WO2022194115A1 - 定位方法、装置、终端及存储介质 - Google Patents

定位方法、装置、终端及存储介质 Download PDF

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Publication number
WO2022194115A1
WO2022194115A1 PCT/CN2022/080788 CN2022080788W WO2022194115A1 WO 2022194115 A1 WO2022194115 A1 WO 2022194115A1 CN 2022080788 W CN2022080788 W CN 2022080788W WO 2022194115 A1 WO2022194115 A1 WO 2022194115A1
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WO
WIPO (PCT)
Prior art keywords
positioning
terminal
measurement result
service
primary
Prior art date
Application number
PCT/CN2022/080788
Other languages
English (en)
French (fr)
Inventor
全海洋
李健翔
傅婧
赵亚利
Original Assignee
大唐移动通信设备有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority to US18/546,774 priority Critical patent/US20240137904A1/en
Application filed by 大唐移动通信设备有限公司 filed Critical 大唐移动通信设备有限公司
Priority to EP22770470.7A priority patent/EP4311274A4/en
Publication of WO2022194115A1 publication Critical patent/WO2022194115A1/zh

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Classifications

    • 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
    • H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
    • 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
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G01S5/0268—Hybrid positioning by deriving positions from different combinations of signals or of estimated positions in a single positioning system
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W8/00—Network data management
    • H04W8/005—Discovery of network devices, e.g. terminals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W92/00—Interfaces specially adapted for wireless communication networks
    • H04W92/16—Interfaces between hierarchically similar devices
    • H04W92/18—Interfaces between hierarchically similar devices between terminal devices

Definitions

  • the present application relates to the field of communication technologies, and in particular, to a positioning method, device, terminal, and storage medium.
  • 5G New Radio (NR) positioning technology can meet the positioning requirements in different application scenarios with high precision.
  • the terminal needs to send the terminal's positioning capability to the positioning server, and then the positioning server determines the positioning method according to the terminal's positioning capability and sends it to the terminal.
  • the terminal is based on the positioning method and base station. Corresponding positioning measurements are performed to obtain the positioning result of the terminal.
  • the present application provides a positioning method, device, terminal and storage medium, which are used to solve the technical problem that the positioning of the terminal cannot be achieved when there is no suitable positioning server in the network coverage area where the terminal is located to provide positioning services.
  • the present application provides a positioning method, which is applied to a first terminal.
  • the positioning method includes: acquiring positioning service information of a target terminal; A positioning terminal, and an auxiliary positioning terminal for providing an auxiliary positioning service; based on the primary positioning terminal and the auxiliary positioning terminal, the position of the first terminal is positioned.
  • the first terminal establishes a communication connection with the target terminal through a direct communication interface.
  • acquiring the location service information of the target terminal includes: receiving the location service information sent by the target terminal through a direct communication interface.
  • acquiring the location service information of the target terminal includes: sending a location service information acquisition request to the target terminal through a direct communication interface; and receiving the location service information sent by the target terminal.
  • acquiring the location service information of the target terminal includes: acquiring the location service information of the target terminal from a network device.
  • obtaining the location service information of the target terminal from the network device specifically includes: sending a request for obtaining the location service information to the network device, where the first terminal is located within the coverage of the network device; The location service information of the target terminal.
  • acquiring the location service information of the target terminal specifically includes: if it is determined that the target terminal is not covered by the network device, acquiring the location service information of the target terminal from the storage medium of the first terminal; The location service information of the terminal is acquired and stored by the first terminal from the network device when the first terminal is within the coverage of the network device.
  • determining a primary positioning terminal for providing primary positioning services from the target terminals according to the positioning service information includes: determining from the target terminals, according to the positioning service information, that the primary positioning service can provide the primary positioning service at least one terminal; according to the determined positioning capability information of each terminal, the moving speed and the channel condition between the terminal and the first terminal, the main terminal for providing the main positioning service is selected from the determined at least one terminal. Locate the terminal.
  • the positioning method further includes: indicating the provision of the primary positioning service.
  • the first positioning service message of the device is sent to the master positioning terminal; or, the first positioning service message used to indicate the provision of the master positioning service is sent to the network device, so that the network device will forward the first positioning service message to the master positioning service after receiving the message. terminal.
  • the method further includes: The second positioning service message is sent to the auxiliary positioning terminal; or, the second positioning service message used to indicate the provision of the auxiliary positioning service is sent to the network device, so that the network device forwards the second positioning service message to the auxiliary positioning terminal after receiving the second positioning service message.
  • locating the position of the first terminal based on the primary positioning terminal and the secondary positioning terminal includes: sending the positioning capability information of the first terminal to the primary positioning terminal; receiving the determination by the primary positioning terminal according to the positioning capability information
  • the positioning method for performing positioning measurement on the first terminal is based on the positioning method; based on the positioning method, the positioning reference signal is measured with the auxiliary positioning terminal to obtain the measurement result; based on the measurement result, the position of the first terminal is obtained.
  • the measurement result includes the first measurement result
  • performing a positioning signal measurement with the secondary positioning terminal based on the positioning method to obtain the measurement result including: receiving the first positioning signal sent by the secondary positioning terminal; The first positioning signal is measured based on the positioning method to obtain a first measurement result.
  • interacting with the secondary positioning terminal to obtain the measurement result based on the positioning method includes: sending a second positioning signal to the secondary positioning terminal; receiving the second measurement result , and the second measurement result is obtained by the secondary positioning terminal measuring the second positioning signal based on the positioning method.
  • obtaining the position of the first terminal based on the measurement result includes: sending the first measurement result and/or the second measurement result to the main positioning terminal; receiving the positioning result sent by the main positioning terminal, The position of the first terminal is obtained according to the positioning result; wherein, the positioning result is obtained by the primary positioning terminal calculating the first measurement result and/or the second measurement result based on the positioning method.
  • obtaining the position of the first terminal based on the measurement result includes: calculating the first measurement result and/or the second measurement result based on the positioning method to obtain the positioning result of the first terminal.
  • the present application provides a positioning method, which is applied to a master positioning terminal, and the master positioning terminal is used to provide a master positioning service for a first terminal.
  • the positioning method includes: receiving positioning capability information of the first terminal; Positioning capability information, determine a positioning method for performing positioning measurement on the first terminal, and send the positioning method to the first terminal; receive measurement results obtained by performing positioning reference signal measurement between the first terminal and the secondary positioning terminal based on the positioning method ; based on the measurement result, obtain the positioning result of the first terminal, and send the positioning result to the first terminal; wherein, the auxiliary positioning terminal is used for providing the auxiliary positioning service.
  • At least two terminals among the first terminal, the primary positioning terminal, and the secondary positioning terminal are communicatively connected through a direct communication interface.
  • receiving a measurement result obtained by performing positioning reference signal measurement between the first terminal and the secondary positioning terminal based on a positioning method includes: receiving a first measurement result sent by the first terminal, wherein the first A measurement result is obtained by the first terminal measuring the first positioning signal based on the positioning method, and the first positioning signal is sent by the auxiliary positioning terminal to the first terminal; and/or, receiving a second measurement result, wherein the second measurement The result is that the secondary positioning terminal measures the second positioning signal based on the positioning method, and the second positioning signal is sent by the first terminal to the secondary positioning terminal.
  • the positioning method before receiving the positioning capability information of the first terminal, the positioning method further includes: sending positioning service information to the first terminal through a direct communication interface or a network device.
  • the positioning method before receiving the positioning capability information of the first terminal, the positioning method further includes: receiving a request for obtaining positioning service information sent by the first terminal; and sending the positioning service information according to the obtaining request for positioning service information to the first terminal.
  • the positioning method before receiving the positioning capability information of the first terminal, further includes: receiving a first positioning service message sent by the first terminal through the direct connection interface and used to indicate that the primary positioning service is provided; Or, receive a first location service message sent by the network device and used to indicate that the primary location service is provided, where the first location service message is sent by the first terminal to the network device.
  • the present application provides a positioning method, which is applied to an auxiliary positioning terminal, and the auxiliary positioning terminal provides an auxiliary positioning service for a first terminal.
  • the positioning method includes: receiving a positioning method of the first terminal; based on the positioning method, communicating with the first terminal measure the positioning reference signal between the two devices to obtain the measurement result; send the measurement result to the first terminal or the main positioning terminal, and the measurement result is used by the first terminal or the main positioning terminal to obtain the positioning result of the first terminal; wherein, the main positioning terminal uses To provide the main location service.
  • At least two terminals among the first terminal, the secondary positioning terminal, and the primary positioning terminal are communicatively connected through a direct communication interface.
  • measuring the positioning reference signal with the first terminal based on the positioning method to obtain the measurement result includes: sending the first terminal to the first terminal. Positioning signal; receiving a first measurement result sent by the first terminal, where the first measurement result is obtained by the first terminal measuring the first positioning signal based on a positioning method.
  • measuring the positioning reference signal with the first terminal based on the positioning method to obtain the measurement result includes: receiving the first terminal sent by the first terminal. Two positioning signals; based on the positioning method, the second positioning signals are measured to obtain a second measurement result.
  • the positioning method before receiving the positioning method of the first terminal, further includes: receiving a second positioning service message sent by the first terminal and used to indicate the provision of an assisted positioning service; or, receiving a network device The sent second positioning service message used to indicate that the assisted positioning service is provided, wherein the second positioning service message is sent by the first terminal to the network device.
  • the present application provides a positioning device, which is applied to a first terminal, and the positioning device includes: an acquisition module for acquiring positioning service information of a target terminal; a determination module for obtaining information from the target terminal according to the positioning service information A primary positioning terminal for providing the primary positioning service and a secondary positioning terminal for providing the secondary positioning service are determined; the processing module is configured to locate the position of the first terminal based on the primary positioning terminal and the secondary positioning terminal.
  • the first terminal establishes a communication connection with the target terminal through a direct communication interface.
  • the obtaining module is specifically configured to: receive the positioning service information sent by the target terminal through the direct communication interface.
  • the obtaining module is specifically configured to: send a request for obtaining the positioning service information to the target terminal through the direct communication interface; and receive the positioning service information sent by the target terminal.
  • the obtaining module is specifically configured to: obtain the positioning service information of the target terminal from the network device.
  • the obtaining module is specifically configured to: send a request for obtaining location service information to a network device, where the first terminal is located within the coverage of the network device; and receive the location service information of the target terminal sent by the network device.
  • the obtaining module is specifically configured to: if it is determined that it is not within the coverage of the network device, obtain the location service information of the target terminal from the storage medium of the first terminal; wherein, the location service information of the target terminal It is acquired and stored by the first terminal from the network device when the first terminal is within the coverage of the network device.
  • the determining module is specifically configured to: determine at least one terminal that can provide the main positioning service from the target terminals according to the positioning service information; Based on the speed and the channel condition between the terminal and the first terminal, the primary positioning terminal for providing the primary positioning service is selected from the determined at least one terminal.
  • the positioning apparatus further includes: a sending module, configured to send a first positioning service message used to instruct to provide the main positioning service to the main positioning terminal;
  • the first positioning service message of the service is sent to the network device, so that the network device forwards the first positioning service message to the master positioning terminal after receiving the first positioning service message.
  • the sending module is further configured to: send a second positioning service message used to indicate the provision of the assisted positioning service to the assisted positioning terminal; or, send the second positioning service message used to indicate the provision of the assisted positioning service
  • the positioning service message is sent to the network device, so that the network device forwards the second positioning service message to the secondary positioning terminal after receiving the second positioning service message.
  • the processing module is specifically configured to: send the positioning capability information of the first terminal to the main positioning terminal; A positioning method; based on the positioning method, a positioning reference signal is measured with an auxiliary positioning terminal to obtain a measurement result; and a position of the first terminal is obtained based on the measurement result.
  • the processing module is specifically configured to: receive the first positioning signal sent by the secondary positioning terminal; measure the first positioning signal based on the positioning method, and obtain The first measurement.
  • the processing module is specifically configured to: send the second positioning signal to the secondary positioning terminal; receive the second measurement result, where the second measurement result is the secondary positioning The terminal is obtained by measuring the second positioning signal based on the positioning method.
  • the processing module is specifically configured to: send the first measurement result and/or the second measurement result to the main positioning terminal; receive the positioning result sent by the main positioning terminal, and obtain the first measurement result according to the positioning result The location of the terminal; wherein, the positioning result is obtained by the primary positioning terminal calculating the first measurement result and/or the second measurement result based on the positioning method.
  • the processing module is specifically configured to: calculate the first measurement result and/or the second measurement result based on the positioning method to obtain the positioning result of the first terminal.
  • the present application provides a positioning device, which is applied to a master positioning terminal, where the master positioning terminal is used to provide a master positioning service for a first terminal, and the positioning device includes: a receiving module, configured to receive positioning capability information of the first terminal; The determining module is configured to determine a positioning method for performing positioning measurement on the first terminal according to the positioning capability information of the first terminal, and send the positioning method to the first terminal; the receiving module is further configured to receive the first terminal based on the positioning method , the measurement result obtained by performing the positioning reference signal measurement with the auxiliary positioning terminal; the processing module is used to obtain the positioning result of the first terminal based on the measurement result, and send the positioning result to the first terminal; wherein, the auxiliary positioning terminal uses To provide auxiliary positioning services.
  • At least two terminals among the first terminal, the primary positioning terminal, and the secondary positioning terminal are communicatively connected through a direct communication interface.
  • a first measurement result sent by the first terminal is received, where the first measurement result is obtained by the first terminal measuring a first positioning signal based on a positioning method, and the first positioning signal is a secondary Sent by the positioning terminal to the first terminal;
  • the positioning apparatus further includes: a sending module, configured to send the positioning service information to the first terminal through a direct communication interface or a network device.
  • the receiving module is further configured to: receive a request for obtaining the location service information sent by the first terminal; and send the location service information to the first terminal according to the request for obtaining the location service information.
  • the receiving module is further configured to: receive a first location service message sent by the first terminal through the direct connection interface and used to indicate that the primary location service is provided; or, receive a message sent by a network device for A first positioning service message indicating that the primary positioning service is provided, wherein the first positioning service message is sent by the first terminal to the network device.
  • the present application provides a positioning device, which is applied to an auxiliary positioning terminal.
  • the auxiliary positioning terminal provides auxiliary positioning services for the first terminal.
  • the positioning device includes: a receiving module for receiving a positioning method of the first terminal; and a processing module, It is used to measure the positioning reference signal with the first terminal based on the positioning method to obtain the measurement result; the sending module is used to send the measurement result to the first terminal or the main positioning terminal, and the measurement result is used for the first terminal or the main positioning terminal.
  • the terminal obtains the positioning result of the first terminal; wherein, the main positioning terminal is used to provide the main positioning service.
  • At least two terminals among the first terminal, the secondary positioning terminal, and the primary positioning terminal are communicatively connected through a direct communication interface.
  • the sending module is specifically configured to: send the first positioning signal to the first terminal; the sending module is specifically configured to: receive the first positioning signal sent by the first terminal.
  • the receiving module is specifically configured to: receive the second positioning signal sent by the first terminal; the processing module is specifically configured to: based on the positioning method, Two positioning signals are measured to obtain a second measurement result.
  • the receiving module is further configured to: receive a second positioning service message sent by the first terminal and used to indicate the provision of the assisted positioning service; or receive a second positioning service message sent by the network device and used to indicate the provision of the assisted positioning service The second location service message, wherein the second location service message is sent by the first terminal to the network device.
  • the present application provides a terminal, where the terminal is a first terminal, and the first terminal includes:
  • the memory is used to store the computer program; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations: obtain the positioning service information of the target terminal; according to the positioning service information, determine the primary positioning terminal for providing primary positioning service and the secondary positioning terminal for providing secondary positioning service from the target terminal; locate the position of the first terminal based on the primary positioning terminal and the secondary positioning terminal.
  • the first terminal establishes a communication connection with the target terminal through a direct communication interface.
  • acquiring the location service information of the target terminal includes: receiving the location service information sent by the target terminal through a direct communication interface.
  • acquiring the location service information of the target terminal includes: sending a location service information acquisition request to the target terminal through a direct communication interface; and receiving the location service information sent by the target terminal.
  • acquiring the location service information of the target terminal includes: acquiring the location service information of the target terminal from a network device.
  • obtaining the location service information of the target terminal from the network device specifically includes: sending a request for obtaining the location service information to the network device, where the first terminal is located within the coverage of the network device; The location service information of the target terminal.
  • acquiring the location service information of the target terminal specifically includes: if it is determined that the target terminal is not covered by the network device, acquiring the location service information of the target terminal from the storage medium of the first terminal; The location service information of the terminal is acquired and stored by the first terminal from the network device when the first terminal is within the coverage of the network device.
  • determining a primary positioning terminal for providing primary positioning services from the target terminals according to the positioning service information includes: determining from the target terminals, according to the positioning service information, that the primary positioning service can provide the primary positioning service at least one terminal; according to the determined positioning capability information of each terminal, the moving speed and the channel condition between the terminal and the first terminal, the main terminal for providing the main positioning service is selected from the determined at least one terminal. Locate the terminal.
  • the processor is further configured to perform the following operations: Send the first positioning service message indicating the provision of the primary positioning service to the primary positioning terminal; or, sending the first positioning service message for indicating the provision of the primary positioning service to the network device, so that the network device receives the first positioning service message It is then forwarded to the main positioning terminal.
  • the processor is further configured to perform the following operations: sending a second positioning service message indicating the provision of the assisted positioning service to the assisted positioning terminal; or, sending the second positioning service message for indicating the provision of the assisted positioning service to the network device, so that the network device receives the second positioning service message after receiving the second positioning service message. It is then forwarded to the secondary positioning terminal.
  • locating the position of the first terminal based on the primary positioning terminal and the secondary positioning terminal includes: sending the positioning capability information of the first terminal to the primary positioning terminal; receiving the determination by the primary positioning terminal according to the positioning capability information
  • the positioning method for performing positioning measurement on the first terminal is based on the positioning method; based on the positioning method, the positioning reference signal is measured with the auxiliary positioning terminal to obtain the measurement result; based on the measurement result, the position of the first terminal is obtained.
  • the measurement result includes the first measurement result
  • performing a positioning signal measurement with the secondary positioning terminal based on the positioning method to obtain the measurement result including: receiving the first positioning signal sent by the secondary positioning terminal; The first positioning signal is measured based on the positioning method to obtain a first measurement result.
  • interacting with the secondary positioning terminal to obtain the measurement result based on the positioning method includes: sending a second positioning signal to the secondary positioning terminal; receiving the second measurement result , and the second measurement result is obtained by the secondary positioning terminal measuring the second positioning signal based on the positioning method.
  • obtaining the position of the first terminal based on the measurement result includes: sending the first measurement result and/or the second measurement result to the main positioning terminal; receiving the positioning result sent by the main positioning terminal, The position of the first terminal is obtained according to the positioning result; wherein, the positioning result is obtained by the primary positioning terminal calculating the first measurement result and/or the second measurement result based on the positioning method.
  • obtaining the position of the first terminal based on the measurement result includes: calculating the first measurement result and/or the second measurement result based on the positioning method to obtain the positioning result of the first terminal.
  • the present application provides a terminal, the terminal is a main positioning terminal, the main positioning terminal provides a main positioning service for the first terminal, and the main positioning terminal includes: a memory for storing a computer program; a transceiver for processing Send and receive data under the control of the device; the processor is used to read the computer program in the memory and perform the following operations: receive the positioning capability information of the first terminal; A positioning method for positioning measurement, and sending the positioning method to the first terminal; receiving a measurement result obtained by performing positioning reference signal measurement between the first terminal and the auxiliary positioning terminal based on the positioning method; and obtaining the positioning result of the first terminal based on the measurement result , and send the positioning result to the first terminal; wherein, the auxiliary positioning terminal is used to provide the auxiliary positioning service.
  • At least two terminals among the first terminal, the primary positioning terminal, and the secondary positioning terminal are communicatively connected through a direct communication interface.
  • receiving a measurement result obtained by performing positioning reference signal measurement between the first terminal and the secondary positioning terminal based on a positioning method includes: receiving a first measurement result sent by the first terminal, wherein the first A measurement result is obtained by the first terminal measuring the first positioning signal based on the positioning method, and the first positioning signal is sent by the auxiliary positioning terminal to the first terminal; and/or, receiving a second measurement result, wherein the second measurement The result is that the secondary positioning terminal measures the second positioning signal based on the positioning method, and the second positioning signal is sent by the first terminal to the secondary positioning terminal.
  • the processor before receiving the positioning capability information of the first terminal, is further configured to perform the following operation: send the positioning service information to the first terminal through a direct communication interface or a network device.
