the second equipment are ensured to measure the first positioning reference signal and the second positioning reference signal in the same measurement window.
Considering that if a plurality of second devices assist the first device to perform positioning measurement, it is necessary to transmit positioning measurement values corresponding to the second devices, it is possible to ensure that the positioning measurement values using the first and second devices are matched with each other at the time of position resolution by the methods of (1) - (2) described above.
In one possible implementation, step 201: the second device receives first information from one or more first devices, including:
the second device receives first information from one or more first devices through the third device;
the method further comprises the steps of:
the second device sends the measurement result of the first positioning reference signal to the third device, the third device obtains the positioning resolving result of the first device, and the third device sends the positioning resolving result of the first device to the first device.
In the embodiment of the application, aiming at a scene that the third equipment assists positioning interaction between the first equipment and the second equipment, the second equipment sends the measured value of the positioning reference signal to the third equipment, the third equipment performs positioning calculation, and then the positioning calculation result is sent to the first equipment.
That is, compared with the positioning interaction method between the first device and the second device described above, for the scenario in which the third device assists the positioning interaction between the first device and the second device, the interaction of the positioning reference signal is performed between the first device and the second device, and the interaction processing of the positioning reference signal, the information and the measured value is completed by the third device.
The third device may be an LMF, or may also be another network element, and the embodiment of the present application does not limit a specific type of the third device.
Referring to fig. 4, the embodiment of the present application provides a positioning method for sidelink, where an execution body of the method is a first device, and the first device may specifically be a terminal, and correspondingly, an opposite device that performs communication interaction with the first device is a second device, and the second device may also be a terminal, where sidelink communication is adopted between the first device and the second device, where the method includes:
Step 401: the first device sends first information to one or more second devices, the first information comprising positioning indication signaling;
in an embodiment of the present application, the first information includes positioning indication signaling for indicating to the second device that the second device is assisted by the first device in positioning (or ranging). The first information may be sent by the one or more first devices and the second device, that is, the one or more first devices may assist the second device in locating (or ranging).
Step 402: the first device sends a first positioning reference signal to the second device, or the first device receives a second positioning reference signal from the second device;
in the embodiment of the application, the interaction of the positioning reference signal is performed between the first device and the second device, wherein the first device sends the first positioning reference signal (which can be simply referred to as a first PRS or a first SL-PRS, etc.), and the second device sends the second positioning reference signal (which can be simply referred to as a second PRS or a second SL-PRS, etc.), to the second device;
it should be noted that, a specific information transmission sequence flow for performing the interaction of the positioning reference signal between the first device and the second device may have various embodiments, which will be described in detail later.
Step 403: and the second equipment obtains a positioning resolving result of the second equipment according to the measurement result of the first positioning reference signal, or the first equipment sends the measurement result of the second positioning reference signal to the second equipment, or the first equipment obtains the positioning resolving result of the second equipment according to the measurement result of the second positioning reference signal, and sends the positioning resolving result of the second equipment to the second equipment.
In the embodiment of the application, the first device may obtain a positioning solution result of the first device according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, that is, the positioning solution may be performed by the first device, or the first device may receive the positioning solution result of the first device from the second device, that is, the positioning solution may be performed by the second device and then sent to the first device by the second device;
the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal may specifically be a time of arrival (TOA) of the first positioning reference signal or the second positioning reference signal, that is, the first device measures the arrival time of the first PRS transmission or the second PRS reception, and performs final positioning calculation according to the arrival time, so as to implement a positioning method based on the TOA or the TDOA.
In one possible implementation, the first information includes one or more of the following:
(1) Signaling type information of the first information, including: the positioning reference signal indicates at least one of signaling and positioning indication flag bits; the positioning reference signal indication signaling is used to inform the second device that the first device can assist it in positioning or ranging; the positioning indication flag bit is used for distinguishing the current information as positioning indication signaling.
(2) Identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID; the interaction process ID represents ID information of the positioning process, because the first device may request the plurality of second devices to assist positioning, the measured positioning reference signals and the corresponding second devices can be determined through the interaction process ID, and the situation that the positioning reference signals correspond to errors in the process of interacting with the plurality of second devices is prevented.
(3) Positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
(4) Positioning measurement configuration information: comprising the following steps: at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning resolution function indication information, measurement assistance information, feedback delay bound, time domain reference point, and positioning priority information.
It should be noted that at least a part of the information content of the first information may be configured or preconfigured by a high-level parameter, that is, the first information may include only a part of the information content, and the rest of the information content may be configured or preconfigured by a high-level parameter.
In one possible implementation, step 402: the first device transmitting a first positioning reference signal to the second device, comprising:
(1) The first device receives second information from the second device, the second information being feedback information of the first information;
(2) The first device transmits fourth information, which is feedback information of the second information, and the first positioning reference signal to the second device.
In the embodiment of the application, the information interaction flow between the first device and the second device is as follows: the second device sends the second information to the first device first, and then the first device sends the fourth information and the first positioning reference signal to the second device, which may be sent simultaneously, or may not be sent simultaneously, that is, the fourth information and the first positioning reference signal may be sent together in the same slot, or may be sent separately in different slots. In the following description of other steps for transmitting a plurality of pieces of information, the rule is also followed, and the pieces of information may be transmitted simultaneously or may not be transmitted simultaneously, and will not be repeated.
In one possible implementation, step 402: the first device receiving a second positioning reference signal from a second device, comprising:
(1) The first device receives second information and a second positioning reference signal from the second device, wherein the second information is feedback information of the first information;
(2) The first device sends fourth information to the second device, wherein the fourth information is feedback information of the second information;
step 403: the first device sending the measurement result of the second positioning reference signal to the second device, comprising:
(1) The first equipment performs positioning measurement according to the second information and/or the second positioning reference signal to obtain a first positioning measurement value;
(2) The first device sends the first positioning measured value to the second device through fourth information;
in the embodiment of the application, corresponding to the interaction flow, the first device measures the second positioning reference signal to obtain a first positioning measurement value, and then sends the first positioning measurement value to the second device. The measurement results obtained by the first device measuring the first positioning reference signal and the second positioning reference signal are referred to as a first positioning measurement value, and the measurement results obtained by the second device measuring the first positioning reference signal and the second positioning reference signal are referred to as a second positioning measurement value, and this naming manner will also be followed hereinafter and will not be repeated.
In the process of obtaining the first positioning measurement value by the first device through positioning measurement, the first device may measure according to the second positioning reference signal, that is, the first device directly measures the second positioning reference signal; or, the first device may perform measurement according to the second information and the second positioning reference signal, where the second information may carry configuration information or auxiliary information related to positioning measurement, and is used for the first device to perform positioning measurement;
step 403: the first device obtains a positioning resolving result of the second device according to the measurement result of the second positioning reference signal, and sends the positioning resolving result of the second device to the second device, including:
(1) The first equipment performs positioning measurement according to the second information and/or the second positioning reference signal to obtain a first positioning measurement value;
(2) The first equipment obtains a positioning resolving result of the second equipment according to the second information and/or the first positioning measured value;
(3) And the first device sends the positioning resolving result of the second device to the second device through the fourth information.
In the embodiment of the application, the positioning calculation is correspondingly performed by the first equipment, and the first equipment performs the positioning calculation according to the first positioning measured value. The first device may perform positioning calculation according to the first positioning measurement value, or the first device may perform positioning calculation according to the second information and the first positioning measurement value, where the second information may carry configuration information or auxiliary information related to positioning calculation;
In a possible implementation manner, the information content of the second information and the fourth information in the above-described interaction flow includes one or more of the following:
(1) At least part of the third information;
(2) Positioning the measured value;
(3) Locating a timestamp of the measurement;
(4) A quality indication of the positioning measurement;
(5) Locating measured value identification information;
(6) Positioning the calculation result information;
the third information includes one or more of the following:
(1.1) signaling type information of the third information, comprising: the positioning reference signal indicates at least one of signaling and positioning indication flag bits;
(1.2) identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
(1.3) positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
(1.4) positioning measurement configuration information: comprising the following steps: at least one of a positioning measurement type, positioning assistance information, positioning reference signal search assistance information, a positioning method or capability, a positioning type, a measurement window indication, a positioning resolution function indication, measurement assistance information, a feedback delay bound, a time domain reference point, and positioning priority information.
It should be noted that, the second information and the fourth information are the same as the first information, and at least part of the information content of the second information and the fourth information may be configured or preconfigured by using high-level parameters, that is, only part of the information content may be included in the second information and the fourth information, and the rest of the information content may be configured or preconfigured by using high-level parameters.
The above-mentioned positioning measurement quantity types may include: indicating the measurement quantity to be measured, such as SL-PRS RSRP, SL-PRS transmit-receive time difference of the device, RTOA, RSTD, angle of Arrival (AoA), AOD, etc.;
the above positioning assistance information may include at least one of: speed, direction of motion, acceleration, location coordinate information, identity ID, SL-SSB time-frequency configuration information, first device or second device related identity information, etc.
The positioning reference signal search assistance information includes at least one of: the expected reference signal time difference (the time difference between the first device as a reference and other adjacent first devices for transmitting the positioning reference signal and the transmission delay difference), the search window (the uncertainty corresponding to the transmission delay difference), and the positioning reference signal search auxiliary information can also be configured or preconfigured by the high-level parameters.
The positioning method or the capability information is used for indicating a method used by the current positioning process, such as Multi-RTT positioning, TDOA positioning, AOA positioning, and AOD positioning;
the positioning type information is used for distinguishing whether the current positioning method is used for relative positioning, ranging and absolute positioning;
the measurement window indication information comprises initial position information, period information and the like of a measurement window;
the positioning resolving function indication information is used for displaying and indicating whether the current equipment supports the positioning resolving function or can only report the measurement quantity for auxiliary positioning;
the measurement assistance information includes at least one of: SL-PRS information (e.g., SL-PRS resource set ID, SL-PRS resource ID, SL-PRS specific time-frequency resource location information, configuration information for SL-PRS, sequence initialization ID, etc.), device SL-PRS positioning measurement reporting granularity, etc., used to indicate the target device to associate when measuring the device positioning measurement.
The positioning reference signal configuration parameter set includes at least one of the following: SL-PRS resource type, power control parameter, sequence ID, SL-PRS resource set ID, frequency domain comb size, inter-symbol frequency domain offset value, cyclic shift parameter, time domain starting position, mapped starting symbol position in slot, number of time domain occupied symbols, SL-PRS time domain period, number or duration of SL-PRS period, frequency domain starting position, frequency domain offset value relative to frequency domain reference point, bandwidth or number of RBs occupied by frequency domain, subcarrier spacing of SL-PRS, cyclic prefix type, SL-PRS priority information
The above-mentioned SL-PRS resource type may be used to indicate that the SL-PRS resource is one of the following: periodic, non-periodic, semi-persistent
The relative reference point of the time-frequency domain can be a resource time-frequency position of mapping positioning request signaling or positioning indication signaling, or a reference time-frequency position configured or preconfigured by a high layer.
The set of SL-PRS configuration parameters may indicate SL-PRS related configurations transmitted by the first device and/or the second device.
Some or all of the parameters in the SL-PRS configuration parameter set may be configured or preconfigured by a higher layer, and related parameters of the higher layer configuration or preconfigured may not be present in the first information or the third information.
The above cyclic prefix type is used to indicate whether the current is normal CP or extended CP
The SL-PRS priority described above may also be determined based on the priority of the physical channel with which it is associated or a priority value carried in the associated control signaling.
The positioning measurements include at least one of: RSTD reference signal time difference, SL-PRS RSRP, first device receiving-transmitting time difference, second device receiving-transmitting time difference, SL-PRS SINR/SNR, RTOA reference signal arrival time, AOA, AOD, strongest path transmission delay (which can assist in removing some erroneous distance estimation), delay difference between multipaths, longitude/latitude/altitude;
The quality indication information of the above measurement includes at least one of: error resolution, error value (combined with error resolution indication) and error sampling point number;
the positioning reference signal search assistance information includes at least one of: the expected reference signal time difference (the time difference between the first device as a reference and other neighboring first devices to transmit the SL-PRS and the transmission delay difference), the search window (corresponding to the uncertainty of the transmission delay difference), the SL-PRS search assistance information may also be configured or preconfigured by higher layer parameters.
