WO2023020379A1

WO2023020379A1 - Positioning method and apparatus, and terminal

Info

Publication number: WO2023020379A1
Application number: PCT/CN2022/112069
Authority: WO
Inventors: 潘翔; 钟婷婷
Original assignee: 维沃移动通信有限公司
Priority date: 2021-08-17
Filing date: 2022-08-12
Publication date: 2023-02-23
Also published as: CN115915023A

Abstract

The present application discloses a positioning method and apparatus and a terminal, which belong to the technical field of wireless communications, the positioning method according to the embodiments of the present application comprising: a first terminal broadcasts information related to sidelink (SL) positioning, the information related to SL positioning being used by at least one second terminal to determine a target terminal, the target terminal being used to transmit first information of at least one second terminal, and the first information comprising at least one among a positioning measurement result, a positioning result and positioning auxiliary information.

Description

Positioning method, device and terminal

cross reference

The present invention claims the priority of the Chinese patent application submitted to the China Patent Office on August 17, 2021, with the application number 202110944153.1, and the title of the invention is "Positioning Method, Device and Terminal". The entire content of this application is incorporated by reference in the present invention middle.

technical field

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

Background technique

In the fifth-generation (5G) mobile communication system New Radio (NR) system, the NR secondary link (Sidelink, SL) can also be called a sidelink, a direct link, a secondary link, and a sidechain. roads, side links, etc.) to support advanced vehicle-to-everything (V2X, Vehicle To Everything) services and public safety (Public Safety) services that have strict transmission requirements in terms of low latency and high reliability.

Among them, for the SL positioning requirements in scenarios such as V2X and public security, it is similar to the conventional positioning scheme, and also involves positioning capability interaction, positioning reference signal (Positioning Reference Signal, PRS) configuration interaction, auxiliary information interaction, and PRS measurement , reporting of measurement results, calculation of positioning results, etc. However, when the target (Target) terminal (User Equipment, UE, also called terminal equipment or user terminal) is positioned with the help of multiple anchor point (Anchor) UEs, it is necessary to establish multiple A Sidelink connection is used to interactively configure and/or report measurement results, resulting in signaling interaction of a large number of PC5 interfaces and/or Uu interfaces.

Contents of the invention

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

In the first aspect, a positioning method is provided, including: a first terminal broadcasts secondary link SL positioning related information; wherein, the SL positioning related information is used by at least one second terminal to determine a target terminal, and the target terminal is used for Transmitting first information of at least one second terminal, where the first information includes at least one item of positioning measurement results, positioning results, and positioning assistance information.

In a second aspect, a positioning method is provided, the method comprising: a second terminal receiving at least one SL positioning-related information broadcast by a first terminal; the second terminal determining the at least one first terminal according to the positioning-related information A target terminal in a terminal; wherein the target terminal is used to transmit first information of the second terminal, where the first information includes at least one of a positioning measurement result, a positioning result, and positioning assistance information.

In a third aspect, a positioning device is provided, which is applied to a first terminal, and the device includes: a first sending module, configured to broadcast secondary link SL positioning-related information; wherein, the SL positioning-related information is at least used to assist The second terminal performs SL positioning, and the SL positioning related information includes SL positioning related information of the first terminal and/or SL positioning related information of at least one third terminal.

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

According to a fifth aspect, a terminal is provided. The terminal includes a processor, a memory, and a program or instruction stored in the memory and operable on the processor. When the program or instruction is executed by the processor The steps of the method described in the first aspect or the second aspect are realized.

In a sixth aspect, a terminal is provided, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is configured to run programs or instructions to implement the method described in the first aspect Steps, or steps to implement the method as described in the second aspect.

In the seventh aspect, a readable storage medium is provided, and programs or instructions are stored on the readable storage medium, and when the programs or instructions are executed by a processor, the steps of the method described in the first aspect are realized, or the steps of the method described in the first aspect are realized, or The steps of the method described in the second aspect.

In an eighth aspect, a chip is provided, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the method as described in the first aspect steps, or to achieve the steps of the method as described in the second aspect.

In a ninth aspect, a computer program product/program product is provided, the computer program/program product is stored in a non-transitory storage medium, and the program/program product is executed by at least one processor to implement the first The steps of the method described in the first aspect, or the steps of implementing the method described in the second aspect.

In a tenth aspect, an electronic device is provided, and the electronic device is configured to perform the steps of the method described in the first aspect, or to perform the steps of the method described in the second aspect.

In this embodiment of the present application, the first terminal broadcasts SL positioning-related information, so that at least one second terminal can determine the target terminal according to the received SL positioning-related information, and then the target terminal is responsible for at least one second terminal The first information is transmitted, thus enabling multiple second terminals to exchange positioning information with the help of the target terminal, effectively reducing the signaling overhead of the PC5 interface and/or Uu interface, and ensuring the stability and reliability of wireless communication sex.

Description of drawings

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

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

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

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

Fig. 5 is a schematic flowchart of a positioning method provided by another exemplary embodiment of the present application.

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

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

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

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

Detailed ways

The following will clearly describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, but not all of them. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in this application belong to the protection scope of this application.

The terms "first", "second" and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific sequence or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application are capable of operation in sequences other than those illustrated or described herein and that "first" and "second" distinguish objects. It is usually one category, and the number of objects is not limited. For example, there may be one or more first objects. In addition, "and/or" in the description and claims means at least one of the connected objects, and the character "/" generally means that the related objects are an "or" relationship.

It is worth pointing out that the technology described in the embodiment of this application is not limited to the Long Term Evolution (Long Term Evolution, LTE)/LTE-Advanced (LTE-Advanced, LTE-A) system, and can also be used in other wireless communication systems, such as code Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access, OFDMA), Single-carrier Frequency-Division Multiple Access (Single-carrier Frequency-Division Multiple Access, SC-FDMA) and other systems. The terms "system" and "network" in the embodiments of the present application are often used interchangeably, and the described technologies can be used for the above-mentioned systems and radio technologies as well as other systems and radio technologies. The following description describes the New Radio (NR) system for illustrative purposes, and uses NR terminology in most of the following descriptions, but these techniques can also be applied to applications other than NR system applications, such as the 6th generation (6 ^th Generation, 6G) communication system.

Fig. 1 shows a schematic structural diagram of a wireless communication system to which this embodiment of the present application is applicable. The wireless communication system includes a terminal 11 and a network side device 12 . Wherein, the terminal 11 can also be called a terminal device or a user terminal (User Equipment, UE), and the terminal 11 can be a mobile phone, a tablet computer (Tablet Personal Computer), a laptop computer (Laptop Computer) or a notebook computer, a personal digital Assistant (Personal Digital Assistant, PDA), handheld computer, netbook, ultra-mobile personal computer (UMPC), mobile Internet device (Mobile Internet Device, MID), wearable device (Wearable Device) or vehicle-mounted device (VUE), Pedestrian Terminal (PUE) and other terminal-side devices, wearable devices include: smart watches, bracelets, earphones, glasses, etc. It should be noted that, the embodiment of the present application does not limit the specific type of the terminal 11 . The network side device 12 may be a base station or a core network, where a base station may be called a node B, an evolved node B, an access point, a base transceiver station (Base Transceiver Station, BTS), a radio base station, a radio transceiver, a basic service Basic Service Set (BSS), Extended Service Set (ESS), Node B, evolution Node-B (eNB), home Node-B, home evolution Node-B, wireless LAN (Wireless LAN) Local Area Networks, WLAN) access point, WiFi node, Transmitting Receiving Point (Transmitting Receiving Point, TRP) or some other suitable term in the field, as long as the same technical effect is achieved, the base station is not limited to specific technical terms , it should be noted that in the embodiment of the present application, only the base station in the NR system is taken as an example, but the specific type of the base station is not limited.