  • the processor before receiving the positioning capability information of the first terminal, is further configured to perform the following operations: receive a request for obtaining positioning service information sent by the first terminal; and, according to the obtaining request for positioning service information, Sending the location service information to the first terminal.
  • the processor before receiving the positioning capability information of the first terminal, is further configured to perform the following operation: receive the first terminal sent by the first terminal through the direct connection interface and used to indicate that the primary positioning service is provided. A positioning service message; or, receiving a first positioning service message sent by a network device and used for indicating provision of a primary positioning service, where the first positioning service message is sent by the first terminal to the network device.
  • the present application provides a terminal, the terminal is an auxiliary positioning terminal, the auxiliary positioning terminal provides an auxiliary positioning service for the first terminal, and the auxiliary positioning terminal includes: a memory for storing a computer program; a transceiver for in the processor Send and receive data under the control of the device; the processor is used to read the computer program in the memory and perform the following operations: receive the positioning method of the first terminal; based on the positioning method, measure the positioning reference signal with the first terminal to obtain the measurement Result; send the measurement result to the first terminal or the main positioning terminal, and the measurement result is used by the first terminal or the main positioning terminal to obtain the positioning result of the first terminal; wherein, the main positioning terminal is used to provide the main positioning service.
  • At least two terminals among the first terminal, the secondary positioning terminal, and the primary positioning terminal are communicatively connected through a direct communication interface.
  • measuring the positioning reference signal with the first terminal based on the positioning method to obtain the measurement result includes: sending the first terminal to the first terminal. Positioning signal; receiving a first measurement result sent by the first terminal, where the first measurement result is obtained by the first terminal measuring the first positioning signal based on a positioning method.
  • measuring the positioning reference signal with the first terminal based on the positioning method to obtain the measurement result includes: receiving the first terminal sent by the first terminal. Two positioning signals; based on the positioning method, the second positioning signals are measured to obtain a second measurement result.
  • the processor before receiving the positioning method of the first terminal, is further configured to perform the following operations: receive a second positioning service message sent by the first terminal and used to indicate the provision of an assisted positioning service; Or, receive a second positioning service message sent by the network device and used to indicate that the assisted positioning service is provided, where the second positioning service message is sent by the first terminal to the network device.
  • the present application provides a processor-readable storage medium, where a computer program is stored in the processor-readable storage medium, and the computer program is used to cause a processor to perform the positioning according to the first aspect, the second aspect or the third aspect method.
  • the present application provides a computer program product, comprising: a computer program, when the computer program is executed by a processor, the positioning method according to the first aspect, the second aspect or the third aspect is implemented.
  • the present application provides a communication system, including the first terminal according to any of the above, the primary positioning terminal according to any of the above, and the secondary positioning terminal according to any of the above.
  • the positioning service information of the target terminal is obtained; according to the positioning service information, the main positioning terminal for providing the main positioning service is determined from the target terminal, and the main positioning terminal for providing the main positioning service is determined from the target terminal.
  • An auxiliary positioning terminal that provides auxiliary positioning services; based on the primary positioning terminal and the auxiliary positioning terminal, the position of the first terminal is located. Since the primary positioning terminal and the secondary positioning terminal can assist the positioning of the first terminal, even if there is no suitable positioning server to provide positioning services in the network coverage area where the first terminal is located, the position of the first terminal can be accurately located.
  • FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of a positioning method according to an embodiment of the present application.
  • FIG. 3 is a schematic diagram of signaling interaction of a positioning method according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of signaling interaction of a positioning method provided by another embodiment of the present application.
  • FIG. 5 is a schematic diagram of signaling interaction of a positioning method according to another embodiment of the present application.
  • FIG. 6(a) is a schematic diagram of signaling interaction when a downlink positioning technology is used for positioning according to an embodiment of the present application
  • FIG. 6(b) is a schematic diagram of signaling interaction when positioning using an uplink positioning technology according to an embodiment of the present application.
  • FIG. 6(c) is a schematic diagram of signaling interaction when positioning using an uplink and downlink hybrid positioning technology according to an embodiment of the present application
  • FIG. 7 is a schematic structural diagram of a positioning device according to an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a positioning device according to another embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a positioning device according to another embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a terminal according to an embodiment of the application.
  • FIG. 11 is a schematic structural diagram of a terminal according to another embodiment of the present application.
  • FIG. 12 is a schematic structural diagram of a terminal according to another embodiment of the present application.
  • the term "and/or” describes the relationship between related objects, and means that there can be three relationships, for example, A and/or B, which can mean that A exists alone, A and B exist simultaneously, and B exists alone. a situation.
  • the character "/” generally indicates that the associated objects are an "or” relationship.
  • the term “plurality” refers to two or more than two, and other quantifiers are similar.
  • the applicable system may be a global system of mobile communication (GSM) system, a code division multiple access (CDMA) system, a wideband code division multiple access (Wideband Code Division Multiple Access, WCDMA) general packet Wireless service (general packet radio service, GPRS) system, long term evolution (long term evolution, LTE) system, LTE frequency division duplex (frequency division duplex, FDD) system, LTE time division duplex (time division duplex, TDD) system, Long term evolution advanced (LTE-A) system, universal mobile telecommunication system (UMTS), worldwide interoperability for microwave access (WiMAX) system, 5G New Radio (New Radio, NR) system, etc.
  • GSM global system of mobile communication
  • CDMA code division multiple access
  • WCDMA wideband Code Division Multiple Access
  • General packet Wireless service general packet Radio service
  • GPRS general packet Wireless service
  • LTE long term evolution
  • LTE frequency division duplex frequency division duplex
  • time division duplex time division duplex
  • TDD Time division duplex
  • the communication system to which the technical solutions provided in the embodiments of the present application are applicable includes network equipment and terminals, and the network equipment may include access network equipment and core network equipment.
  • the access network device may be, for example, a wireless access network device.
  • FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the present application. As shown in FIG. 1 , the scenario includes: a first terminal 101 , a primary positioning terminal 102 , a secondary positioning terminal 103 , a network device 104 , and a positioning server 105 .
  • FIG. 1 is schematic, and the above-mentioned scenario may also include other network devices, such as wireless repeater devices and wireless backhaul devices, etc., which are not shown in FIG. 1 .
  • This embodiment of the present application uses one of the first terminal 101 , the main positioning terminal 102 , the auxiliary positioning terminal 103 , the network device 104 , and the positioning server 105 in the above scenario as an example, but it is not limited thereto.
  • first terminal 101, main positioning terminal 102 and auxiliary positioning terminal 103 may all be devices that provide voice and/or data connectivity to users, handheld devices with wireless connection function, or devices connected to wireless modems. other processing equipment, etc.
  • the names of the above-mentioned terminals may be different.
  • the above-mentioned terminals may be called user equipment (User Equipment, UE), and the above-mentioned terminals may also be wireless terminals.
  • An access network Radio Access Network, RAN
  • the wireless terminals can be mobile terminals, such as mobile phones (or "cellular" phones) and mobile terminals with mobile terminals.
  • Computers for example, may be portable, pocket-sized, hand-held, computer-built-in or vehicle-mounted mobile devices that exchange language and/or data with the wireless access network.
  • a wireless terminal may also be referred to as a system, subscriber unit, subscriber station, mobile station, mobile station, remote station, access point, A remote terminal (remote terminal), an access terminal (access terminal), a user terminal (user terminal), a user agent (user agent), and a user device (user device) are not limited in the embodiments of the present application.
  • the network device 104 and the positioning server 105 are usually used to realize the positioning of the first terminal, wherein the first terminal 101 and the positioning server 105 are both within the coverage of the network device 104 .
  • the first terminal 101 sends its positioning capability information to the positioning server 105 through the network device 104, and the positioning server 105 receives the positioning capability information of the first terminal according to the positioning capability.
  • the information determines an appropriate positioning method, and sends the positioning method to the network device 104 and the first terminal 101 .
  • the first terminal 101 and the network device 104 perform positioning measurement according to the positioning method, obtain measurement data, and then send the measurement data to the positioning server 105, and finally the positioning server 105 calculates and obtains the positioning result of the first terminal 101 according to the measurement data. .
  • the positioning server when positioning the first terminal 101, if the corresponding positioning server is not deployed within the network coverage of the first terminal, when the first terminal 101 sends a positioning request, no positioning server will respond to the positioning request. It is also impossible to achieve accurate positioning of the first terminal 101; or, when a positioning server is deployed within the network coverage where the first terminal 101 is located, but the current data processing pressure of the positioning server is relatively large, the positioning server is used again.
  • the response time of the positioning server will be too long, thereby reducing the user experience; for another example, when the first terminal 101 is not within the network coverage of the network device, or the When the coverage is at the edge (semi-covered state), the terminal device cannot perform normal positioning measurement with the network device, and thus cannot obtain an accurate positioning result of the first terminal.
  • embodiments of the present application provide a positioning method, device, terminal, and storage medium.
  • the first terminal when the positioning server cannot be used to locate the first terminal, the first terminal will obtain the positioning service information of the target terminal that can provide the positioning service, and then, according to the positioning service information of the target terminal, from the target terminal A primary positioning terminal for providing the primary positioning service and a secondary positioning terminal for providing the secondary positioning service are determined in the terminals, and then the position of the first terminal is positioned based on the primary positioning terminal and the secondary positioning terminal.
  • FIG. 2 is a schematic flowchart of a positioning method according to an embodiment of the present application.
  • the execution body of the positioning method in this embodiment may be the above-mentioned first terminal, and the positioning method may include the following steps:
  • the target terminal includes a main positioning terminal and an auxiliary positioning terminal. It should be understood that the number of target terminals may be multiple or one, and the main positioning terminal and the auxiliary positioning terminal may be the same target terminal or different target terminals. The embodiments of the present application are not specifically limited.
  • the location service information is used to represent the type of location service that can be provided, where the type of location service includes: primary location service and auxiliary location service.
  • the main positioning service is specifically: determining the positioning method before positioning, and calculating the positioning result according to the measurement results of the positioning measurement during the positioning process;
  • the auxiliary positioning service is specifically: in the positioning process, positioning according to the positioning method. measurement, so as to assist the first terminal to obtain measurement results and the like.
  • the first terminal when locating the first terminal, the first terminal will acquire the location service information of the target terminal, and the embodiment of the present application does not specifically limit the method for acquiring the location service information.
  • the target terminal may enable the first terminal to obtain the location service information of the target terminal by sending the identification information.
  • the identification information "1" to indicate that the type of positioning service provided by the target terminal is the main positioning service
  • take the identification information "0" to indicate that the type of positioning service provided by the target terminal is the auxiliary main positioning service as an example
  • the first terminal When performing positioning, the first terminal will obtain the identification information corresponding to the target terminal, and determine the positioning service information of the target terminal according to the obtained identification information.
  • the specific scheme for the first terminal to obtain the identification information corresponding to the target terminal in the subsequent shown in the examples.
  • S202 Determine, according to the positioning service information, a primary positioning terminal for providing the primary positioning service and a secondary positioning terminal for providing the secondary positioning service from the target terminals.
  • the first terminal determines the type of positioning service that each target terminal can provide according to the positioning service information, so as to determine the target terminal as a primary positioning terminal or a secondary positioning terminal according to the positioning service type. terminal.
  • the target terminal whose sent identification information is "1" is the primary positioning terminal, and the target terminal whose sent identification information is "0" is determined to be the secondary positioning terminal.
  • both the primary positioning terminal and the secondary positioning terminal are at least one.
  • the primary positioning terminal and the secondary positioning terminal may be different terminals; in other embodiments, the primary positioning terminal and the secondary positioning terminal may also be the same terminal.
  • some target terminals can provide both primary positioning services and When the auxiliary positioning service can be provided, the main positioning service and the auxiliary positioning service can be simultaneously provided by the same target terminal.
  • the primary positioning terminal determines a positioning method for performing positioning measurement on the first terminal, and the secondary positioning terminal and the first terminal perform positioning measurement according to the positioning method, thereby obtaining a positioning measurement result. , and finally locate the position of the first terminal according to the positioning measurement result.
  • the first terminal may locate the position of the first terminal according to the positioning measurement result, or the main positioning terminal may locate the position of the first terminal according to the positioning measurement result.
  • the first terminal is used to locate the first terminal according to the positioning measurement result.
  • the location of a terminal is shown as an example, but not limited thereto. As for the specific solution for locating the position of the first terminal, it will be specifically described in the subsequent embodiments, and will not be repeated here.
  • the first terminal obtains the positioning service information of the target terminal; according to the positioning service information, the target terminal determines the primary positioning terminal for providing the primary positioning service and the auxiliary positioning terminal for providing the secondary positioning service from the target terminal.
  • Positioning terminal based on the primary positioning terminal and the auxiliary positioning terminal, locate the position of the first terminal. Since the primary positioning terminal and the secondary positioning terminal can assist the positioning of the first terminal, even if there is no suitable positioning server to provide positioning services in the network coverage area where the first terminal is located, the position of the first terminal can be accurately located.
  • step S202 in the above embodiment may include the following steps:
  • At least one terminal capable of providing the main positioning service is determined from the target terminal;
  • the positioning capability information of the target terminal it can be determined that the terminal whose positioning capability matches the positioning capability of the first terminal is the main positioning terminal.
  • the terminal supporting the downlink positioning technology of NR is the main positioning terminal; alternatively, the terminal with the lowest moving speed can be determined as the main positioning terminal; or, it can also be determined that the channel condition with the first terminal is the best terminal as the main positioning terminal.
  • the embodiment of the present application does not specifically limit the communication mode between the first terminal and the target terminal.
  • the first terminal and the target terminal may establish a communication connection through a direct communication interface (Sidelink), or may establish a communication connection through a network device.
  • the network device may be a base station.
  • the target terminal can send the location service information to the first terminal through the direct communication interface, and can also send the location service information to the first terminal through the network device.
  • the specific implementation is explained:
  • FIG. 3 is a schematic diagram of signaling interaction of a positioning method according to an embodiment of the present application. As shown in FIG. 3, the method provided by this embodiment may include the following steps:
  • the first terminal sends a request for obtaining location service information to a target terminal through a direct communication interface.
  • the target terminal sends the location service information to the first terminal through the direct communication interface.
  • the first terminal receives the positioning service information sent by the target terminal through the direct communication interface.
  • the first terminal and the target terminal can send or receive the location service information through the direct communication interface, which is not specifically limited in the embodiment of the present application.
  • the communication between the two can be realized by sending a broadcast message.
  • the first terminal sends a broadcast message carrying a request for obtaining the location service information through a direct communication interface.
  • the target terminal of the first terminal After receiving the broadcast message, the target terminal of the first terminal sends the location service information of the target terminal to the first terminal according to the request for obtaining the location service information in the broadcast message.
  • the first terminal can find the surrounding target terminals that can provide the positioning service to the maximum extent, thereby improving the success rate of positioning the first terminal.
  • the communication between the two can also be realized by sending a dedicated message. It should be understood that the specific solution of using the dedicated message is similar to the above-mentioned solution of the broadcast message, and will not be repeated here.
  • the first terminal sends a request for obtaining positioning service information to the target terminal through a direct communication interface; the target terminal sends the positioning service information value to the first terminal; and the first terminal receives the positioning service information sent by the target terminal.
  • Sending data through a direct communication interface can improve data transmission efficiency, thereby improving positioning efficiency.
  • the target terminal may also actively send location service information to the first terminal.
  • some target terminals with positioning function can send a broadcast message carrying positioning service information in real time.
  • the first terminal needs to perform positioning, it can receive the broadcast message, so as to obtain the positioning service information of the target terminal to realize positioning. . That is, in the solution provided by this embodiment, if the target terminal has the function of actively sending broadcast messages, this embodiment directly executes the above step S302; if the target terminal does not have the function of actively sending broadcast messages, the first terminal Sending a request for obtaining the location service information to obtain the location service information of the target terminal, that is, in this embodiment, the foregoing steps S301 to S302 need to be performed.
  • FIG. 4 is a schematic diagram of signaling interaction of a positioning method provided by another embodiment of the present application. As shown in FIG. 4 , the method provided by this embodiment may include the following steps:
  • the first terminal sends a request for obtaining location service information to a network device.
  • the first terminal is located within the coverage of the network device.
  • the network device sends the location service information of the target terminal to the first terminal.
  • the first terminal receives the location service information of the target terminal sent by the network device.
  • the first terminal can communicate with the network device, which are not specifically limited in the embodiments of the present application.
  • the communication between the two can be realized by sending a broadcast message; on the other hand, the communication between the two can also be realized by sending a dedicated message.
  • the solution provided in this embodiment is similar to the solution in which the first terminal communicates with the target terminal described above, and details are not described herein again.
  • the network device may also actively send a broadcast message carrying the location service information of the target terminal to the first terminal.
  • the first terminal When the first terminal needs to be positioned, the first terminal will receive the broadcast message, so as to obtain the positioning service information of the target terminal, so as to realize the positioning. That is, in this solution, if the network device can actively send the broadcast message to the first terminal, this embodiment directly executes the above step S402; if the network device cannot actively send the broadcast message, the first terminal needs to send the location service information to obtain the information. request to obtain the location service information of the target terminal, that is, in this embodiment, the foregoing steps S401 to S402 need to be performed.
  • the location of the target terminal may also be obtained from the storage medium of the first terminal Service Information.
  • the location service information of the target terminal is obtained from the storage medium of the first terminal; wherein, the location service information of the target terminal is when the first terminal is within the coverage of the network device. Acquired and stored from a network device.
  • the first terminal can obtain the positioning service information of the target terminal in various ways, so as to meet the positioning requirements of different scenarios, so as to improve the flexibility of the positioning method, thereby improving the positioning effect of the first terminal.
  • FIG. 5 is a schematic diagram of signaling interaction of a positioning method according to another embodiment of the present application. As shown in FIG. 5 , the method of this embodiment may include the following steps:
  • the primary positioning terminal sends positioning service information to the first terminal through a direct communication interface or a network device.
  • the secondary positioning terminal sends the positioning service information to the first terminal through the direct communication interface or the network device.
  • S503. Determine the primary positioning terminal for providing the primary positioning service and the secondary positioning terminal for providing the secondary positioning service according to the positioning service information.
  • the first terminal sends a first positioning service message for indicating provision of the primary positioning service to the primary positioning terminal.
  • a first positioning service message for indicating provision of the primary positioning service may also be sent to the network device, so that the network device forwards the first positioning service message to the primary positioning terminal after receiving the first positioning service message.
  • the first terminal sends a second positioning service message for indicating the provision of an assisted positioning service to the assisted positioning terminal.
  • a second positioning service message for indicating provision of the secondary positioning service may also be sent to the network device, so that the network device forwards the second positioning service message to the secondary positioning terminal after receiving the second positioning service message.
  • the first terminal sends the positioning capability information of the first terminal to the master positioning terminal.
  • the positioning capability information is used to determine a positioning method, and the positioning capability information includes at least one of the following: a positioning method supported by the first terminal, an auxiliary data type supported by a certain positioning method (for example, a network enhancement system supported by the first terminal) (A-GNSS) applicable data types) and the positioning capabilities of the different positioning methods (eg, the ability of the first terminal to handle multiple positioning transactions).
  • the first terminal may send the positioning capability information to the master positioning terminal by sending an LTE Positioning Protocol (LTE Positioning Protocol, LPP) of the first terminal.
  • LTE Positioning Protocol LTE Positioning Protocol
  • the embodiment of the present application does not specifically limit the method for the first terminal to send the positioning capability information to the master positioning terminal.
  • the positioning capability information can be sent to the main positioning terminal by means of broadcast information or proprietary message;
  • the solution is the same as the solution and principle of obtaining the location service information in the above-mentioned embodiment, and will not be repeated here.
  • the main positioning terminal determines a positioning method for performing positioning measurement on the first terminal according to the positioning capability information of the first terminal.
  • the positioning method for performing positioning measurement on the first terminal may include at least one of the following: NR downlink positioning technology (for example, downlink time difference of arrival technology (DL-TDOA) and downlink departure angle technology (DL-TDOA) -AOD)), uplink positioning technology (for example, uplink time difference of arrival technology (Upload-Time Difference of Arrival, UL-TDOA) and uplink angle of arrival technology (UL-AOA)) and uplink and downlink hybrid positioning technology (for example, multi-station round trip Time Technology (Multi-RTT)) and so on.
  • NR downlink positioning technology for example, downlink time difference of arrival technology (DL-TDOA) and downlink departure angle technology (DL-TDOA) -AOD)
  • uplink positioning technology for example, uplink time difference of arrival technology (Upload-Time Difference of Arrival, UL-TDOA) and uplink angle of arrival technology (UL-AOA)
  • uplink and downlink hybrid positioning technology for example, multi-station round trip Time Technology (Multi-RTT)
  • the master positioning terminal determines a positioning method for measuring the first terminal according to the positioning capability information of the first terminal.