In a possible implementation manner, the time interval is carried in the target information, or in the case of configuring or pre-configuring the time interval by the high-level parameter, wherein the target information is at least one of the first information, the second information and the fourth information. The time interval satisfies at least one of:
(1) When the target information activates or schedules the transmission of the positioning reference signal, the time interval is the time interval between the time domain initial transmission position of the positioning reference signal and the target time domain reference point, wherein the target time domain reference point is the time slot position of the target information, or the time domain reference point in the target information, or the time domain reference point configured by the high-level parameter, or the preconfigured time domain reference point;
(2) In the case that the target information supports retransmission, no time interval is carried in the retransmitted target information
(3) Under the condition that the target information supports retransmission and the retransmitted target information carries a time interval, a target time domain reference point of the time interval retransmits the time slot position of the first information;
(4) Under the condition that the target information supports retransmission and the retransmitted target information carries a time interval and a time domain reference point, determining the initial position of positioning reference signal transmission based on the currently transmitted target information;
(5) The granularity of the time interval includes at least one of: time slots, physical time slots, logical time slots, OFDM symbols, subframes;
in a possible implementation manner, the feedback delay limit is carried in the target information, or in the case of configuring or pre-configuring the feedback delay limit by the high-level parameter, wherein the target information is at least one of the first information, the second information and the fourth information;
the method further comprises at least one of:
(1) The first equipment receives feedback information corresponding to the target information from the second equipment within a feedback delay limit;
specifically:
in the case that the first information includes a feedback delay bound, the first device receives second information from the second device within the feedback delay bound;
Under the condition that the second information comprises a feedback delay limit, the first equipment sends fourth information to the second equipment within the feedback delay limit;
(2) The first equipment completes the whole positioning process within the feedback delay limit;
the feedback delay bound satisfies at least one of:
(1) The feedback delay limit is the upper limit of the feedback time of the target information;
(2) The target time domain reference point of the feedback time delay limit is a time domain reference point carried in high-level parameter configuration or pre-configuration or target information;
(3) And under the condition that the target information supports retransmission, the retransmitted target information does not carry a feedback delay limit.
(4) The target time domain reference point of the feedback delay limit is the time of sending target information in the system, and the time granularity of the system comprises at least one of the following: time slots, physical time slots, logical time slots, OFDM symbols, subframes;
(5) The target time domain reference point of the feedback delay limit is UTC time;
(6) Under the condition that the target information supports retransmission and the retransmitted target information carries a feedback delay limit, a target time domain reference point of the feedback delay limit retransmits the time slot position of the first information;
(7) Under the condition that the target information supports retransmission and the retransmitted target information carries a time interval and a time domain reference point, the target time domain reference point of the feedback delay limit is the time domain reference point carried in the currently transmitted target information;
(8) In the case that the target information supports at least one of retransmission, periodic transmission, aperiodic transmission, and semi-persistent transmission, the transmission of the target information satisfies an implementation feedback delay bound.
In one possible embodiment, the method further comprises at least one of:
(1) Presetting a time parameter of a first positioning reference signal sent by first equipment and a time parameter of a second positioning reference signal sent by second equipment, wherein the time parameter comprises at least one of the following: positioning a reference signal transmission period, an offset value in the period and a period reference point;
(2) And according to the indication information of the measurement window, the first equipment and the second equipment are ensured to measure the first positioning reference signal and the second positioning reference signal in the same measurement window.
Considering that if a plurality of second devices assist the first device to perform positioning measurement, it is necessary to transmit positioning measurement values corresponding to the second devices, it is possible to ensure that the positioning measurement values using the first and second devices are matched with each other at the time of position resolution by the methods of (1) - (2) described above.
In one possible implementation, step 201: the first device sending first information to one or more second devices, comprising:
The first device sends the first information to one or more second devices through the third device.
In the embodiment of the application, for a scene that the third device is used for assisting the positioning interaction between the first device and the second device, the first device can send the first information to the third device.
Compared with the positioning interaction method between the first equipment and the second equipment, the positioning reference signal interaction method has the advantages that for the scene that the positioning interaction between the first equipment and the second equipment is assisted by the third equipment, the interaction of the positioning reference signal between the first equipment and the second equipment is carried out, and the interaction processing of the positioning reference signal, the information and the measured value is completed by the third equipment.
Referring to fig. 5, an embodiment of the present application provides a positioning method for a sidelink, where an execution body of the method is a second device, and the second device may specifically be a terminal, and correspondingly, an opposite device that performs communication interaction with the second device is a first device, where the first device may also be a terminal, and sidelink communication is adopted between the first device and the second device, where the method includes:
step 501: the second device receives first information from one or more first devices, the first information including positioning indication signaling;
step 502: the second device receives the first positioning reference signal from the first device, or the second device sends the second positioning reference signal to the first device;
Step 503: and the second equipment obtains a positioning resolving result of the second equipment according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or the second equipment receives the positioning resolving result of the second equipment from the first equipment.
The second device method flow shown in fig. 5 is a peer device flow corresponding to the first device method shown in fig. 4, and therefore, information, parameters, information content, etc. referred to hereinafter may be understood with reference to the corresponding description in the first device method side, and will not be described in detail in the second device method side.
In one possible implementation, the first information includes one or more of the following:
(1) Signaling type information of the first information, including: at least one of the positioning reference signal request signaling and the positioning request flag bit; the positioning reference signal request signaling is used for triggering at least one second device to assist the first device to perform positioning or ranging; the positioning request flag bit is used for distinguishing the current information as positioning request signaling.
(2) Identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID; the interaction process ID represents ID information of the positioning process, because the first device may request the plurality of second devices to assist positioning, the measured positioning reference signals and the corresponding second devices can be determined through the interaction process ID, and the situation that the positioning reference signals correspond to errors in the process of interacting with the plurality of second devices is prevented.
(3) Positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
(4) Positioning measurement configuration information: comprising the following steps: at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning resolution function indication information, measurement assistance information, feedback delay bound, time domain reference point, and positioning priority information.
It should be noted that at least a part of the information content of the first information may be configured or preconfigured by a high-level parameter, that is, the first information may include only a part of the information content, and the rest of the information content may be configured or preconfigured by a high-level parameter.
In one possible implementation, step 502: the second device receives a first positioning reference signal from the first device, comprising:
(1) The second device sends second information to the first device, wherein the second information is feedback information of the first information;
(2) The second device receives fourth information and the first positioning reference signal from the first device, wherein the fourth information is feedback information of the second information;
Step 503: the second device obtains a positioning resolving result of the second device according to the measurement result of the first positioning reference signal, including:
(1) The second equipment obtains a second positioning measured value according to the fourth information and/or the first positioning reference signal;
(2) And the second equipment obtains a positioning calculation result of the second equipment according to the first target information and/or the second positioning measured value, wherein the first target information is the first information or the fourth information.
In one possible implementation, step 503: the second device obtains a positioning resolving result of the second device according to the measurement result of the first positioning reference signal, including:
(1) The second equipment obtains a second positioning measured value according to the first information and/or the first positioning reference signal;
(2) And the second equipment obtains a positioning resolving result of the second equipment according to the first information and/or the second positioning measured value.
In one possible implementation, step 502: the second device transmitting a second positioning reference signal to the first device, comprising:
(1) The second device sends second information and a second positioning reference signal to the first device, wherein the second information is feedback information of the first information;
(2) The second device receives fourth information from the first device, the fourth information being feedback information of the second information;
Step 503: the second device obtains a positioning solution result of the second device according to the measurement result of the second positioning reference signal, including:
(1) The second device receives a first positioning measurement value measured by the first device from the first device through fourth information;
(2) The second equipment obtains a positioning resolving result of the second equipment according to the first target information and/or the first positioning measured value, wherein the first target information is first information or fourth information;
step 503: the second device receiving a location solution of the second device from the first device, comprising:
(1) The second device receives a positioning solution result of the second device from the first device through the fourth information, wherein the positioning solution result of the second device is obtained by the first device according to the second information and/or the first device receives a first positioning measured value measured by the first device.
In a possible implementation manner, the information content of the second information and the fourth information appearing in the above-described interaction flow includes one or more of the following:
(1) At least part of the third information;
(2) Positioning the measured value;
(3) Locating a timestamp of the measurement;
(4) A quality indication of the positioning measurement;
(5) Locating measured value identification information;
(6) Positioning the calculation result information;
the third information includes one or more of the following:
(1.1) signaling type information of the third information, comprising: the positioning reference signal indicates at least one of signaling and positioning indication flag bits;
(1.2) identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
(1.3) positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
(1.4) positioning measurement configuration information: comprising the following steps: at least one of a positioning measurement type, positioning assistance information, positioning reference signal search assistance information, a positioning method or capability, a positioning type, a measurement window indication, a positioning resolution function indication, measurement assistance information, a feedback delay bound, a time domain reference point, and positioning priority information.
It should be noted that, the second information and the fourth information are the same as the first information, and at least part of the information content of the second information and the fourth information may be configured or preconfigured by using high-level parameters, that is, only part of the information content may be included in the second information and the fourth information, and the rest of the information content may be configured or preconfigured by using high-level parameters.
In a possible implementation manner, in the case that the time interval is carried in the target information, or the time interval is configured or preconfigured by the high-level parameters, the time interval satisfies at least one of the following:
(1) When the target information activates or schedules the transmission of the positioning reference signal, the time interval is the time interval between the time domain initial transmission position of the positioning reference signal and the target time domain reference point, wherein the target time domain reference point is the time slot position of the target information, or the time domain reference point in the target information, or the time domain reference point configured by the high-level parameter, or the preconfigured time domain reference point;
(2) In the case that the target information supports retransmission, no time interval is carried in the retransmitted target information
(3) Under the condition that the target information supports retransmission and the retransmitted target information carries a time interval, a target time domain reference point of the time interval retransmits the time slot position of the first information;
(4) Under the condition that the target information supports retransmission and the retransmitted target information carries a time interval and a time domain reference point, determining the initial position of positioning reference signal transmission based on the currently transmitted target information;
(5) The granularity of the time interval includes at least one of: time slots, physical time slots, logical time slots, OFDM symbols, subframes;
The target information is at least one of first information, second information and fourth information.
(1) When the target information activates or schedules the transmission of the positioning reference signal, the time interval is the time interval between the time domain initial transmission position of the positioning reference signal and the target time domain reference point, wherein the target time domain reference point is the time slot position of the target information, or the time domain reference point in the target information, or the time domain reference point configured by the high-level parameter, or the preconfigured time domain reference point;
(2) In the case that the target information supports retransmission, no time interval is carried in the retransmitted target information
(3) Under the condition that the target information supports retransmission and the retransmitted target information carries a time interval, a target time domain reference point of the time interval retransmits the time slot position of the first information;
(4) Under the condition that the target information supports retransmission and the retransmitted target information carries a time interval and a time domain reference point, determining the initial position of positioning reference signal transmission based on the currently transmitted target information;
(5) The granularity of the time interval includes at least one of: time slots, physical time slots, logical time slots, OFDM symbols, subframes;
in the case that the target information carries a feedback delay bound, or the feedback delay bound is configured or preconfigured by a high-level parameter, the method further comprises at least one of the following:
(1) The second equipment receives feedback information corresponding to the target information from the first equipment within a feedback delay limit;
specifically:
under the condition that the first information comprises a feedback delay limit, the second equipment sends second information to the first equipment within the feedback delay limit;
under the condition that the second information comprises a feedback delay limit, the second equipment sends fourth information to the first equipment within the feedback delay limit;
(2) The second equipment completes the whole positioning process within the feedback delay limit;
the feedback delay bound satisfies at least one of:
(1) The feedback delay limit is the upper limit of the feedback time of the target information;
(2) The target time domain reference point of the feedback time delay limit is a time domain reference point carried in high-level parameter configuration or pre-configuration or target information;
(3) And under the condition that the target information supports retransmission, the retransmitted target information does not carry a feedback delay limit.
(4) The target time domain reference point of the feedback delay limit is the time of sending target information in the system, and the time granularity of the system comprises at least one of the following: time slots, physical time slots, logical time slots, OFDM symbols, subframes;
(5) The target time domain reference point of the feedback delay limit is UTC time;
(6) Under the condition that the target information supports retransmission and the retransmitted target information carries a feedback delay limit, a target time domain reference point of the feedback delay limit retransmits the time slot position of the first information;
(7) Under the condition that the target information supports retransmission and the retransmitted target information carries a time interval and a time domain reference point, the target time domain reference point of the feedback delay limit is the time domain reference point carried in the currently transmitted target information;
(8) In the case that the target information supports at least one of retransmission, periodic transmission, aperiodic transmission, and semi-persistent transmission, the transmission of the target information satisfies an implementation feedback delay bound.