Among them, in the SL positioning scenario, SL positioning (Sidelink positioning) may involve processes such as positioning capability interaction, PRS configuration interaction, auxiliary information interaction, PRS measurement, reporting of SL positioning measurement results, and calculation of SL positioning results. In this case, Please refer to Figure 2. If there are multiple Target UEs that need to be positioned (Target UE1, Target UE2, Target UE3, and Target UE4 in Figure 2), then the multiple Target UEs need to be connected to the network side for assisted positioning. The establishment of Uu connection or SL connection between devices or other terminal devices will inevitably lead to the establishment of a large number of PC5 interfaces, PC5 interface signaling interaction, Uu interface signaling interaction, etc., which will affect the stability and reliability of wireless communication. . In this regard, the present application provides a positioning method, device, and terminal. The technical solution will be described in detail below through some embodiments and application scenarios with reference to the accompanying drawings.

As shown in FIG. 3 , it is a schematic flowchart of a positioning method 300 provided by an exemplary embodiment of the present application. The method 300 may be executed by a terminal, such as a first terminal, specifically, by hardware installed in the terminal and/or software execution. In this embodiment, the method 300 may at least include the following steps.

S310. The first terminal broadcasts SL positioning related information.

Wherein, the SL positioning-related information is used by at least one second terminal to determine a target terminal, and the target terminal is used to transmit first information of at least one second terminal, and the first information includes a positioning measurement result ( Including at least one of SL positioning measurement results, non-SL positioning measurement results, etc.), positioning results (including SL positioning results, non-SL positioning results, etc.), positioning assistance information (including SL positioning assistance information, non-SL positioning assistance information, etc.) item, the first terminal and the second terminal are terminals to be located.

Please refer to FIG. 4 , the target terminal may be the master (Master) UE introduced in the SL positioning scenario of the present application, which may be responsible for the transmission of the first information of multiple secondary (Secondary) UEs and the like. For example, for the SL positioning scenario given in this application, if there are multiple Target UEs (including the first terminal and at least one second terminal) that need to perform SL positioning, then the target terminal can be determined from the multiple Target UEs, That is, the Master UE, and then use the Master UE to interact with other network-side devices or terminals to achieve positioning measurement. That is, the first information transmitted by the target terminal may be SL positioning information for positioning or conventional positioning information other than SL positioning information, etc., each of the second terminal and the target terminal and each of the Information exchange is performed between the second terminals based on the SL connection.

Exemplary, please refer to Figure 4 again, assuming that there are Target UE1, Target UE2, Target UE3, and Target UE4 that need to be positioned, then Target UE1, Target UE2, Target UE3, and Target UE4 respectively broadcast SL positioning related information, in this case Next, assume that Target UE1 (which can be understood as the second terminal) receives Target UE2 (which can be understood as the first terminal), Target UE3 (which can be understood as the first terminal), and Target UE4 (which can be understood as the first terminal). SL positioning related information A, B, C, then, Target UE1 determines the Master UE according to SL positioning related information A, B, C; if it is determined to be the Master UE, then Target UE2, Target UE3, and Target UE4 are all Secondary UEs, and The Secondary UE exchanges positioning information with the network side through the Master UE, and jointly reports positioning measurement results/positioning results and other information.

It should be noted that the process of determining the Master UE by Target UE2, Target UE3, and Target UE4 is similar to that of Target UE1, and will not be repeated here. Of course, in this embodiment of the present application, the Master UEs determined by different Target UEs may be the same or different, that is, there may be one or more Master UEs among the multiple Target UEs that need to be positioned.

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

As shown in FIG. 5 , it is a schematic flowchart of a positioning method 500 provided by an exemplary embodiment of the present application. The method 500 may be executed by a terminal, such as a first terminal, specifically, by hardware installed in the terminal and/or software execution. In this embodiment, the method 500 may at least include the following steps.

S510, the first terminal broadcasts SL positioning related information.

Wherein, the SL positioning-related information is used by at least one second terminal to determine a target terminal, and the target terminal is used to transmit first information of at least one second terminal, where the first information includes a positioning measurement result, At least one of positioning results and positioning assistance information.

It can be understood that, in addition to referring to the relevant description in the foregoing method embodiment 300 for the implementation process of S510, as a possible implementation manner, there may be multiple transmission modes of the SL positioning related information, for example, the SL positioning Related information may be broadcast through a first message, and the first message may include any one of the following (001)-(004).

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

(002) Master Information Block (MIB) secondary link information.

(003) PC5-S message.

Wherein, the PC5-S message may be new and dedicated to the transmission of the SL positioning-related information; or, the PC5-S message may also be used in related technologies to transmit information other than the SL positioning-related information Other information of the message is limited here.

(004) PC5-Radio Resource Control (RRC) message.

Wherein, similar to the PC5-S message described in (003) above, the PC5-RRC message may be new and dedicated to the transmission of the SL positioning-related information, or it may be a The information other than the SL positioning related information is not limited here.

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

(101) Identification information of the first terminal.

Wherein, the identification information of the first terminal may be application layer identification information (Application Layer ID) or Layer-2 (Layer-2) identification (Identifier, ID), etc., which is not limited here.

(102) A first threshold, where the first threshold is a signal strength threshold, and the first threshold is used by the second terminal to determine whether to establish an SL connection with the first terminal.

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

Optionally, the signal strength threshold may be a Reference Signal Received Power (Reference Signal Received Power, RSRP) threshold or the like. In addition, the first threshold may be implemented by protocol agreement, high-level configuration or network side configuration, which is not limited here.

(103) First indication information, where the first indication information is used to indicate that the first terminal has or does not have the capability of forwarding SL positioning assistance information of at least one third terminal.

Wherein, the first indication information may be indicated in an explicit or implicit manner, for example, when the indication is displayed, "1" means having, "0" means not having, etc. Based on this, if the first indication information is "1", then the second terminal may request the first terminal to forward the SL positioning assistance information of at least one third terminal.

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

(104) Second indication information, where the second indication information is used to indicate that the first terminal has or does not have the ability to feed back the SL positioning measurement result of the second terminal.

Wherein, the second indication information may be indicated in an explicit or implicit manner, for example, in an explicit indication, "1" means yes, and "0" means no, based on this, if the second indication If the information is "1", then the second terminal may request the first terminal to feed back the SL positioning measurement result of the second terminal.

In addition, the SL positioning measurement result fed back by the first terminal may be obtained through measurement based on the positioning measurement signal or positioning measurement configuration information sent by the second terminal, or may be obtained by receiving the SL of the second terminal forwarded by other terminals. Positioning measurement results and the like are not limited here.

(105) Third indication information, where the third indication information is used to indicate that the first terminal has or does not have the capability of forwarding the positioning assistance information of the first network device.

Wherein, the third indication information may be indicated in an explicit or implicit manner, for example, in an explicit indication, "1" means yes, and "0" means no, based on this, if the third indication If the information is "1", then the second terminal may request the first terminal to forward the positioning assistance information of the first network device.

In addition, the first network side device may be a network device that assists the first terminal to perform regular positioning, that is, the second terminal may perform positioning measurement according to the positioning assistance information of the first network device. In this embodiment, the first network-side device may also have a capability of calculating a positioning result based on the positioning measurement result of the second terminal, and the like.

(106) Fourth indication information, where the fourth indication information is used to indicate that the first terminal has or does not have the ability to feed back the positioning measurement result of the first network device.

Wherein, the fourth indication information may be indicated in an explicit or implicit manner. For example, in an explicit indication, "1" means yes, and "0" means no. Based on this, if the fourth indication If the information is "1", then the second terminal may request the first terminal to feed back the positioning measurement result of the first network device.

(107) Fifth indication information, used to indicate whether the first terminal has cached or not cached the positioning result of the first terminal.