  • the positioning method for measuring the first terminal may be determined according to the positioning method supported by the first terminal indicated in the positioning capability information of the first terminal.
  • the positioning capability information of the first terminal indicates that the positioning method supported by the first terminal is the Multi-RTT technology
  • one positioning method may be randomly determined from the multiple positioning methods; The ability of the terminal to handle multiple positioning transactions determines the positioning method.
  • the positioning method for performing the positioning measurement on the first terminal is the Multi-RTT technology.
  • the main positioning terminal sends the positioning method to the first terminal.
  • the primary positioning terminal sends the positioning method to the secondary positioning terminal.
  • the first terminal may also send the positioning method to the secondary positioning terminal, that is, after the first terminal receives the positioning method, it forwards the positioning method to the secondary positioning terminal.
  • the positioning requirements of different scenarios can be met, and the flexibility of the solution can be improved.
  • the first terminal measures the positioning reference signal with the secondary positioning terminal to obtain a measurement result.
  • the obtained measurement results are different, and the methods for obtaining the position of the first terminal are also different.
  • the measurement result may include: the first measurement result and/or the second measurement result.
  • the first measurement result is obtained by the interaction between the first terminal and the auxiliary positioning terminal according to the positioning method
  • the second measurement result is obtained by the interaction between the auxiliary positioning terminal and the first terminal according to the positioning method.
  • the secondary positioning terminal when the downlink positioning method is adopted, the secondary positioning terminal sends a positioning reference signal, the first terminal measures the positioning reference signal to obtain a first measurement result, and then obtains the position of the first terminal according to the first measurement result; when When the uplink positioning method is adopted, the first terminal sends a positioning reference signal, the secondary positioning terminal obtains the second measurement result according to the positioning reference signal, and then obtains the position of the first terminal according to the second measurement result; when the uplink and downlink hybrid positioning technology is adopted , the secondary positioning terminal sends a positioning reference signal, the first terminal obtains the first measurement result, the first terminal sends a positioning reference signal, the secondary positioning terminal obtains the second measurement result, and then according to the first measurement result and the second measurement result The position of the first terminal is obtained, and the specific interaction manner of the above methods will be shown in the subsequent embodiments.
  • the first terminal obtains the position of the first terminal based on the measurement result.
  • the position of the first terminal may also be obtained by the master positioning terminal based on the measurement result.
  • the master positioning terminal it will be shown in the following embodiments.
  • the secondary positioning terminal and the primary positioning terminal may be the same terminal, or may be different terminals.
  • the same target terminal may simultaneously provide the primary positioning service and the auxiliary positioning service.
  • this embodiment of the present application may include the following steps:
  • the first terminal sends the positioning capability information of the first terminal to the master positioning terminal.
  • the main positioning terminal receives the positioning capability information of the first terminal, determines a positioning method for performing positioning measurement according to the positioning capability information of the first terminal, and sends the positioning method to the first terminal.
  • the first terminal measures the positioning reference signal with the main positioning terminal to obtain the measurement result
  • the first terminal obtains the position of the first terminal based on the measurement result.
  • the method and principle of using the primary positioning terminal to provide the auxiliary positioning service are similar to the method and principle of using the auxiliary positioning terminal to provide the auxiliary positioning service.
  • the primary positioning terminal is used to perform the auxiliary positioning service.
  • the accurate positioning of the first terminal can also be obtained, thereby improving the flexibility of this solution and improving the
  • only the main positioning terminal is used, which can reduce data interaction and improve positioning efficiency.
  • step S511 The positioning process of the above step S511 will be described in more detail below with reference to FIGS. 6( a ) to 6 ( c ) according to different positioning methods.
  • FIG. 6( a ) is a schematic diagram of signaling interaction when a downlink positioning technology is used for positioning according to an embodiment of the present application.
  • the method provided by the embodiment of the present application is applied to the downlink positioning technology.
  • the solution includes the following steps:
  • the secondary positioning terminal sends a first positioning signal to the first terminal.
  • the first terminal measures the first positioning signal based on the positioning method to obtain a first measurement result.
  • downlink positioning technology including the downlink TDOA technology and the downlink AOD technology, to describe this solution in detail. It should be understood that the downlink positioning technology provided in this embodiment is only exemplary, and is not limited in practical application.
  • the secondary positioning terminal sends the downlink PRS positioning reference signal, that is, the first positioning signal, to the first terminal; the first terminal measures the downlink PRS positioning reference signal to obtain the RSTD measurement result , that is, the first measurement result.
  • the secondary positioning terminal sends the downlink PRS positioning reference signal, that is, the first positioning signal, to the first terminal; the first terminal measures the downlink PRS positioning reference signal, and obtains the RSRP measurement result, that is, the first measurement result .
  • the first terminal obtains the location of the first terminal based on the first measurement result.
  • the first terminal sends the first measurement result to the master positioning terminal.
  • the main positioning terminal obtains the position of the first terminal based on the first measurement result.
  • the master positioning terminal sends the location of the first terminal to the first terminal.
  • the main positioning terminal can calculate the position of the first terminal, that is, in this embodiment, after obtaining the first measurement result, the above steps S614 to S616 need to be performed.
  • the position of the first terminal can be calculated by the first terminal, that is, in this embodiment, after obtaining the first measurement result, only the above-mentioned step S613 needs to be performed.
  • the positioning requirements of various types of first terminals can be met, and the user experience can be improved.
  • the main positioning terminal since the first terminal does not need to forward the first measurement result to the main positioning terminal, the main positioning terminal also does not need to forward the positioning result to the first terminal, which can improve positioning efficiency.
  • the communication mode between the auxiliary positioning terminal, the main positioning terminal and the first terminal is similar to the communication mode provided in the above-mentioned embodiment, that is, if the auxiliary positioning terminal and the main positioning terminal have direct If any one of the auxiliary positioning terminal and the main positioning terminal does not have a direct communication interface, the two can communicate through a network device.
  • the secondary positioning terminal may send the first positioning signal to the first terminal through a direct communication interface or a network device; it should be understood that the communication mode between the primary positioning terminal and the first terminal is similar to the above, and will not be repeated here.
  • the first terminal may send the first measurement result to the master positioning terminal through a direct communication interface or a network device.
  • FIG. 6(b) is a schematic diagram of signaling interaction when positioning is performed using an uplink positioning technology according to an embodiment of the present application.
  • the method provided by the embodiment of the present application is applied to the uplink positioning technology.
  • the solution includes the following steps:
  • the first terminal sends a second positioning signal to the secondary positioning terminal.
  • the secondary positioning terminal performs measurement according to the second positioning signal to obtain a second measurement result.
  • the secondary positioning terminal sends the second measurement result to the first terminal.
  • the present solution will be described in detail below by taking the uplink positioning technology including the UL-TDOA technology and the UL-AOA technology as an example. It should be understood that the uplink positioning technology provided in this embodiment is only exemplary, and is not limited in practical application.
  • the first terminal sends the UL SRS positioning reference signal, that is, the second positioning signal, to the secondary positioning terminal; the secondary positioning terminal measures the UL SRS positioning reference signal to obtain RTOA The measurement result, that is, the second measurement result.
  • the first terminal sends the UL SRS positioning reference signal, that is, the second positioning signal, to the secondary positioning terminal; the secondary positioning terminal measures the UL SRS positioning reference signal to obtain the azimuth angle of arrival A-AOA and the arrival The measurement result of the pitch angle Z-AOA, that is, the second measurement result.
  • the first terminal obtains the location of the first terminal based on the second measurement result.
  • the secondary positioning terminal sends the second measurement result to the primary positioning terminal.
  • the main positioning terminal obtains the position of the first terminal based on the second measurement result.
  • the primary positioning terminal sends the location of the first terminal to the first terminal.
  • the position of the first terminal can also be calculated by the main positioning terminal, that is, in this embodiment, after obtaining the second measurement result, only the above-mentioned step S624 needs to be performed.
  • the position of the first terminal may be calculated by the first terminal, that is, in this embodiment, the foregoing steps S625 to S627 need to be performed.
  • the solution can meet the positioning requirements of various types of first terminals and improve user experience.
  • the first terminal directly calculates the positioning result, since the secondary positioning terminal does not need to forward the second measurement result to the main positioning terminal, and the main positioning terminal does not need to forward the positioning result to the first terminal, the positioning efficiency can be improved.
  • FIG. 6( c ) is a schematic diagram of signaling interaction when positioning is performed using an uplink and downlink hybrid positioning technology according to an embodiment of the present application.
  • the method provided by the embodiment of the present application is applied to the mixed uplink and downlink positioning technology.
  • the solution includes the following steps:
  • the secondary positioning terminal sends a first positioning signal to the first terminal.
  • the first terminal measures the first positioning signal based on the positioning method to obtain a first measurement result.
  • S633 The first terminal sends a second positioning signal to the secondary positioning terminal.
  • the secondary positioning terminal performs measurement according to the second positioning signal to obtain a second measurement result.
  • the secondary positioning terminal sends the second measurement result to the first terminal.
  • steps S631 to S635 in this embodiment are similar to the positioning methods provided in FIG. 6( a ) and FIG. 6( b ) above.
  • steps S631 to S635 in this embodiment are similar to the positioning methods provided in FIG. 6( a ) and FIG. 6( b ) above.
  • the embodiment of the present application does not specifically limit the execution order of the above steps.
  • the first terminal obtains the location of the first terminal based on the first measurement result and the second measurement result.
  • S637 The first terminal sends the first measurement result and the second measurement result to the master positioning terminal.
  • the main positioning terminal obtains the position of the first terminal based on the first measurement result and the second measurement result.
  • the master positioning terminal sends the location of the first terminal to the first terminal.
  • the main positioning terminal may also calculate the position of the first terminal, that is, the above steps S631-S635 and S637-S639 need to be performed in this embodiment.
  • the position of the first terminal may be calculated by the first terminal, that is, in this embodiment, only the above steps S631 to S636 need to be performed.
  • FIG. 7 is a schematic structural diagram of a positioning device according to an embodiment of the present application. As shown in the figure, the positioning device 700 includes:
  • an obtaining module 701, configured to obtain positioning service information of a target terminal
  • a determination module 702 configured to determine, from the target terminals, a primary positioning terminal for providing primary positioning services and a secondary positioning terminal for providing secondary positioning services from the target terminals according to the positioning service information;
  • the processing module 703 is configured to locate the position of the first terminal based on the primary positioning terminal and the secondary positioning terminal.
  • the first terminal establishes a communication connection with the target terminal through a direct communication interface.
  • the obtaining module 701 is specifically configured to: receive the positioning service information sent by the target terminal through the direct communication interface.
  • the obtaining module 701 is specifically configured to: send a request for obtaining the positioning service information to the target terminal through the direct communication interface; and receive the positioning service information sent by the target terminal.
  • the obtaining module 701 is specifically configured to: obtain the positioning service information of the target terminal from the network device.
  • the obtaining module 701 is specifically configured to: send a request for obtaining location service information to a network device, where the first terminal is located within the coverage of the network device; and receive the location service information of the target terminal sent by the network device.
  • the obtaining module 701 is specifically configured to: if it is determined that it is not within the coverage of the network device, obtain the location service information of the target terminal from the storage medium of the first terminal; wherein, the location service information of the target terminal is The information is acquired and stored by the first terminal from the network device when the first terminal is within the coverage of the network device.
  • the determining module 702 is specifically configured to: determine at least one terminal that can provide the main positioning service from the target terminals according to the positioning service information; according to the determined positioning capability information of each terminal, Based on the moving speed and the channel condition between the terminal and the first terminal, a primary positioning terminal for providing the primary positioning service is selected from the determined at least one terminal.
  • the positioning apparatus further includes: a sending module (not shown), configured to send a first positioning service message indicating that the master positioning service is provided to the master positioning terminal;
  • the first positioning service message providing the primary positioning service is sent to the network device, so that the network device forwards the first positioning service message to the primary positioning terminal after receiving the first positioning service message.
  • the sending module is further configured to: send a second positioning service message used to indicate the provision of the assisted positioning service to the assisted positioning terminal; or, send a second message used to indicate the provision of the assisted positioning service
  • the positioning service message is sent to the network device, so that the network device forwards the second positioning service message to the secondary positioning terminal after receiving the second positioning service message.
  • the processing module 703 is specifically configured to: send the positioning capability information of the first terminal to the main positioning terminal; A positioning method; based on the positioning method, a positioning reference signal is measured with an auxiliary positioning terminal to obtain a measurement result; and a position of the first terminal is obtained based on the measurement result.
  • the processing module 703 is specifically configured to: receive a first positioning signal sent by an auxiliary positioning terminal; and measure the first positioning signal based on a positioning method to obtain a first measurement result.
  • the processing module 703 is specifically configured to: send a second positioning signal to the secondary positioning terminal; receive a second measurement result, where the second measurement result is that the secondary positioning terminal performs the second positioning signal based on the positioning method obtained by measurement.
  • the processing module 703 is specifically configured to: send the first measurement result and/or the second measurement result to the master positioning terminal; receive the positioning result sent by the master positioning terminal, and obtain the first measurement result according to the positioning result The position of the terminal; wherein, the positioning result is obtained by the primary positioning terminal calculating the first measurement result and/or the second measurement result based on the positioning method.
  • the processing module 703 is specifically configured to: calculate the first measurement result and/or the second measurement result based on the positioning method to obtain the positioning result of the first terminal.
  • FIG. 8 is a schematic structural diagram of a positioning device according to another embodiment of the present application. As shown in Figure 8, the positioning device 800 includes:
  • the receiving module 801 is used for receiving the positioning capability information of the first terminal; the determining module 802 is used for determining a positioning method for performing positioning measurement on the first terminal according to the positioning capability information of the first terminal, and sending the positioning method to the first terminal. a terminal; the receiving module 801 is further configured to receive a measurement result obtained by performing a positioning reference signal measurement between the first terminal and the auxiliary positioning terminal based on the positioning method; the processing module 803 is configured to obtain the positioning of the first terminal based on the measurement result As a result, the positioning result is sent to the first terminal; wherein, the secondary positioning terminal is used to provide the secondary positioning service.
  • At least two terminals among the first terminal, the primary positioning terminal, and the secondary positioning terminal are communicatively connected through a direct communication interface.
  • the receiving module 801 is specifically configured to: receive a first measurement result sent by a first terminal, where the first measurement result is obtained by the first terminal measuring a first positioning signal based on a positioning method , the first positioning signal is sent by the secondary positioning terminal to the first terminal; and/or, a second measurement result is received, wherein the second measurement result is obtained by the secondary positioning terminal measuring the second positioning signal based on the positioning method, The second positioning signal is sent by the first terminal to the secondary positioning terminal.
  • the positioning apparatus further includes: a sending module (not shown), configured to send the positioning service information to the first terminal through a direct communication interface or a network device.
  • the receiving module 801 is further configured to: receive a request for obtaining the location service information sent by the first terminal; and send the location service information to the first terminal according to the request for obtaining the location service information.
  • the receiving module 801 is further configured to: receive a first location service message sent by the first terminal through the direct connection interface and used to indicate that the primary location service is provided; or, receive a message sent by a network device for A first positioning service message indicating that the primary positioning service is provided, wherein the first positioning service message is sent by the first terminal to the network device.
  • FIG. 9 is a schematic structural diagram of a positioning device according to an embodiment of the present application. As shown in Figure 9, the positioning device 900 includes:
  • the receiving module 901 is used to receive the positioning method of the first terminal; the processing module 902 is used to measure the positioning reference signal with the first terminal based on the positioning method to obtain the measurement result; the sending module 903 is used to send the measurement result To the first terminal or the main positioning terminal, the measurement result is used for the first terminal or the main positioning terminal to obtain the positioning result of the first terminal; wherein the main positioning terminal is used to provide the main positioning service.
  • At least two terminals among the first terminal, the secondary positioning terminal, and the primary positioning terminal are communicatively connected through a direct communication interface.
  • the processing module 902 is specifically configured to: send the first positioning signal to the first terminal; receive the first measurement result sent by the first terminal, the first The measurement result is obtained by the first terminal measuring the first positioning signal based on the positioning method.
  • the processing module 902 is specifically configured to: receive the second positioning signal sent by the first terminal; measure the second positioning signal based on the positioning method, A second measurement result is obtained.
  • the receiving module 902 is further configured to: receive a second positioning service message sent by the first terminal and used to indicate the provision of assisted positioning service; The second positioning service message of the service, wherein the second positioning service message is sent by the first terminal to the network device.
  • FIG. 10 is a schematic structural diagram of a terminal according to an embodiment of the present application.
  • the terminal is a first terminal.
  • the first terminal 1000 includes a transceiver 1001 , a processor 1002 and a memory 1003 .
  • the transceiver 1001 is used to receive and transmit data under the control of the processor 1002 .
  • the bus architecture may include any number of interconnected buses and bridges, specifically, one or more processors represented by the processor 1002 and various circuits of the memory represented by the memory 1003 are linked together.
  • the bus architecture may also link together various other circuits, such as peripherals, voltage regulators, and power management circuits, which are well known in the art and, therefore, will not be described further herein.
  • the bus interface provides the interface.
  • Transceiver 1001 may be a number of elements, including a transmitter and a receiver, providing means for communicating with various other devices over transmission media including wireless channels, wired channels, fiber optic cables, and the like.
  • the processor 1002 is responsible for managing the bus architecture and general processing, and the memory 1003 may store data used by the processor 1002 in performing operations.
  • the processor 1002 is responsible for managing the bus architecture and general processing, and the memory 1003 may store data used by the processor 1002 in performing operations.
  • the processor 1002 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field-programmable gate array (Field-Programmable Gate Array) , FPGA) or complex programmable logic device (Complex Programmable Logic Device, CPLD), the processor can also use a multi-core architecture.
  • CPU central processing unit
  • ASIC application specific integrated circuit
  • FPGA field-programmable gate array
  • CPLD complex programmable logic device
  • CPLD Complex Programmable Logic Device
  • the processor 1002 is configured to execute any method related to the first terminal provided by the embodiment of the present application according to the obtained executable instruction by calling the computer program stored in the memory 1003 .
  • the processor and memory may also be physically separated.
  • the processor 1002 is configured to read the computer program in the memory and perform the following operations: obtain the positioning service information of the target terminal; according to the positioning service information, determine the main positioning terminal for providing the main positioning service from the target terminal, and an auxiliary positioning terminal for providing auxiliary positioning services; based on the main positioning terminal and the auxiliary positioning terminal, the position of the first terminal is positioned.
  • the first terminal establishes a communication connection with the target terminal through a direct communication interface.
  • acquiring the location service information of the target terminal includes: receiving the location service information sent by the target terminal through a direct communication interface.
  • acquiring the location service information of the target terminal includes: sending a location service information acquisition request to the target terminal through a direct communication interface; and receiving the location service information sent by the target terminal.
  • acquiring the location service information of the target terminal includes: acquiring the location service information of the target terminal from a network device.
  • acquiring the location service information of the target terminal includes: sending a request for acquiring location service information to a network device, where the first terminal is located within the coverage of the network device; receiving the location service information of the target terminal sent by the network device Service Information.
  • acquiring the location service information of the target terminal includes: if it is determined that the target terminal is not covered by the network device, acquiring the location service information of the target terminal from the storage medium of the first terminal; wherein, the target terminal The location service information is acquired and stored by the first terminal from the network device when the first terminal is within the coverage of the network device.
  • determining a primary positioning terminal for providing primary positioning services from the target terminals according to the positioning service information includes: determining from the target terminals, according to the positioning service information, that the primary positioning service can provide the primary positioning service at least one terminal; according to the determined positioning capability information of each terminal, the moving speed and the channel condition between the terminal and the first terminal, the main terminal for providing the main positioning service is selected from the determined at least one terminal. Locate the terminal.
  • the processor 1002 is further configured to perform the following operations: sending a second positioning service message indicating the provision of the assisted positioning service to the assisted positioning terminal; or, sending the second positioning service message for indicating the provision of the assisted positioning service to the network device, so that the network device receives the second positioning service message after receiving the second positioning service message. It is then forwarded to the secondary positioning terminal.
  • locating the position of the first terminal based on the primary positioning terminal and the secondary positioning terminal includes: sending the positioning capability information of the first terminal to the primary positioning terminal; receiving the determination by the primary positioning terminal according to the positioning capability information
  • the positioning method for performing positioning measurement on the first terminal is based on the positioning method; based on the positioning method, the positioning reference signal is measured with the auxiliary positioning terminal to obtain the measurement result; based on the measurement result, the position of the first terminal is obtained.