In one possible embodiment, the method further comprises at least one of:
(1) Presetting a time parameter of a first positioning reference signal sent by first equipment and a time parameter of a second positioning reference signal sent by second equipment, wherein the time parameter comprises at least one of the following: positioning a reference signal transmission period, an offset value in the period and a period reference point;
(2) And according to the indication information of the measurement window, the first equipment and the second equipment are ensured to measure the first positioning reference signal and the second positioning reference signal in the same measurement window.
Considering that if a plurality of first devices assist a second device in making positioning measurements, it is necessary to transmit positioning measurement values corresponding to the second device, it is possible to ensure that the positioning measurement values using the first and second devices are matched with each other at the time of position resolution by the methods of (1) - (2) described above.
In one possible implementation, step 501: the second device receives first information from one or more first devices, including:
the second device receives first information from one or more first devices through the third device;
the method further comprises the steps of:
the second device sends the measurement result of the first positioning reference signal to the third device, and receives the positioning solution result of the second device from the third device.
In the embodiment of the application, aiming at a scene that the third equipment assists positioning interaction between the first equipment and the second equipment, the second equipment sends the measured value of the positioning reference signal to the third equipment, the third equipment performs positioning calculation, and then the positioning calculation result is sent to the first equipment.
That is, compared with the positioning interaction method between the first device and the second device described above, for the scenario in which the third device assists the positioning interaction between the first device and the second device, the interaction of the positioning reference signal is performed between the first device and the second device, and the interaction processing of the positioning reference signal, the information and the measured value is completed by the third device.
The third device may be an LMF, or may also be another network element, and the embodiment of the present application does not limit a specific type of the third device.
The technical scheme of the application is described below with reference to specific implementation examples:
example 1: the first information includes positioning request signaling, that is, the second device assists the first device to perform positioning, see fig. 6a and fig. 6b, where fig. 6a corresponds to a case where one second device (UE 2) assists the first device (UE 1), and fig. 6b corresponds to a case where multiple second devices (UE 2, UE3, UE 4) assist the first device (UE 1), and the specific flow is as follows:
step 1: the first device sends positioning request signaling to one or more second devices, and the second devices are requested to assist the second devices to position themselves.
In this scenario, the first information may carry a feedback delay bound, a positioning method/capability, a positioning measurement type, SL-PRS configuration parameters, and an interaction procedure ID;
step 2: and after one or more second devices receive the positioning request signaling, determining a positioning method used in a positioning process according to the content of the positioning request signaling. The transmission of the second SL-PRS is performed through a SL-PRS resource selection process or based on a higher layer parameter configuration/pre-configuration and the first information.
If the SL-PRS of the second device is periodically transmitted, triggering is not needed; if the SL-PRS of the second device is aperiodic or semi-persistent to transmit, either the first information or the second information trigger is required. The specific transmission start position depends on the content of the first or second information;
if the positioning procedure is used for absolute positioning, the second information should carry positioning assistance information or the like. In addition, it may be further defined that the positions of SL-PRSs transmitted by the plurality of second devices in the time domain are located within a defined window, or the same time domain resources are multiplexed.
The second information may further include SL-PRS search assistance information, measurement window indication information, interaction procedure ID, etc. content Step 3: and the first equipment performs SL-PRS measurement through the first information or the received second information, and performs position calculation by combining the positioning auxiliary information to finish ranging or positioning.
Example 2: the first information includes positioning request signaling, that is, the second device assists the first device to perform positioning, see fig. 6c, where fig. 6c corresponds to a case where one second device (UE 2) assists the first device (UE 1), and as for a case where a plurality of second devices assist the first device, it can be understood in conjunction with fig. 6b and fig. 6c, the specific flow is as follows:
The flow of fig. 6c is different from the flow of fig. 6a in that the first device transmits the PRS measurement result to the second device through the fourth information, the second device performs a position calculation, and then transmits the calculation result to the first device through the fifth information.
The information content of the fifth information in the above-described interaction flow includes one or more of the following:
(1) At least part of the third information;
(2) Positioning the measured value;
(3) Locating a timestamp of the measurement;
(4) A quality indication of the positioning measurement;
(5) Locating measured value identification information;
(6) Positioning the calculation result information;
the third information includes one or more of the following:
(1.1) signaling type information of the third information, comprising: the positioning reference signal indicates at least one of signaling and positioning indication flag bits;
(1.2) identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
(1.3) positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
(1.4) positioning measurement configuration information: comprising the following steps: at least one of a positioning measurement type, positioning assistance information, positioning reference signal search assistance information, a positioning method or capability, a positioning type, a measurement window indication, a positioning resolution function indication, measurement assistance information, a feedback delay bound, a time domain reference point, and positioning priority information.
It should be noted that, the fifth information is the same as the first information, and at least a part of the information content of the fifth information may be configured or preconfigured by the high-level parameters, that is, the fifth information may include only a part of the information content, and the rest is configured or preconfigured by the high-level parameters.
The above-mentioned positioning measurement quantity types may include: indicating the measurement quantity to be measured, such as SL-PRS RSRP, SL-PRS transmit-receive time difference of the device, RTOA, RSTD, aoA, AOD, etc.;
the above positioning assistance information may include at least one of: speed, direction of motion, acceleration, location coordinate information, identity ID, SL-SSB time-frequency configuration information, first device or second device related identity information, etc.
The positioning reference signal search assistance information includes at least one of: the expected reference signal time difference (the time difference between the first device as a reference and other adjacent first devices for transmitting the positioning reference signal and the transmission delay difference), the search window (the uncertainty corresponding to the transmission delay difference), and the positioning reference signal search auxiliary information can also be configured or preconfigured by the high-level parameters.
The positioning method or the capability information is used for indicating a method used by the current positioning process, such as Multi-RTT positioning, TDOA positioning, AOA positioning, and AOD positioning;
The positioning type information is used for distinguishing whether the current positioning method is used for relative positioning, ranging and absolute positioning;
the measurement window indication information comprises initial position information, period information and the like of a measurement window;
the positioning resolving function indication information is used for displaying and indicating whether the current equipment supports the positioning resolving function or can only report the measurement quantity for auxiliary positioning;
the measurement assistance information includes at least one of: SL-PRS information (e.g., SL-PRS resource set ID, SL-PRS resource ID, SL-PRS specific time-frequency resource location information, configuration information for SL-PRS, sequence initialization ID, etc.), device SL-PRS positioning measurement reporting granularity, etc., used to indicate the target device to associate when measuring the device positioning measurement.
The positioning reference signal configuration parameter set includes at least one of the following: SL-PRS resource type, power control parameter, sequence ID, SL-PRS resource set ID, frequency domain comb size, inter-symbol frequency domain offset value, cyclic shift parameter, time domain starting position, mapped starting symbol position in slot, number of time domain occupied symbols, SL-PRS time domain period, number or duration of SL-PRS period, frequency domain starting position, frequency domain offset value relative to frequency domain reference point, bandwidth or number of RBs occupied by frequency domain, subcarrier spacing of SL-PRS, cyclic prefix type, SL-PRS priority information
The above-mentioned SL-PRS resource type may be used to indicate that the SL-PRS resource is one of the following: periodic, non-periodic, semi-persistent
The relative reference point of the time-frequency domain can be a resource time-frequency position of mapping positioning request signaling or positioning indication signaling, or a reference time-frequency position configured or preconfigured by a high layer.
The set of SL-PRS configuration parameters may indicate SL-PRS related configurations transmitted by the first device and/or the second device.
Some or all of the parameters in the SL-PRS configuration parameter set may be configured or preconfigured by a higher layer, and related parameters of the higher layer configuration or preconfigured may not be present in the first information or the third information.
The above cyclic prefix type is used to indicate whether the current is normal CP or extended CP
The SL-PRS priority described above may also be determined based on the priority of the physical channel with which it is associated or a priority value carried in the associated control signaling.
The positioning measurements include at least one of: RSTD reference signal time difference, SL-PRS RSRP, first device receiving-transmitting time difference, second device receiving-transmitting time difference, SL-PRS SINR/SNR, RTOA reference signal arrival time, AOA, AOD, strongest path transmission delay (which can assist in removing some erroneous distance estimation), delay difference between multipaths, longitude/latitude/altitude;
The quality indication information of the above measurement includes at least one of: error resolution, error value (combined with error resolution indication) and error sampling point number;
the positioning reference signal search assistance information includes at least one of: the expected reference signal time difference (the time difference between the first device as a reference and other neighboring first devices to transmit the SL-PRS and the transmission delay difference), the search window (corresponding to the uncertainty of the transmission delay difference), the SL-PRS search assistance information may also be configured or preconfigured by higher layer parameters. Example 3: the first information includes positioning request signaling, that is, the second device assists the first device to perform positioning, see fig. 6d, where fig. 6d corresponds to a case where one second device (UE 2) assists the first device (UE 1), and as for a case where a plurality of second devices assist the first device, it can be understood in conjunction with fig. 6b and fig. 6d, the specific flow is as follows:
step 1: the first equipment sends positioning request signaling to one or more second equipment and sends SL-PRS to the second equipment;
the first device sends the SL-PRS, which can be periodically and continuously sent, and the corresponding configuration parameters are notified to the second device by the first information, or configured or preconfigured by the high-level parameters; or non-periodic, semi-persistent transmission, triggered by the first information and informing the second device to receive.
The first information may also carry feedback delay limit, positioning method/capability, positioning measurement quantity type, SL-PRS search auxiliary information, measurement window indication, time interval, time domain reference point, and interaction process ID;
step 2: the second device receives the first SL-PRS according to the first information and/or the high-level parameter configuration or pre-configuration. Measuring SL-PRS, and reporting the measurement result back to the first device;
for an absolute positioning scene, one or more second devices are required to report measurement information and positioning auxiliary information; for periodic or semi-persistent transmission of the SL-PRS, the time domain position of the SL-PRS possibly measured by each second device is different, or the distance between the time domain positions of the measured SL-PRS is too large, so that the positioning precision of the first device is reduced; to solve this problem:
the measurement interval of the second device can be defined through the first information, so that the same SL-PRS time domain positions measured by a plurality of second devices can be ensured, or the measurement interval is kept within a certain window.
Or the second device can report a plurality of measurement quantities, and report a measurement timestamp+a timestamp corresponding to the SL-PRS (or time domain position information corresponding to the SL-PRS: subframe number+time slot number, etc.), so as to ensure that the first device can select a corresponding measurement result from a plurality of positioning measurement results reported by the plurality of second devices to perform position calculation.
Step 3: the first device receives positioning auxiliary information and positioning measurement results from one or more second devices, performs position calculation, and finishes ranging or positioning.
Example 4: the first information includes positioning indication signaling, that is, the first device assists the second device to perform positioning, see fig. 6e, where fig. 6e corresponds to a case where one first device (UE 1) assists the second device (UE 2), and as for a case where multiple first devices assist the second device, it can be understood in conjunction with fig. 6b and fig. 6e, the specific flow is as follows:
step 1: the first device sends first information (positioning indication signaling) for informing the second device that the first device can provide positioning function for the second device;
positioning request/positioning indication flag bit, target identification information, source identification information, SL-PRS configuration parameter, positioning measurement type, positioning assistance information, SL-PRS search assistance information, positioning method/capability, interactive procedure ID
Step 2: after receiving the positioning instruction signaling, the second device sends second information (positioning request signaling) to the first device, and triggers the first device SL-PRS to send;
SL-PRS request signaling, positioning request/positioning indication flag bit, target identification information, source identification information, feedback delay limit, SL-PRS configuration parameters, positioning method/capability, time interval, time domain reference point, interactive process ID
Step 3: after the first device receives the second information, the first device performs transmission of the first SL-PRS according to the second/fourth information or the configuration/pre-configuration of the higher layer parameters. Fourth information also needs to be sent:
the fourth information may include: SL-PRS indication signaling, positioning request/positioning indication flag bit, target identification information, source identification information, SL-PRS configuration parameters, positioning assistance information, SL-PRS search assistance information, positioning method/capability, measurement window indication, time interval, time domain reference point, interaction procedure ID;
step 4: and the second equipment performs positioning measurement based on the received first SL-PRS, completes a position resolving process by combining the fourth/second information, and completes ranging or positioning.
In an absolute positioning scenario, the second device measures the SL-PRS transmitted by one or more first devices, and it should be ensured that the SL-PRS used in the positioning measurement process is in the same time slot, or in the same time window, to ensure positioning accuracy.