Wherein, the fifth indication information may be indicated in an explicit or implicit manner. For example, when explicitly indicating, "1" indicates that it is cached, and "0" indicates that it is not cached. Based on this, if the fifth If the five indication information is "1", then the first terminal has its own positioning result cached, otherwise, its own positioning result has not been cached.

(108) First time information, used to indicate the acquisition time of the positioning result of the first terminal.

Wherein, the acquisition time of the positioning result may be the time when the first terminal obtains its own positioning result from other network-side devices or terminal devices, or the time when the first terminal performs positioning measurement to obtain its own positioning result . The function of the acquisition time of the positioning result is to enable the device applying the positioning result of the first terminal to determine whether it is within the allowable time range or not within the allowable time range according to the acquisition time, thereby ensuring the reliability of the positioning result.

(109) First location capability.

Wherein, the first positioning capability is used to indicate the positioning method supported by the first terminal; for example, in this embodiment, the positioning method supported by the first terminal may include a positioning method based on time difference (such as TDoA , Round-trip time delay (Round-Trip Time, RTT)), angle-based positioning methods (such as angle of arrival (Angle of Arrival, AoA), departure angle (Angle of Departure, AoD)), positioning methods based on signal strength, based on At least one of the phase difference positioning methods is not limited here.

(110) The state of the first terminal.

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

(1101) An identifier of the zone (Zone) where the first terminal is located, and the zone identifier may be represented in various manners, which are not limited here.

(1102) The moving state of the first terminal; wherein, the moving state of the first terminal includes at least one of moving, stationary, moving, and a moving speed within a predetermined interval. The predetermined interval may be implemented by agreement or other means.

(1103) The network coverage state of the first terminal; wherein, the network coverage state of the first terminal includes being within the coverage of the cellular network or not being within the coverage of the cellular network, etc., which is not limited here.

Wherein, the cellular network may include 2G network, 3G network, LTE network, 5G network, etc., which is not limited here.

(1104) PC5 unicast connection (unicast link) status of the first terminal. Wherein, the PC5 unicast link state of the first terminal is used for the second terminal to determine whether to establish or not to establish a PC5 unicast link with the first terminal.

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

(11041) Number of established PC5 unicast links.

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

(11043) Indication information of the interval to which the number of established PC5 unicast links belongs.

(11044) The established PC5 unicast link exceeds or does not exceed the predetermined value. Wherein, the predetermined value may be stipulated by a protocol, configured by a high-level layer or configured by a network side, etc., which is not limited here.

It should be noted that in this embodiment, the aforementioned SL positioning related information may be transmitted through different information fields, for example, the identification information of the first terminal, the second information field of the SL positioning related information may be transmitted through the first information field in the SL positioning related information The second information field transmits the first threshold, the third information field transmits the first indication information, etc. For this, it can be determined through protocol agreement, network configuration, or high-level configuration to determine which information field to transmit which information. This is not limited.

S520. When the first terminal is determined to be the target terminal, perform a first operation.

That is to say, when the first terminal is determined to be a target terminal to be responsible for transmitting first information for multiple second terminals, the first terminal may perform (ie, the first operation) the following (201)-( 204) at least one.

(201) When receiving the first request sent by the second terminal, the target terminal forwards SL positioning assistance information of at least one third terminal to the second terminal.

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

(2011) Identification information of the third terminal. Wherein, the identification information of the third terminal may include the Application Layer ID of the third terminal, the Layer-2 ID of the third terminal, or other newly agreed sequence identifiers, etc., which are not limited here .

(2012) Synchronization related information of the third terminal. Wherein, the synchronization-related information may include frame synchronization information (SFN initialisation time) and the like.

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

(2014) Configuration information of the reference signal of the third terminal; wherein, the reference signal may be SL PRS, etc., and its configuration information may be time-frequency domain information, quantity information, period information, etc. of SL PRS, which are not described herein Do limit.

It can be understood that the condition for the second terminal to send the first request to the target terminal is: the first indication information carried in the SL positioning related information indicates that the first terminal has forwarded at least one third The capability of the terminal's SL to locate auxiliary information.

(202) When receiving the second request sent by the second terminal, the target terminal forwards the positioning assistance information of the first network device to the second terminal.

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

(2021) Identification information of the first network device. Wherein, the identification information of the first network device may be a Layer-2 ID, or other newly agreed sequence identification, etc., which is not limited here.

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

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

(2024) Configuration information of the reference signal of the first network device. Wherein, the reference signal may be SL PRS, etc., and its configuration information may be time-frequency domain information, quantity information, period information, etc. of SL PRS, which is not limited here.

It can be understood that the condition for the second terminal to send the second request to the target terminal is: the third indication information carried in the SL positioning related information indicates that the first terminal has forwarding at least one first The ability of network devices to locate assistance information.

(203) Send the positioning result of the target terminal to the second terminal if the third request sent by the second terminal is received.

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

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

(2032) Acquisition time of the positioning result of the target terminal. Wherein, the acquisition time may be the time when the target terminal obtains its own positioning result from other network-side devices or terminal devices, or it may be the time when the target terminal performs positioning measurement to obtain its own positioning result, which will not be done here limit.

It can be understood that the condition for the second terminal to send the third request to the target terminal is: the fifth indication information carried in the SL positioning related information indicates that the first terminal caches its own positioning result.

In this case, as a possible implementation, the third request may also carry a first time threshold, and the target terminal does not cache a positioning result that meets the first time threshold Next, the target terminal executes any one of the following (a)-(b). Wherein, the first time threshold is used to indicate that the acquisition time of the positioning result of the target terminal requested by the second terminal must be after the first time threshold.

(a) canceling the feedback of the positioning result of the target terminal. It can also be understood as ignoring/discarding/rejecting the third request when no positioning result satisfying the first time threshold is cached in the target terminal,

(b) restarting the positioning process, and feeding back the positioning result to the second terminal when the positioning result satisfying the first time threshold is obtained.

In this embodiment, by setting the first time threshold, it can be indicated that the acquisition time of the positioning result of the first terminal is within an allowable range, thereby ensuring the reliability of the positioning result of the target terminal. In addition, the size of the first time threshold can be implemented by protocol agreement, high-level configuration or network side configuration, and there is no limitation here.

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

Wherein, after the target terminal receives the positioning measurement result sent by the second terminal, it can calculate the positioning result according to the positioning measurement result, and can also forward it to other devices with computing capabilities to calculate the second The positioning result of the terminal is not limited here.

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

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

(20411) Identification information of the second terminal. Wherein, the identification information of the second terminal includes Application Layer ID or Layer-2 ID, etc., which is not limited here.

(20412) Identification information of the third terminal.

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

(20414) RSRP for the SL PRS.

(20415) The arrival time (Time of Arrival, ToA) of the SL PRS.

Wherein, the arrival time of the SL PRS may be the arrival time of the SL PRS sent by one or more third terminals that assist the second terminal in positioning measurement.

(20416) Time Difference of Arrival (TDoA) of said SL PRS.

Wherein, the arrival time difference of the SL PRS may be the difference between the arrival times of the SL PRS sent by at least two third terminals that assist the second terminal in performing positioning measurement.

(20417) The acquisition time of the SL PRS measurements.

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

(2042) A downlink (Downlink, DL) PRS measurement result of the first network device by the second terminal. Wherein, the DL PRS measurement results include at least one of the following (20421)-(20427).

(20421) Identification information of the second terminal.

(20422) Identification information of the first network device.

(20423) Identification information of the DL PRS.

(20424) RSRP of the DL PRS.

It can be understood that for the implementation process of (20421)-(20424), reference may be made to the relevant descriptions in (20411)-(20414) above, and to avoid repetition, details are not repeated here.

(20425) ToA of the DL PRS.

Wherein, the arrival time of the DL PRS may be the arrival time of the DL PRS sent by one or more first network devices that assist the second terminal in performing positioning measurement.