  • the measurement result includes the first measurement result
  • performing a positioning signal measurement with the secondary positioning terminal based on the positioning method to obtain the measurement result including: receiving the first positioning signal sent by the secondary positioning terminal; The first positioning signal is measured based on the positioning method to obtain a first measurement result.
  • interacting with the secondary positioning terminal to obtain the measurement result based on the positioning method includes: sending a second positioning signal to the secondary positioning terminal; receiving the second measurement result , and the second measurement result is obtained by the secondary positioning terminal measuring the second positioning signal based on the positioning method.
  • obtaining the position of the first terminal based on the measurement result includes: sending the first measurement result and/or the second measurement result to the main positioning terminal; receiving the positioning result sent by the main positioning terminal, The position of the first terminal is obtained according to the positioning result; wherein, the positioning result is obtained by the primary positioning terminal calculating the first measurement result and/or the second measurement result based on the positioning method.
  • obtaining the position of the first terminal based on the measurement result includes: calculating the first measurement result and/or the second measurement result based on the positioning method to obtain the positioning result of the first terminal.
  • FIG. 11 is a schematic structural diagram of a terminal according to another embodiment of the present application.
  • the terminal is a main positioning terminal, the main positioning terminal provides a main positioning service for the first terminal, and the main positioning terminal includes:
  • the bus architecture may include any number of interconnected buses and bridges, specifically, one or more processors represented by processor 1102 and various circuits of memory represented by memory 1103 are linked together.
  • the bus architecture may also link together various other circuits, such as peripherals, voltage regulators, and power management circuits, which are well known in the art and, therefore, will not be described further herein.
  • the bus interface provides the interface.
  • Transceiver 1101 may be multiple elements, ie, including transmitters and receivers, providing means for communicating with various other devices over transmission media including wireless channels, wired channels, fiber optic cables, and the like.
  • the processor 1102 is responsible for managing the bus architecture and general processing, and the memory 1103 may store data used by the processor 1102 in performing operations.
  • the processor 1102 may be a CPU, an ASIC, an FPGA or a CPLD, and the processor may also adopt a multi-core architecture.
  • the processor 1102 invokes the computer program stored in the memory 1103 to execute any method provided by the embodiment of the present application with a master positioning terminal according to the obtained executable instruction.
  • the processor and memory may also be physically separated.
  • the processor 1102 is configured to read the computer program in the memory and perform the following operations: receiving the positioning capability information of the first terminal; determining the positioning used for positioning measurement of the first terminal according to the positioning capability information of the first terminal method, and send the positioning method to the first terminal; receive measurement results obtained by the first terminal based on the positioning method and perform positioning reference signal measurement with the auxiliary positioning terminal; based on the measurement results, obtain the positioning result of the first terminal, and locate the The result is sent to the first terminal; wherein, the secondary positioning terminal is used to provide the secondary positioning service.
  • At least two terminals among the first terminal, the primary positioning terminal, and the secondary positioning terminal are communicatively connected through a direct communication interface.
  • receiving a measurement result obtained by performing positioning reference signal measurement between the first terminal and the secondary positioning terminal based on a positioning method includes: receiving a first measurement result sent by the first terminal, wherein the first A measurement result is obtained by the first terminal measuring the first positioning signal based on the positioning method, and the first positioning signal is sent by the secondary positioning terminal to the first terminal; and/or, receiving a second measurement result, wherein the second measurement The result is that the secondary positioning terminal measures the second positioning signal based on the positioning method, and the second positioning signal is sent by the first terminal to the secondary positioning terminal.
  • the processor processor 1102 before receiving the positioning capability information of the first terminal, is further configured to perform the following operations: read the computer program in the memory and perform the following operations: through a direct communication interface or The network device sends the location service information to the first terminal.
  • the processor 1102 before receiving the positioning capability information of the first terminal, is further configured to perform the following operation: send the positioning service information to the first terminal through a direct communication interface or a network device.
  • the processor 1102 before receiving the positioning capability information of the first terminal, is further configured to perform the following operations: receiving a request for obtaining the positioning service information sent by the first terminal; Sending the location service information to the first terminal.
  • the processor 1102 before receiving the positioning capability information of the first terminal, is further configured to perform the following operation: receive the first terminal sent by the first terminal through the direct connection interface and used to indicate that the primary positioning service is provided. A positioning service message; or, receiving a first positioning service message sent by a network device and used for indicating provision of a primary positioning service, where the first positioning service message is sent by the first terminal to the network device.
  • FIG. 12 is a schematic structural diagram of a terminal according to another embodiment of the present application.
  • the terminal is an auxiliary positioning terminal, and the auxiliary positioning terminal provides an auxiliary positioning service for the first terminal.
  • the auxiliary positioning terminal includes: a transceiver 1201 , a processor 1202 and a memory 1203 .
  • the transceiver 1201 is used to receive and transmit data under the control of the processor 1202 .
  • the bus architecture may include any number of interconnected buses and bridges, specifically, one or more processors represented by processor 1202 and various circuits of memory represented by memory 1203 are linked together.
  • the bus architecture may also link together various other circuits, such as peripherals, voltage regulators, and power management circuits, which are well known in the art and, therefore, will not be described further herein.
  • the bus interface provides the interface.
  • Transceiver 1201 may be multiple elements, ie, including a transmitter and a receiver, providing means for communicating with various other devices over transmission media including wireless channels, wired channels, fiber optic cables, and the like.
  • the processor 1202 is responsible for managing the bus architecture and general processing, and the memory 1203 may store data used by the processor 1202 in performing operations.
  • the processor 1202 is responsible for managing the bus architecture and general processing, and the memory 1203 may store data used by the processor 1202 in performing operations.
  • the processor 1202 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (Field-Programmable Gate Array) , FPGA) or complex programmable logic device (Complex Programmable Logic Device, CPLD), the processor can also use a multi-core architecture.
  • CPU central processing unit
  • ASIC application-specific integrated circuit
  • FPGA field-programmable gate array
  • CPLD complex programmable logic device
  • CPLD Complex Programmable Logic Device
  • the processor 1202 invokes the computer program stored in the memory 1203 to execute any method related to the assisted positioning terminal provided by the embodiments of the present application according to the obtained executable instructions.
  • the processor and memory may also be physically separated.
  • the processor 1202 is configured to read the computer program in the memory and perform the following operations:
  • Receive the positioning method of the first terminal measure the positioning reference signal with the first terminal based on the positioning method to obtain the measurement result; send the measurement result to the first terminal or the main positioning terminal, and use the measurement result for the first terminal or the main positioning terminal
  • the positioning terminal obtains the positioning result of the first terminal; wherein, the main positioning terminal is used to provide the main positioning service.
  • At least two terminals among the first terminal, the secondary positioning terminal, and the primary positioning terminal are communicatively connected through a direct communication interface.
  • measuring the positioning reference signal with the first terminal based on the positioning method to obtain the measurement result includes: sending the first terminal to the first terminal. Positioning signal; receiving a first measurement result sent by the first terminal, where the first measurement result is obtained by the first terminal measuring the first positioning signal based on a positioning method.
  • measuring the positioning reference signal with the first terminal based on the positioning method to obtain the measurement result includes: receiving the first terminal sent by the first terminal. Two positioning signals; based on the positioning method, the second positioning signals are measured to obtain a second measurement result.
  • the processor 1202 before receiving the positioning method of the first terminal, is further configured to perform the following operations: receive a second positioning service message sent by the first terminal and used to indicate that the assisted positioning service is provided; Or, receive a second positioning service message sent by the network device and used to indicate that the assisted positioning service is provided, where the second positioning service message is sent by the first terminal to the network device.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
  • the integrated units are implemented in the form of software functional units and sold or used as independent products, they may be stored in a processor-readable storage medium.
  • the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the methods in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes .
  • an embodiment of the present application provides a processor-readable storage medium, where the processor-readable storage medium stores a computer program, and the computer program is used to cause the processor to execute the first terminal provided by the embodiment of the present application.
  • the processor can implement all the method steps implemented by the first terminal in the above method embodiments, and can achieve the same technical effect, and the same parts and beneficial effects as the method embodiments in this embodiment will not be performed here. Describe in detail.
  • the embodiments of the present application provide a processor-readable storage medium, where the processor-readable storage medium stores a computer program, and the computer program is used to cause the processor to execute the first terminal provided by the embodiments of the present application.
  • the processor can implement all the method steps implemented by the main positioning terminal in the above method embodiments, and can achieve the same technical effects, and the same parts and beneficial effects as the method embodiments in this embodiment will not be performed here. Describe in detail.
  • an embodiment of the present application provides a processor-readable storage medium, where the processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the relevant auxiliary positioning terminal provided by the embodiment of the present application.
  • the processor can implement all the method steps implemented by the main positioning terminal in the above method embodiments, and can achieve the same technical effects, and the same parts and beneficial effects as the method embodiments in this embodiment will not be performed here. Describe in detail.
  • the processor-readable storage medium may be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (eg, floppy disk, hard disk, magnetic tape, magneto-optical disk (MO), etc.), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor memory (such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid state disk (SSD)), and the like.
  • magnetic storage eg, floppy disk, hard disk, magnetic tape, magneto-optical disk (MO), etc.
  • optical storage such as CD, DVD, BD, HVD, etc.
  • semiconductor memory such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid state disk (SSD)
  • an embodiment of the present application further provides a computer program product containing instructions, the computer program is stored in a storage medium, at least one processor can read the computer program from the storage medium, and at least one processor executes the computer program.
  • the computer program can implement all the method steps implemented by the first terminal in the above method embodiments, and can achieve the same technical effects.
  • an embodiment of the present application further provides a computer program product containing instructions, the computer program is stored in a storage medium, at least one processor can read the computer program from the storage medium, and at least one processor executes the computer program.
  • the computer program can implement all the method steps implemented by the master positioning terminal in the above method embodiments, and can achieve the same technical effects.
  • an embodiment of the present application further provides a computer program product containing instructions.
  • the computer program is stored in a storage medium, and at least one processor can read the computer program from the storage medium, and at least one processor executes the computer program.
  • the computer program can implement all the method steps implemented by the auxiliary positioning terminal in the above method embodiments, and can achieve the same technical effects.
  • An embodiment of the present application further provides a communication system, including a main terminal, a main positioning terminal, and an auxiliary positioning terminal.
  • the first terminal can perform all the method steps performed by the first terminal in the foregoing method embodiments, and can achieve the same technical effect.
  • the master positioning terminal can perform all the method steps performed by the master positioning terminal in the above method embodiments, and can achieve the same technical effect.
  • the auxiliary positioning terminal can perform all the method steps performed by the auxiliary positioning terminal in the above method embodiments, and can achieve the same technical effect. The same parts and beneficial effects in this embodiment as in the method embodiment will not be described in detail here.
  • the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied therein, including but not limited to disk storage, optical storage, and the like.
  • These computer-executable instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flows and/or a block or blocks of a block diagram of a signaling interaction diagram.
  • processor-executable instructions may also be stored in a processor-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the processor-readable memory result in the manufacture of means including the instructions product, the instruction device implements the function specified in one flow or multiple flows and/or one block or multiple blocks of the block diagram of the signaling interaction diagram.
  • processor-executable instructions can also be loaded onto a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process that The executed instructions provide steps for implementing the functions specified in a flow or flows and/or a block or blocks of a block diagram of the signaling interaction diagram.

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Abstract

本申请提供的一种定位方法、装置、终端及存储介质中，在第一终端侧，该定位方法包括：获取目标终端的定位服务信息；根据定位服务信息，从目标终端中确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端；基于主定位终端和辅定位终端，定位第一终端的位置。由于可以通过主定位终端和辅定位终端对第一终端进行协助定位，即使第一终端所在的网络覆盖区域内没有合适的定位服务器提供定位服务时，也可以准确的定位第一终端的位置。

Description

定位方法、装置、终端及存储介质
本申请要求于2021年03月18日提交中国专利局、申请号为202110290620.3、申请名称为“定位方法、装置、终端及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及通信技术领域，尤其涉及一种定位方法、装置、终端及存储介质。
背景技术
随着5G时代到来，物联网和智能化对基于位置的服务提出了更高要求。5G新空口(New Radio，NR)定位技术作为一个新的方向，可高精度的满足不同应用场景下的定位需求。
目前，在利用5G NR定位技术对终端进行定位时，需要通过终端发送终端的定位能力至定位服务器，再由定位服务器根据终端的定位能力确定定位方法并发送给终端，由终端基于定位方法和基站进行相应的定位测量以得到该终端的定位结果。
上述定位技术中，当终端所在的网络覆盖区域内没有合适的定位服务器提供定位服务时，就无法实现对终端的定位。
发明内容
本申请提供一种定位方法、装置、终端及存储介质，用于解决当终端所在的网络覆盖区域内没有合适的定位服务器提供定位服务时，就无法实现对终端的定位的技术问题。
第一方面，本申请提供一种定位方法，应用于第一终端，该定位方法包括：获取目标终端的定位服务信息；根据定位服务信息，从目标终端中确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端；基于主定位终端和辅定位终端，定位第一终端的位置。
在本申请的另一个实施例中，第一终端与目标终端通过直接通信接口建立通信连接。
在本申请的另一个实施例中，获取目标终端的定位服务信息，包括：通过直接通信接口接收目标终端发送的定位服务信息。
在本申请的另一个实施例中，获取目标终端的定位服务信息，包括：通过直接通信接口向目标终端发送定位服务信息获取请求；接收目标终端发送的定位服务信息。
在本申请的另一个实施例中，获取目标终端的定位服务信息，包括：从网络设备中获取目标终端的定位服务信息。
在本申请的另一个实施例中，从网络设备中获取目标终端的定位服务信息，具体包括：向网络设备发送定位服务信息获取请求，第一终端位于网络设备的覆盖范围内；接收网络设备发送的目标终端的定位服务信息。
在本申请的另一个实施例中，获取目标终端的定位服务信息，具体包括：若确定不在网络设备覆盖范围内，则从第一终端的存储介质中获取目标终端的定位服务信息；其中，目标终端的定位服务信息是第一终端在网络设备覆盖范围内的情况下从网络设备获取并存储的。
在本申请的另一个实施例中，根据定位服务信息，从目标终端中确定出用于提供主定位服务的主定位终端，包括：根据定位服务信息，从目标终端中确定出能够提供主定位服务的至少一个终端；根据确定出的每个终端的定位能力信息、移动速度以及该终端与第一终端之间的信道条件，从确定出的至少一个终端中筛选出用于提供主定位服务的主定位终端。
在本申请的另一个实施例中，在确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端之后，定位方法还包括：将用于指示提供主定位服务的第一定位服务消息发送给主定位终端；或者，将用于指示提供主定位服务的第一定位服务消息发送给网络设备，以使网络设备在接收到第一定位服务消息后转发给主定位终端。
在本申请的另一个实施例中，在确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端之后，方法还包括：将用于指示提供辅助定位服务的第二定位服务消息发送给辅定位终端；或者，将用于指示提供辅定位服务的第二定位服务消息发送给网络设备，以使网络设备在接收到第二定位服务消息后转发给辅定位终端。
在本申请的另一个实施例中，基于主定位终端和辅定位终端，定位第一终端的位置，包括：发送第一终端的定位能力信息给主定位终端；接收主定位终端根据定位能力信息确定的用于对第一终端进行定位测量的定位方法；基于定位方法，与辅定位终端之间进行定位参考信号的测量，得到测量结果；基于测量结果，得到第一终端的位置。
在本申请的另一个实施例中，若测量结果包含第一测量结果，则基于定位方法，与辅定位终端进行定位信号测量，得到测量结果，包括：接收辅定位终端发送的第一定位信号；基于定位方法对第一定位信号进行测量，得到第一测量结果。
在本申请的另一个实施例中，若测量结果包含第二测量结果，则基于定位方法，与辅定位终端交互获得测量结果，包括：向辅定位终端发送第二定位信号；接收第二测量结果，第二测量结果是辅定位终端基于定位方法对第二定位信号进行测量获得的。
在本申请的另一个实施例中，基于测量结果，得到第一终端的位置，包括：将第一测量结果和/或第二测量结果发送给主定位终端；接收主定位终端发送的定位结果，根据定位结果得到第一终端的位置；其中，定位结果是主定位终端基于定位方法对第一测量结果和/或第二测量结果进行计算得到的。
在本申请的另一个实施例中，基于测量结果，得到第一终端的位置，包括：基于定位方法，对第一测量结果和/或第二测量结果进行计算，得到第一终端的定位结果。
第二方面，本申请提供一种定位方法，应用于主定位终端，主定位终端用于为第一终端提供主定位服务，定位方法包括：接收第一终端的定位能力信息；根据第一终端的定位能力信息，确定用于对第一终端进行定位测量的定位方法，并发送定位方法给第一终端；接收第一终端基于定位方法，与辅定位终端之间进行定位参考信号测量得到的测量结果；基于测量结果，得到第一终端的定位结果，并将定位结果发送给第一终端；其中，辅定位终端用于提供辅定位服务。
在本申请的另一个实施例中，第一终端、主定位终端和辅定位终端中至少两个终端通过直接通信接口通信连接。
在本申请的另一个实施例中，接收第一终端基于定位方法，与辅定位终端之间进行定位参考信号测量得到的测量结果，包括：接收第一终端发送的第一测量结果，其中，第一测量结果是第一终端基于定位方法对第一定位信号进行测量获得的，第一定位信号是辅定位终端发送给第一终端的；和/或，接收第二测量结果，其中，第二测量结果是辅定位终端基于定位方法对第二定位信号进行测量获得的，第二定位信号是第一终端发送给辅定位终端的。
在本申请的另一个实施例中，在接收第一终端的定位能力信息之前，定位方法还包括：通过直接通信接口或者网络设备向第一终端发送定位服务信息。
在本申请的另一个实施例中，在接收第一终端的定位能力信息之前，定位方法还包括：接收第一终端发送的定位服务信息获取请求；根据定位服务信息获取请求，将定位服务信息发送给第一终端。
在本申请的另一个实施例中，在接收第一终端的定位能力信息之前，定位方法还包括：接收第一终端通过直连接口发送的用于指示提供主定位服务的第一定位服务消息；或者，接收网络设备发送的用于指示提供主定位服务的第一定位服务消息，其中，第一定位服务消息是第一终端发送给网络设备的。
第三方面，本申请提供一种定位方法，应用于辅定位终端，辅定位终端为第一终端提供辅定位服务，定位方法包括：接收第一终端的定位方法；基于定位方法，与第一终端之间进行定位参考信号的测量，得到测量结果；发送测量结果至第一终端或者主定位终端，测量结果用于第一终端或者主定位终端得到第一终端的定位结果；其中，主定位终端用于提供主定位服务。
在本申请的另一个实施例中，第一终端、辅定位终端以及主定位终端中的至少两个终端通过直接通信接口通信连接。
在本申请的另一个实施例中，若测量结果包含第一测量结果，则基于定位方法，与第一终端之间进行定位参考信号的测量，得到测量结果，包括：向第一终端发送第一定位信号；接收第一终端发送的第一测量结果，第一测量结果为第一终端基于定位方法对第一定位信号进行测量得到的。
在本申请的另一个实施例中，若测量结果包含第二测量结果，则基于定位方法，与第一终端之间进行定位参考信号的测量，得到测量结果，包括：接收第一终端发送的第二定位信号；基于定位方法，对第二定位信号进行测量，得到第二测量结果。
在本申请的另一个实施例中，在接收第一终端的定位方法之前，定位方法还包括：接收第一终端发送的用于指示提供辅助定位服务的第二定位服务消息；或者，接收网络设备发送的用于指示提供辅助定位服务的第二定位服务消息，其中，第二定位服务消息是第一终端发送给网络设备的。
第四方面，本申请提供一种定位装置，应用于第一终端，该定位装置包括：获取模块，用于获取目标终端的定位服务信息；确定模块，用于根据定位服务信息，从目标终端中确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端；处理模块，用于基于主定位终端和辅定位终端，定位第一终端的位置。
在本申请的另一个实施例中，第一终端与目标终端通过直接通信接口建立通信连接。
在本申请的另一个实施例中，获取模块具体用于：通过直接通信接口接收目标终端发送的定位服务信息。
在本申请的另一个实施例中，获取模块具体用于：通过直接通信接口向目标终端发送定位服务信息获取请求；接收目标终端发送的定位服务信息。
在本申请的另一个实施例中，获取模块具体用于：从网络设备中获取目标终端的定位服务信息。
在本申请的另一个实施例中，获取模块具体用于：向网络设备发送定位服务信息获取请求，第一终端位于网络设备的覆盖范围内；接收网络设备发送的目标终端的定位服务信息。
在本申请的另一个实施例中，获取模块具体用于：若确定不在网络设备覆盖范围内，则从第一终端的存储介质中获取目标终端的定位服务信息；其中，目标终端的定位服务信息是第一终端在网络设备覆盖范围内的情况下从网络设备获取并存储的。
在本申请的另一个实施例中，确定模块具体用于：根据定位服务信息，从目标终端中确定出能够 提供主定位服务的至少一个终端；根据确定出的每个终端的定位能力信息、移动速度以及该终端与第一终端之间的信道条件，从确定出的至少一个终端中筛选出用于提供主定位服务的主定位终端。
在本申请的另一个实施例中，该定位装置还包括：发送模块，用于将用于指示提供主定位服务的第一定位服务消息发送给主定位终端；或者，将用于指示提供主定位服务的第一定位服务消息发送给网络设备，以使网络设备在接收到第一定位服务消息后转发给主定位终端。
在本申请的另一个实施例中，发送模块，还用于；将用于指示提供辅助定位服务的第二定位服务消息发送给辅定位终端；或者，将用于指示提供辅定位服务的第二定位服务消息发送给网络设备，以使网络设备在接收到第二定位服务消息后转发给辅定位终端。
在本申请的另一个实施例中，处理模块，具体用于：发送第一终端的定位能力信息给主定位终端；接收主定位终端根据定位能力信息确定的用于对第一终端进行定位测量的定位方法；基于定位方法，与辅定位终端之间进行定位参考信号的测量，得到测量结果；基于测量结果，得到第一终端的位置。
在本申请的另一个实施例中，若测量结果包含第一测量结果，则处理模块，具体用于：接收辅定位终端发送的第一定位信号；基于定位方法对第一定位信号进行测量，得到第一测量结果。
在本申请的另一个实施例中，若测量结果包含第二测量结果，则处理模块，具体用于：向辅定位终端发送第二定位信号；接收第二测量结果，第二测量结果是辅定位终端基于定位方法对第二定位信号进行测量获得的。
在本申请的另一个实施例中，处理模块，具体用于：将第一测量结果和/或第二测量结果发送给主定位终端；接收主定位终端发送的定位结果，根据定位结果得到第一终端的位置；其中，定位结果是主定位终端基于定位方法对第一测量结果和/或第二测量结果进行计算得到的。
在本申请的另一个实施例中，处理模块，具体用于：基于定位方法，对第一测量结果和/或第二测量结果进行计算，得到第一终端的定位结果。
第五方面，本申请提供一种定位装置，应用于主定位终端，主定位终端用于为第一终端提供主定位服务，定位装置包括：接收模块，用于接收第一终端的定位能力信息；确定模块，用于根据第一终端的定位能力信息，确定用于对第一终端进行定位测量的定位方法，并发送定位方法给第一终端；接收模块，还用于接收第一终端基于定位方法，与辅定位终端之间进行定位参考信号测量得到的测量结果；处理模块，用于基于测量结果，得到第一终端的定位结果，并将定位结果发送给第一终端；其中，辅定位终端用于提供辅定位服务。
在本申请的另一个实施例中，第一终端、主定位终端和辅定位终端中至少两个终端通过直接通信接口通信连接。
在本申请的另一个实施例中，接收第一终端发送的第一测量结果，其中，第一测量结果是第一终端基于定位方法对第一定位信号进行测量获得的，第一定位信号是辅定位终端发送给第一终端的；
和/或，接收第二测量结果，其中，第二测量结果是辅定位终端基于定位方法对第二定位信号进行测量获得的，第二定位信号是第一终端发送给辅定位终端的。
在本申请的另一个实施例中，该定位装置还包括：发送模块，用于通过直接通信接口或者网络设备向第一终端发送定位服务信息。
在本申请的另一个实施例中，接收模块，还用于：接收第一终端发送的定位服务信息获取请求；根据定位服务信息获取请求，将定位服务信息发送给第一终端。
在本申请的另一个实施例中，接收模块，还用于：接收第一终端通过直连接口发送的用于指示提供主定位服务的第一定位服务消息；或者，接收网络设备发送的用于指示提供主定位服务的第一定位 服务消息，其中，第一定位服务消息是第一终端发送给网络设备的。
第六方面，本申请提供一种定位装置，应用于辅定位终端，辅定位终端为第一终端提供辅定位服务，定位装置包括：接收模块，用于接收第一终端的定位方法；处理模块，用于基于定位方法，与第一终端之间进行定位参考信号的测量，得到测量结果；发送模块，用于发送测量结果至第一终端或者主定位终端，测量结果用于第一终端或者主定位终端得到第一终端的定位结果；其中，主定位终端用于提供主定位服务。