In order to solve the above problem, a transmission configuration of the SL-PRS of one or more first devices may be configured in the second information, so as to ensure that the periods of transmission of the SL-PRS by the respective first devices are the same or similar, or ensure that the starting positions of transmission of the SL-PRS by the respective first devices are also the same or similar.
Example 5: the first information includes positioning indication signaling, that is, the first device assists the second device to perform positioning, see fig. 6f, where fig. 6f corresponds to a case where one first device (UE 1) assists the second device (UE 2), and as for a case where multiple first devices assist the second device, it can be understood in conjunction with fig. 6b and fig. 6f, the specific flow is as follows:
step 1: the first device sends first information (positioning indication signaling) for informing the second device that the first device can provide positioning function for the second device;
positioning request/positioning indication zone bit, target identification information, source identification information, SL-PRS configuration parameters, positioning measurement quantity type, positioning auxiliary information, SL-PRS search auxiliary information, positioning method/capability and interaction process ID;
step 2: after receiving the positioning indication signaling, the second equipment sends second information to the first equipment and sends second SL-PRS to the first equipment;
SL-PRS indication signaling, positioning request/positioning indication zone bit, target identification information, source identification information, feedback delay limit, SL-PRS configuration parameter, positioning method/capability, time interval, time domain reference point, interactive process ID;
step 3: after the first device receives the second information, the first device performs measurement of the second SL-PRS according to the second/fourth information or the configuration/pre-configuration of the higher layer parameters. Fourth information also needs to be sent:
The fourth information may include: target identification information, source identification information, SL-PRS configuration parameters, positioning auxiliary information, time intervals, time domain reference points, interaction process IDs, positioning measurement values, time stamps of the positioning measurement values (time information for executing measurement positioning measurement values), quality indication of the positioning measurement values, positioning measurement value identification information and positioning calculation result information;
step 4: the second device completes ranging or positioning based on receiving the fourth information.
In the absolute positioning scenario, the second device receives fourth information sent by one or more first devices, and it should be ensured that the SL-PRS used in the positioning measurement process is in the same time slot or in the same time window, so as to ensure positioning accuracy.
In order to solve the above problem, a transmission configuration of SL-PRS of one or more first devices may be configured in the second information, so as to ensure that the positions of SL-PRS measured by the respective first devices are the same or similar;
example 6: the first information includes positioning indication signaling, that is, the first device assists the second device to perform positioning, see fig. 6g, where fig. 6g corresponds to a case where one first device (UE 1) assists the second device (UE 2), and as for a case where multiple first devices assist the second device, it can be understood in conjunction with fig. 6b and fig. 6g, the specific flow is as follows:
The procedure of fig. 6g is different from the procedure of fig. 6e in that the second device transmits PRS measurement values to the first device through fifth information, the first device performs a position calculation, and then transmits a calculation result to the second device through sixth information.
The information content of the fifth information and the sixth information in the above-described interactive flow includes one or more of the following:
(1) At least part of the third information;
(2) Positioning the measured value;
(3) Locating a timestamp of the measurement;
(4) A quality indication of the positioning measurement;
(5) Locating measured value identification information;
(6) Positioning the calculation result information;
the third information includes one or more of the following:
(1.1) signaling type information of the third information, comprising: the positioning reference signal indicates at least one of signaling and positioning indication flag bits;
(1.2) identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
(1.3) positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
(1.4) positioning measurement configuration information: comprising the following steps: at least one of a positioning measurement type, positioning assistance information, positioning reference signal search assistance information, a positioning method or capability, a positioning type, a measurement window indication, a positioning resolution function indication, measurement assistance information, a feedback delay bound, a time domain reference point, and positioning priority information.
It should be noted that, the fifth information and the sixth information are the same as the first information, and at least a part of the information content of the fifth information and the sixth information may be configured or preconfigured by using high-level parameters, that is, only a part of the information content may be included in the fifth information and the sixth information, and the rest of the information content may be configured or preconfigured by using high-level parameters.
The above-mentioned positioning measurement quantity types may include: indicating the measurement quantity to be measured, such as SL-PRS RSRP, SL-PRS transmit-receive time difference of the device, RTOA, RSTD, aoA, AOD, etc.;
the above positioning assistance information may include at least one of: speed, direction of motion, acceleration, location coordinate information, identity ID, SL-SSB time-frequency configuration information, first device or second device related identity information, etc.
The positioning reference signal search assistance information includes at least one of: the expected reference signal time difference (the time difference between the first device as a reference and other adjacent first devices for transmitting the positioning reference signal and the transmission delay difference), the search window (the uncertainty corresponding to the transmission delay difference), and the positioning reference signal search auxiliary information can also be configured or preconfigured by the high-level parameters.
The positioning method or the capability information is used for indicating a method used by the current positioning process, such as Multi-RTT positioning, TDOA positioning, AOA positioning, and AOD positioning;
the positioning type information is used for distinguishing whether the current positioning method is used for relative positioning, ranging and absolute positioning;
the measurement window indication information comprises initial position information, period information and the like of a measurement window;
the positioning resolving function indication information is used for displaying and indicating whether the current equipment supports the positioning resolving function or can only report the measurement quantity for auxiliary positioning;
the measurement assistance information includes at least one of: SL-PRS information (e.g., SL-PRS resource set ID, SL-PRS resource ID, SL-PRS specific time-frequency resource location information, configuration information for SL-PRS, sequence initialization ID, etc.), device SL-PRS positioning measurement reporting granularity, etc., used to indicate the target device to associate when measuring the device positioning measurement.
The positioning reference signal configuration parameter set includes at least one of the following: SL-PRS resource type, power control parameter, sequence ID, SL-PRS resource set ID, frequency domain comb size, inter-symbol frequency domain offset value, cyclic shift parameter, time domain starting position, mapped starting symbol position in slot, number of time domain occupied symbols, SL-PRS time domain period, number or duration of SL-PRS period, frequency domain starting position, frequency domain offset value relative to frequency domain reference point, bandwidth or number of RBs occupied by frequency domain, subcarrier spacing of SL-PRS, cyclic prefix type, SL-PRS priority information
The above-mentioned SL-PRS resource type may be used to indicate that the SL-PRS resource is one of the following: periodic, non-periodic, semi-persistent
The relative reference point of the time-frequency domain can be a resource time-frequency position of mapping positioning request signaling or positioning indication signaling, or a reference time-frequency position configured or preconfigured by a high layer.
The set of SL-PRS configuration parameters may indicate SL-PRS related configurations transmitted by the first device and/or the second device.
Some or all of the parameters in the SL-PRS configuration parameter set may be configured or preconfigured by a higher layer, and related parameters of the higher layer configuration or preconfigured may not be present in the first information or the third information.
The above cyclic prefix type is used to indicate whether the current is normal CP or extended CP
The SL-PRS priority described above may also be determined based on the priority of the physical channel with which it is associated or a priority value carried in the associated control signaling.
The positioning measurements include at least one of: RSTD reference signal time difference, SL-PRS RSRP, first device receiving-transmitting time difference, second device receiving-transmitting time difference, SL-PRS SINR/SNR, RTOA reference signal arrival time, AOA, AOD, strongest path transmission delay (which can assist in removing some erroneous distance estimation), delay difference between multipaths, longitude/latitude/altitude;
The quality indication information of the above measurement includes at least one of: error resolution, error value (combined with error resolution indication) and error sampling point number;
the positioning reference signal search assistance information includes at least one of: the expected reference signal time difference (the time difference between the first device as a reference and other neighboring first devices to transmit the SL-PRS and the transmission delay difference), the search window (corresponding to the uncertainty of the transmission delay difference), the SL-PRS search assistance information may also be configured or preconfigured by higher layer parameters. Example 7: the first information includes positioning indication signaling, that is, the first device assists the second device to perform positioning, see fig. 6h, where fig. 6h corresponds to a case where one first device (UE 1) assists the second device (UE 2), and as for a case where multiple first devices assist the second device, it can be understood in conjunction with fig. 6b and fig. 6h, the specific flow is as follows:
step 1: the first device may be to periodically transmit the first SL-PRS or to trigger aperiodic/semi-persistent transmission of the first SL-PRS by the first information;
the first information is a positioning indication signaling, and may include: SL-PRS indication signaling, positioning request/positioning indication flag bits, target identification information, source identification information, SL-PRS configuration parameters, positioning assistance information, SL-PRS search assistance information, positioning method/capability, time interval, time domain reference point, interaction procedure ID;
The SL-PRS periods of the plurality of first devices may be the same or similar, and the time domain locations of the SL-PRSs are relatively close to or occupy the same time slot.
Step 2: and the second equipment receives the first information, receives and measures the first SL-PRS according to the first information or the high-level parameter configuration/pre-configuration, and performs position calculation in combination with the first information to finish ranging or positioning.
Example 8: referring to fig. 6i, the specific Positioning procedure when there is an LMF in SL-Positioning is as follows:
(1) The first device requests a Location service from the LMF and sends first information.
(2) One or more second devices interact information needed by the positioning with the LMF: such as positioning assistance information, SL-PRS configuration parameter sets, etc
An interaction flow is required between the first device and the second device for determination of the anchor node.
(3) Based on the positioning methods/capabilities supported by the first device and the second device, the LMF determines the positioning methods (TDOA, AOA/AOD, RTT, etc.) used in the positioning process, and determines the auxiliary information, the type of positioning measurement amount, the type of positioning, etc. required by the corresponding methods.
(4) The first device may now send the SL-PRS, but since there is no base station scheduling, the resource configuration of the SL-PRS:
a. May be the first device itself decides, such as based on the sending result and SL-PRS configuration parameter information, to perform SL-PRS resource selection
LMF determines SL-PRS resource configuration information for a first device, similar to LMF scheduling (transmitting SL-PRS configuration parameters to the first device)
(5) The first device may:
a. self-determining activation time of SL-PRS, and then informing LMF of configuration information and activation time
LMF activated SL-PRS transmission
(6) The LMF informs the second device to measure SL-PRS and informs the second device to send configuration information of SL-PRS and related measurement information corresponding to the first device
Or, the second device does not need to be informed of specific SL-PRS configuration information, and the receiving and transmitting of the SL-PRS is similar to the resource allocation process of the R16 stage.
(7) The first device transmitting SL-PRS (not necessarily in sequential order with step (6)) may be a periodic, aperiodic, semi-persistent transmission
(8) The second device measures the received SL-PRS: RTOA, RSRP, SNR/SINR etc
(9) The second equipment reports the measurement result back to the LMF, and the LMF performs corresponding position calculation
(10) And the LMF feeds back the position resolving result to the first equipment to complete the positioning process.
Example 9: referring to fig. 6j, the specific Positioning procedure when there is an LMF in SL-Positioning is as follows:
(1) The first device requests a Location service from the LMF and sends first information.
(2) One or more second devices interact information needed by the positioning with the LMF: such as positioning assistance information, SL-PRS configuration parameter sets, etc
An interaction flow is required between the first device and the second device for determination of the anchor node.
(3) The LMF determines a positioning method (TDOA, AOA/AOD, RTT, etc.) used in the present positioning process based on positioning method capabilities that the first device and the second device can support, and determines contents such as auxiliary information and measurement information required by the corresponding method.
(4) At this time, the plurality of second devices may transmit the SL-PRS, but since there is no base station scheduling, the resource configuration of the SL-PRS:
c. may be the second device itself decides, e.g. based on the sending result, to make SL-PRS resource selection
LMF determines SL-PRS resource configuration information for a second device, similar to LMF scheduling
(5) The second device may:
c. self-determining activation time of SL-PRS, and then informing LMF of configuration information and activation time
LMF activated SL-PRS transmission
(6) The LMF informs the first device to measure SL-PRS and informs the first device that the corresponding second device transmits configuration information of SL-PRS, and related measurement information
Or, the first device does not need to be informed of specific SL-PRS configuration information, and the receiving and transmitting of the SL-PRS is similar to the resource allocation process of the R16 stage.
(7) The second device transmits SL-PRS (not necessarily in sequential order with step (16)) in periodic, aperiodic, semi-persistent transmissions
(8) The first device measures the received SL-PRS: RTOA, RSRP, SNR/SINR etc
(9) The first equipment reports the measurement result back to the LMF, and the LMF performs corresponding position calculation by combining the positioning auxiliary information
(10) And the LMF feeds back the position resolving result to the first equipment to complete the positioning process.
According to the positioning method for the sidelink provided by the embodiment of the application, the execution main body can be a positioning device for the sidelink. In the embodiment of the application, a positioning method for performing the sidelink by using the positioning device for the sidelink is taken as an example, and the positioning device for the sidelink provided by the embodiment of the application is described.