(20426) TDoA of the DL PRS.

Wherein, the arrival time difference of the DL PRS may be a difference between arrival times of SL PRS sent by at least two first network devices that assist the second terminal in performing positioning measurement.

(20427) Acquisition time of the DL PRS measurements.

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

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

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

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

(2045) Acquisition time of the positioning result of the second terminal. Wherein, the acquisition time may be the time when the second terminal determines the positioning result based on the positioning measurement result, etc., so that the device applying the positioning result of the second terminal can determine whether it is valid or invalid according to the acquisition time.

It should be noted that, before the second terminal sends the aforementioned first request, second request, third request, positioning measurement result, positioning result and other information to the target terminal (that is, the first terminal), it may The SL positioning related information and/or the received application layer (such as V2X Application layer)) instruction information, establish an SL connection (such as a Sidelink Unicast connection) with the first terminal; wherein, the SL connection is used for the second terminal The second terminal reports the positioning measurement result and/or the positioning result, and/or, the SL connection is used to receive the positioning result forwarded by the first terminal.

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

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

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

Exemplarily, assuming that the RSRP measured by the second terminal is greater than the first threshold, then, based on the SL positioning related information and/or received application layer indication information, the second terminal communicates with the first The terminal establishes an SL connection.

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

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

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

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

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

(307) Determine according to the first positioning capability that the positioning capability of the first terminal meets a predetermined requirement.

It can be understood that for the implementation process in (302)-(307) above, reference may be made to the related description of (301) above, and in order to avoid repetition, details are not repeated here.

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

That is to say, when the target terminal is responsible for transmitting information such as positioning measurement results or positioning results for multiple second terminals, it may report in a differential manner. For example, assuming that the positioning result reported by the second terminal A is A, the positioning result reported by the second terminal B is A+b, and the positioning result reported by the second terminal C is A+2b..., then, the target terminal After receiving the positioning results reported by the second terminals A, B, and C, the positioning results of the second terminals A, B, and C may be reported to the network side equipment in the manner of A, b, and 2b, thereby , compared to the reporting method of directly reporting A, A+b, and A+2b, this application adopts a differential reporting method, which can effectively reduce signaling overhead and report data volume, and improve reporting efficiency.

Based on the description of the foregoing positioning methods 300 and/or 500, the positioning process provided by the present application will be further described below in conjunction with examples, and the content is as follows.

Example 1

(401) The first terminal broadcasts a request for establishing a Sidelink Unicast, and the request includes SL positioning related information for establishing the Sidelink connection, and the request can be sent through a Direct communication request message.

(402) The second terminal, which is interested in the broadcast location service, determines whether the broadcast location capability of the first terminal meets or does not meet its own location requirements. If the requirements are met, the feedback agrees to establish a Sidelink connection, and the feedback can be sent through the Direct communication accept message.

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

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

(405) The second terminal performs positioning measurement according to the positioning assistance information, and optionally calculates a positioning result according to terminal capabilities and requests.

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

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

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

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

Example 2

The first terminal forwards the measurement results or positioning results (such as UEMeasInformation and UELocaInformation as follows) of multiple second terminals, and the measurement results/positioning results can be reported by difference (such as the following RSRP-ResultDiff and LocationInformationDiff), thereby reducing the amount of reported data.

In this embodiment, by further configuring SL positioning related information and setting SL connection establishment conditions, etc., the signaling volume of the PC5 interface and/or Uu interface can be further reduced to ensure the reliability and stability of wireless communication.

As shown in FIG. 6 , it is a schematic flowchart of a positioning method 600 provided by an exemplary embodiment of the present application. The method 600 may be executed by a terminal, but specifically may be executed by hardware and/or software installed in the terminal. In this embodiment, the method 600 may at least include the following steps.

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

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

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

In a possible implementation manner, the location-related information includes at least one of the following: identification information of the first terminal; a first threshold, where the first threshold is a signal strength threshold, and the first threshold is used for the first terminal The second terminal judges whether to establish or not to establish an SL connection with the first terminal; first indication information, the first indication information is used to indicate whether the first terminal has or does not forward SL positioning assistance information of at least one third terminal capability; second indication information, the second indication information is used to indicate that the first terminal has or does not have the ability to feed back the positioning measurement result of the second terminal; third indication information, the third indication information It is used to indicate that the first terminal has or does not have the ability to forward the positioning assistance information of the first network device; the fourth indication information, the fourth indication information is used to indicate whether the first terminal has or does not have the ability to feed back the second The capability of the terminal's SL positioning measurement result; fifth indication information, used to indicate that the first terminal has cached or not cached the positioning result of the first terminal; first time information, used to indicate the first terminal's The acquisition time of the positioning result; the first positioning capability, the first positioning capability is used to indicate the positioning mode supported by the first terminal; the status of the first terminal.

In another possible implementation manner, the state of the first terminal includes at least one of the following: an identifier of an area where the first terminal is located; a moving state of the first terminal; a network coverage state of the first terminal ; The PC5 unicast connection unicast link state of the first terminal.

In another possible implementation manner, the moving state of the first terminal includes any of the following: moving; stationary; moving with a moving speed within a predetermined interval.

In another possible implementation manner, the network coverage state of the first terminal includes any of the following: being within the coverage of the cellular network; not being within the coverage of the cellular network.

In another possible implementation, the PC5 unicast link status of the first terminal includes at least one of the following: the number of established PC5 unicast links; the interval to which the number of established PC5 unicast links belongs; the established PC5 unicast Indication information of the interval to which the number of links belongs; the established PC5 unicast link exceeds or does not exceed the predetermined value.

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

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

In another possible implementation manner, based on the positioning related information and/or the received application layer indication information, the step of establishing an SL connection between the second terminal and the first terminal includes: meeting at least one of the following In the case where, based on the SL positioning related information and/or the received application layer indication information, the second terminal establishes an SL connection with the first terminal: the RSRP measured by the second terminal satisfies the first Threshold; the first indication information indicates that the first terminal has the capability of forwarding SL positioning assistance information of at least one third terminal; the second indication information indicates that the first terminal has the ability to feed back the SL of the second terminal Ability to locate measurement results; the third indication information indicates that the first terminal has the ability to forward the positioning assistance information of the first network device; the fourth indication information indicates that the first terminal has the ability to feed back the first network device The capability of the positioning measurement result of the device; the fifth indication information indicates that the first terminal caches the positioning result of the first terminal, and the first time information indicates the acquisition time of the positioning result of the first terminal Within the first time range: determining according to the first positioning capability that the positioning capability of the first terminal meets a predetermined requirement.

In another possible implementation manner, after the step of determining a target terminal among the at least one first terminal according to the positioning-related information, the method further includes at least one of the following: sending a first request to the target terminal , the first request is used to request the target terminal to forward the SL positioning assistance information of at least one third terminal; a second request is sent to the target terminal, and the second request is used to request the target terminal to forward the first Positioning assistance information of the network device; sending a third request, where the third request is used to request the target terminal to send a positioning result of the target terminal; and sending a positioning measurement result or a positioning result to the target terminal.

In another possible implementation manner, the SL positioning assistance information of the third terminal includes at least one of the following: identification information of the third terminal; synchronization related information of the third terminal; absolute Location information; configuration information of the reference signal of the third terminal.

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

In another possible implementation manner, the positioning measurement result includes at least one of the following: the SL PRS measurement result of the second terminal device about the third terminal; the DL PRS measurement result of the second terminal device about the first network device result.

In another possible implementation manner, the SL PRS measurement result includes at least one of the following: identification information of the second terminal; identification information of the third terminal; identification information of the SL PRS; The reference information received power RSRP; the ToA of the SL PRS; the TDoA of the SL PRS; the acquisition time of the measurement result of the SL PRS.

In another possible implementation manner, the DL PRS measurement result includes at least one of the following: identification information of the second terminal; identification information of the first network device; identification information of the DL PRS; The reference information received power RSRP of the PRS; the ToA of the DL PRS; the TDoA of the DL PRS; the acquisition time of the measurement result of the DL PRS.

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

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

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

It can be understood that for the implementation process of each implementation in method embodiment 600, reference may be made to the relevant descriptions in method embodiment 300 and/or 500, and corresponding technical effects can be achieved. To avoid repetition, details are not repeated here.

In this embodiment, the second terminal receives the SL positioning-related information broadcast by the first terminal, and determines the target terminal according to the SL positioning-related information, so that the target terminal transmits the first information of at least one second terminal , thereby enabling multiple second terminals to exchange positioning information with the help of the target terminal, effectively reducing the number of PC5 connection establishments and/or Uu interface signaling overhead, ensuring the stability and reliability of wireless communication.

It should be noted that, for the positioning method provided in the embodiment of the present application, the execution subject may be a positioning device, or a control module in the positioning device for executing the positioning method. In the embodiment of the present application, the positioning device executed by the positioning device is taken as an example to describe the positioning device provided in the embodiment of the present application.

As shown in FIG. 7 , it is a schematic structural diagram of a positioning device 700 provided by an exemplary embodiment of the present application. The device 700 includes a first sending module 710 for broadcasting secondary link SL positioning related information; wherein, the SL positioning The relevant information is used by at least one second terminal to determine a target terminal, and the target terminal is used to transmit first information of at least one second terminal, where the first information includes positioning measurement results, positioning results, and positioning assistance information At least one of the .

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

Optionally, the SL positioning-related information includes at least one of the following: identification information of the first terminal; a first threshold, the first threshold is a signal strength threshold, and the first threshold is used for the second The terminal judges whether to establish an SL connection with the first terminal; first indication information, the first indication information is used to indicate whether the first terminal has or does not forward SL positioning assistance information of at least one third terminal Capability; second indication information, the second indication information is used to indicate that the first terminal has or does not have the ability to feed back the SL positioning measurement result of the second terminal; third indication information, the third indication information It is used to indicate that the first terminal has or does not have the ability to forward the positioning assistance information of the first network device; the fourth indication information, the fourth indication information is used to indicate that the first terminal has or does not have the ability to feed back the first The capability of the positioning measurement result of the network device; the fifth indication information, used to indicate that the first terminal has cached or not cached the positioning result of the first terminal; the first time information, used to indicate the location of the first terminal The acquisition time of the positioning result; the first positioning capability, the first positioning capability is used to indicate the positioning mode supported by the first terminal; the status of the first terminal.

Optionally, the state of the first terminal includes at least one of the following: an identifier of an area where the first terminal is located; a mobility state of the first terminal; a network coverage state of the first terminal; The PC5 unicast connection unicast link status of a terminal.

Optionally, the moving state of the first terminal includes any of the following: moving; stationary; moving with a moving speed within a predetermined interval.

Optionally, the network coverage state of the first terminal includes any of the following: within the coverage of the cellular network; not within the coverage of the cellular network.

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

Optionally, the SL positioning-related information is broadcast through a first message; wherein, the first message includes any of the following: direct communication request; main information block secondary link information; PC5-S message, the PC5 -S message is dedicated to the transmission of the SL positioning related information; PC5-Radio Resource Control RRC message, the PC5-RRC message is dedicated to the transmission of the SL positioning related information.

Optionally, the apparatus 700 further includes: an executing module, configured to execute at least one of the following when the first terminal is determined to be the target terminal: In the case of a request, forward the SL positioning assistance information of at least one third terminal to the second terminal; in the case of receiving the second request sent by the second terminal, forward the positioning of the first network device sending the auxiliary information to the second terminal; in the case of receiving the third request sent by the second terminal, sending the positioning result of the target terminal to the second terminal; receiving the positioning sent by the second terminal Measurement results or positioning results.

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

Optionally, the positioning assistance information of the first network device includes at least one of the following: identification information of the first network device; synchronization related information of the first network device; absolute position of the first network device Information: configuration information of the reference signal of the first network device.

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

Optionally, the SL PRS measurement result includes at least one of the following: identification information of the second terminal; identification information of the third terminal; identification information of the SL PRS; reference information received power RSRP of the SL PRS ; the ToA of the SL PRS; the TDoA of the SL PRS; the acquisition time of the SL PRS measurement results.

Optionally, the DL PRS measurement result includes at least one of the following: identification information of the second terminal; identification information of the first network device; identification information of the DL PRS; reference information of the DL PRS The received power RSRP; the ToA of the DL PRS; the TDoA of the DL PRS; the acquisition time of the DL PRS measurement results.

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

Optionally, the executing module is further configured to: when the third request also carries a first time threshold and the target terminal does not cache a positioning result satisfying the first time threshold, The target terminal performs any of the following: cancel the feedback of the positioning result of the target terminal; restart the positioning process, and when the positioning result satisfying the first time threshold is obtained, feed back the positioning result to The second terminal; wherein, the first time threshold is used to indicate that the acquisition time of the positioning result of the target terminal requested by the second terminal must be after the first time threshold.

Optionally, the positioning result sent by the second terminal to the target terminal includes at least one of the following: absolute position information of the second terminal; relative position information of the second terminal; The time when the positioning result was obtained.

Optionally, the first sending module 710 is further configured to: when the first terminal is determined to be the target terminal and the target terminal receives positioning measurement results or positioning results sent by multiple second terminals In some cases, multiple positioning measurement results or positioning results sent by the second terminal are reported in a differential manner.

As shown in FIG. 8 , it is a schematic structural diagram of a positioning device 800 provided by an exemplary embodiment of the present application. The device 800 includes a receiving module 810, configured to receive SL positioning-related information broadcast by at least one first terminal; a determining module 820, It is used to determine a target terminal among the at least one first terminal according to the positioning-related information; wherein, the target terminal is used to transmit first information of the second terminal, and the first information includes positioning At least one of measurement results, positioning results, and positioning assistance information.

Optionally, the location-related information includes at least one of the following: identification information of the first terminal;

The first threshold, the first threshold is a signal strength threshold, the first threshold is used by the second terminal to determine whether to establish an SL connection with the first terminal; the first indication information, the first indication information is used To indicate that the first terminal has or does not have the ability to forward the SL positioning assistance information of at least one third terminal; second indication information, the second indication information is used to indicate that the first terminal has or does not have the ability to feed back the The ability to describe the positioning measurement result of the second terminal; the third indication information, the third indication information is used to indicate that the first terminal has or does not have the ability to forward the positioning assistance information of the first network device; the fourth indication information , the fourth indication information is used to indicate that the first terminal has or does not have the ability to feed back the SL positioning measurement result of the second terminal; the fifth indication information is used to indicate that the first terminal has cached or not cached all The positioning result of the first terminal; the first time information, used to indicate the acquisition time of the positioning result of the first terminal; the first positioning capability, the first positioning capability used to indicate the supported by the first terminal Positioning mode; the state of the first terminal.

Optionally, the network coverage state of the first terminal includes any of the following: within a cellular network coverage; not within a cellular network coverage.

Optionally, the SL positioning-related information is broadcast through a first message, and the first message includes any of the following: direct communication request; main information block secondary link information; PC5-S message, the PC5-S The message is dedicated to the transmission of the SL positioning related information; PC5-Radio Resource Control RRC message, the PC5-RRC message is dedicated to the transmission of the SL positioning related information.

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

Optionally, the execution module establishes an SL connection with the first terminal based on the SL positioning related information and/or received application layer indication information when at least one of the following is satisfied: the second The RSRP measured by the terminal meets the first threshold; the first indication information indicates that the first terminal has the capability of forwarding SL positioning assistance information of at least one third terminal; the second indication information indicates that the first terminal It has the ability to feed back the SL positioning measurement result of the second terminal; the third indication information indicates that the first terminal has the ability to forward the positioning assistance information of the first network device; the fourth indication information indicates that the first A terminal has the ability to feed back the positioning measurement result of the first network device; the fifth indication information indicates that the first terminal caches the positioning result of the first terminal, and the first time information indicates that the The acquisition time of the positioning result of the first terminal is within a first time range; and it is determined according to the first positioning capability that the positioning capability of the first terminal meets a predetermined requirement.

The apparatus 800 further includes a second sending module, the second sending module is used for at least one of the following: sending a first request to the target terminal, where the first request is used to request the target terminal to forward at least one first Three terminal SL positioning assistance information; sending a second request to the target terminal, the second request is used to request the target terminal to forward the positioning assistance information of the first network device; sending a third request, the third request It is used to request the target terminal to send the positioning result of the target terminal; to send the positioning measurement result or the positioning result to the target terminal.

Optionally, the positioning measurement results include at least one of the following: SL PRS measurement results of the second terminal device on the third terminal; DL PRS measurement results of the second terminal device on the first network device.

Optionally, the SL PRS measurement result includes at least one of the following: identification information of the second terminal; identification information of the third terminal; identification information of the SL PRS; reference information received by the SL PRS Power RSRP; ToA of the SL PRS; TDoA of the SL PRS; acquisition time of the measurement result of the SL PRS.

Optionally, the third request also carries a first time threshold, where the first time threshold is used to indicate that the acquisition time of the SL positioning result of the target terminal requested by the second terminal needs to be within After the first time threshold.

The

positioning device

700 or 800 in the embodiment of the present application may be a device, a device with an operating system or an electronic device, or a component, an integrated circuit, or a chip in a terminal. The apparatus or electronic equipment may be a mobile terminal or a non-mobile terminal. Exemplarily, the mobile terminal may include but not limited to the types of terminal 11 listed above, and the non-mobile terminal may be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television ( television, TV), teller machines or self-service machines, etc., are not specifically limited in this embodiment of the present application.

The

positioning device

700 or 800 provided in the embodiment of the present application can realize various processes realized by the method embodiments in FIG. 3 to FIG. 6 , and achieve the same technical effect. To avoid repetition, details are not repeated here.

The embodiment of the present application also provides a terminal, including a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the method described in the

method embodiment

200, 500 or 600. steps of the method described above. This terminal embodiment corresponds to the above-mentioned terminal-side method embodiment, and each implementation process and implementation mode of the above-mentioned method embodiment can be applied to this terminal embodiment, and can achieve the same technical effect. Specifically, FIG. 9 is a schematic diagram of a hardware structure of a terminal implementing an embodiment of the present application.

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

Those skilled in the art can understand that the terminal 900 can also include a power supply (such as a battery) for supplying power to various components, and the power supply can be logically connected to the processor 910 through the power management system, so as to manage charging, discharging, and power consumption through the power management system. Management and other functions. The terminal structure shown in FIG. 9 does not constitute a limitation on the terminal, and the terminal may include more or fewer components than shown in the figure, or combine some components, or arrange different components, which will not be repeated here.

It should be understood that, in the embodiment of the present application, the input unit 904 may include a graphics processor (Graphics Processing Unit, GPU) 1041 and a microphone 9042, and the graphics processor 9041 is used for the image capture device ( Such as the image data of the still picture or video obtained by the camera) for processing. The display unit 906 may include a display panel 9061, and the display panel 9061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 907 includes a touch panel 9071 and other input devices 9072 . The touch panel 9071 is also called a touch screen. The touch panel 9071 may include two parts, a touch detection device and a touch controller. Other input devices 9072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, switch buttons, etc.), trackballs, mice, and joysticks, which will not be repeated here.

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

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

The processor 910 may include one or more processing units; optionally, the processor 910 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, application programs or instructions, etc., Modem processors mainly handle wireless communications, such as baseband processors. It can be understood that the foregoing modem processor may not be integrated into the processor 910 .

Wherein, in a possible implementation manner, in the case where the terminal 900 is used as the aforementioned first terminal, the radio frequency unit 901 is used to broadcast secondary link SL positioning related information; wherein the SL positioning related information is used for at least A second terminal determines a target terminal, and the target terminal is used to transmit first information of at least one second terminal, where the first information includes at least one of positioning measurement results, positioning results, and positioning assistance information .

Optionally, the processor 910 is configured to, when the first terminal is determined as the target terminal, perform at least one of the following: when receiving the first request sent by the second terminal Next, forwarding the SL positioning assistance information of at least one third terminal to the second terminal; when receiving the second request sent by the second terminal, forwarding the positioning assistance information of the first network device to the second terminal The second terminal; in the case of receiving the third request sent by the second terminal, sending the positioning result of the target terminal to the second terminal; receiving the positioning measurement result or positioning sent by the second terminal result.

Optionally, the processor 910 is further configured to: if the third request also carries a first time threshold, and the target terminal does not cache a positioning result satisfying the first time threshold , the target terminal performs any of the following: canceling the feedback of the positioning result of the target terminal; restarting the positioning process, and feeding back the positioning result when the positioning result satisfying the first time threshold is acquired For the second terminal; wherein, the first time threshold is used to indicate that the acquisition time of the positioning result of the target terminal requested by the second terminal must be after the first time threshold.

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

In the aforementioned implementation manner, the first terminal broadcasts SL positioning related information, so that at least one second terminal can determine the target terminal according to the received SL positioning related information, and then the target terminal performs a search for at least one second terminal The first information is transmitted, thereby enabling multiple second terminals to interact with the positioning information performed by the target terminal, effectively reducing the signaling overhead of the PC5 interface and/or Uu interface, and ensuring the stability and reliability of wireless communication sex.

In another possible implementation manner, in the case where the terminal 900 is the aforementioned second terminal, the radio frequency unit 901 is configured to receive SL positioning-related information broadcast by at least one first terminal; the processor 910 uses Determining a target terminal among the at least one first terminal according to the positioning-related information; wherein the target terminal is used to transmit first information of the second terminal, and the first information includes positioning measurement At least one of results, positioning results, and positioning assistance information.

Optionally, the location-related information includes at least one of the following: identification information of the first terminal; a first threshold, where the first threshold is a signal strength threshold, and the first threshold is used by the second terminal to determine the The first terminal establishes or does not establish an SL connection; first indication information, the first indication information is used to indicate that the first terminal has or does not have the ability to forward SL positioning assistance information of at least one third terminal; the second Two indication information, the second indication information is used to indicate that the first terminal has or does not have the ability to feed back the positioning measurement result of the second terminal; third indication information, the third indication information is used to indicate the The first terminal has or does not have the ability to forward the positioning assistance information of the first network device; the fourth indication information, the fourth indication information is used to indicate that the first terminal has or does not have the ability to feed back the SL positioning of the second terminal Capability of measurement results; fifth indication information, used to indicate that the first terminal has cached or not cached the positioning result of the first terminal; first time information, used to indicate the acquisition of the positioning result of the first terminal Time; a first positioning capability, where the first positioning capability is used to indicate a positioning mode supported by the first terminal; and a state of the first terminal.

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

Optionally, the processor 910 establishes an SL connection with the first terminal based on the SL positioning related information and/or received application layer indication information when at least one of the following is satisfied: the first terminal The RSRP measured by the two terminals meets the first threshold; the first indication information indicates that the first terminal has the capability of forwarding SL positioning assistance information of at least one third terminal; the second indication information indicates that the first The terminal has the ability to feed back the SL positioning measurement result of the second terminal; the third indication information indicates that the first terminal has the ability to forward the positioning assistance information of the first network device; the fourth indication information indicates that the The first terminal has the ability to feed back the positioning measurement result of the first network device; the fifth indication information indicates that the first terminal caches the positioning result of the first terminal, and the first time information indicates the The acquisition time of the positioning result of the first terminal is within a first time range; and it is determined according to the first positioning capability that the positioning capability of the first terminal meets a predetermined requirement.

The radio frequency unit 901 is used for at least one of the following: sending a first request to the target terminal, where the first request is used to request the target terminal to forward SL positioning assistance information of at least one third terminal; sending a second request To the target terminal, the second request is used to request the target terminal to forward the positioning assistance information of the first network device; a third request is sent, and the third request is used to request the target terminal to send the target terminal The positioning result; sending the positioning measurement result or the positioning result to the target terminal.

In the foregoing implementation manner, the second terminal receives the SL positioning-related information broadcast by the first terminal, and determines the target terminal according to the SL positioning-related information, so that the target terminal performs at least one first information of the second terminal transmission, thereby enabling multiple second terminals to exchange positioning information with the help of the target terminal, effectively reducing the number of PC5 connection establishments and/or Uu interface signaling overhead, ensuring the stability and reliability of wireless communication .

The embodiment of the present application also provides a readable storage medium, the readable storage medium stores a program or an instruction, and when the program or instruction is executed by a processor, each process of the above-mentioned positioning method embodiment is realized, and can achieve the same Technical effects, in order to avoid repetition, will not be repeated here.

Wherein, the processor is the processor in the terminal described in the foregoing embodiments. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (Read-Only Memory, ROM).

The embodiment of the present application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run the network-side device program or instructions to implement the above positioning method Each process of the example, and can achieve the same technical effect, in order to avoid repetition, will not repeat them here.

It should be understood that the chip mentioned in the embodiment of the present application may also be called a system-on-chip, a system-on-chip, a system-on-a-chip, or a system-on-a-chip.

The embodiment of the present application also provides a computer program product, the computer program product includes a processor, a memory, and a program or instruction stored in the memory and operable on the processor, the program or instruction is executed by the When the above-mentioned processor is executed, each process of the above positioning method embodiment can be realized, and the same technical effect can be achieved. In order to avoid repetition, details are not repeated here.

The embodiment of the present application further provides an electronic device, which is configured to execute the processes of the foregoing positioning method embodiments, and can achieve the same technical effect. To avoid repetition, details are not repeated here.

It should be noted that, in this document, the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved. Functions are performed, for example, the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the technical solution of the present application can be embodied in the form of computer software products, which are stored in a storage medium (such as ROM/RAM, magnetic disk, etc.) , CD-ROM), including several instructions to make a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the methods described in the various embodiments of the present application.

The embodiments of the present application have been described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementations. The above-mentioned specific implementations are only illustrative and not restrictive. Those of ordinary skill in the art will Under the inspiration of this application, without departing from the purpose of this application and the scope of protection of the claims, many forms can also be made, all of which belong to the protection of this application.

Claims

A positioning method, comprising:

The first terminal broadcasts information related to positioning of the secondary link SL;

Wherein, the SL positioning-related information is used by at least one second terminal to determine a target terminal, and the target terminal is used to transmit first information of at least one second terminal, where the first information includes a positioning measurement result, At least one of positioning results and positioning assistance information, the first terminal and the second terminal are terminals to be positioned.
The method according to claim 1, wherein the SL positioning related information includes at least one of the following:

Identification information of the first terminal;

a first threshold, where the first threshold is a signal strength threshold, and the first threshold is used by the second terminal to determine whether to establish an SL connection with the first terminal;

First indication information, where the first indication information is used to indicate that the first terminal has or does not have the capability of forwarding SL positioning assistance information of at least one third terminal;

second indication information, where the second indication information is used to indicate that the first terminal has or does not have the ability to feed back the SL positioning measurement result of the second terminal;

third indication information, where the third indication information is used to indicate that the first terminal has or does not have the ability to forward the positioning assistance information of the first network device;

fourth indication information, where the fourth indication information is used to indicate that the first terminal has or does not have the ability to feed back the positioning measurement result of the first network device;

Fifth indication information, used to indicate that the first terminal has cached or not cached the positioning result of the first terminal;

The first time information is used to indicate the acquisition time of the positioning result of the first terminal;

A first positioning capability, where the first positioning capability is used to indicate a positioning mode supported by the first terminal;

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

An identifier of an area where the first terminal is located;

the mobility state of the first terminal;

The network coverage state of the first terminal;

The unicast link state of the PC5 unicast connection of the first terminal.
The method according to claim 3, wherein the mobility status of the first terminal includes any of the following:

move;

still;

Move and the moving speed is in the predetermined range.
The method according to claim 3, wherein the network coverage state of the first terminal comprises any of the following:

Within the coverage of the cellular network;

Not within cellular network coverage.
The method according to claim 3, wherein the PC5 unicast link state of the first terminal comprises at least one of the following:

The number of established PC5 unicast links;

The interval to which the number of established PC5 unicast links belongs;

Indication information of the range to which the number of established PC5 unicast links belongs;

The established PC5 unicast link exceeds or does not exceed the predetermined value.
The method according to any one of claims 1-6, wherein the SL positioning-related information is broadcast through a first message;

Wherein, the first message includes any of the following:

direct communication requests;

Main information block secondary link information;

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

PC5-Radio Resource Control RRC message, the PC5-RRC message is dedicated to the transmission of the SL positioning related information.
The method according to any one of claims 2-6, wherein after the step of the first terminal broadcasting SL positioning related information, the method further comprises:

In a case where the first terminal is determined to be the target terminal, perform at least one of the following:

In the case of receiving the first request sent by the second terminal, forwarding SL positioning assistance information of at least one third terminal to the second terminal;

Forwarding the positioning assistance information of the first network device to the second terminal if the second request sent by the second terminal is received;

In the case of receiving the third request sent by the second terminal, sending the positioning result of the target terminal to the second terminal;

receiving a positioning measurement result or a positioning result sent by the second terminal.
The method according to claim 8, wherein the SL positioning assistance information of the third terminal includes at least one of the following:

Identification information of the third terminal;

Synchronization-related information of the third terminal;

Absolute location information of the third terminal;

Configuration information of the reference signal of the third terminal.
The method according to claim 8, wherein the positioning assistance information of the first network device includes at least one of the following:

Identification information of the first network device;

Synchronization-related information of the first network device;

Absolute location information of the first network device;

Configuration information of the reference signal of the first network device.
The method of claim 8, wherein the positioning measurements include at least one of the following:

The SL PRS measurement result of the second terminal with respect to the third terminal;

A downlink DL PRS measurement result of the first network device by the second terminal.
The method of claim 11, wherein the SL PRS measurement results include at least one of the following:

Identification information of the second terminal;

Identification information of the third terminal;

The identification information of the SL PRS;

The reference information received power RSRP of the SL PRS;

Time of Arrival ToA of said SL PRS;

Time Difference of Arrival TDoA of said SL PRS;

The acquisition time of the SL PRS measurement result.
The method of claim 11, wherein the DL PRS measurement results include at least one of the following:

Identification information of the second terminal;

Identification information of the first network device;

The identification information of the DL PRS;

The reference information received power RSRP of the DL PRS;

the ToA of the DL PRS;

TDoA of said DL PRS;

The acquisition time of the DL PRS measurement result.
The method according to claim 8, wherein the positioning result of the target terminal includes at least one of the following:

Absolute location information of the target terminal;

The acquisition time of the positioning result of the target terminal.
The method according to claim 8, wherein, in the case of receiving the third request sent by the second terminal, the method further comprises:

In the case that the third request also carries a first time threshold and the target terminal does not cache a positioning result satisfying the first time threshold, the target terminal performs any of the following:

canceling the feedback of the positioning result of the target terminal;

Restarting the positioning process, and feeding back the positioning result to the second terminal if the positioning result satisfying the first time threshold is obtained;

Wherein, the first time threshold is used to indicate that the acquisition time of the positioning result of the target terminal requested by the second terminal must be after the first time threshold.
The method according to claim 8, wherein the positioning result sent by the second terminal to the target terminal includes at least one of the following:

Absolute location information of the second terminal;

relative location information of the second terminal;

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

When the first terminal is determined to be the target terminal and the target terminal receives the positioning measurement results or positioning results sent by multiple second terminals, report the multiple second terminal transmissions in a differential manner Positioning measurements or positioning results for .
A positioning method, comprising:

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

determining, by the second terminal, a target terminal in the at least one first terminal according to the positioning-related information;

Wherein, the target terminal is used to transmit the first information of the second terminal, the first information includes at least one of positioning measurement results, positioning results, and positioning assistance information, and the first terminal and the second terminal The second terminal is a terminal to be located.
The method according to claim 18, wherein the location-related information includes at least one of the following:

Identification information of the first terminal;

a first threshold, where the first threshold is a signal strength threshold, and the first threshold is used by the second terminal to determine whether to establish an SL connection with the first terminal;

First indication information, where the first indication information is used to indicate that the first terminal has or does not have the ability to forward the SL positioning assistance information of at least one third terminal;

second indication information, where the second indication information is used to indicate that the first terminal has or does not have the ability to feed back the positioning measurement result of the second terminal;

third indication information, where the third indication information is used to indicate that the first terminal has or does not have the ability to forward the positioning assistance information of the first network device;

Fourth indication information, where the fourth indication information is used to indicate that the first terminal has or does not have the ability to feed back the SL positioning measurement result of the second terminal;

Fifth indication information, used to indicate that the first terminal has cached or not cached the positioning result of the first terminal;

The first time information is used to indicate the acquisition time of the positioning result of the first terminal;

A first positioning capability, where the first positioning capability is used to indicate a positioning mode supported by the first terminal;

The state of the first terminal.
The method of claim 19, wherein the status of the first terminal includes at least one of the following:

An identifier of an area where the first terminal is located;

the mobility state of the first terminal;

The network coverage state of the first terminal;

The unicast link state of the PC5 unicast connection of the first terminal.
The method according to claim 20, wherein the mobility state of the first terminal includes any of the following:

move;

still;

Move and the moving speed is in the predetermined range.
The method according to claim 20, wherein the network coverage state of the first terminal comprises any of the following:

Within the coverage of the cellular network;

Not within cellular network coverage.
The method according to claim 20, wherein the PC5 unicast link state of the first terminal comprises at least one of the following:

The number of established PC5 unicast links;

The interval to which the number of established PC5 unicast links belongs;

Indication information of the range to which the number of established PC5 unicast links belongs;

The established PC5 unicast link exceeds or does not exceed the predetermined value.
The method according to any one of claims 18-23, wherein the SL positioning-related information is broadcast through a first message, and the first message includes any of the following:

direct communication requests;

Main information block secondary link information;

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

PC5-Radio Resource Control RRC message, the PC5-RRC message is dedicated to the transmission of the SL positioning related information.
The method according to any one of claims 19-23, wherein said method further comprises:

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

Wherein, the SL connection is used for the second terminal to report the positioning measurement result and/or the positioning result, and/or, the SL connection is used for receiving the positioning result forwarded by the first terminal.
The method according to claim 25, wherein, based on the positioning related information and/or the received application layer indication information, the step of establishing an SL connection between the second terminal and the first terminal comprises:

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

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

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

The second indication information indicates that the first terminal has the ability to feed back the SL positioning measurement result of the second terminal;

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

The fourth indication information indicates that the first terminal has the ability to feed back the positioning measurement result of the first network device;

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

Determine according to the first positioning capability that the positioning capability of the first terminal meets a predetermined requirement.
The method according to claim 18, wherein, after the step of determining the target terminal in the at least one first terminal according to the location-related information, the method further comprises at least one of the following:

sending a first request to the target terminal, where the first request is used to request the target terminal to forward SL positioning assistance information of at least one third terminal;

sending a second request to the target terminal, where the second request is used to request the target terminal to forward the positioning assistance information of the first network device;

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

Send the positioning measurement result or the positioning result to the target terminal.
The method according to claim 27, wherein the SL positioning assistance information of the third terminal includes at least one of the following:

Identification information of the third terminal;

Synchronization-related information of the third terminal;

Absolute location information of the third terminal;

Configuration information of the reference signal of the third terminal.
The method of claim 27, wherein the positioning assistance information of the first network device includes at least one of the following:

Identification information of the first network device;

Synchronization-related information of the first network device;

Absolute location information of the first network device;

Configuration information of the reference signal of the first network device.
The method of claim 27, wherein the positioning measurements include at least one of:

The SL PRS measurement result of the second terminal device with respect to the third terminal;

A downlink DL PRS measurement result of the first network device by the second terminal device.
The method of claim 30, wherein the SL PRS measurement results include at least one of the following:

Identification information of the second terminal;

Identification information of the third terminal;

The identification information of the SL PRS;

The reference information received power RSRP of the SL PRS;

Time of Arrival ToA of said SL PRS;

Time Difference of Arrival TDoA of said SL PRS;

The acquisition time of the SL PRS measurement result.
The method of claim 30, wherein the DL PRS measurement results include at least one of the following:

Identification information of the second terminal;

Identification information of the first network device;

The identification information of the DL PRS;

The reference information received power RSRP of the DL PRS;

the ToA of the DL PRS;

TDoA of said DL PRS;

The acquisition time of the DL PRS measurement result.
The method according to claim 27, wherein the positioning result of the target terminal includes at least one of the following:

Absolute location information of the target terminal;

The acquisition time of the positioning result of the target terminal.
The method according to claim 27, wherein the third request further carries a first time threshold, wherein the first time threshold is used to indicate the SL of the target terminal requested by the second terminal The acquisition time of the positioning result needs to be after the first time threshold.
The method according to claim 27, wherein the positioning result sent by the second terminal to the target terminal includes at least one of the following:

Absolute location information of the second terminal;

relative location information of the second terminal;

The acquisition time of the positioning result of the second terminal.
A positioning device, applied to a first terminal, the device comprising:

The first sending module is used to broadcast information related to positioning of the secondary link SL;

Wherein, the SL positioning-related information is used by at least one second terminal to determine a target terminal, and the target terminal is used to transmit first information of at least one second terminal, where the first information includes a positioning measurement result, At least one of positioning results and positioning assistance information, the first terminal and the second terminal are terminals to be positioned.
A positioning device, applied to a second terminal, the device comprising:

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

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

Wherein, the target terminal is used to transmit the first information of the second terminal, the first information includes at least one of positioning measurement results, positioning results, and positioning assistance information, and the first terminal and the second terminal The second terminal is a terminal to be located.
A terminal, comprising a processor, a memory, and a program or instruction stored on the memory and operable on the processor, when the program or instruction is executed by the processor, any of claims 1 to 17 can be realized. The steps of the positioning method described in one of the claims, or the steps of realizing the positioning method described in any one of claims 18 to 35.
A readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the positioning method according to any one of claims 1-17 are realized, or the steps of the positioning method according to any one of claims 1-17 are realized, or the The steps of the positioning method described in any one of claims 18 to 35.
A chip, including a processor and a communication interface, the communication interface is coupled to the processor, the processor is used to run programs or instructions to implement the steps of the positioning method according to any one of claims 1-17, Or implement the steps of the positioning method according to any one of claims 18 to 35.
A computer program product, the computer program product is stored in a storage medium, and the computer program product is executed by at least one processor to implement the steps of the positioning method according to any one of claims 1-17, or to implement The steps of the positioning method according to any one of claims 18 to 35.
An electronic device configured to execute the steps of the positioning method according to any one of claims 1-17, or to execute the steps of the positioning method according to any one of claims 18-35 .