在本申请的另一个实施例中，第一终端、辅定位终端以及主定位终端中的至少两个终端通过直接通信接口通信连接。
在本申请的另一个实施例中，若测量结果包含第一测量结果，发送模块，具体用于：向第一终端发送第一定位信号；发送模块，具体用于：接收第一终端发送的第一测量结果，第一测量结果为第一终端基于定位方法对第一定位信号进行测量得到的。
在本申请的另一个实施例中，若测量结果包含第二测量结果，接收模块，具体用于：接收第一终端发送的第二定位信号；处理模块，具体用于：基于定位方法，对第二定位信号进行测量，得到第二测量结果。
在本申请的另一个实施例中，接收模块还用于：接收第一终端发送的用于指示提供辅助定位服务的第二定位服务消息；或者，接收网络设备发送的用于指示提供辅助定位服务的第二定位服务消息，其中，第二定位服务消息是第一终端发送给网络设备的。
第七方面，本申请提供一种终端，该终端为第一终端，该第一终端包括：
存储器，用于存储计算机程序；收发机，用于在处理器的控制下收发数据；处理器，用于读取存储器中的计算机程序并执行以下操作：获取目标终端的定位服务信息；根据定位服务信息，从目标终端中确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端；基于主定位终端和辅定位终端，定位第一终端的位置。
在本申请的另一个实施例中，第一终端与目标终端通过直接通信接口建立通信连接。
在本申请的另一个实施例中，获取目标终端的定位服务信息，包括：通过直接通信接口接收目标终端发送的定位服务信息。
在本申请的另一个实施例中，获取目标终端的定位服务信息，包括：通过直接通信接口向目标终端发送定位服务信息获取请求；接收目标终端发送的定位服务信息。
在本申请的另一个实施例中，获取目标终端的定位服务信息，包括：从网络设备中获取目标终端的定位服务信息。
在本申请的另一个实施例中，从网络设备中获取目标终端的定位服务信息，具体包括：向网络设备发送定位服务信息获取请求，第一终端位于网络设备的覆盖范围内；接收网络设备发送的目标终端的定位服务信息。
在本申请的另一个实施例中，获取目标终端的定位服务信息，具体包括：若确定不在网络设备覆盖范围内，则从第一终端的存储介质中获取目标终端的定位服务信息；其中，目标终端的定位服务信息是第一终端在网络设备覆盖范围内的情况下从网络设备获取并存储的。
在本申请的另一个实施例中，根据定位服务信息，从目标终端中确定出用于提供主定位服务的主定位终端，包括：根据定位服务信息，从目标终端中确定出能够提供主定位服务的至少一个终端；根据确定出的每个终端的定位能力信息、移动速度以及该终端与第一终端之间的信道条件，从确定出的至少一个终端中筛选出用于提供主定位服务的主定位终端。
在本申请的另一个实施例中，在确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端之后，处理器，还用于执行以下操作：将用于指示提供主定位服务的第一定位服务消息发送给主定位终端；或者，将用于指示提供主定位服务的第一定位服务消息发送给网络设备，以使网络设备在接收到第一定位服务消息后转发给主定位终端。
在本申请的另一个实施例中，在确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端之后，处理器，还用于执行以下操作：将用于指示提供辅助定位服务的第二定位服务消息发送给辅定位终端；或者，将用于指示提供辅定位服务的第二定位服务消息发送给网络设备，以使网络设备在接收到第二定位服务消息后转发给辅定位终端。
在本申请的另一个实施例中，基于主定位终端和辅定位终端，定位第一终端的位置，包括：发送第一终端的定位能力信息给主定位终端；接收主定位终端根据定位能力信息确定的用于对第一终端进行定位测量的定位方法；基于定位方法，与辅定位终端之间进行定位参考信号的测量，得到测量结果；基于测量结果，得到第一终端的位置。
在本申请的另一个实施例中，若测量结果包含第一测量结果，则基于定位方法，与辅定位终端进行定位信号测量，得到测量结果，包括：接收辅定位终端发送的第一定位信号；基于定位方法对第一定位信号进行测量，得到第一测量结果。
在本申请的另一个实施例中，若测量结果包含第二测量结果，则基于定位方法，与辅定位终端交互获得测量结果，包括：向辅定位终端发送第二定位信号；接收第二测量结果，第二测量结果是辅定位终端基于定位方法对第二定位信号进行测量获得的。
在本申请的另一个实施例中，基于测量结果，得到第一终端的位置，包括：将第一测量结果和/或第二测量结果发送给主定位终端；接收主定位终端发送的定位结果，根据定位结果得到第一终端的位置；其中，定位结果是主定位终端基于定位方法对第一测量结果和/或第二测量结果进行计算得到的。
在本申请的另一个实施例中，基于测量结果，得到第一终端的位置，包括：基于定位方法，对第一测量结果和/或第二测量结果进行计算，得到第一终端的定位结果。
第八方面，本申请提供一种终端，该终端为主定位终端，主定位终端为第一终端提供主定位服务，主定位终端包括：存储器，用于存储计算机程序；收发机，用于在处理器的控制下收发数据；处理器，用于读取存储器中的计算机程序并执行以下操作：接收第一终端的定位能力信息；根据第一终端的定位能力信息，确定用于对第一终端进行定位测量的定位方法，并发送定位方法给第一终端；接收第一终端基于定位方法，与辅定位终端之间进行定位参考信号测量得到的测量结果；基于测量结果，得到第一终端的定位结果，并将定位结果发送给第一终端；其中，辅定位终端用于提供辅定位服务。
在本申请的另一个实施例中，第一终端、主定位终端和辅定位终端中至少两个终端通过直接通信接口通信连接。
在本申请的另一个实施例中，接收第一终端基于定位方法，与辅定位终端之间进行定位参考信号测量得到的测量结果，包括：接收第一终端发送的第一测量结果，其中，第一测量结果是第一终端基于定位方法对第一定位信号进行测量获得的，第一定位信号是辅定位终端发送给第一终端的；和/或，接收第二测量结果，其中，第二测量结果是辅定位终端基于定位方法对第二定位信号进行测量获得的，第二定位信号是第一终端发送给辅定位终端的。
在本申请的另一个实施例中，在接收第一终端的定位能力信息之前，处理器，还用于执行以下操作：通过直接通信接口或者网络设备向第一终端发送定位服务信息。
在本申请的另一个实施例中，在接收第一终端的定位能力信息之前，处理器，还用于执行以下操 作：接收第一终端发送的定位服务信息获取请求；根据定位服务信息获取请求，将定位服务信息发送给第一终端。
在本申请的另一个实施例中，在接收第一终端的定位能力信息之前，处理器，还用于执行以下操作：接收第一终端通过直连接口发送的用于指示提供主定位服务的第一定位服务消息；或者，接收网络设备发送的用于指示提供主定位服务的第一定位服务消息，其中，第一定位服务消息是第一终端发送给网络设备的。
第九方面，本申请提供一种终端，终端为辅定位终端，辅定位终端为第一终端提供辅助定位服务，辅定位终端包括：存储器，用于存储计算机程序；收发机，用于在处理器的控制下收发数据；处理器，用于读取存储器中的计算机程序并执行以下操作：接收第一终端的定位方法；基于定位方法，与第一终端之间进行定位参考信号的测量，得到测量结果；发送测量结果至第一终端或者主定位终端，测量结果用于第一终端或者主定位终端得到第一终端的定位结果；其中，主定位终端用于提供主定位服务。
在本申请的另一个实施例中，第一终端、辅定位终端以及主定位终端中的至少两个终端通过直接通信接口通信连接。
在本申请的另一个实施例中，若测量结果包含第一测量结果，则基于定位方法，与第一终端之间进行定位参考信号的测量，得到测量结果，包括：向第一终端发送第一定位信号；接收第一终端发送的第一测量结果，第一测量结果为第一终端基于定位方法对第一定位信号进行测量得到的。
在本申请的另一个实施例中，若测量结果包含第二测量结果，则基于定位方法，与第一终端之间进行定位参考信号的测量，得到测量结果，包括：接收第一终端发送的第二定位信号；基于定位方法，对第二定位信号进行测量，得到第二测量结果。
在本申请的另一个实施例中，在接收第一终端的定位方法之前，处理器，还用于执行以下操作：接收第一终端发送的用于指示提供辅助定位服务的第二定位服务消息；或者，接收网络设备发送的用于指示提供辅助定位服务的第二定位服务消息，其中，第二定位服务消息是第一终端发送给网络设备的。
第十方面，本申请提供一种处理器可读存储介质，该处理器可读存储介质存储有计算机程序，计算机程序用于使处理器执行如第一方面、第二方面或第三方面的定位方法。
第十一方面，本申请提供一种计算机程序产品，包括：计算机程序，当计算机程序被处理器执行时实现如上述第一方面、第二方面或第三方面的定位方法。
第十二方面，本申请提供一种通信系统，包括如上任一项的第一终端、如上任一项的主定位终端和如上任一项的辅定位终端。
本申请提供的一种定位方法、装置、终端及存储介质中，获取目标终端的定位服务信息；根据定位服务信息，从目标终端中确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端；基于主定位终端和辅定位终端，定位第一终端的位置。由于可以通过主定位终端和辅定位终端对第一终端进行协助定位，即使第一终端所在的网络覆盖区域内没有合适的定位服务器提供定位服务时，也可以准确的定位第一终端的位置。
应当理解，上述发明内容部分中所描述的内容并非旨在限定本申请的实施例的关键或重要特征，亦非用于限制本申请的范围。本申请的其它特征将通过以下的描述变得容易理解。
附图说明
为了更清楚地说明本申请或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本申请一实施例提供的应用场景示意图；
图2为本申请一实施例提供的一种定位方法的流程示意图；
图3为本申请一实施例提供的一种定位方法的信令交互示意图；
图4为本申请另一实施例提供的一种定位方法的信令交互示意图；
图5为本申请又一实施例提供的一种定位方法的信令交互示意图；
图6(a)为本申请一实施例提供的一种采用下行定位技术进行定位时的信令交互示意图；
图6(b)为本申请一实施例提供的一种采用上行定位技术进行定位时的信令交互示意图；
图6(c)为本申请一实施例提供的一种采用上下行混合定位技术进行定位时的信令交互示意图；
图7为本申请一实施例提供的一种定位装置的结构示意图；
图8为本申请另一实施例提供的一种定位装置的结构示意图；
图9为本申请又一实施例提供的一种定位装置的结构示意图；
图10为本申请一实施例提供的一种终端的结构示意图；
图11为本申请另一实施例提供的一种终端的结构示意图；
图12为本申请又一实施例提供的一种终端的结构示意图。
具体实施方式
本申请中术语“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。本申请实施例中术语“多个”是指两个或两个以上，其它量词与之类似。
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，并不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请实施例提供的技术方案可以适用于多种系统，尤其是5G系统。例如适用的系统可以是全球移动通讯(global system of mobile communication，GSM)系统、码分多址(code division multiple access，CDMA)系统、宽带码分多址(Wideband Code Division Multiple Access，WCDMA)通用分组无线业务(general packet radio service，GPRS)系统、长期演进(long term evolution，LTE)系统、LTE频分双工(frequency division duplex，FDD)系统、LTE时分双工(time division duplex，TDD)系统、高级长期演进(long term evolution advanced，LTE-A)系统、通用移动系统(universal mobile telecommunication system，UMTS)、全球互联微波接入(worldwide interoperability for microwave access，WiMAX)系统、5G新空口(New Radio,NR)系统等。这多种系统中均包括终端和网络设备。系统中还包括核心网部分，例如演进的分组系统(Evloved Packet System,EPS)、5G系统(5GS)等。
其中，本申请实施例提供的技术方案所适用的通信系统包括网络设备和终端，网络设备可以包括接入网设备和核心网设备。接入网设备比如可以是无线接入网设备。
图1为本申请实施例提供的应用场景的示意图。如图1所示，该场景包括：第一终端101、主定位终端102、辅定位终端103、网络设备104、定位服务器105。
需要说明的是，上述的图1为示意性的，上述场景中还可以包括其它网络设备，如还可以包括无 线中继器设备和无线回传设备等，在图1中未示出。本申请实施例对上述场景中的第一终端101、主定位终端102、辅定位终端103、网络设备104、定位服务器105均以一个为例示出，但并不以此为限定。
其中，上述的第一终端101、主定位终端102以及辅定位终端103，均可以是指向用户提供语音和/或数据连通性的设备、有无线连接功能的手持式设备、或连接到无线调制解调器的其他处理设备等。
在不同的系统中，上述终端的名称可能也不相同，例如在5G系统中，上述终端可以称为用户设备(User Equipment，UE)，上述终端也可以为无线终端，其中，无线终端可以经无线接入网(Radio Access Network,RAN)与一个或多个核心网(Core Network,CN)进行通信，无线终端可以是移动终端，如移动电话(或称为“蜂窝”电话)和具有移动终端的计算机，例如，可以是便携式、袖珍式、手持式、计算机内置的或者车载的移动装置，它们与无线接入网交换语言和/或数据。例如，个人通信业务(Personal Communication Service，PCS)电话、无绳电话、会话发起协议(Session Initiated Protocol，SIP)话机、无线本地环路(Wireless Local Loop，WLL)站、个人数字助理(Personal Digital Assistant，PDA)等设备。无线终端也可以称为系统、订户单元(subscriber unit)、订户站(subscriber station)，移动站(mobile station)、移动台(mobile)、远程站(remote station)、接入点(access point)、远程终端(remote terminal)、接入终端(access terminal)、用户终端(user terminal)、用户代理(user agent)、用户装置(user device)，本申请实施例中并不限定。
相关技术中，通常采用网络设备104和定位服务器105来实现第一终端的定位，其中，第一终端101和定位服务器105均在网络设备104的覆盖范围内。具体的，在对第一终端101进行定位时，第一终端101将其定位能力信息通过网络设备104发送至定位服务器105，定位服务器105在接收到第一终端的定位能力信息后，根据定位能力信息确定合适的定位方法，并将定位方法发送至网络设备104和第一终端101。
相应的，第一终端101和网络设备104根据定位方法进行定位测量，获得测量数据，再将测量数据发送给定位服务器105，最终由定位服务器105根据测量数据计算得出第一终端101的定位结果。
然而，在上述定位技术中，由于依赖于网络设备104和定位服务器105，当第一终端101所在的网络覆盖区域内没有合适的定位服务器提供定位服务时，或者当第一终端101不在网络覆盖范围内时，均无法实现对第一终端101的准确定位。
例如，在对第一终端101进行定位时，若第一终端所在的网络覆盖范围内未部署相应的定位服务器时，第一终端101发送出定位请求时，不会有定位服务器响应该定位请求，也就无法实现对第一终端101的准确定位；或者，当第一终端101所在的网络覆盖范围内部署有定位服务器，但是该定位服务器当前的数据处理压力较大，则再采用该定位服务器对第一终端101进行定位时，由于数据处理效率较低，会导致定位服务器的响应时间过长，从而降低用户体验；又如，当第一终端101不在网络设备的网络覆盖范围内，或者在网络覆盖范围边缘(半覆盖状态)时，终端设备就无法与网络设备进行正常的定位测量，也就无法获得第一终端的准确定位结果。
为了解决上述问题，本申请实施例提供了一种定位方法、装置、终端及存储介质。在本申请提供的定位方法中，当无法采用定位服务器对第一终端进行定位时，第一终端会获取能够提供定位服务的目标终端的定位服务信息，再根据目标终端的定位服务信息，从目标终端中确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端，然后基于主定位终端和辅定位终端，定位第一终端的位置。
需要说明的是，本申请实施例所提供的方法和装置是基于同一申请构思的，由于方法和装置解决问题的原理相似，因此装置和方法的实施可以相互参见，重复之处不再赘述。
图2为本申请一实施例提供的一种定位方法的流程示意图。如图2所示，本实施例的定位方法的执行主体可以为上述第一终端，该定位方法可以包括如下步骤：
S201、获取目标终端的定位服务信息。
其中，目标终端包括主定位终端和辅定位终端，应理解，目标终端的数量可以为多个也可以为一个，主定位终端和辅定位终端可以为同一目标终端，也可以为不同的目标终端，本申请实施例均不做具体限定。
需要说明的是，定位服务信息用于表征所能够提供的定位服务类型，其中，定位服务类型包括：主定位服务、辅助定位服务。具体的，主定位服务具体为：在定位前确定定位方法，在定位过程中根据定位测量的测量结果计算定位结果等；相应的，辅助定位服务具体为：在定位过程中，根据定位方法进行定位测量，以辅助第一终端获得测量结果等。
在实际应用中，对第一终端进行定位时，第一终端会获取目标终端的定位服务信息，对于定位服务信息的获取方法，本申请实施例不做具体限定。一些实施例中，目标终端可以通过发送标识信息的方式，使得第一终端获得目标终端的定位服务信息。示例性的，以标识信息“1”表示目标终端提供的定位服务类型为主定位服务，以标识信息“0”表示目标终端提供的定位服务类型为辅助主定位服务为例，当对第一终端进行定位时，第一终端会获取目标终端对应的标识信息，并根据获取到的标识信息，确定目标终端的定位服务信息，至于第一终端获取目标终端对应的标识信息的具体方案，在后续的实施例中示出。
S202、根据定位服务信息，从目标终端中确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端。
相应的，第一终端接收到目标终端发送的定位服务信息之后，根据定位服务信息，确定每个目标终端能够提供的定位服务类型，从而根据定位服务类型确定该目标终端为主定位终端或者辅定位终端。
仍以上述为例，在接收到目标终端发送的标识信息之后，确定发送的标识信息为“1”的目标终端为主定位终端，确定发送的标识信息为“0”的目标终端为辅定位终端。
需要说明的是，主定位终端和辅定位终端均为至少一个。在一些实施方式中，主定位终端和辅定位终端可以是不同终端；其他实施方式中，主定位终端和辅定位终端也可以是同一个终端，例如，一些目标终端既能够提供主定位服务，也能够提供辅助定位服务时，可以由同一目标终端同时提供主定位服务和辅助定位服务。
S203、基于主定位终端和辅定位终端，定位第一终端的位置。
具体的，在确定主定位终端和辅定位终端之后，由主定位终端确定对第一终端进行定位测量的定位方法，由辅定位终端和第一终端根据定位方法进行定位测量，从而获得定位测量结果，最终根据定位测量结果定位第一终端的位置。
本步骤中，可以由第一终端根据定位测量结果定位第一终端的位置，也可以由主定位终端根据定位测量结果定位第一终端的位置，本实施例以第一终端据定位测量结果定位第一终端的位置为例示出，但并不以此为限定。至于定位第一终端的位置的具体方案，在后续实施例中具体说明，此处不再赘述。
本申请提供的定位方法中，第一终端获取目标终端的定位服务信息；根据定位服务信息，从目标终端中确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端；基于主定位终端和辅定位终端，定位第一终端的位置。由于可以通过主定位终端和辅定位终端对第一终端进行协助定位，即使第一终端所在的网络覆盖区域内没有合适的定位服务器提供定位服务时，也可以准确的定位第一终端的位置。
在一些场景中，目标终端中可能会有多个能够提供主定位服务的终端，然而，在第一终端进行定位时，往往只需要一个主定位终端。因此，需要从多个目标中确定用于提供主定位服务的主定位终端。在实际应用中，确定主定位终端的方式有多种，本申请实施例不做具体限定。一方面，可以从多个能够提供主定位服务的目标终端中，随机确定用于为第一终端提供主定位服务的主定位终端。另一方面，也可以根据终端的定位性能确定从多个能够提供主定位服务的目标终端中确定用于提供主定位服务的主定位终端。其中，定位性能包括：定位能力、移动速度以及该终端与第一终端之间的信道条件等。具体的，上述实施例中步骤S202可以包括如下步骤：
(1)根据定位服务信息，从目标终端中确定出能够提供主定位服务的至少一个终端；
(2)根据确定出的每个终端的定位能力信息、移动速度以及该终端与第一终端之间的信道条件，从确定出的至少一个终端中筛选出用于提供主定位服务的主定位终端。
示例性的，可以根据目标终端的定位能力信息，确定定位能力与第一终端定位能力相匹配的终端为主定位终端，例如，若第一终端支持NR的下行定位技术，则确定够提供主定位服务的至少一个终端中，支持NR的下行定位技术的终端为主定位终端；或者，可以确定移动速度最低的终端作为主定位终端；又或者，还可以确定与第一终端之间信道条件最好的终端作为主定位终端。
实际应用中，对于第一终端与目标终端之间的通信方式，本申请实施例不做具体限定。示例性的，第一终端与目标终端可以通过直接通信接口(Sidelink)建立通信连接，也可以通过网络设备建立通信连接。其中，网络设备可以为基站。
在此基础上，目标终端可以通过直接通信接口向第一终端发送定位服务信息，也可以通过网络设备向第一终端发送定位服务信息，下面结合图3和图4分别对上述步骤S201的两种具体实施方式进行说明：
图3为本申请一实施例提供的一种定位方法的信令交互示意图。如图3所示，本实施例提供的方法可以包括如下步骤：
S301、第一终端通过直接通信接口向目标终端发送定位服务信息获取请求。
S302、目标终端通过直接通信接口向第一终端发送定位服务信息。
相应的，第一终端通过直接通信接口接收目标终端发送的定位服务信息。
需要说明的是，第一终端和目标终端通过直接通信接口发送或接收定位服务信息的方式有多种，本申请实施例不做具体限定。一方面，可以通过发送广播消息的方式来实现二者的通信，则本方案为，第一终端通过直接通信接口，发送携带有定位服务信息获取请求的广播消息，相应的，直接通信的范围内的目标终端接收到广播消息后，根据广播消息中的定位服务信息获取请求，向第一终端发送目标终端的定位服务信息。通过本方案，第一终端可以最大限度的发现周围的可提供定位服务的目标终端，从而提升对第一终端进行定位的成功率。
另一方面，也可以通过发送专用消息的方式来实现二者的通信，应理解，采用专用消息的具体方案和上述广播消息的方案类似，此处不再赘述。
本申请提供的定位方法中，第一终端通过直接通信接口向目标终端发送定位服务信息获取请求；目标终端发送定位服务信息值第一终端；第一终端接收目标终端发送的定位服务信息。通过直接通信接口发送数据，可以提升数据传输效率，进而提升定位效率。
一些场景中，目标终端还可以主动向第一终端发送定位服务信息。例如，一些具备定位功能的目标终端可以实时的发送携带有定位服务信息广播消息，当第一终端需要进行定位时，即可接收到该广播消息，从而获取目标终端的定位服务信息，以实现定位。即本实施例提供的方案中，若目标终端具 备主动的发送广播消息的功能，则本实施例直接执行上述步骤S302；若目标终端不具备主动的发送广播消息的功能，则需要由第一终端发送定位服务信息获取请求，以获得目标终端的定位服务信息，即本实施例需执行上述步骤S301～S302。
实际应用中，当第一终端没有直接通信接口，或者目标终端没有直接通信接口时，第一终端还可以通过网络设备来获取目标终端的定位服务信息。图4为本申请另一实施例提供的一种定位方法的信令交互示意图。如图4所示，本实施例提供的方法可以包括如下步骤：
S401、第一终端向网络设备发送定位服务信息获取请求。
其中，第一终端位于网络设备的覆盖范围内。
S402、网络设备向第一终端发送目标终端的定位服务信息。
相应的，第一终端接收网络设备发送的目标终端的定位服务信息。
需要说明的是，第一终端和网络设备进行通信的方式有多种，本申请实施例不做具体限定。一方面，可以通过发送广播消息的方式来实现二者的通信；另一方面，也可以通过发送专用消息的方式来实现二者的通信。应理解，本实施例提供的方案和上述第一终端与目标终端进行通信的方案类似，此处不再赘述。
类似的，网络设备还可以主动向第一终端的发送携带有目标终端的定位服务信息的广播消息。当需要对第一终端进行定位时，第一终端会接收该广播消息，从而获得目标终端的定位服务信息，以实现定位。即本方案中，若网络设备主动可以向第一终端的发送广播消息，则本实施例直接执行上述步骤S402；若网络设备不能主动的发送广播消息，则需要由第一终端发送定位服务信息获取请求，以获得目标终端的定位服务信息，即本实施例需要执行上述步骤S401～S402。
在其他场景中，若第一终端没有直接通信接口，或者目标终端没有直接通信接口时，而且第一终端不在网络设备覆盖范围内时，还可以从第一终端的存储介质中获取目标终端的定位服务信息。
具体的，若确定不在网络设备覆盖范围内，则从第一终端的存储介质中获取目标终端的定位服务信息；其中，目标终端的定位服务信息是第一终端在网络设备覆盖范围内的情况下从网络设备获取并存储的。
本申请实施例中，第一终端可以通过多种方式获得目标终端的定位服务信息，从而满足不同场景的定位需求，以提升定位方法的灵活性，进而提升对第一终端的定位效果。
图5为本申请又一实施例提供的一种定位方法的信令交互示意图。如图5所示，本实施例的方法可以包括如下步骤：
S501、主定位终端通过直接通信接口或者网络设备向第一终端发送定位服务信息。
S502、辅定位终端通过直接通信接口或者网络设备向第一终端发送定位服务信息。
S503、根据定位服务信息，确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端。
其中，S501～S503的实现过程可参照前述图3、图4所示实施例的描述，此处不再赘述。另外，对于上述步骤S501和S502的执行顺序，本申请实施例也不做具体限定。
S504、第一终端将用于指示提供主定位服务的第一定位服务消息发送给主定位终端。
一些实施例中，本步骤中还可以将用于指示提供主定位服务的第一定位服务消息发送给网络设备，以使网络设备在接收到第一定位服务消息后转发给主定位终端。
S505、第一终端将用于指示提供辅助定位服务的第二定位服务消息发送给辅定位终端。