Referring to fig. 7, an embodiment of the present application provides a positioning apparatus 700 for sidelink, including:
the first device sends first information to one or more second devices, the first information comprising location request signaling;
a first transmitting module 701, configured to send, by the first device, a first positioning reference signal to the second device, or receive, by the first device, a second positioning reference signal from the second device;
The first positioning module 703 is configured to obtain a positioning solution result of the first device according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal by using the first device, or receive the positioning solution result of the first device from the second device by using the first device.
Optionally, the first information includes one or more of:
signaling type information of the first information includes: at least one of the positioning reference signal request signaling and the positioning request flag bit;
identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
positioning measurement configuration information: comprising the following steps: positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning resolution function indication information, measurement assistance information, feedback delay bound sum, time domain reference point and positioning priority information.
Optionally, the first transceiver module is configured to:
the first device receiving second information and the second positioning reference signal from the second device;
the first positioning module is used for:
the first equipment performs positioning measurement according to the second information and/or the second positioning reference signal to obtain a first positioning measurement value;
and the first equipment obtains a positioning calculation result of the first equipment according to the second information and/or the first positioning measurement value.
Optionally, the first transceiver module is configured to:
the first device sends the first positioning reference signal to the second device;
the first device receiving second information from the second device;
the first positioning module is used for:
the first device receiving second positioning measurements measured by the second device from the second device via the second information;
the first equipment obtains a positioning calculation result of the first equipment according to the second information and/or the second positioning measurement value;
the first positioning module is used for:
the first device receives a positioning solution result of the first device from the second device through the second information, wherein the positioning solution result of the first device is obtained by the second device according to the first information and/or a second positioning measured value measured by the second device.
Optionally, the information content of the second information includes one or more of the following:
at least part of the third information;
positioning the measured value;
a timestamp of the location measurement;
a quality indication of the positioning measurement;
locating measured value identification information;
positioning the calculation result information;
the third information includes one or more of:
the signaling type information of the third information includes: at least one of the positioning reference signal request signaling and the positioning request flag bit;
identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
positioning measurement configuration information: comprising the following steps: at least one of a positioning measurement type, positioning assistance information, positioning reference signal search assistance information, a positioning method or capability, a positioning type, a measurement window indication, a positioning resolution function indication, measurement assistance information, a feedback delay bound, a time domain reference point, and positioning priority information.
Optionally, in the case that the target information carries a time interval, or the higher-layer parameter configures or pre-configures the time interval, the time interval satisfies at least one of the following:
When the target information activates or schedules the positioning reference signal to transmit, the time interval is the time interval between the time domain initial transmitting position of the positioning reference signal and a target time domain reference point, wherein the target time domain reference point is the time slot position of the target information, or the time domain reference point in the target information, or the time domain reference point configured by a high-level parameter, or a pre-configured time domain reference point;
in the case that the target information supports retransmission, the time interval is not carried in the retransmitted target information
Wherein the target information is at least one of the first information and the second information.
Optionally, the apparatus further comprises: the first processing module is configured to, in the case that the target information carries a feedback delay bound, or the feedback delay bound is configured or preconfigured by a high-level parameter, at least one of the following:
the first device receives feedback information corresponding to the target information from the second device within the feedback delay limit;
the first equipment completes the whole positioning process within the feedback delay limit;
wherein the target information is at least one of the first information and the second information;
The feedback delay bound satisfies at least one of:
the feedback delay limit is the upper limit of the target information feedback time;
the target time domain reference point of the feedback time delay limit is a time domain reference point carried in high-level parameter configuration or pre-configuration or the target information;
and under the condition that the target information supports retransmission, the feedback delay limit is not carried in the retransmitted target information.
Optionally, the apparatus further comprises: a second processing module for at least one of:
presetting a time parameter of the first equipment for transmitting the first positioning reference signal and a time parameter of the second equipment for transmitting the second positioning reference signal, wherein the time parameter comprises at least one of the following: positioning a reference signal transmission period, an offset value in the period and a period reference point;
and according to the indication information of the measurement window, the first equipment and the second equipment are ensured to measure the first positioning reference signal and the second positioning reference signal in the same measurement window.
Optionally, the first sending module is configured to:
the first device sends the first information to one or more second devices through a third device;
The first transceiver module is configured to:
the first device sends the measurement result of the second positioning reference signal to the third device, and receives the positioning calculation result of the first device from the third device.
Referring to fig. 8, an embodiment of the present application provides a positioning apparatus 800 for sidelink, including:
a first receiving module 801, configured to receive, by a second device, first information from one or more first devices, where the first information includes positioning request signaling;
a second transceiver module 802, configured to receive, by the second device, a first positioning reference signal from the first device, or send, by the second device, a second positioning reference signal to the first device;
and a second positioning module 803, configured to obtain, by the first device, a positioning solution result of the first device according to the measurement result of the second positioning reference signal, or send, by the second device, the measurement result of the first positioning reference signal to the first device, or obtain, by the second device, a positioning solution result of the first device according to the measurement result of the first positioning reference signal, and send, by the second device, the positioning solution result of the first device to the first device.
Optionally, the first information includes one or more of:
signaling type information of the first information includes: at least one of positioning reference signal request signaling, positioning reference signal indication signaling, positioning request flag bit and positioning indication flag bit;
identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
positioning measurement configuration information: comprising the following steps: at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning resolution function indication information, measurement assistance information, feedback delay bound, time domain reference point, and positioning priority information.
Optionally, the second transceiver module is configured to:
the second device sends second information and the second positioning reference signal to the first device, wherein the second information is feedback information of the first information.
Optionally, the second transceiver module is configured to:
The second device receives the first positioning reference signal from the first device;
the second device sends second information to the first device, wherein the second information is feedback information of the first information;
the second positioning module is used for:
the second equipment performs positioning measurement according to the first information and/or the first positioning reference signal to obtain a second positioning measurement value;
the second device sends the second positioning measurement value to the first device through the second information;
the second positioning module is used for:
the second equipment performs positioning measurement according to the first information and/or the first positioning reference signal to obtain a second positioning measurement value;
the second equipment obtains a positioning calculation result of the first equipment according to the first information and/or the second positioning measurement value;
and the second equipment sends the positioning resolving result of the first equipment to the first equipment through the second information.
Optionally, the information content of the second information includes one or more of the following:
at least part of the third information;
positioning the measured value;
A timestamp of the location measurement;
a quality indication of the positioning measurement;
locating measured value identification information;
positioning the calculation result information;
the third information includes one or more of:
the signaling type information of the third information includes: at least one of the positioning reference signal request signaling and the positioning request flag bit;
identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
positioning measurement configuration information: comprising the following steps: at least one of a positioning measurement type, positioning assistance information, positioning reference signal search assistance information, a positioning method or capability, a positioning type, a measurement window indication, a positioning resolution function indication, measurement assistance information, a feedback delay bound, a time domain reference point, and positioning priority information.
Optionally, in the case that the target information carries a time interval, or the higher-layer parameter configures or pre-configures the time interval, the time interval satisfies at least one of the following:
when the target information activates or schedules the positioning reference signal to transmit, the time interval is the time interval between the time domain initial transmitting position of the positioning reference signal and a target time domain reference point, wherein the target time domain reference point is the time slot position of the target information, or the time domain reference point in the target information, or the time domain reference point configured by a high-level parameter, or a pre-configured time domain reference point;
In the case that the target information supports retransmission, the time interval is not carried in the retransmitted target information
Wherein the target information is at least one of the first information and the second information.
Optionally, the apparatus further comprises: the third processing module is used for any one of the following under the condition that the target information carries a feedback delay limit or the feedback delay limit is configured or preconfigured by high-level parameters:
the second device sends feedback information corresponding to the target information to the first device within the feedback delay limit;
the second equipment completes the whole positioning process within the feedback delay limit;
wherein the target information is at least one of the first information and the second information;
the feedback delay bound satisfies at least one of:
the feedback delay limit is the upper limit of the target information feedback time;
the target time domain reference point of the feedback time delay limit is a time domain reference point carried in high-level parameter configuration or pre-configuration or the target information;
and under the condition that the target information supports retransmission, the feedback delay limit is not carried in the retransmitted target information.
Optionally, the apparatus further comprises: a fourth processing module, configured to:
presetting a time parameter of the first equipment for transmitting the first positioning reference signal and a time parameter of the second equipment for transmitting the second positioning reference signal, wherein the time parameter comprises at least one of the following: positioning a reference signal transmission period, an offset value in the period and a period reference point;
and according to the indication information of the measurement window, the first equipment and the second equipment are ensured to measure the first positioning reference signal and the second positioning reference signal in the same measurement window.
Optionally, the first receiving module is configured to:
the second device receives first information from one or more first devices, including:
the second device receives the first information from one or more of the first devices through a third device;
the second transceiver module is configured to:
the second device sends the measurement result of the first positioning reference signal to the third device, the third device obtains the positioning resolving result of the first device, and the third device sends the positioning resolving result of the first device to the first device.
Referring to fig. 9, an embodiment of the present application provides a positioning apparatus 900 for sidelink, including:
a second sending module 901, configured to send, by a first device, first information to one or more second devices, where the first information includes positioning indication signaling;
a third transceiver module 902, configured to send a first positioning reference signal to the second device by the first device, or receive a second positioning reference signal from the second device by the first device;
the third positioning module 903 is configured to obtain, by the second device, a positioning solution result of the second device according to the measurement result of the first positioning reference signal, or send, by the first device, the measurement result of the second positioning reference signal to the second device, or obtain, by the first device, a positioning solution result of the second device according to the measurement result of the second positioning reference signal, and send, by the first device, the positioning solution result of the second device to the second device.
Optionally, the first information includes one or more of:
signaling type information of the first information includes: the positioning reference signal indicates at least one of signaling and positioning indication flag bits;
Identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
positioning measurement configuration information: comprising the following steps: positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning resolution function indication information, measurement assistance information, feedback delay bound sum, time domain reference point and positioning priority information.
Optionally, the third transceiver module is configured to:
the first device receives second information from the second device, the second information being feedback information of the first information;
the first device transmits fourth information and the first positioning reference signal to the second device, wherein the fourth information is feedback information of the second information.
Optionally, the third transceiver module is configured to:
the first device receives second information and the second positioning reference signal from the second device, wherein the second information is feedback information of the first information;
The first device sends fourth information to the second device, wherein the fourth information is feedback information of the second information;
the third positioning module is used for:
the first equipment performs positioning measurement according to the second information and/or the second positioning reference signal to obtain a first positioning measurement value;
the first device sends the first positioning measurement value to the second device through the fourth information;
the third positioning module is used for:
the first equipment performs positioning measurement according to the second information and/or the second positioning reference signal to obtain a first positioning measurement value;
the first equipment obtains a positioning resolving result of the second equipment according to the second information and/or the first positioning measured value;
and the first equipment sends the positioning resolving result of the second equipment to the second equipment through the fourth information.
Optionally, the information content of the second information and the fourth information includes one or more of the following:
at least part of the third information;
positioning the measured value;
a timestamp of the location measurement;
a quality indication of the positioning measurement;
Locating measured value identification information;
positioning the calculation result information;
the third information includes one or more of:
the signaling type information of the third information includes: the positioning reference signal indicates at least one of signaling and positioning indication flag bits;
identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
positioning measurement configuration information: comprising the following steps: at least one of a positioning measurement type, positioning assistance information, positioning reference signal search assistance information, a positioning method or capability, a positioning type, a measurement window indication, a positioning resolution function indication, measurement assistance information, a feedback delay bound, a time domain reference point, and positioning priority information.
Optionally, in the case that the target information carries a time interval, or the higher-layer parameter configures or pre-configures the time interval, the time interval satisfies at least one of the following:
when the target information activates or schedules the positioning reference signal to transmit, the time interval is the time interval between the time domain initial transmitting position of the positioning reference signal and a target time domain reference point, wherein the target time domain reference point is the time slot position of the target information, or the time domain reference point in the target information, or the time domain reference point configured by a high-level parameter, or a pre-configured time domain reference point;
In the case that the target information supports retransmission, the time interval is not carried in the retransmitted target information
Wherein the target information is at least one of the first information, the second information, and the fourth information.
