WO2023020379A1 - Procédé et appareil de positionnement, et terminal - Google Patents

Procédé et appareil de positionnement, et terminal Download PDF

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Publication number
WO2023020379A1
WO2023020379A1 PCT/CN2022/112069 CN2022112069W WO2023020379A1 WO 2023020379 A1 WO2023020379 A1 WO 2023020379A1 CN 2022112069 W CN2022112069 W CN 2022112069W WO 2023020379 A1 WO2023020379 A1 WO 2023020379A1
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WIPO (PCT)
Prior art keywords
terminal
positioning
information
prs
result
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PCT/CN2022/112069
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English (en)
Chinese (zh)
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潘翔
钟婷婷
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维沃移动通信有限公司
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Publication of WO2023020379A1 publication Critical patent/WO2023020379A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services

Definitions

  • the present application belongs to the technical field of wireless communication, and in particular relates to a positioning method, device and terminal.
  • 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.
  • V2X Vehicle To Everything
  • Public Safety Public Safety
  • 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.
  • a positioning method 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.
  • a positioning 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.
  • a positioning device 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.
  • a positioning device 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.
  • a terminal 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 processor. The steps of the method described in the first aspect or the second aspect are realized.
  • a terminal 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.
  • 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.
  • a chip in an eighth aspect, 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.
  • 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.
  • an electronic device 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.
  • 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.
  • 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.
  • 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.
  • “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.
  • LTE Long Term Evolution
  • LTE-Advanced LTE-Advanced
  • LTE-A Long Term Evolution-Advanced
  • CDMA Code Division Multiple Access
  • TDMA Time Division Multiple Access
  • FDMA Frequency Division Multiple Access
  • OFDMA Orthogonal Frequency Division Multiple Access
  • SC-FDMA Single-carrier Frequency-Division Multiple Access
  • SC-FDMA Single-carrier Frequency-Division Multiple Access
  • 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.
  • NR New Radio
  • 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.
  • 6G 6th Generation
  • 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 .
  • 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.
  • 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.
  • SL 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.
  • Target UE1, Target UE2, Target UE3, and Target UE4 in 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. .
  • 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.
  • 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.
  • the method 300 may at least include the following steps.
  • the first terminal broadcasts SL positioning related information.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • Target UE1 which can be understood as the second terminal
  • Target UE2 which can be understood as the first terminal
  • Target UE3 which can be understood as the first terminal
  • Target UE4 which can be understood as the first terminal
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the method 500 may at least include the following steps.
  • the first terminal broadcasts SL positioning related information.
  • 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 SL positioning Related information may be broadcast through a first message, and the first message may include any one of the following (001)-(004).
  • MIB Master Information Block
  • 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.
  • 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.
  • the SL positioning related information may include at least one of the following (101)-(110).
  • 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.
  • 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.
  • 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.
  • the signal strength threshold may be a Reference Signal Received Power (Reference Signal Received Power, RSRP) threshold or the like.
  • the first threshold may be implemented by protocol agreement, high-level configuration or network side configuration, which is not limited here.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the state of the first terminal may include at least one of the following (1101)-(1104).
  • An identifier of the zone (Zone) where the first terminal is located may be represented in various manners, which are not limited here.
  • 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.
  • 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.
  • the cellular network may include 2G network, 3G network, LTE network, 5G network, etc., which is not limited here.
  • PC5 unicast connection (unicast link) status 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.
  • the PC5 unicast link status of the first terminal may include at least one of the following (11041)-(11044).
  • the established PC5 unicast link exceeds or does not exceed the predetermined value.
  • 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.
  • 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.
  • 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.
  • the first terminal 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.
  • the target terminal 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.
  • the SL positioning assistance information of the third terminal includes at least one of the following (2011)-(2014).
  • 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 .
  • the synchronization-related information may include frame synchronization information (SFN initialisation time) and the like.
  • Absolute location information of the third terminal may include latitude and longitude information, area information, etc., which is not limited here.
  • the reference signal may be SL PRS, etc.
  • its configuration information may be time-frequency domain information, quantity information, period information, etc. of SL PRS, which are not described herein Do limit.
  • 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.
  • the target terminal 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.
  • the positioning assistance information of the first network device includes at least one of the following (2021)-(2024).
  • 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.
  • Absolute location information of the first network device may include latitude and longitude information, area information, etc., which is not limited here.
  • the reference signal may be SL PRS, etc.
  • its configuration information may be time-frequency domain information, quantity information, period information, etc. of SL PRS, which is not limited here.
  • 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.
  • the positioning result of the target terminal includes at least one of the following (2031)-(2032).
  • Absolute location information of the target terminal For example, the latitude and longitude information of the target terminal.
  • 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.
  • 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.
  • 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).
  • 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 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.
  • the target terminal 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.
  • 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).
  • 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).
  • Identification information of the second terminal includes Application Layer ID or Layer-2 ID, etc., which is not limited here.
  • 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.
  • 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.
  • 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.
  • the DL PRS measurement results include at least one of the following (20421)-(20427).
  • 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.
  • 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.
  • 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.
  • 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.
  • the positioning result sent by the second terminal may include at least one of the following (2043)-(2045).
  • Absolute location information of the second terminal may be latitude and longitude information and the like.
  • 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.
  • 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.
  • the second terminal 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.
  • 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.
  • the RSRP may be the RSRP of the DL PRS or the RSRP of the SL PRS.
  • the second terminal communicates with the first The terminal establishes an SL connection.
  • 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 Inside.
  • the target terminal 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.
  • the target terminal 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.
  • 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.
  • 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.
  • 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.
  • the first terminal 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.
  • the second terminal performs positioning measurement according to the positioning assistance information, and optionally calculates a positioning result according to terminal capabilities and requests.
  • the second terminal sends the positioning measurement result or the positioning result to the first terminal through Sidelink.
  • 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.
  • LMF Local Management Function
  • the network side sends the positioning result of the second terminal to the first terminal.
  • 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.
  • measurement results or positioning results such as UEMeasInformation and UELocaInformation as follows
  • difference such as the following RSRP-ResultDiff and LocationInformationDiff
  • the signaling volume of the PC5 interface and/or Uu interface can be further reduced to ensure the reliability and stability of wireless communication.
  • 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.
  • the method 600 may at least include the following steps.
  • the second terminal receives at least one SL positioning-related information broadcast by the first terminal.
  • the second terminal determines a target terminal in the at least one first terminal according to the positioning related information.
  • the target terminal is 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.
  • 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
  • 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.
  • the moving state of the first terminal includes any of the following: moving; stationary; moving with a moving speed within a predetermined interval.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the execution subject may be a positioning device, or a control module in the positioning device for executing the positioning method.
  • 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.
  • 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 .
  • the apparatus 700 may further include a configuration module, configured to configure the SL positioning related information.
  • 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 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.
  • the moving state of the first terminal includes any of the following: moving; stationary; moving with a moving speed within a predetermined interval.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the location-related information includes at least one of the following: identification information of the first terminal;
  • 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 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
  • 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.
  • the moving state of the first terminal includes any of the following: moving; stationary; moving with a moving speed within a predetermined interval.
  • the network coverage state of the first terminal includes any of the following: within a cellular network coverage; not within a cellular network coverage.
  • 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.
  • 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.
  • 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.
  • 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.
  • a 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a power supply such as a battery
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • ROM Read-Only Memory
  • PROM programmable read-only memory
  • PROM erasable programmable read-only memory
  • Erasable PROM Erasable PROM
  • EPROM electrically erasable programmable read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • 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 .
  • 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 .
  • 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 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.
  • the moving state of the first terminal includes any of the following: moving; stationary; moving with a moving speed within a predetermined interval.
  • the network coverage state of the first terminal includes any of the following: within a cellular network coverage; not within a cellular network coverage.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • the moving state of the first terminal includes any of the following: moving; stationary; moving with a moving speed within a predetermined interval.
  • the network coverage state of the first terminal includes any of the following: within a cellular network coverage; not within a cellular network coverage.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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
  • the chip includes a processor and a communication interface
  • the communication interface is coupled to the processor
  • the processor is used to run the network-side device program or instructions to implement the above positioning method
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