类似的，本步骤中还可以将用于指示提供辅定位服务的第二定位服务消息发送给网络设备，以使 网络设备在接收到第二定位服务消息后转发给辅定位终端。
需要说明的是，对于上述步骤S504和S505的执行顺序，本申请实施例也不做具体限定。
S506、第一终端向主定位终端发送第一终端的定位能力信息。
其中，定位能力信息用于确定定位方法，定位能力信息包括以下至少一种：第一终端支持的定位方法、对某一定位方法所支持的辅助数据类型(例如，第一终端支持的网络增强系统(A-GNSS)适用的数据类型)以及不同定位方法的定位能力(例如，第一终端处理多个定位事务的能力)。在实际应用中，第一终端可以通过发送第一终端的LTE定位协议(LTE Positioning Protocol，LPP)的方式向主定位终端发送定位能力信息。
需要说明的是，对于第一终端向主定位终端发送定位能力信息的方法，本申请实施例也不做具体限定。一方面，可以通过广播信息或者专有消息的方法向主定位终端发送定位能力信息；另一方面，也可以通过网络设备转发的方式向主定位终端发送定位能力信息，且具体的发送定位能力信息的方案与上述实施例中获取定位服务信息的方案和原理相同，此处不再赘述。
S507、主定位终端根据第一终端的定位能力信息，确定用于对第一终端进行定位测量的定位方法。
其中，对第一终端进行定位测量的定位方法可以包括以下至少一种：NR的下行定位技术(例如，下行到达时间差技术(Download-Time Difference of Arrival，DL-TDOA)和下行离开角度技术(DL-AOD))、上行定位技术(例如，上行到达时间差技术(Upload-Time Difference of Arrival，UL-TDOA)和上行到达角度技术(UL-AOA))以及上下行混合定位技术(例如，多站往返时间技术(Multi-RTT))等。
本步骤中，主定位终端接收第一终端的定位能力信息之后，根据第一终端的定位能力信息确定对第一终端进行测量的定位方法。
具体的，可以根据第一终端的定位能力信息中指示的第一终端支持的定位方法确定对第一终端进行测量的定位方法。示例性的，若第一终端的定位能力信息中指示第一终端支持的定位方法为Multi-RTT技术，则可以确定对第一终端进行定位测量的定位方法为Multi-RTT技术。
需要说明的是，当第一终端支持的定位方法有多种时，一方面，可以从多个定位方法中，随机确定一种定位方法；另一方面，也可以根据定位能力信息中的第一终端处理多个定位事务的能力确定定位方法。示例性的，第一终端采用Multi-RTT技术时的能力优于其他定位方法，则可以确定对第一终端进行定位测量的定位方法为Multi-RTT技术。应理解，上述几种方法均为示例性的，本实施例不以此为限定。
S508、主定位终端向第一终端发送定位方法。
S509、主定位终端向辅定位终端发送定位方法。
需要说明的是，对于上述步骤S508和S509的执行顺序，本申请实施例不做具体限定。至于主定位终端向第一终端和辅定位终端发送定位方法的方式，可以参考上述实施例中目标终端和第一终端进行数据通信的方式，此处不再赘述。
在一些实场景中，例如，主定位终端和辅定位终端无法进行通信时，还可以由第一终端向辅定位终端发送定位方法，即在第一终端接收到定位方法后，将定位方法转发给辅定位终端。通过本实施例，可以满足不同场景的定位需求，提升本方案的灵活性。
S510、第一终端基于定位方法，与辅定位终端之间进行定位参考信号的测量得到测量结果。
需要说明的是，针对不同定位方法，获得的测量结果不同，得到第一终端的位置的方法也不同。具体的，测量结果可以包括：第一测量结果和/或第二测量结果。其中，第一测量结果是第一终端根据 定位方法与辅定位终端进行交互获得的，第二测量结果是辅定位终端根据定位方法与第一终端进行交互获得的。
示例性的，当采用下行定位方法时，由辅定位终端发出定位参考信号，由第一终端对定位参考信号进行测量获得第一测量结果，再根据第一测量结果得到第一终端的位置；当采用上行定位方法时，由第一终端发出定位参考信号，由辅定位终端根据定位参考信号获得第二测量结果，再根据第二测量结果得到第一终端的位置；当采用上下行混合定位技术时，由辅定位终端发出定位参考信号，由第一终端获得第一测量结果，由第一终端发出定位参考信号，由辅定位终端获得第二测量结果，再根据第一测量结果和第二测量结果得到第一终端的位置，至于上述各方法的具体交互方式，在后续实施例中示出。
S511、第一终端基于测量结果，得到第一终端的位置。
在一些场景中，还可以由主定位终端基于测量结果，得到第一终端的位置，至于具体实施方式，在后续的实施例中示出。
在实际应用中，辅定位终端与主定位终端可以是同一终端，也可以是不同终端。例如，一些目标终端既能够提供主定位服务，也能够提供辅助定位服务时，可以由同一目标终端同时提供主定位服务和辅助定位服务。
本实施例中，若辅定位终端与主定位终端为同一终端，则本申请实施例可以包括如下步骤：
(1)第一终端向主定位终端发送第一终端的定位能力信息。
(2)主定位终端接收第一终端的定位能力信息，根据第一终端的定位能力信息确定进行定位测量的定位方法，并将定位方法发送至第一终端。
(3)第一终端基于定位方法，与主定位终端之间进行定位参考信号的测量得到测量结果；
(4)第一终端基于测量结果，得到第一终端的位置。
可以理解的是，采用主定位终端提供辅助定位服务的方法与原理和采用辅定位终端提供辅助定位服务的方法与原理类似，具体可参考上述实施例，此处不再赘述。本方案中，通过主定位终端执行辅助定位服务，在目标终端数量有限，没有合适的辅定位终端提供辅助定位服务时，也能够获得第一终端的准确定位，从而提升本方案的灵活性，提升用户体验，另外，只采用主定位终端，可以减少数据交互，从而提升定位效率。
下面结合图6(a)～图6(c)，根据不同定位方法对上述步骤S511的定位过程进行更详细的说明。
图6(a)为本申请一实施例提供的一种采用下行定位技术进行定位时的信令交互示意图。本申请实施例提供的方法应用于下行定位技术，如图6(a)所示，本方案包括如下步骤：
S611、辅定位终端向第一终端发送第一定位信号。
S612、第一终端基于定位方法对第一定位信号进行测量，得到第一测量结果。
下面以下行定位技术包括下行TDOA技术和下行AOD技术为例，对本方案进行详细说明。应理解，本实施例提供的下行定位技术仅为示例性的，在实际应用中不以此为限定。
本方案中，当采用于下行TDOA技术时，由辅定位终端向第一终端发送下行PRS定位参考信号，即第一定位信号；由第一终端对下行PRS定位参考信号进行测量，获得RSTD测量结果，即第一测量结果。
当采用下行AOD技术，由辅定位终端向第一终端发送下行PRS定位参考信号，即第一定位信号；由第一终端对下行PRS定位参考信号进行测量，获得RSRP测量结果，即第一测量结果。
应理解，采用上述两种上行定位技术对第一定位信号进行测量获得第一测量结果的方法，可以采 用现有技术中的方案，此处不再赘述。
S613、第一终端基于第一测量结果，得到第一终端的位置。
S614、第一终端向主定位终端发送第一测量结果。
S615、主定位终端基于第一测量结果，得到第一终端的位置。
S616、主定位终端将第一终端的位置发送给第一终端。
在实际应用中，计算第一终端的位置的方式有多种，本申请实施例不做具体限定。一方面，当第一终端不具备计算能力时，可以由主定位终端来计算第一终端的位置，即本实施例中，在获得第一测量结果后，需要执行上述步骤S614～S616。另一方面，当第一终端具备计算能力时，可以由第一终端来计算第一终端的位置，即本实施例中，在获得第一测量结果后只需执行上述步骤S613。
通过上述方案，可以满足多种类型的第一终端的定位需求，提升用户体验。另外，由第一终端直接计算定位结果时，由于第一终端无需向主定位终端转发第一测量结果，主定位终端也无需向第一终端转发定位结果，可以提升定位效率。
需要说明的是，本实施例中，辅定位终端、主定位终端和第一终端之间的通信方式与上述实施例中提供的通信方式类似，即，若辅定位终端和主定位终端均有直接通行接口，则二者可以通过直接通行接口进行通信，若辅定位终端和主定位终端任意一个终端没有直接通信接口，则二者可以通过网络设备进行通信。示例性的，辅定位终端可以通过直接通信接口或者网络设备向第一终端发送第一定位信号；应理解，主定位终端和第一终端的通信方式与上述类似，此处不再赘述，示例性的，第一终端可以通过直接通信接口或者网络设备向主定位终端发送第一测量结果。
图6(b)为本申请一实施例提供的一种采用上行定位技术进行定位时的信令交互示意图。本申请实施例提供的方法应用于上行定位技术，如图6(b)所示，本方案包括如下步骤：
S621、第一终端向辅定位终端发送第二定位信号。
S622、辅定位终端根据第二定位信号进行测量，获得第二测量结果。
S623、辅定位终端发送第二测量结果至第一终端。
下面以上行定位技术包括UL-TDOA技术和UL-AOA技术为例，对本方案进行详细说明。应理解，本实施例提供的上行定位技术仅为示例性的，在实际应用中不以此为限定。
本实施例中，当采用于UL-TDOA技术时，由第一终端向辅定位终端发送UL SRS定位参考信号，即第二定位信号；由辅定位终端对UL SRS定位参考信号进行测量，获得RTOA测量结果，即第二测量结果。
当采用下行AOD技术时，由第一终端向辅定位终端发送UL SRS定位参考信号，即第二定位信号；由辅定位终端对UL SRS定位参考信号进行测量，获得到达方位角A-AOA和到达俯仰角Z-AOA的测量结果，即第二测量结果。
应理解，采用上述两种上行定位技术时，对第二定位信号进行测量获得第二测量结果的方法，可以采用现有技术中的方案，此处不再赘述。
S624、第一终端基于第二测量结果，得到第一终端的位置。
S625、辅定位终端发送第二测量结果至主定位终端。
S626、主定位终端基于第二测量结果，得到第一终端的位置。
S627、主定位终端向第一终端的发送第一终端的位置。
在实际应用中，计算第一终端的位置的方式有多种，本申请实施例不做具体限定。一方面，当第一终端不具备计算能力时，也可以由主定位终端来计算第一终端的位置，即本实施例中，在获得第二 测量结果后，只需要执行上述步骤S624。另一方面，当第一终端具备计算能力时，可以由第一终端来计算第一终端的位置，即本实施例需要执行上述步骤S625～S627。
通过本方案可以满足多种类型的第一终端的定位需求，提升用户体验。另外，由第一终端直接计算定位结果时，由于辅定位终端无需向主定位终端转发第二测量结果，主定位终端也无需向第一终端转发定位结果，可以提升定位效率。
图6(c)为本申请一实施例提供的一种采用上下行混合定位技术进行定位时的信令交互示意图。本申请实施例提供的方法应用于上下行混合定位技术，如图6(c)所示，本方案包括如下步骤：
S631、辅定位终端向第一终端发送第一定位信号。
S632、第一终端基于定位方法对第一定位信号进行测量，得到第一测量结果。
S633、第一终端向辅定位终端发送第二定位信号。
S634、辅定位终端根据第二定位信号进行测量，获得第二测量结果。
S635、辅定位终端向第一终端发送第二测量结果。
需要说明的是，本实施例中步骤S631～S635与上述图6(a)和图6(b)中提供的定位方法类似，具体可参考上述，此处不再赘述。另外对于上述步骤的执行顺序，本申请实施例也不做具体限定。
S636、第一终端基于第一测量结果和第二测量结果，得到第一终端的位置。
S637、第一终端向主定位终端发送第一测量结果和第二测量结果。
S638、主定位终端基于第一测量结果和第二测量结果，得到第一终端的位置。
S639、主定位终端将第一终端的位置发送给第一终端。
类似的，本实施例中，计算第一终端的位置的方式有多种，本申请实施例不做具体限定。一方面，当第一终端不具备定位计算能力时，也可以由主定位终端来计算第一终端的位置，即本实施例需执行上述步骤S631～S635以及S637～S639。另一方面，当第一终端具备计算能力时，可以由第一终端来计算第一终端的位置，即本实施例只需执行上述步骤S631～S636。通过本方案，可以满足不具备定位计算能力的第一终端的定位需求，从而提升本方案的灵活性，同时提升用户体验。另外，由第一终端直接计算定位结果时，由于辅定位终端和第一终端均无需向主定位终端转发测量结果，主定位终端也无需向第一终端转发定位结果，可以提升定位效率。
在第一终端侧，本申请一实施例提供了一种定位装置，应用于第一终端。图7为本申请一实施例提供的一种定位装置的结构示意图。如图所示，该定位装置700包括：
获取模块701，用于获取目标终端的定位服务信息；
确定模块702，用于根据定位服务信息，从目标终端中确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端；
处理模块703，用于基于主定位终端和辅定位终端，定位第一终端的位置。
在本申请的另一个实施例中，第一终端与目标终端通过直接通信接口建立通信连接。
在本申请的另一个实施例中，获取模块701具体用于：通过直接通信接口接收目标终端发送的定位服务信息。
在本申请的另一个实施例中，获取模块701具体用于：通过直接通信接口向目标终端发送定位服务信息获取请求；接收目标终端发送的定位服务信息。
在本申请的另一个实施例中，获取模块701具体用于：从网络设备中获取目标终端的定位服务信息。
在本申请的另一个实施例中，获取模块701具体用于：向网络设备发送定位服务信息获取请求， 第一终端位于网络设备的覆盖范围内；接收网络设备发送的目标终端的定位服务信息。
在本申请的另一个实施例中，获取模块701具体用于：若确定不在网络设备覆盖范围内，则从第一终端的存储介质中获取目标终端的定位服务信息；其中，目标终端的定位服务信息是第一终端在网络设备覆盖范围内的情况下从网络设备获取并存储的。
在本申请的另一个实施例中，确定模块702具体用于：根据定位服务信息，从目标终端中确定出能够提供主定位服务的至少一个终端；根据确定出的每个终端的定位能力信息、移动速度以及该终端与第一终端之间的信道条件，从确定出的至少一个终端中筛选出用于提供主定位服务的主定位终端。
在本申请的另一个实施例中，该定位装置还包括：发送模块(未示出)，用于将指示提供主定位服务的第一定位服务消息发送给主定位终端；或者，将用于指示提供主定位服务的第一定位服务消息发送给网络设备，以使网络设备在接收到第一定位服务消息后转发给主定位终端。
在本申请的另一个实施例中，发送模块，还用于：将用于指示提供辅助定位服务的第二定位服务消息发送给辅定位终端；或者，将用于指示提供辅定位服务的第二定位服务消息发送给网络设备，以使网络设备在接收到第二定位服务消息后转发给辅定位终端。
在本申请的另一个实施例中，处理模块703具体用于：发送第一终端的定位能力信息给主定位终端；接收主定位终端根据定位能力信息确定的用于对第一终端进行定位测量的定位方法；基于定位方法，与辅定位终端之间进行定位参考信号的测量，得到测量结果；基于测量结果，得到第一终端的位置。
在本申请的另一个实施例中，处理模块703具体用于：接收辅定位终端发送的第一定位信号；基于定位方法对第一定位信号进行测量，得到第一测量结果。
在本申请的另一个实施例中，处理模块703具体用于：向辅定位终端发送第二定位信号；接收第二测量结果，第二测量结果是辅定位终端基于定位方法对第二定位信号进行测量获得的。
在本申请的另一个实施例中，处理模块703具体用于：将第一测量结果和/或第二测量结果发送给主定位终端；接收主定位终端发送的定位结果，根据定位结果得到第一终端的位置；其中，定位结果是主定位终端基于定位方法对第一测量结果和/或第二测量结果进行计算得到的。
在本申请的另一个实施例中，处理模块703具体用于：基于定位方法，对第一测量结果和/或第二测量结果进行计算，得到第一终端的定位结果。
在此需要说明的是，本申请提供的上述装置，能够相应地实现上述方法实施例中第一终端所实现的所有方法步骤，且能够达到相同的技术效果，在此不再对本实施例中与方法实施例相同的部分及有益效果进行具体赘述。
在主定位终端侧，本申请一实施例提供了一种定位装置，应用于主定位终端。图8为本申请另一实施例提供的一种定位装置的结构示意图。如图8所示，该定位装置800包括：
接收模块801，用于接收第一终端的定位能力信息；确定模块802，用于根据第一终端的定位能力信息，确定用于对第一终端进行定位测量的定位方法，并发送定位方法给第一终端；接收模块801，还用于接收第一终端基于定位方法，与辅定位终端之间进行定位参考信号测量得到的测量结果；处理模块803，用于基于测量结果，得到第一终端的定位结果，并将定位结果发送给第一终端；其中，辅定位终端用于提供辅定位服务。
在本申请的另一个实施例中，第一终端、主定位终端和辅定位终端中至少两个终端通过直接通信接口通信连接。
在本申请的另一个实施例中，接收模块801，具体用于：接收第一终端发送的第一测量结果，其中， 第一测量结果是第一终端基于定位方法对第一定位信号进行测量获得的，第一定位信号是辅定位终端发送给第一终端的；和/或，接收第二测量结果，其中，第二测量结果是辅定位终端基于定位方法对第二定位信号进行测量获得的，第二定位信号是第一终端发送给辅定位终端的。
在本申请的另一个实施例中，该定位装置还包括：发送模块(未示出)，用于通过直接通信接口或者网络设备向第一终端发送定位服务信息。
在本申请的另一个实施例中，接收模块801，还用于：接收第一终端发送的定位服务信息获取请求；根据定位服务信息获取请求，将定位服务信息发送给第一终端。
在本申请的另一个实施例中，接收模块801还用于：接收第一终端通过直连接口发送的用于指示提供主定位服务的第一定位服务消息；或者，接收网络设备发送的用于指示提供主定位服务的第一定位服务消息，其中，第一定位服务消息是第一终端发送给网络设备的。
在此需要说明的是，本申请提供的上述装置，能够相应地实现上述方法实施例中主定位终端所实现的所有方法步骤，且能够达到相同的技术效果，在此不再对本实施例中与方法实施例相同的部分及有益效果进行具体赘述。
在辅定位终端侧，本申请一实施例提供了一种定位装置，应用于主定位终端。图9为本申请一实施例提供的一种定位装置的结构示意图。如图9所示，该定位装置900包括：
接收模块901，用于接收第一终端的定位方法；处理模块902，用于基于定位方法，与第一终端之间进行定位参考信号的测量，得到测量结果；发送模块903，用于发送测量结果至第一终端或者主定位终端，测量结果用于第一终端或者主定位终端得到第一终端的定位结果；其中，主定位终端用于提供主定位服务。
在本申请的另一个实施例中，第一终端、辅定位终端以及主定位终端中的至少两个终端通过直接通信接口通信连接。
在本申请的另一个实施例中，若测量结果包含第一测量结果，则处理模块902具体用于：向第一终端发送第一定位信号；接收第一终端发送的第一测量结果，第一测量结果为第一终端基于定位方法对第一定位信号进行测量得到的。
在本申请的另一个实施例中，若测量结果包含第二测量结果，则处理模块902具体用于：接收第一终端发送的第二定位信号；基于定位方法，对第二定位信号进行测量，得到第二测量结果。
在本申请的另一个实施例中，接收模块902还用于：接收第一终端发送的用于指示提供辅助定位服务的第二定位服务消息；或者，接收网络设备发送的用于指示提供辅助定位服务的第二定位服务消息，其中，第二定位服务消息是第一终端发送给网络设备的。
在此需要说明的是，本申请提供的上述装置，能够相应地实现上述方法实施例中辅定位终端所实现的所有方法步骤，且能够达到相同的技术效果，在此不再对本实施例中与方法实施例相同的部分及有益效果进行具体赘述。
图10为本申请一实施例提供的一种终端的结构示意图。其中，该终端为第一终端，如图10所示，该第一终端1000包括：收发机1001、处理器1002和存储器1003。
收发机1001，用于在处理器1002的控制下接收和发送数据。其中，在图10中，总线架构可以包括任意数量的互联的总线和桥，具体由处理器1002代表的一个或多个处理器和存储器1003代表的存储器的各种电路链接在一起。总线架构还可以将诸如外围设备、稳压器和功率管理电路等之类的各种其他电路链接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步描述。总线接口提供接口。收发机1001可以是多个元件，即包括发送机和接收机，提供用于在传输介质上与各种其他装 置通信的单元，这些传输介质包括无线信道、有线信道、光缆等传输介质。处理器1002负责管理总线架构和通常的处理，存储器1003可以存储处理器1002在执行操作时所使用的数据。
处理器1002负责管理总线架构和通常的处理，存储器1003可以存储处理器1002在执行操作时所使用的数据。
在本申请的另一个实施例中，处理器1002可以是中央处埋器(central processing unit，CPU)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field－Programmable Gate Array，FPGA)或复杂可编程逻辑器件(Complex Programmable Logic Device，CPLD)，处理器也可以采用多核架构。
处理器1002通过调用存储器1003存储的计算机程序，用于按照获得的可执行指令执行本申请实施例提供的有关第一终端的任一方法。处理器与存储器也可以物理上分开布置。
具体的，处理器1002用于读取存储器中的计算机程序并执行以下操作：获取目标终端的定位服务信息；根据定位服务信息，从目标终端中确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端；基于主定位终端和辅定位终端，定位第一终端的位置。
在本申请的另一个实施例中，第一终端与目标终端通过直接通信接口建立通信连接。
在本申请的另一个实施例中，获取目标终端的定位服务信息，包括：通过直接通信接口接收目标终端发送的定位服务信息。
在本申请的另一个实施例中，获取目标终端的定位服务信息，包括：通过直接通信接口向目标终端发送定位服务信息获取请求；接收目标终端发送的定位服务信息。
在本申请的另一个实施例中，获取目标终端的定位服务信息，包括：从网络设备中获取目标终端的定位服务信息。
在本申请的另一个实施例中，获取目标终端的定位服务信息，包括：向网络设备发送定位服务信息获取请求，第一终端位于网络设备的覆盖范围内；接收网络设备发送的目标终端的定位服务信息。
在本申请的另一个实施例中，获取目标终端的定位服务信息，包括：若确定不在网络设备覆盖范围内，则从第一终端的存储介质中获取目标终端的定位服务信息；其中，目标终端的定位服务信息是第一终端在网络设备覆盖范围内的情况下从网络设备获取并存储的。
在本申请的另一个实施例中，根据定位服务信息，从目标终端中确定出用于提供主定位服务的主定位终端，包括：根据定位服务信息，从目标终端中确定出能够提供主定位服务的至少一个终端；根据确定出的每个终端的定位能力信息、移动速度以及该终端与第一终端之间的信道条件，从确定出的至少一个终端中筛选出用于提供主定位服务的主定位终端。
在本申请的另一个实施例中，在确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端之后，处理器1002还用于执行以下操作：将用于指示提供主定位服务的第一定位服务消息发送给主定位终端；或者，将用于指示提供主定位服务的第一定位服务消息发送给网络设备，以使网络设备在接收到第一定位服务消息后转发给主定位终端。
在本申请的另一个实施例中，在确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端之后，处理器1002还用于执行以下操作：将用于指示提供辅助定位服务的第二定位服务消息发送给辅定位终端；或者，将用于指示提供辅定位服务的第二定位服务消息发送给网络设备，以使网络设备在接收到第二定位服务消息后转发给辅定位终端。
在本申请的另一个实施例中，基于主定位终端和辅定位终端，定位第一终端的位置，包括：发送第一终端的定位能力信息给主定位终端；接收主定位终端根据定位能力信息确定的用于对第一终端进 行定位测量的定位方法；基于定位方法，与辅定位终端之间进行定位参考信号的测量，得到测量结果；基于测量结果，得到第一终端的位置。
在本申请的另一个实施例中，若测量结果包含第一测量结果，则基于定位方法，与辅定位终端进行定位信号测量，得到测量结果，包括：接收辅定位终端发送的第一定位信号；基于定位方法对第一定位信号进行测量，得到第一测量结果。
在本申请的另一个实施例中，若测量结果包含第二测量结果，则基于定位方法，与辅定位终端交互获得测量结果，包括：向辅定位终端发送第二定位信号；接收第二测量结果，第二测量结果是辅定位终端基于定位方法对第二定位信号进行测量获得的。
在本申请的另一个实施例中，基于测量结果，得到第一终端的位置，包括：将第一测量结果和/或第二测量结果发送给主定位终端；接收主定位终端发送的定位结果，根据定位结果得到第一终端的位置；其中，定位结果是主定位终端基于定位方法对第一测量结果和/或第二测量结果进行计算得到的。
在本申请的另一个实施例中，基于测量结果，得到第一终端的位置，包括：基于定位方法，对第一测量结果和/或第二测量结果进行计算，得到第一终端的定位结果。
在此需要说明的是，本申请提供的上述终端，能够实现上述方法实施例中第一终端所实现的所有方法步骤，且能够达到相同的技术效果，在此不再对本实施例中与方法实施例相同的部分及有益效果进行具体赘述。
图11为本申请另一实施例提供的一种终端的结构示意图。该终端为主定位终端，该主定位终端为第一终端提供主定位服务，该主定位终端包括：
收发机1101、处理器1102和存储器1103。
其中，在图11中，总线架构可以包括任意数量的互联的总线和桥，具体由处理器1102代表的一个或多个处理器和存储器1103代表的存储器的各种电路链接在一起。总线架构还可以将诸如外围设备、稳压器和功率管理电路等之类的各种其他电路链接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步描述。总线接口提供接口。收发机1101可以是多个元件，即包括发送机和接收机，提供用于在传输介质上与各种其他装置通信的单元，这些传输介质包括无线信道、有线信道、光缆等传输介质。处理器1102负责管理总线架构和通常的处理，存储器1103可以存储处理器1102在执行操作时所使用的数据。
处理器1102可以是CPU、ASIC、FPGA或CPLD，处理器也可以采用多核架构。
处理器1102通过调用存储器1103存储的计算机程序，用于按照获得的可执行指令执行本申请实施例提供的有主定位终端的任一方法。处理器与存储器也可以物理上分开布置。
具体的，处理器1102用于读取存储器中的计算机程序并执行以下操作：接收第一终端的定位能力信息；根据第一终端的定位能力信息，确定用于对第一终端进行定位测量的定位方法，并发送定位方法给第一终端；接收第一终端基于定位方法，与辅定位终端之间进行定位参考信号测量得到的测量结果；基于测量结果，得到第一终端的定位结果，并将定位结果发送给第一终端；其中，辅定位终端用于提供辅定位服务。
在本申请的另一个实施例中，第一终端、主定位终端和辅定位终端中至少两个终端通过直接通信接口通信连接。