Optionally, the apparatus further comprises: the fifth processing module is configured to, in the case that the target information carries a feedback delay bound, or the feedback delay bound is configured or preconfigured by a high-level parameter, at least one of the following:
the first device receives feedback information corresponding to the target information from the second device within the feedback delay limit;
the first equipment completes the whole positioning process within the feedback delay limit;
wherein the target information is at least one of the first information, the second information, and the fourth information;
the feedback delay bound satisfies at least one of:
the feedback delay limit is the upper limit of the target information feedback time;
the target time domain reference point of the feedback time delay limit is a time domain reference point carried in high-level parameter configuration or pre-configuration or the target information;
and under the condition that the target information supports retransmission, the feedback delay limit is not carried in the retransmitted target information.
Optionally, the apparatus further comprises: a sixth processing module for at least one of:
presetting a time parameter of the first equipment for transmitting the first positioning reference signal and a time parameter of the second equipment for transmitting the second positioning reference signal, wherein the time parameter comprises at least one of the following: positioning a reference signal transmission period, an offset value in the period and a period reference point;
and according to the indication information of the measurement window, the first equipment and the second equipment are ensured to measure the first positioning reference signal and the second positioning reference signal in the same measurement window.
Optionally, the second sending module is configured to:
the first device sends the first information to one or more second devices through a third device.
Referring to fig. 10, an embodiment of the present application provides a positioning device 1000 for sidelink, including:
a second receiving module 1001, configured to receive, by a second device, first information from one or more first devices, where the first information includes positioning indication signaling;
a fourth transceiver module 1002, configured to receive, by the second device, a first positioning reference signal from the first device, or send, by the second device, a second positioning reference signal to the first device;
And a fourth positioning module 1003, configured to obtain, by the second device, a positioning solution result of the second device according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or receive, by the second device, the positioning solution result of the second device from the first device.
Optionally, the first information includes one or more of:
signaling type information of the first information includes: the positioning reference signal indicates at least one of signaling and positioning indication flag bits;
identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
positioning measurement configuration information: comprising the following steps: at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning resolution function indication information, measurement assistance information, feedback delay bound, time domain reference point, and positioning priority information.
Optionally, the fourth transceiver module is configured to:
the second device sends second information to the first device, wherein the second information is feedback information of the first information;
the second device receives fourth information and the first positioning reference signal from the first device, wherein the fourth information is feedback information of the second information;
the fourth positioning module is used for:
the second device obtains a second positioning measurement value according to the fourth information and/or the first positioning reference signal;
and the second equipment obtains a positioning calculation result of the second equipment according to the first target information and/or the second positioning measured value, wherein the first target information is the first information or the fourth information.
Optionally, the fourth positioning module is configured to:
the second device obtains a second positioning measurement value according to the first information and/or the first positioning reference signal;
and the second equipment obtains a positioning calculation result of the second equipment according to the first information and/or the second positioning measured value.
Optionally, the fourth transceiver module is configured to:
The second device sends second information and the second positioning reference signal to the first device, wherein the second information is feedback information of the first information;
the second device receives fourth information from the first device, the fourth information being feedback information of the second information;
the fourth positioning module is used for:
the second device receives a first positioning measurement value measured by the first device from the first device through the fourth information;
the second device obtains a positioning calculation result of the second device according to first target information and/or the first positioning measurement value, wherein the first target information is the first information or the fourth information;
the fourth positioning module is used for:
the second device receives a positioning solution result of the second device from the first device through the fourth information, wherein the positioning solution result of the second device is obtained by the first device according to the second information, and/or the first device receives a first positioning measured value measured by the first device.
Optionally, the information content of the second information and the fourth information includes one or more of the following:
At least part of the third information;
positioning the measured value;
a timestamp of the location measurement;
a quality indication of the positioning measurement;
locating measured value identification information;
positioning the calculation result information;
the third information includes one or more of:
the signaling type information of the third information includes: at least one of positioning reference signal request signaling, positioning reference signal indication signaling, positioning request flag bit and positioning indication flag bit;
identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
positioning measurement configuration information: comprising the following steps: at least one of a positioning measurement type, positioning assistance information, positioning reference signal search assistance information, a positioning method or capability, a positioning type, a measurement window indication, a positioning resolution function indication, measurement assistance information, a feedback delay bound, a time domain reference point, and positioning priority information.
Optionally, in the case that the target information carries a time interval, or the higher-layer parameter configures or pre-configures the time interval, the time interval satisfies at least one of the following:
When the target information activates or schedules the positioning reference signal to transmit, the time interval is the time interval between the time domain initial transmitting position of the positioning reference signal and a target time domain reference point, wherein the target time domain reference point is the time slot position of the target information, or the time domain reference point in the target information, or the time domain reference point configured by a high-level parameter, or a pre-configured time domain reference point;
in the case that the target information supports retransmission, the time interval is not carried in the retransmitted target information
Wherein the target information is at least one of the first information, the second information, and the fourth information.
Optionally, the apparatus further comprises: the seventh processing module is configured to, when the target information carries a feedback delay bound, or when the feedback delay bound is configured or preconfigured by a high-level parameter, either:
the second device sends feedback information corresponding to the target information to the first device within the feedback delay limit;
the second equipment completes the whole positioning process within the feedback delay limit;
wherein the target information is at least one of the first information, the second information, and the fourth information;
The feedback delay bound satisfies at least one of:
the feedback delay limit is the upper limit of the target information feedback time;
the target time domain reference point of the feedback time delay limit is a time domain reference point carried in high-level parameter configuration or pre-configuration or the target information;
and under the condition that the target information supports retransmission, the feedback delay limit is not carried in the retransmitted target information.
Optionally, the apparatus further comprises: an eighth processing module, configured to any one of:
presetting a time parameter of the first equipment for transmitting the first positioning reference signal and a time parameter of the second equipment for transmitting the second positioning reference signal, wherein the time parameter comprises at least one of the following: positioning a reference signal transmission period, an offset value in the period and a period reference point;
and according to the indication information of the measurement window, the first equipment and the second equipment are ensured to measure the first positioning reference signal and the second positioning reference signal in the same measurement window.
Optionally, the second receiving module is configured to:
the second device receives the first information from one or more of the first devices through a third device;
The fourth transceiver module is configured to:
the second device sends the measurement result of the first positioning reference signal to the third device, and receives the positioning calculation result of the second device from the third device.
The positioning device for the sidelink in the embodiment of the application can be an electronic device, such as an electronic device with an operating system, or can be a component in the electronic device, such as an integrated circuit or a chip. The electronic device may be a terminal, or may be other devices than a terminal. By way of example, terminals may include, but are not limited to, the types of terminals 11 listed above, other devices may be servers, network attached storage (Network Attached Storage, NAS), etc., and embodiments of the application are not specifically limited.
The positioning device for sidelink provided by the embodiment of the application can realize each process realized by the method embodiment of fig. 2 to 6j and achieve the same technical effect, and in order to avoid repetition, the description is omitted.
Referring to fig. 11, an embodiment of the present application provides a positioning device for sidelink, including:
a transceiver 1110 for receiving and transmitting data under the control of the processor 1100.
Wherein in fig. 11, a bus architecture may comprise any number of interconnected buses and bridges, and in particular one or more processors represented by processor 1100 and various circuits of memory represented by memory 1120, linked together. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., which are well known in the art and, therefore, will not be described further herein. The bus interface provides an interface. The transceiver 1110 may be a plurality of elements, i.e., include a transmitter and a receiver, providing a means for communicating with various other apparatus over transmission media, including wireless channels, wired channels, optical cables, and the like. The user interface 1130 may also be an interface capable of interfacing with an inscribed desired device for a different user device, including but not limited to a keypad, display, speaker, microphone, joystick, etc.
The processor 1100 is responsible for managing the bus architecture and general processing, and the memory 1120 may store data used by the processor 1100 in performing operations.
Alternatively, the processor 1100 may be a CPU (Central processing Unit), ASIC (Application Specific Integrated Circuit ), FPGA (Field-Programmable Gate Array, field programmable Gate array) or CPLD (Complex Programmable Logic Device ), and the processor may also employ a multicore architecture.
The processor is operable to perform any of the methods provided by embodiments of the present application in accordance with the obtained executable instructions by invoking a computer program stored in a memory. The processor and the memory may also be physically separate.
The apparatus shown in fig. 11, when used as a first device, is capable of performing the method steps as in fig. 2 to 6j in relation to the first device;
a processor for reading the computer program in the memory and performing the following operations:
the first device sends first information to one or more second devices, the first information comprising location request signaling;
the first device sends a first positioning reference signal to the second device or the first device receives a second positioning reference signal from the second device;
and the first equipment obtains a positioning resolving result of the first equipment according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or the first equipment receives the positioning resolving result of the first equipment from the second equipment.
Or, a processor for reading the computer program in the memory and performing the following operations:
The method comprises the steps that a first device sends first information to one or more second devices, wherein the first information comprises positioning indication signaling;
the first device sends a first positioning reference signal to the second device or the first device receives a second positioning reference signal from the second device;
and obtaining a positioning resolving result of the second device by the second device according to the measurement result of the first positioning reference signal, or sending the measurement result of the second positioning reference signal to the second device by the first device, or obtaining the positioning resolving result of the second device by the first device according to the measurement result of the second positioning reference signal, and sending the positioning resolving result of the second device to the second device.
The apparatus shown in fig. 11 is capable of performing the method steps as in fig. 2 to 6j in relation to the second device when used as the second device. The details of the foregoing method are referred to in the description of the method, and are not repeated here.
A processor for reading the computer program in the memory and performing the following operations:
the first device sending first information to one or more second devices, comprising:
The first device sends the first information to one or more second devices through a third device;
the method further comprises the steps of:
the first device sends the measurement result of the second positioning reference signal to the third device, and receives the positioning calculation result of the first device from the third device.
Or, a processor for reading the computer program in the memory and performing the following operations:
the second device receives first information from one or more first devices, the first information comprising positioning indication signaling;
the second device receives a first positioning reference signal from the first device or the second device sends a second positioning reference signal to the first device;
and the second equipment obtains a positioning resolving result of the second equipment according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or the second equipment receives the positioning resolving result of the second equipment from the first equipment.
The embodiment of the application also provides a readable storage medium, on which a program or an instruction is stored, which when executed by a processor, implements each process of the above embodiment of the positioning method for a sidelink, and can achieve the same technical effects, so that repetition is avoided, and no further description is given here.
Wherein the processor is a processor in the terminal described in the above embodiment. The readable storage medium includes computer readable storage medium such as computer readable memory ROM, random access memory RAM, magnetic or optical disk, etc.
The embodiment of the application further provides a chip, the chip comprises a processor and a communication interface, the communication interface is coupled with the processor, the processor is used for running a program or instructions, the processes of the positioning method embodiment for the sidelink can be realized, the same technical effects can be achieved, and the repetition is avoided, and the description is omitted here.
It should be understood that the chips referred to in the embodiments of the present application may also be referred to as system-on-chip chips, or the like.
The embodiments of the present application further provide a computer program/program product stored in a storage medium, where the computer program/program product is executed by at least one processor to implement each process of the above method embodiments, and achieve the same technical effects, and are not repeated herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a computer software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present application.
The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are to be protected by the present application.
Claims (42)
1. A positioning method for a direct link sidelink, comprising:
the first device sends first information to one or more second devices, the first information comprising location request signaling;
the first device sends a first positioning reference signal to the second device or the first device receives a second positioning reference signal from the second device;
and the first equipment obtains a positioning resolving result of the first equipment according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or the first equipment receives the positioning resolving result of the first equipment from the second equipment.
2. The method of claim 1, wherein the first information comprises one or more of:
signaling type information of the first information includes: at least one of the positioning reference signal request signaling and the positioning request flag bit;
identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
Positioning measurement configuration information: comprising the following steps: positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning resolution function indication information, measurement assistance information, feedback delay bound sum, time domain reference point and positioning priority information.
3. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the first device receiving a second positioning reference signal from the second device, comprising:
the first device receiving second information and the second positioning reference signal from the second device;
the first device obtains a positioning resolving result of the first device according to the measurement result of the second positioning reference signal, and the method comprises the following steps:
the first equipment performs positioning measurement according to the second information and/or the second positioning reference signal to obtain a first positioning measurement value;
and the first equipment obtains a positioning calculation result of the first equipment according to the second information and/or the first positioning measurement value.