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  • Computer Networks & Wireless Communication (AREA)
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  • Mobile Radio Communication Systems (AREA)

Abstract

La présente demande divulgue un procédé et un appareil de positionnement, et un terminal, qui appartiennent au domaine technique des communications sans fil, le procédé de positionnement selon les modes de réalisation de la présente demande comprenant l'étape suivante : un premier terminal diffuse des informations relatives à un positionnement de liaison latérale (SL), les informations relatives au positionnement SL étant utilisées par au moins un second terminal pour déterminer un terminal cible, le terminal cible étant utilisé pour transmettre des premières informations d'au moins un second terminal, et les premières informations comprenant au moins un élément parmi un résultat de mesure de positionnement, un résultat de positionnement et des informations auxiliaires de positionnement.
PCT/CN2022/112069 2021-08-17 2022-08-12 Procédé et appareil de positionnement, et terminal WO2023020379A1 (fr)

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CN202110944153.1A CN115915023A (zh) 2021-08-17 2021-08-17 定位方法、装置及终端
CN202110944153.1 2021-08-17

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WO2021051905A1 (fr) * 2019-09-20 2021-03-25 中兴通讯股份有限公司 Procédé et appareil de positionnement, dispositif terminal et support de stockage
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WO2021051905A1 (fr) * 2019-09-20 2021-03-25 中兴通讯股份有限公司 Procédé et appareil de positionnement, dispositif terminal et support de stockage
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