在本申请的另一个实施例中，接收第一终端基于定位方法，与辅定位终端之间进行定位参考信号测量得到的测量结果，包括：接收第一终端发送的第一测量结果，其中，第一测量结果是第一终端基于定位方法对第一定位信号进行测量获得的，第一定位信号是辅定位终端发送给第一终端的；和/或， 接收第二测量结果，其中，第二测量结果是辅定位终端基于定位方法对第二定位信号进行测量获得的，第二定位信号是第一终端发送给辅定位终端的。
在本申请的另一个实施例中，在接收第一终端的定位能力信息之前，处理器处理器1102还用于执行如下操作：读取存储器中的计算机程序并执行以下操作：通过直接通信接口或者网络设备向第一终端发送定位服务信息。
在本申请的另一个实施例中，在接收第一终端的定位能力信息之前，处理器1102还用于执行如下操作：通过直接通信接口或者网络设备向第一终端发送定位服务信息。
在本申请的另一个实施例中，在接收第一终端的定位能力信息之前，处理器1102还用于执行如下操作：接收第一终端发送的定位服务信息获取请求；根据定位服务信息获取请求，将定位服务信息发送给第一终端。
在本申请的另一个实施例中，在接收第一终端的定位能力信息之前，处理器1102还用于执行如下操作：接收第一终端通过直连接口发送的用于指示提供主定位服务的第一定位服务消息；或者，接收网络设备发送的用于指示提供主定位服务的第一定位服务消息，其中，第一定位服务消息是第一终端发送给网络设备的。
在此需要说明的是，本申请提供的上述终端，能够实现上述方法实施例中主定位终端所实现的所有方法步骤，且能够达到相同的技术效果，在此不再对本实施例中与方法实施例相同的部分及有益效果进行具体赘述。
图12为本申请又一实施例提供的一种终端的结构示意图。该终端为辅定位终端，该辅定位终端为第一终端提供辅助定位服务，该辅定位终端包括：收发机1201、处理器1202和存储器1203。
收发机1201，用于在处理器1202的控制下接收和发送数据。其中，在图12中，总线架构可以包括任意数量的互联的总线和桥，具体由处理器1202代表的一个或多个处理器和存储器1203代表的存储器的各种电路链接在一起。总线架构还可以将诸如外围设备、稳压器和功率管理电路等之类的各种其他电路链接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步描述。总线接口提供接口。收发机1201可以是多个元件，即包括发送机和接收机，提供用于在传输介质上与各种其他装置通信的单元，这些传输介质包括无线信道、有线信道、光缆等传输介质。处理器1202负责管理总线架构和通常的处理，存储器1203可以存储处理器1202在执行操作时所使用的数据。
处理器1202负责管理总线架构和通常的处理，存储器1203可以存储处理器1202在执行操作时所使用的数据。
在本申请的另一个实施例中，处理器1202可以是中央处埋器(central processing unit，CPU)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field－Programmable Gate Array，FPGA)或复杂可编程逻辑器件(Complex Programmable Logic Device，CPLD)，处理器也可以采用多核架构。
处理器1202通过调用存储器1203存储的计算机程序，用于按照获得的可执行指令执行本申请实施例提供的有关辅定位终端的任一方法。处理器与存储器也可以物理上分开布置。
具体的，处理器1202用于读取存储器中的计算机程序并执行以下操作：
接收第一终端的定位方法；基于定位方法，与第一终端之间进行定位参考信号的测量，得到测量结果；发送测量结果至第一终端或者主定位终端，测量结果用于第一终端或者主定位终端得到第一终端的定位结果；其中，主定位终端用于提供主定位服务。
在本申请的另一个实施例中，第一终端、辅定位终端以及主定位终端中的至少两个终端通过直接 通信接口通信连接。
在本申请的另一个实施例中，若测量结果包含第一测量结果，则基于定位方法，与第一终端之间进行定位参考信号的测量，得到测量结果，包括：向第一终端发送第一定位信号；接收第一终端发送的第一测量结果，第一测量结果为第一终端基于定位方法对第一定位信号进行测量得到的。
在本申请的另一个实施例中，若测量结果包含第二测量结果，则基于定位方法，与第一终端之间进行定位参考信号的测量，得到测量结果，包括：接收第一终端发送的第二定位信号；基于定位方法，对第二定位信号进行测量，得到第二测量结果。
在本申请的另一个实施例中，在接收第一终端的定位方法之前，处理器1202还用于执行以下操作：接收第一终端发送的用于指示提供辅助定位服务的第二定位服务消息；或者，接收网络设备发送的用于指示提供辅助定位服务的第二定位服务消息，其中，第二定位服务消息是第一终端发送给网络设备的。
在此需要说明的是，本申请提供的上述终端，能够实现上述方法实施例中辅定位终端所实现的所有方法步骤，且能够达到相同的技术效果，在此不再对本实施例中与方法实施例相同的部分及有益效果进行具体赘述。
需要说明的是，本申请实施例中对单元的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
上述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个处理器可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本申请各个实施例方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
在第一终端侧，本申请实施例提供了一种处理器可读存储介质，处理器可读存储介质存储有计算机程序，计算机程序用于使处理器执行本申请实施例提供的有关第一终端的方法，使得处理器能够实现上述方法实施例中第一终端所实现的所有方法步骤，且能够达到相同的技术效果，在此不再对本实施例中与方法实施例相同的部分及有益效果进行具体赘述。
在主定位终端侧，本申请实施例提供了一种处理器可读存储介质，处理器可读存储介质存储有计算机程序，计算机程序用于使处理器执行本申请实施例提供的有关第一终端的方法，使得处理器能够实现上述方法实施例中主定位终端所实现的所有方法步骤，且能够达到相同的技术效果，在此不再对本实施例中与方法实施例相同的部分及有益效果进行具体赘述。
在辅定位终端侧，本申请实施例提供了一种处理器可读存储介质，处理器可读存储介质存储有计算机程序，计算机程序用于使处理器执行本申请实施例提供的有关辅定位终端的方法，使得处理器能够实现上述方法实施例中主定位终端所实现的所有方法步骤，且能够达到相同的技术效果，在此不再对本实施例中与方法实施例相同的部分及有益效果进行具体赘述。
其中，所述处理器可读存储介质可以是处理器能够存取的任何可用介质或数据存储设备，包括但不限于磁性存储器(例如软盘、硬盘、磁带、磁光盘(MO)等)、光学存储器(例如CD、DVD、BD、 HVD等)、以及半导体存储器(例如ROM、EPROM、EEPROM、非易失性存储器(NAND FLASH)、固态硬盘(SSD))等。
在第一终端侧，本申请的一实施例还提供一种包含指令的计算机程序产品，计算机程序存储在存储介质中，至少一个处理器可以从存储介质中读取计算机程序，至少一个处理器执行计算机程序时可实现上述方法实施例中第一终端所实现的所有方法步骤，且能够达到相同的技术效果，在此不再对本实施例中与方法实施例相同的部分及有益效果进行具体赘述。
在主定位终端侧，本申请的一实施例还提供一种包含指令的计算机程序产品，计算机程序存储在存储介质中，至少一个处理器可以从存储介质中读取计算机程序，至少一个处理器执行计算机程序时可实现上述方法实施例中主定位终端所实现的所有方法步骤，且能够达到相同的技术效果，在此不再对本实施例中与方法实施例相同的部分及有益效果进行具体赘述。
在辅定位终端侧，本申请的一实施例还提供一种包含指令的计算机程序产品，计算机程序存储在存储介质中，至少一个处理器可以从存储介质中读取计算机程序，至少一个处理器执行计算机程序时可实现上述方法实施例中辅定位终端所实现的所有方法步骤，且能够达到相同的技术效果，在此不再对本实施例中与方法实施例相同的部分及有益效果进行具体赘述。
本申请实施例还提供一种通信系统，包括主终端、主定位终端和辅定位终端。第一终端能够执行上述方法实施例中第一终端所执行的所有方法步骤，且能够达到相同的技术效果。主定位终端能够执行上述方法实施例中主定位终端所执行的所有方法步骤，且能够达到相同的技术效果。辅定位终端能够执行上述方法实施例中辅定位终端所执行的所有方法步骤，且能够达到相同的技术效果。在此不再对本实施例中与方法实施例相同的部分及有益效果进行具体赘述。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器和光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请实施例的方法、装置、和计算机程序产品的信令交互示意图和/或方框图来描述的。应理解可由计算机可执行指令实现信令交互示意图和/或方框图中的每一流程和/或方框、以及信令交互示意图和/或方框图中的流程和/或方框的结合。可提供这些计算机可执行指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在信令交互示意图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些处理器可执行指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的处理器可读存储器中，使得存储在该处理器可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在信令交互示意图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些处理器可执行指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在信令交互示意图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的精神和范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (48)

  1. 一种定位方法，其特征在于，应用于第一终端，所述定位方法包括：
    获取目标终端的定位服务信息；
    根据所述定位服务信息，从所述目标终端中确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端；
    基于所述主定位终端和所述辅定位终端，定位所述第一终端的位置。
  2. 根据权利要求1所述的定位方法，其特征在于，所述第一终端与所述目标终端通过直接通信接口建立通信连接。
  3. 根据权利要求1或2所述的定位方法，其特征在于，所述获取目标终端的定位服务信息，包括：通过直接通信接口接收目标终端发送的定位服务信息。
  4. 根据权利要求1或2所述的定位方法，其特征在于，所述获取目标终端的定位服务信息，包括：通过直接通信接口向目标终端发送定位服务信息获取请求；接收所述目标终端发送的定位服务信息。
  5. 根据权利要求1所述的定位方法，其特征在于，所述获取目标终端的定位服务信息，包括：从网络设备中获取目标终端的定位服务信息。
  6. 根据权利要求5所述的定位方法，其特征在于，所述从网络设备中获取目标终端的定位服务信息，具体包括：向所述网络设备发送定位服务信息获取请求，所述第一终端位于所述网络设备的覆盖范围内；接收所述网络设备发送的所述目标终端的定位服务信息。
  7. 根据权利要求1所述的定位方法，其特征在于，所述获取目标终端的定位服务信息，具体包括：若确定不在网络设备覆盖范围内，则从所述第一终端的存储介质中获取所述目标终端的定位服务信息；其中，所述目标终端的定位服务信息是所述第一终端在所述网络设备覆盖范围内的情况下从所述网络设备获取并存储的。
  8. 根据权利要求1所述的定位方法，其特征在于，所述根据所述定位服务信息，从所述目标终端中确定出用于提供主定位服务的主定位终端，包括：
    根据所述定位服务信息，从所述目标终端中确定出能够提供主定位服务的至少一个终端；
    根据确定出的每个终端的定位能力信息、移动速度以及该终端与所述第一终端之间的信道条件，从确定出的所述至少一个终端中筛选出用于提供主定位服务的主定位终端。
  9. 根据权利要求1所述的定位方法，其特征在于，在确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端之后，所述定位方法还包括：
    将用于指示提供主定位服务的第一定位服务消息发送给所述主定位终端；或者，
    将用于指示提供主定位服务的第一定位服务消息发送给网络设备，以使所述网络设备在接收到所述第一定位服务消息后转发给所述主定位终端。
  10. 根据权利要求1或9所述的定位方法，其特征在于，在确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端之后，所述方法还包括：
    将用于指示提供辅助定位服务的第二定位服务消息发送给所述辅定位终端；或者，将用于指示提供辅定位服务的第二定位服务消息发送给网络设备，以使所述网络设备在接收到所述第二定位服务消息后转发给所述辅定位终端。
  11. 根据权利要求1所述的定位方法，其特征在于，所述基于所述主定位终端和所述辅定位终端，定位所述第一终端的位置，包括：发送所述第一终端的定位能力信息给所述主定位终端；接收所述主 定位终端根据所述定位能力信息确定的用于对所述第一终端进行定位测量的定位方法；基于所述定位方法，与所述辅定位终端之间进行定位参考信号的测量，得到测量结果；基于所述测量结果，得到所述第一终端的位置。
  12. 根据权利要求11所述的定位方法，其特征在于，若所述测量结果包含第一测量结果，则基于所述定位方法，与所述辅定位终端进行定位信号测量，得到测量结果，包括：接收所述辅定位终端发送的第一定位信号；基于所述定位方法对所述第一定位信号进行测量，得到所述第一测量结果。
  13. 根据权利要求12所述的定位方法，其特征在于，若所述测量结果包含第二测量结果，则所述基于所述定位方法，与所述辅定位终端交互获得测量结果，包括：向所述辅定位终端发送第二定位信号；接收所述第二测量结果，所述第二测量结果是所述辅定位终端基于所述定位方法对所述第二定位信号进行测量获得的。
  14. 根据权利要求13所述的定位方法，其特征在于，所述基于所述测量结果，得到所述第一终端的位置，包括：将所述第一测量结果和/或所述第二测量结果发送给所述主定位终端；接收所述主定位终端发送的定位结果，根据所述定位结果得到所述第一终端的位置；其中，所述定位结果是所述主定位终端基于所述定位方法对所述第一测量结果和/或所述第二测量结果进行计算得到的。
  15. 根据权利要求13所述的定位方法，其特征在于，所述基于所述测量结果，得到所述第一终端的位置，包括：基于所述定位方法，对所述第一测量结果和/或所述第二测量结果进行计算，得到所述第一终端的定位结果。
  16. 一种定位方法，其特征在于，应用于主定位终端，所述主定位终端用于为第一终端提供主定位服务，所述定位方法包括：接收所述第一终端的定位能力信息；根据所述第一终端的定位能力信息，确定用于对所述第一终端进行定位测量的定位方法，并发送所述定位方法给所述第一终端；接收所述第一终端基于所述定位方法，与辅定位终端之间进行定位参考信号测量得到的测量结果；基于所述测量结果，得到所述第一终端的定位结果，并将所述定位结果发送给所述第一终端；其中，所述辅定位终端用于提供辅定位服务。
  17. 根据权利要求16所述的定位方法，其特征在于，所述第一终端、所述主定位终端和所述辅定位终端中至少两个终端通过直接通信接口通信连接。
  18. 根据权利要求16或17所述的方法，其特征在于，所述接收所述第一终端基于所述定位方法，与辅定位终端之间进行定位参考信号测量得到的测量结果，包括：接收所述第一终端发送的第一测量结果，其中，所述第一测量结果是所述第一终端基于所述定位方法对第一定位信号进行测量获得的，所述第一定位信号是所述辅定位终端发送给所述第一终端的；和/或，接收第二测量结果，其中，所述第二测量结果是所述辅定位终端基于所述定位方法对第二定位信号进行测量获得的，所述第二定位信号是所述第一终端发送给所述辅定位终端的。
  19. 根据权利要求16或17所述的定位方法，其特征在于，在所述接收所述第一终端的定位能力信息之前，所述定位方法还包括：通过直接通信接口或者网络设备向所述第一终端发送定位服务信息。
  20. 根据权利要求16或17所述的方法，其特征在于，在所述接收所述第一终端的定位能力信息之前，所述定位方法还包括：接收所述第一终端发送的定位服务信息获取请求；根据所述定位服务信息获取请求，将定位服务信息发送给所述第一终端。
  21. 根据权利要求16或17所述的定位方法，其特征在于，在所述接收所述第一终端的定位能力信息之前，所述定位方法还包括：接收所述第一终端通过直连接口发送的用于指示提供主定位服务的第一定位服务消息；或者，接收网络设备发送的用于指示提供主定位服务的第一定位服务消息，其中， 所述第一定位服务消息是所述第一终端发送给所述网络设备的。
  22. 一种定位方法，其特征在于，应用于辅定位终端，所述辅定位终端为第一终端提供辅定位服务，所述定位方法包括：接收所述第一终端的定位方法；基于所述定位方法，与所述第一终端之间进行定位参考信号的测量，得到测量结果；发送所述测量结果至所述第一终端或者主定位终端，所述测量结果用于所述第一终端或者所述主定位终端得到所述第一终端的定位结果；其中，所述主定位终端用于提供主定位服务。
  23. 根据权利要求22所述的定位方法，其特征在于，所述第一终端、所述辅定位终端以及所述主定位终端中的至少两个终端通过直接通信接口通信连接。
  24. 根据权利要求22或23所述的定位方法，其特征在于，若所述测量结果包含第一测量结果，则所述基于所述定位方法，与所述第一终端之间进行定位参考信号的测量，得到测量结果，包括：向所述第一终端发送第一定位信号；接收所述第一终端发送的第一测量结果，所述第一测量结果为所述第一终端基于所述定位方法对所述第一定位信号进行测量得到的。
  25. 根据权利要求22或23所述的定位方法，其特征在于，若所述测量结果包含第二测量结果，则所述基于所述定位方法，与所述第一终端之间进行定位参考信号的测量，得到测量结果，包括：接收所述第一终端发送的第二定位信号；基于所述定位方法，对所述第二定位信号进行测量，得到所述第二测量结果。
  26. 根据权利要求22或23所述的定位方法，其特征在于，在接收所述第一终端的定位方法之前，所述定位方法还包括：接收所述第一终端发送的用于指示提供辅助定位服务的第二定位服务消息；或者，接收网络设备发送的用于指示提供辅助定位服务的第二定位服务消息，其中，所述第二定位服务消息是所述第一终端发送给所述网络设备的。
  27. 一种定位装置，其特征在于，应用于第一终端，所述定位装置包括：获取模块，用于获取目标终端的定位服务信息；确定模块，用于根据所述定位服务信息，从所述目标终端中确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端；处理模块，用于基于所述主定位终端和所述辅定位终端，定位所述第一终端的位置。
  28. 一种定位装置，其特征在于，应用于主定位终端，所述主定位终端用于为第一终端提供主定位服务，所述定位装置包括：接收模块，用于接收所述第一终端的定位能力信息；确定模块，用于根据所述第一终端的定位能力信息，确定用于对所述第一终端进行定位测量的定位方法，并发送所述定位方法给所述第一终端；所述接收模块，还用于接收所述第一终端基于所述定位方法，与辅定位终端之间进行定位参考信号测量得到的测量结果；
    处理模块，用于基于所述测量结果，得到所述第一终端的定位结果，并将所述定位结果发送给所述第一终端；其中，所述辅定位终端用于提供辅定位服务。
  29. 一种定位装置，其特征在于，应用于辅定位终端，所述辅定位终端为第一终端提供辅定位服务，所述定位装置包括：接收模块，用于接收所述第一终端的定位方法；处理模块，用于基于所述定位方法，与所述第一终端之间进行定位参考信号的测量，得到测量结果；发送模块，用于发送所述测量结果至所述第一终端或者主定位终端，所述测量结果用于所述第一终端或者所述主定位终端得到所述第一终端的定位结果；其中，所述主定位终端用于提供主定位服务。
  30. 一种终端，其特征在于，所述终端为第一终端，所述第一终端包括：
    存储器，用于存储计算机程序；收发机，用于在处理器的控制下收发数据；处理器，用于读取所述存储器中的计算机程序并执行以下操作：获取目标终端的定位服务信息；根据所述定位服务信息， 从所述目标终端中确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端；基于所述主定位终端和所述辅定位终端，定位所述第一终端的位置。
  31. 根据权利要求30所述的终端，其特征在于，所述第一终端与所述目标终端通过直接通信接口建立通信连接。
  32. 根据权利要求30或31所述的终端，其特征在于，所述获取目标终端的定位服务信息，包括：通过直接通信接口接收目标终端发送的定位服务信息。
  33. 根据权利要求30或31所述的终端，其特征在于，所述获取目标终端的定位服务信息，包括：通过直接通信接口向目标终端发送定位服务信息获取请求；接收所述目标终端发送的定位服务信息。
  34. 根据权利要求30所述的终端，其特征在于，所述获取目标终端的定位服务信息，包括：从网络设备中获取目标终端的定位服务信息。
  35. 根据权利要求34所述的终端，其特征在于，所述从网络设备中获取目标终端的定位服务信息，具体包括：向所述网络设备发送定位服务信息获取请求，所述第一终端位于所述网络设备的覆盖范围内；接收所述网络设备发送的所述目标终端的定位服务信息。
  36. 根据权利要求30所述的终端，其特征在于，所述获取目标终端的定位服务信息，具体包括：若确定不在网络设备覆盖范围内，则从所述第一终端的存储介质中获取所述目标终端的定位服务信息；其中，所述目标终端的定位服务信息是所述第一终端在所述网络设备覆盖范围内的情况下从所述网络设备获取并存储的。
  37. 根据权利要求30所述的终端，其特征在于，所述根据所述定位服务信息，从所述目标终端中确定出用于提供主定位服务的主定位终端，包括：根据所述定位服务信息，从所述目标终端中确定出能够提供主定位服务的至少一个终端；根据确定出的每个终端的定位能力信息、移动速度以及该终端与所述第一终端之间的信道条件，从确定出的所述至少一个终端中筛选出用于提供主定位服务的主定位终端。
  38. 根据权利要求30所述的终端，其特征在于，在确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端之后，所述处理器，还用于执行以下操作：将用于指示提供主定位服务的第一定位服务消息发送给所述主定位终端；或者，将用于指示提供主定位服务的第一定位服务消息发送给网络设备，以使所述网络设备在接收到所述第一定位服务消息后转发给所述主定位终端。
  39. 根据权利要求30或38所述的终端，其特征在于，在确定出用于提供主定位服务的主定位终端，以及用于提供辅定位服务的辅定位终端之后，所述处理器，还用于执行以下操作：将用于指示提供辅助定位服务的第二定位服务消息发送给所述辅定位终端；或者，将用于指示提供辅定位服务的第二定位服务消息发送给网络设备，以使所述网络设备在接收到所述第二定位服务消息后转发给所述辅定位终端。
  40. 根据权利要求30所述的终端，其特征在于，所述基于所述主定位终端和所述辅定位终端，定位所述第一终端的位置，包括：发送所述第一终端的定位能力信息给所述主定位终端；接收所述主定位终端根据所述定位能力信息确定的用于对所述第一终端进行定位测量的定位方法；基于所述定位方法，与所述辅定位终端之间进行定位参考信号的测量，得到测量结果；基于所述测量结果，得到所述第一终端的位置。
  41. 根据权利要求40所述的终端，其特征在于，若所述测量结果包含第一测量结果，则基于所述定位方法，与所述辅定位终端进行定位信号测量，得到测量结果，包括：接收所述辅定位终端发送的第一定位信号；基于所述定位方法对所述第一定位信号进行测量，得到所述第一测量结果。
  42. 根据权利要求41所述的终端，其特征在于，若所述测量结果包含第二测量结果，则所述基于所述定位方法，与所述辅定位终端交互获得测量结果，包括：向所述辅定位终端发送第二定位信号；接收所述第二测量结果，所述第二测量结果是所述辅定位终端基于所述定位方法对所述第二定位信号进行测量获得的。
  43. 根据权利要求42所述的终端，其特征在于，基于所述测量结果，得到所述第一终端的位置，包括：将所述第一测量结果和/或所述第二测量结果发送给所述主定位终端；接收所述主定位终端发送的定位结果，根据所述定位结果得到所述第一终端的位置；其中，所述定位结果是所述主定位终端基于所述定位方法对所述第一测量结果和/或所述第二测量结果进行计算得到的。
  44. 根据权利要求42所述的终端，其特征在于，基于所述测量结果，得到所述第一终端的位置，包括：基于所述定位方法，对所述第一测量结果和/或所述第二测量结果进行计算，得到所述第一终端的定位结果。
  45. 一种终端，其特征在于，所述终端为主定位终端，所述主定位终端为第一终端提供主定位服务，所述主定位终端包括：存储器，用于存储计算机程序；收发机，用于在处理器的控制下收发数据；
    所述处理器，用于读取所述存储器中的计算机程序并执行以下操作：
    接收所述第一终端的定位能力信息；根据所述第一终端的定位能力信息，确定用于对所述第一终端进行定位测量的定位方法，并发送所述定位方法给所述第一终端；接收所述第一终端基于所述定位方法，与辅定位终端之间进行定位参考信号测量得到的测量结果；基于所述测量结果，得到所述第一终端的定位结果，并将所述定位结果发送给所述第一终端；其中，所述辅定位终端用于提供辅定位服务。
  46. 一种终端，其特征在于，所述终端为辅定位终端，所述辅定位终端为第一终端提供辅助定位服务，所述辅定位终端包括：存储器，用于存储计算机程序；收发机，用于在处理器的控制下收发数据；
    所述处理器，用于读取所述存储器中的计算机程序并执行以下操作：
    接收所述第一终端的定位方法；基于所述定位方法，与所述第一终端之间进行定位参考信号的测量，得到测量结果；发送所述测量结果至所述第一终端或者主定位终端，所述测量结果用于所述第一终端或者所述主定位终端得到所述第一终端的定位结果；其中，所述主定位终端用于提供主定位服务。
  47. 一种处理器可读存储介质，其特征在于，所述处理器可读存储介质存储有计算机程序，所述计算机程序用于使处理器执行权利要求1至15中任一项所述的定位方法、或者权利要求16至21中任一项所述的定位方法、或者权利要求22至26中任一项所述的定位方法。
  48. 一种计算机程序产品，其特征在于，包括：计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至15中任一项所述的定位方法、或者权利要求16至21中任一项所述的定位方法、或者权利要求22至26中任一项所述的定位方法。
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