4. The method of claim 1, wherein the step of determining the position of the substrate comprises,
The first device sending a first positioning reference signal to the second device, comprising:
the first device sends the first positioning reference signal to the second device;
the first device receiving second information from the second device;
the first device obtains a positioning resolving result of the first device according to the measurement result of the first positioning reference signal, and the positioning resolving result comprises the following steps:
the first device receiving second positioning measurements measured by the second device from the second device via the second information;
the first equipment obtains a positioning calculation result of the first equipment according to the second information and/or the second positioning measurement value;
the first device receiving a positioning solution of the first device from the second device, comprising:
the first device receives a positioning solution result of the first device from the second device through the second information, wherein the positioning solution result of the first device is obtained by the second device according to the first information and/or a second positioning measured value measured by the second device.
5. The method according to claim 3 or 4, characterized in that the information content of the second information comprises one or more of the following:
At least part of the third information;
positioning the measured value;
a timestamp of the location measurement;
a quality indication of the positioning measurement;
locating measured value identification information;
positioning the calculation result information;
the third information includes one or more of:
the signaling type information of the third information includes: at least one of the positioning reference signal request signaling and the positioning request flag bit;
identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
positioning measurement configuration information: comprising the following steps: at least one of a positioning measurement type, positioning assistance information, positioning reference signal search assistance information, a positioning method or capability, a positioning type, a measurement window indication, a positioning resolution function indication, measurement assistance information, a feedback delay bound, a time domain reference point, and positioning priority information.
6. The method according to claim 2 or 5, wherein in case the target information carries a time interval, or a higher layer parameter configuration or pre-configuration time interval, the time interval satisfies at least one of the following:
When the target information activates or schedules the positioning reference signal to transmit, the time interval is the time interval between the time domain initial transmitting position of the positioning reference signal and a target time domain reference point, wherein the target time domain reference point is the time slot position of the target information, or the time domain reference point in the target information, or the time domain reference point configured by a high-level parameter, or a pre-configured time domain reference point;
in the case that the target information supports retransmission, the time interval is not carried in the retransmitted target information
Wherein the target information is at least one of the first information and the second information.
7. The method of claim 5, wherein in the case that the feedback delay bound is carried in the target information, or in the case that the feedback delay bound is configured or preconfigured by a higher-level parameter, the method further comprises at least one of:
the first device receives feedback information corresponding to the target information from the second device within the feedback delay limit;
the first equipment completes the whole positioning process within the feedback delay limit;
wherein the target information is at least one of the first information and the second information;
The feedback delay bound satisfies at least one of:
the feedback delay limit is the upper limit of the target information feedback time;
the target time domain reference point of the feedback time delay limit is a time domain reference point carried in high-level parameter configuration or pre-configuration or the target information;
and under the condition that the target information supports retransmission, the feedback delay limit is not carried in the retransmitted target information.
8. The method of claim 5, further comprising at least one of:
presetting a time parameter of the first equipment for transmitting the first positioning reference signal and a time parameter of the second equipment for transmitting the second positioning reference signal, wherein the time parameter comprises at least one of the following: positioning a reference signal transmission period, an offset value in the period and a period reference point;
and according to the indication information of the measurement window, the first equipment and the second equipment are ensured to measure the first positioning reference signal and the second positioning reference signal in the same measurement window.
9. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the first device sending first information to one or more second devices, comprising:
The first device sends the first information to one or more second devices through a third device;
the method further comprises the steps of:
the first device sends the measurement result of the second positioning reference signal to the third device, and receives the positioning calculation result of the first device from the third device.
10. A positioning method for a sidelink, comprising:
the second device receives first information from one or more first devices, the first information comprising location request signaling;
the second device receives a first positioning reference signal from the first device or the second device sends a second positioning reference signal to the first device;
and obtaining a positioning resolving result of the first device by the first device according to the measurement result of the second positioning reference signal, or sending the measurement result of the first positioning reference signal to the first device by the second device, or obtaining the positioning resolving result of the first device by the second device according to the measurement result of the first positioning reference signal, and sending the positioning resolving result of the first device to the first device.
11. The method of claim 10, wherein the first information comprises one or more of:
signaling type information of the first information includes: at least one of positioning reference signal request signaling, positioning reference signal indication signaling, positioning request flag bit and positioning indication flag bit;
identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
positioning measurement configuration information: comprising the following steps: at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning resolution function indication information, measurement assistance information, feedback delay bound, time domain reference point, and positioning priority information.
12. The method of claim 10, wherein the step of determining the position of the first electrode is performed,
the second device sending a second positioning reference signal to the first device, comprising:
the second device sends second information and the second positioning reference signal to the first device, wherein the second information is feedback information of the first information.
13. The method of claim 10, wherein the step of determining the position of the first electrode is performed,
the second device receiving a first positioning reference signal from the first device, comprising:
the second device receives the first positioning reference signal from the first device;
the second device sends second information to the first device, wherein the second information is feedback information of the first information;
the second device sending the measurement result of the first positioning reference signal to the first device, including:
the second equipment performs positioning measurement according to the first information and/or the first positioning reference signal to obtain a second positioning measurement value;
the second device sends the second positioning measurement value to the first device through the second information;
the second device obtains a positioning resolving result of the first device according to the measurement result of the first positioning reference signal, and sends the positioning resolving result of the first device to the first device, including:
the second equipment performs positioning measurement according to the first information and/or the first positioning reference signal to obtain a second positioning measurement value;
the second equipment obtains a positioning calculation result of the first equipment according to the first information and/or the second positioning measurement value;
And the second equipment sends the positioning resolving result of the first equipment to the first equipment through the second information.
14. The method according to claim 12 or 13, characterized in that the information content of the second information comprises one or more of the following:
at least part of the third information;
positioning the measured value;
a timestamp of the location measurement;
a quality indication of the positioning measurement;
locating measured value identification information;
positioning the calculation result information;
the third information includes one or more of:
the signaling type information of the third information includes: at least one of the positioning reference signal request signaling and the positioning request flag bit;
identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
positioning measurement configuration information: comprising the following steps: at least one of a positioning measurement type, positioning assistance information, positioning reference signal search assistance information, a positioning method or capability, a positioning type, a measurement window indication, a positioning resolution function indication, measurement assistance information, a feedback delay bound, a time domain reference point, and positioning priority information.
15. The method according to claim 11 or 14, wherein in case the target information carries a time interval, or a higher layer parameter configuration or pre-configuration time interval, the time interval satisfies at least one of the following:
when the target information activates or schedules the positioning reference signal to transmit, the time interval is the time interval between the time domain initial transmitting position of the positioning reference signal and a target time domain reference point, wherein the target time domain reference point is the time slot position of the target information, or the time domain reference point in the target information, or the time domain reference point configured by a high-level parameter, or a pre-configured time domain reference point;
in the case that the target information supports retransmission, the time interval is not carried in the retransmitted target information
Wherein the target information is at least one of the first information and the second information.
16. The method of claim 14, wherein in case the feedback delay bound is carried in the target information or in case the feedback delay bound is configured or preconfigured by a higher layer parameter, the method further comprises at least one of:
the second device sends feedback information corresponding to the target information to the first device within the feedback delay limit;
The second equipment completes the whole positioning process within the feedback delay limit;
wherein the target information is at least one of the first information and the second information;
the feedback delay bound satisfies at least one of:
the feedback delay limit is the upper limit of the target information feedback time;
the target time domain reference point of the feedback time delay limit is a time domain reference point carried in high-level parameter configuration or pre-configuration or the target information;
and under the condition that the target information supports retransmission, the feedback delay limit is not carried in the retransmitted target information.
17. The method of claim 14, further comprising at least one of:
presetting a time parameter of the first equipment for transmitting the first positioning reference signal and a time parameter of the second equipment for transmitting the second positioning reference signal, wherein the time parameter comprises at least one of the following: positioning a reference signal transmission period, an offset value in the period and a period reference point;
and according to the indication information of the measurement window, the first equipment and the second equipment are ensured to measure the first positioning reference signal and the second positioning reference signal in the same measurement window.
18. The method of claim 10, wherein the step of determining the position of the first electrode is performed,
the second device receives first information from one or more first devices, including:
the second device receives the first information from one or more of the first devices through a third device;
the method further comprises the steps of:
the second device sends the measurement result of the first positioning reference signal to the third device, the third device obtains the positioning resolving result of the first device, and the third device sends the positioning resolving result of the first device to the first device.
19. A positioning method for a sidelink, comprising:
the method comprises the steps that a first device sends first information to one or more second devices, wherein the first information comprises positioning indication signaling;
the first device sends a first positioning reference signal to the second device or the first device receives a second positioning reference signal from the second device;
and obtaining a positioning resolving result of the second device by the second device according to the measurement result of the first positioning reference signal, or sending the measurement result of the second positioning reference signal to the second device by the first device, or obtaining the positioning resolving result of the second device by the first device according to the measurement result of the second positioning reference signal, and sending the positioning resolving result of the second device to the second device.
20. The method of claim 19, wherein the first information comprises one or more of:
signaling type information of the first information includes: the positioning reference signal indicates at least one of signaling and positioning indication flag bits;
identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
positioning measurement configuration information: comprising the following steps: positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning resolution function indication information, measurement assistance information, feedback delay bound sum, time domain reference point and positioning priority information.
21. The method of claim 19, wherein the step of determining the position of the probe comprises,
the first device sending a first positioning reference signal to the second device, comprising:
the first device receives second information from the second device, the second information being feedback information of the first information;
The first device transmits fourth information and the first positioning reference signal to the second device, wherein the fourth information is feedback information of the second information.
22. The method of claim 19, wherein the step of determining the position of the probe comprises,
the first device receiving a second positioning reference signal from the second device, comprising:
the first device receives second information and the second positioning reference signal from the second device, wherein the second information is feedback information of the first information;
the first device sends fourth information to the second device, wherein the fourth information is feedback information of the second information;
the first device sending the measurement result of the second positioning reference signal to the second device, including:
the first equipment performs positioning measurement according to the second information and/or the second positioning reference signal to obtain a first positioning measurement value;
the first device sends the first positioning measurement value to the second device through the fourth information;
the first device obtains a positioning resolving result of the second device according to the measurement result of the second positioning reference signal, and sends the positioning resolving result of the second device to the second device, including:
The first equipment performs positioning measurement according to the second information and/or the second positioning reference signal to obtain a first positioning measurement value;
the first equipment obtains a positioning resolving result of the second equipment according to the second information and/or the first positioning measured value;
and the first equipment sends the positioning resolving result of the second equipment to the second equipment through the fourth information.
23. The method according to claim 21 or 22, wherein the information content of the second information and the fourth information comprises one or more of the following:
at least part of the third information;
positioning the measured value;
a timestamp of the location measurement;
a quality indication of the positioning measurement;
locating measured value identification information;
positioning the calculation result information;
the third information includes one or more of:
the signaling type information of the third information includes: the positioning reference signal indicates at least one of signaling and positioning indication flag bits;
identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
Positioning measurement configuration information: comprising the following steps: at least one of a positioning measurement type, positioning assistance information, positioning reference signal search assistance information, a positioning method or capability, a positioning type, a measurement window indication, a positioning resolution function indication, measurement assistance information, a feedback delay bound, a time domain reference point, and positioning priority information.
24. The method according to claim 20 or 23, wherein in case the target information carries a time interval, or a higher layer parameter configuration or pre-configuration time interval, the time interval satisfies at least one of the following:
when the target information activates or schedules the positioning reference signal to transmit, the time interval is the time interval between the time domain initial transmitting position of the positioning reference signal and a target time domain reference point, wherein the target time domain reference point is the time slot position of the target information, or the time domain reference point in the target information, or the time domain reference point configured by a high-level parameter, or a pre-configured time domain reference point;
in the case that the target information supports retransmission, the time interval is not carried in the retransmitted target information
Wherein the target information is at least one of the first information, the second information, and the fourth information.
25. The method of claim 23, wherein in the case that the feedback delay bound is carried in the target information, or in the case that the feedback delay bound is configured or preconfigured by a higher-level parameter, the method further comprises at least one of:
the first device receives feedback information corresponding to the target information from the second device within the feedback delay limit;
the first equipment completes the whole positioning process within the feedback delay limit;
wherein the target information is at least one of the first information, the second information, and the fourth information;
the feedback delay bound satisfies at least one of:
the feedback delay limit is the upper limit of the target information feedback time;
the target time domain reference point of the feedback time delay limit is a time domain reference point carried in high-level parameter configuration or pre-configuration or the target information;
and under the condition that the target information supports retransmission, the feedback delay limit is not carried in the retransmitted target information.
26. The method of claim 23, further comprising at least one of:
presetting a time parameter of the first equipment for transmitting the first positioning reference signal and a time parameter of the second equipment for transmitting the second positioning reference signal, wherein the time parameter comprises at least one of the following: positioning a reference signal transmission period, an offset value in the period and a period reference point;
And according to the indication information of the measurement window, the first equipment and the second equipment are ensured to measure the first positioning reference signal and the second positioning reference signal in the same measurement window.
27. The method of claim 19, wherein the step of determining the position of the probe comprises,
the first device sending first information to one or more second devices, comprising:
the first device sends the first information to one or more second devices through a third device.
28. A positioning method for a sidelink, comprising:
the second device receives first information from one or more first devices, the first information comprising positioning indication signaling;
the second device receives a first positioning reference signal from the first device or the second device sends a second positioning reference signal to the first device;
and the second equipment obtains a positioning resolving result of the second equipment according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or the second equipment receives the positioning resolving result of the second equipment from the first equipment.
29. The method of claim 28, wherein the first information comprises one or more of:
Signaling type information of the first information includes: the positioning reference signal indicates at least one of signaling and positioning indication flag bits;
identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
positioning measurement configuration information: comprising the following steps: at least one of positioning measurement quantity type information, positioning assistance information, positioning reference signal search assistance information, positioning method or capability information, positioning type information, measurement window indication information, positioning resolution function indication information, measurement assistance information, feedback delay bound, time domain reference point, and positioning priority information.
30. The method of claim 28, wherein the step of providing the first information comprises,
the second device receiving a first positioning reference signal from the first device, comprising:
the second device sends second information to the first device, wherein the second information is feedback information of the first information;
the second device receives fourth information and the first positioning reference signal from the first device, wherein the fourth information is feedback information of the second information;
The second device obtains a positioning resolving result of the second device according to the measurement result of the first positioning reference signal, and the positioning resolving result comprises the following steps:
the second device obtains a second positioning measurement value according to the fourth information and/or the first positioning reference signal;
and the second equipment obtains a positioning calculation result of the second equipment according to the first target information and/or the second positioning measured value, wherein the first target information is the first information or the fourth information.
31. The method of claim 28, wherein the step of providing the first information comprises,
the second device obtains a positioning resolving result of the second device according to the measurement result of the first positioning reference signal, and the positioning resolving result comprises the following steps:
the second device obtains a second positioning measurement value according to the first information and/or the first positioning reference signal;
and the second equipment obtains a positioning calculation result of the second equipment according to the first information and/or the second positioning measured value.
32. The method of claim 28, wherein the step of providing the first information comprises,
the second device sending a second positioning reference signal to the first device, comprising:
The second device sends second information and the second positioning reference signal to the first device, wherein the second information is feedback information of the first information;
the second device receives fourth information from the first device, the fourth information being feedback information of the second information;
the second device obtains a positioning resolving result of the second device according to the measurement result of the second positioning reference signal, including:
the second device receives a first positioning measurement value measured by the first device from the first device through the fourth information;
the second device obtains a positioning calculation result of the second device according to first target information and/or the first positioning measurement value, wherein the first target information is the first information or the fourth information;
the second device receiving a location solution of the second device from the first device, comprising:
the second device receives a positioning solution result of the second device from the first device through the fourth information, wherein the positioning solution result of the second device is obtained by the first device according to the second information, and/or the first device receives a first positioning measured value measured by the first device.
33. The method of any of claims 30 to 32, wherein the information content of the second information and the fourth information comprises one or more of:
at least part of the third information;
positioning the measured value;
a timestamp of the location measurement;
a quality indication of the positioning measurement;
locating measured value identification information;
positioning the calculation result information;
the third information includes one or more of:
the signaling type information of the third information includes: at least one of positioning reference signal request signaling, positioning reference signal indication signaling, positioning request flag bit and positioning indication flag bit;
identification information: comprising the following steps: at least one of target identification information, source identification information and interaction process ID;
positioning reference signal configuration information: comprising the following steps: at least one of a positioning reference signal configuration parameter, a time interval, and a time domain reference point;
positioning measurement configuration information: comprising the following steps: at least one of a positioning measurement type, positioning assistance information, positioning reference signal search assistance information, a positioning method or capability, a positioning type, a measurement window indication, a positioning resolution function indication, measurement assistance information, a feedback delay bound, a time domain reference point, and positioning priority information.
34. The method according to claim 29 or 33, wherein in case the target information carries a time interval, or a higher layer parameter configuration or pre-configuration time interval, the time interval satisfies at least one of the following:
when the target information activates or schedules the positioning reference signal to transmit, the time interval is the time interval between the time domain initial transmitting position of the positioning reference signal and a target time domain reference point, wherein the target time domain reference point is the time slot position of the target information, or the time domain reference point in the target information, or the time domain reference point configured by a high-level parameter, or a pre-configured time domain reference point;
in the case that the target information supports retransmission, the time interval is not carried in the retransmitted target information
Wherein the target information is at least one of the first information, the second information, and the fourth information.
35. The method of claim 33, wherein in the case that the feedback delay bound is carried in the target information, or in the case that the feedback delay bound is configured or preconfigured by a higher-level parameter, the method further comprises at least one of:
The second device sends feedback information corresponding to the target information to the first device within the feedback delay limit;
the second equipment completes the whole positioning process within the feedback delay limit;
wherein the target information is at least one of the first information, the second information, and the fourth information;
the feedback delay bound satisfies at least one of:
the feedback delay limit is the upper limit of the target information feedback time;
the target time domain reference point of the feedback time delay limit is a time domain reference point carried in high-level parameter configuration or pre-configuration or the target information;
and under the condition that the target information supports retransmission, the feedback delay limit is not carried in the retransmitted target information.
36. The method of claim 33, further comprising at least one of:
presetting a time parameter of the first equipment for transmitting the first positioning reference signal and a time parameter of the second equipment for transmitting the second positioning reference signal, wherein the time parameter comprises at least one of the following: positioning a reference signal transmission period, an offset value in the period and a period reference point;
And according to the indication information of the measurement window, the first equipment and the second equipment are ensured to measure the first positioning reference signal and the second positioning reference signal in the same measurement window.
37. The method of claim 28, wherein the step of providing the first information comprises,
the second device receives first information from one or more first devices, including:
the second device receives the first information from one or more of the first devices through a third device;
the method further comprises the steps of:
the second device sends the measurement result of the first positioning reference signal to the third device, and receives the positioning calculation result of the second device from the third device.
38. A positioning device for a sidelink, comprising:
a first sending module, configured to send, by a first device, first information to one or more second devices, where the first information includes positioning request signaling;
a first transceiver module, configured to send a first positioning reference signal to the second device by the first device, or receive a second positioning reference signal from the second device by the first device;
and the first positioning module is used for obtaining a positioning resolving result of the first equipment according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal by the first equipment, or receiving the positioning resolving result of the first equipment by the first equipment from the second equipment.
39. A positioning device for a sidelink, comprising:
a first receiving module for receiving, by a second device, first information from one or more first devices, the first information including positioning request signaling;
a second transceiver module, configured to receive, by the second device, a first positioning reference signal from the first device, or send, by the second device, a second positioning reference signal to the first device;
the second positioning module is configured to obtain, by the first device, a positioning solution result of the first device according to the measurement result of the second positioning reference signal, or send, by the second device, the measurement result of the first positioning reference signal to the first device, or obtain, by the second device, a positioning solution result of the first device according to the measurement result of the first positioning reference signal, and send, by the second device, the positioning solution result of the first device to the first device.
40. A positioning device for a sidelink, comprising:
a second sending module, configured to send, by a first device, first information to one or more second devices, where the first information includes positioning indication signaling;
A third transceiver module, configured to send a first positioning reference signal to the second device by the first device, or receive a second positioning reference signal from the second device by the first device;
and the third positioning module is used for obtaining a positioning resolving result of the second device by the second device according to the measurement result of the first positioning reference signal, or sending the measurement result of the second positioning reference signal to the second device by the first device, or obtaining the positioning resolving result of the second device by the first device according to the measurement result of the second positioning reference signal, and sending the positioning resolving result of the second device to the second device.
41. A positioning device for a sidelink, comprising:
a second receiving module, configured to receive, by a second device, first information from one or more first devices, where the first information includes positioning indication signaling;
a fourth transceiver module, configured to receive, by the second device, a first positioning reference signal from the first device, or send, by the second device, a second positioning reference signal to the first device;
and the fourth positioning module is used for obtaining a positioning resolving result of the second equipment according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal by the second equipment, or receiving the positioning resolving result of the second equipment from the first equipment by the second equipment.
42. A readable storage medium, wherein a program or an instruction is stored on the readable storage medium, which when executed by a processor, implements the steps of the positioning method for a sidelink according to any one of claims 1 to 9, or implements the steps of the positioning method for a sidelink according to any one of claims 10 to 18, or implements the steps of the positioning method for a sidelink according to any one of claims 19 to 27, or implements the steps of the positioning method for a sidelink according to any one of claims 28 to 37.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210473551.4A CN117014793A (en) | 2022-04-29 | 2022-04-29 | Positioning method and device for sidelink and readable storage medium |
| PCT/CN2023/085365 WO2023207510A1 (en) | 2022-04-29 | 2023-03-31 | Method and apparatus for sidelink positioning, and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210473551.4A CN117014793A (en) | 2022-04-29 | 2022-04-29 | Positioning method and device for sidelink and readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117014793A true CN117014793A (en) | 2023-11-07 |
Family
ID=88517371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210473551.4A Pending CN117014793A (en) | 2022-04-29 | 2022-04-29 | Positioning method and device for sidelink and readable storage medium |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN117014793A (en) |
| WO (1) | WO2023207510A1 (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20220020815A (en) * | 2019-06-13 | 2022-02-21 | 엘지전자 주식회사 | Sidelink positioning based on PRS transmission of server terminal in NR V2X |
| CN114731638A (en) * | 2019-11-18 | 2022-07-08 | 华为技术有限公司 | Lateral positioning method and device |
| US20230062805A1 (en) * | 2019-12-26 | 2023-03-02 | Lg Electronics Inc. | Pre-configured prs transmission method for sidelink positioning, and apparatus therefor |
| EP4154554A4 (en) * | 2020-05-19 | 2024-02-21 | Qualcomm Inc | User equipment positioning signal measurement and/or transmission |
| CN115696562A (en) * | 2021-07-26 | 2023-02-03 | 维沃移动通信有限公司 | Positioning method, device, terminal and medium |
-
2022
- 2022-04-29 CN CN202210473551.4A patent/CN117014793A/en active Pending
-
2023
- 2023-03-31 WO PCT/CN2023/085365 patent/WO2023207510A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023207510A1 (en) | 2023-11-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20230108914A1 (en) | Positioning signal prioritization | |
| CN113785633B (en) | Method for locating a wireless communication device, method for facilitating locating | |
| US20160337805A1 (en) | User equipment, device to device user equipment, base station, backhaul device and assistant positioning method for device to device user equipment | |
| CN115136675A (en) | Positioning reference signal processing | |
| US20230059302A1 (en) | Multi-port-measurement feedback | |
| EP3681215B1 (en) | Method and device for sending positioning signal | |
| US20230171055A1 (en) | Srs transmission delay shift reporting | |
| EP4140065A1 (en) | Ue receive-transmit time difference measurement reporting | |
| CN115696562A (en) | Positioning method, device, terminal and medium | |
| US20230097008A1 (en) | Dormant secondary cell positioning signaling | |
| CN115668821A (en) | PUCCH resource management for Positioning Status Information (PSI) reporting | |
| US20220078815A1 (en) | Muting configuration for tracking reference signal for positioning | |
| CN117014793A (en) | Positioning method and device for sidelink and readable storage medium | |
| CN117014792A (en) | Positioning method and device for sidelink and readable storage medium | |
| US20210367736A1 (en) | Positioning measurement reporting | |
| US11800322B2 (en) | Signalling for positioning latency control | |
| US20220078759A1 (en) | Selective symbol measurement for positioning | |
| US20240129085A1 (en) | Embedding timing group information in reference signals for positioning | |
| US20230397151A1 (en) | Positioning Based on Multiple Measurement Reports | |
| CN115696563A (en) | Positioning method, positioning device, communication equipment and medium | |
| WO2023075977A1 (en) | Coupled resource pools | |
| CN116939478A (en) | Method for verifying terminal position, terminal and network equipment | |
| JP2023521293A (en) | Sounding Reference Signal (SRS) transmission for positioning on flexible symbols | |
| KR20240008313A (en) | On-demand positioning reference signal scheduling | |
| CN117560760A (en) | Carrier phase positioning method, device, equipment and medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |