WO2023020404A1 - Procédé et appareil de positionnement, et terminal - Google Patents

Procédé et appareil de positionnement, et terminal Download PDF

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Publication number
WO2023020404A1
WO2023020404A1 PCT/CN2022/112264 CN2022112264W WO2023020404A1 WO 2023020404 A1 WO2023020404 A1 WO 2023020404A1 CN 2022112264 W CN2022112264 W CN 2022112264W WO 2023020404 A1 WO2023020404 A1 WO 2023020404A1
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Prior art keywords
terminal
positioning
information
related information
threshold
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PCT/CN2022/112264
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English (en)
Chinese (zh)
Inventor
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 WO2023020404A1 publication Critical patent/WO2023020404A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • the present application belongs to the field of wireless communication technology, 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
  • 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 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 at least used to assist a second terminal in performing SL positioning, and the SL positioning-related information includes the SL positioning related information of the first terminal and/or the SL positioning related information of at least one third terminal, the second terminal is a terminal to be positioned, and the third terminal is used to assist the second terminal The terminal performs SL positioning.
  • a positioning method in a second aspect, includes: a second terminal receives SL positioning related information; the second terminal performs 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, where the first terminal and the third terminal are used to assist the second terminal to perform SL positioning.
  • 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, 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, the second terminal is a terminal to be positioned , the third terminal is used to assist the second terminal to perform SL positioning.
  • a positioning device which is applied to a second terminal, and the device includes: a first receiving module, configured to receive SL positioning-related information; a measurement module, configured to perform SL positioning based on the SL positioning-related information measurement; 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, and the first terminal and the third terminal are used to assist the The second terminal performs SL positioning.
  • 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 assists the second terminal in performing SL positioning by broadcasting its own SL positioning related information and/or at least one third terminal's SL positioning related information, that is, the present application enables a first terminal to One terminal sends the SL positioning related information of multiple terminals (that is, Anchor UEs), thereby avoiding the problem that the second terminal needs to establish multiple SL connections with multiple Anchor UEs, effectively reducing the number of PC5 interface establishment times and signaling overhead, ensuring The stability and reliability of wireless communication performance are improved.
  • 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. 5a is a schematic flowchart of a positioning method provided by another exemplary embodiment of the present application.
  • Fig. 5b is a schematic diagram of an SL positioning scenario 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
  • system and “network” in the embodiments of the present application are often used interchangeably, and the described technology can be used for the above-mentioned system and radio technology, and can also be used for 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.
  • a wireless communication system includes a terminal 11 and a network side device 12.
  • 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), a palmtop computer, a netbook, a super mobile personal computer (ultra-mobile personal computer, UMPC), mobile Internet device (Mobile Internet Device, MID), wearable device (Wearable Device) or vehicle-mounted equipment (VUE), pedestrian terminal (PUE) and other terminal-side devices, wearable devices Including: 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.
  • the Target UE that needs to be positioned needs to be positioned with the help of multiple Anchor UEs (Anchor UE1, Anchor UE2, Anchor UE3, and Anchor UE4 in Figure 2), then the Target terminal needs to communicate with multiple Anchor UEs. Establishing multiple SL connections between them may lead to the establishment of a large number of PC5 interfaces and signaling interaction, affecting 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, but specifically may be executed by hardware and/or software installed in the terminal.
  • the method 300 may at least include the following steps.
  • the first terminal broadcasts SL positioning related information.
  • the SL positioning related information is at least used to assist the second terminal to perform SL positioning.
  • the SL positioning related information broadcast by the first terminal may include SL positioning related information of the first terminal and/or SL positioning related information of at least one third terminal.
  • the first terminal is a centralized Anchor UE introduced in the SL positioning scenario of this application, which can be responsible for updating, forwarding, positioning result calculation, etc. of positioning assistance information of multiple Anchor UEs . That is, in the SL positioning scenario given in this application, the second terminal that needs to perform positioning measurement only needs to interact with the centralized Anchor UE (ie, the first terminal) to obtain other Anchor UEs (ie, the third terminal) ) positioning related information to realize SL positioning measurement.
  • the second terminal that needs to perform positioning measurement only needs to interact with the centralized Anchor UE (ie, the first terminal) to obtain other Anchor UEs (ie, the third terminal) ) positioning related information to realize SL positioning measurement.
  • a plurality of Anchor UEs can be sent by making a first terminal (a centralized Anchor UE, that is, Anchor UE1 in FIG. 4) SL positioning-related information is set, thereby avoiding the problem that the second terminal needs to establish multiple SL connections with multiple Anchor UEs, and effectively reducing the number of PC5 interface establishment times and signaling overhead.
  • the SL positioning related information of the third terminal included in the SL positioning related information broadcast by the first terminal may be pre-configured or agreed in the first terminal, or may be sent by the third terminal
  • the first terminal may first receive the SL positioning assistance information sent by the third terminal before broadcasting the SL positioning related information
  • the roles of the first terminal, the second terminal, and the third terminal can be exchanged.
  • the first terminal can also be a terminal that needs to perform SL positioning.
  • the second terminal may also serve as a centralized Anchor UE, etc., which is not limited here.
  • there may be multiple ways to determine a centralized Anchor UE among multiple Anchor UEs for example, protocol agreement, high-level configuration, etc., which are not limited here.
  • FIG. 5a 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, but specifically may be executed by hardware and/or software installed in the terminal.
  • the method 500 may at least include the following steps.
  • the first terminal broadcasts SL positioning related information.
  • the SL positioning related information is at least used to assist the second terminal to perform SL positioning
  • 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
  • the second terminal is a terminal to be positioned
  • the third terminal is used to assist the second terminal to perform SL positioning.
  • the first terminal In a case of receiving the SL positioning assistance request sent by the second terminal, the first terminal broadcasts SL positioning related information.
  • the SL positioning-related information is broadcast based on the positioning requirements of the second terminal that needs to perform SL positioning, that is, this application introduces on-demand broadcasting in the SL positioning scenario
  • the technical feature of SL positioning-related information can effectively reduce signaling overhead caused by periodically broadcasting SL positioning-related information, and improve wireless communication performance.
  • the SL positioning-related information may be broadcast through a first message, and the first message may include the following (001)- Any one of (004).
  • 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 news, without limitation here.
  • the PC5-RRC message may be new and dedicated to the transmission of the SL positioning related information, or it may be used in the related art for transmission Messages of other information except the SL positioning related information are not limited here.
  • the SL positioning related information may include at least one of the following (101)-(109).
  • the attribute information of the first terminal may include at least one of the following (1011)-(1017).
  • the identification information of the first terminal wherein, the identification information may be application layer identification information (Application Layer ID) or layer 2 (Layer-2) identification (Identifer, ID), etc., not limited here .
  • First information where the first information is used to indicate that the first terminal has or does not have the ability to forward at least one SL positioning assistance information of the third terminal by establishing an SL connection with the first terminal .
  • the first information may be indicated explicitly or implicitly, for example, when the first information is explicitly indicated, "1" means having, "0" means not having, etc. Based on this, if the first terminal has the ability to forward at least one SL positioning assistance information of the third terminal by establishing an SL connection with the first terminal, then the second terminal receiving the SL positioning related information can communicate with the The first terminal establishes an SL connection, and then acquires SL positioning assistance information of at least one third terminal through the SL connection.
  • Second information where the second information is used to indicate that the first terminal has or does not have the ability to forward at least one SL positioning assistance information of the third terminal based on the on-demand assistance request.
  • the second information may be indicated explicitly or implicitly, for example, when the second information is explicitly indicated, "1" means having, "0" means not having, etc. Based on this, if the first terminal has the ability to forward at least one SL positioning assistance information of the third terminal based on an on-demand assistance request, then the second terminal that receives the SL positioning related information sends the first terminal Sending an on-demand assistance request (ie, an SL positioning assistance request) to request the first terminal to forward at least one SL positioning assistance information of the third terminal.
  • an on-demand assistance request ie, an SL positioning assistance request
  • the third information may be indicated explicitly or implicitly. For example, when the third information is explicitly indicated, "1" indicates that it has it, and "0" indicates that it does not have it. Based on this, if the first terminal has the ability to calculate the SL positioning result of the second terminal based on the SL positioning measurement result of the second terminal, then the second terminal receiving the SL positioning related information may send the SL positioning measurement The result is sent to the first terminal, so that the first terminal assists in calculating its SL positioning result, and feeds back the calculated SL positioning result to the second terminal.
  • Fourth information is used to indicate that the first terminal has or does not have the calculation of the second based on the SL positioning measurement results of the first terminal and/or at least one third terminal. The capability of the terminal's SL location results.
  • the fourth information may be indicated explicitly or implicitly. For example, when the fourth information is explicitly indicated, "1" indicates that it has it, and "0" indicates that it does not have it. Based on this, if When the first terminal has the ability to calculate the SL positioning result of the second terminal based on the SL positioning measurement results of the first terminal and/or at least one of the third terminals, then, receiving the SL positioning correlation
  • the second terminal of the information may send its own SL positioning related information to the first terminal, so that the first terminal and at least one third terminal assist in calculating its SL positioning results, and feed back the calculated SL positioning results to the second terminal.
  • the fifth information is used to indicate the existence or non-existence of the SL positioning assistance information of the first terminal to be forwarded by the fourth terminal, and the fourth terminal is the SL except the first terminal other terminals.
  • the fifth information may be indicated in an explicit or implicit manner. For example, when the fifth information is explicitly indicated, "1" indicates existence, and "0" indicates absence, etc. Based on this, if the SL positioning assistance information of the first terminal is forwarded by the fourth terminal, then the second terminal receiving the SL positioning related information can know that there is a fourth terminal that forwards the SL positioning related information of the first terminal , that is, when the first terminal forwards information of other Anchor UEs as a centralized Anchor UE, other centralized Anchor UEs also forward their information, so that the terminal forwards the information according to the information of the first terminal The state determines the subsequent communication positioning measurement behavior, such as requesting the SL positioning related information of the first terminal from other centralized Anchor UEs.
  • the fourth terminal is a terminal that forwards the SL positioning related information of the first terminal.
  • the sixth information may be indicated explicitly or implicitly, which is not limited here.
  • the identification information of the fourth terminal may also be Application Layer ID or Layer-2 ID, etc.
  • the identification information of the third terminal may include an Application Layer ID of the third terminal, and/or a Layer-2 ID of the third terminal, which is not limited here.
  • the SL positioning assistance information includes SL positioning assistance information of the first terminal and/or SL positioning assistance information of at least one third terminal.
  • the SL positioning assistance information may be configured in the SL positioning related information in the form of a list or the like.
  • the SL positioning assistance information may include at least one of the following (1031)-(1038).
  • the identification information of the first terminal wherein, the identification information of the first terminal may include Application Layer ID, Layer-2 ID or other new sequence identifications.
  • Synchronization-related information of the first terminal wherein, the synchronization-related information may include frame synchronization information (SFN initialisation time) and the like.
  • Absolute location information of the first terminal may include latitude and longitude information, area information, etc., which is not limited here.
  • the configuration information of the reference signal of the first terminal wherein, the reference signal may be SL PRS, etc., and its configuration information may be time-frequency domain information, quantity information, period information, etc. of SL PRS, which are not described here Do limit.
  • a first time-frequency resource where the first time-frequency resource is used to instruct the second terminal to obtain the SL positioning assistance information.
  • the first time-frequency resource may indicate on which time-frequency resources the second terminal can obtain the SL positioning assistance information of which terminal, etc., which is not limited here.
  • the relevant information of the on-demand assistance request may include at least one of the following (1051)-(1053).
  • (1052) indicates that the SL positioning related information includes time-frequency resources directly indicating the on-demand assistance request
  • (1053) indicates that the SL The positioning related information carries time-frequency resource indication information for indicating the time-frequency resource of the on-demand assistance request.
  • a first threshold where the first threshold is a threshold for the second terminal to obtain the SL positioning-related information.
  • the first threshold includes at least one of the following (1061)-(1062).
  • the reference signal received power (Reference Signal Received Power, RSRP) threshold of the first terminal.
  • the first threshold may include at least one threshold group, and the threshold group corresponds to a target measurement area one by one; wherein, the second terminal corresponds to a plurality of target measurement areas, And one target measurement area corresponds to one SL positioning measurement result or SL positioning result.
  • the first threshold may include three thresholds corresponding to area A, area B, and area C respectively Group.
  • first threshold and the subsequent second threshold may be implemented through protocol agreement, high-level configuration, or network configuration, which is not limited here.
  • a second threshold where the second threshold is a threshold for the second terminal to report an SL positioning measurement result or an SL positioning result.
  • the second threshold includes at least one of the following (1071)-(1074).
  • the time difference of arrival (Time Difference of Arrival, TdoA) of the reference signal of the first terminal and the fifth terminal, the fifth terminal belongs to the at least one third terminal and which fifth terminal is the fifth terminal specifically
  • the three terminals may be determined according to communication requirements, which is not limited in this embodiment.
  • TdoA of the reference signal between the sixth terminal and the seventh terminal wherein the sixth terminal and the seventh terminal belong to the at least one third terminal, and the sixth terminal and the seventh terminal
  • the specific third terminal may be determined according to communication requirements, which is not limited in this embodiment.
  • a first positioning capability where the first positioning capability is an SL positioning capability supported by the first terminal, and/or at least one SL positioning capability supported by the third terminal. Based on this, in this embodiment, the first positioning capability may include at least one of the following (1081)-(1084).
  • the positioning methods supported by the first terminal may include positioning methods 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, At least one of AoA), Angle of Departure (AoD)), a positioning method based on signal strength, and a positioning method based on phase difference.
  • 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, At least one of AoA), Angle of Departure (AoD)
  • a positioning method based on signal strength such as TDoA, round-trip time delay (Round-Trip Time, RTT)
  • angle-based positioning methods such as angle of arrival (Angle of Arrival, At least one of AoA), Angle of Departure (AoD)
  • a positioning method based on signal strength such as TDoA, round-
  • the azimuth methods supported by the third terminal may also include positioning methods based on time difference (such as TDoA, RTT), positioning methods based on angle (such as AoA, AoD), positioning methods based on At least one of the positioning method based on signal strength and the positioning method based on phase difference is not limited here.
  • the state of the first terminal includes at least one of the following (1091)-(1094).
  • Zone identifier of the zone (Zone) where the first terminal is located.
  • the zone identifier 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 realized by means of protocol reservation or the like.
  • 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 state of the first terminal may include at least one of the following (10941)-(10944).
  • 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 layer or configured by a network side, etc., which is not limited here.
  • the aforementioned SL positioning related information can be transmitted through different information fields, for example, the attribute information of the first terminal, the second information of the first terminal can be transmitted through the first information field in the SL positioning related information
  • the second information field transmits the identification information of the third terminal, the third information field transmits the SL positioning assistance information, etc.
  • it can be determined through protocol agreement or network configuration or high-level configuration. information, without limitation.
  • the second terminal may perform SL positioning measurement based on the SL positioning-related information.
  • the second terminal may According to a first manner, SL positioning assistance information is determined; and SL positioning measurement is performed based on the determined SL positioning assistance information.
  • the first manner may include any one of the following (301)-(304).
  • First information is included in the SL positioning related information, and the first information indicates that the first terminal has forwarded at least one SL of the third terminal by establishing an SL connection with the first terminal.
  • the second terminal establishes a Sidelink Unicast connection with the first terminal, and obtains the SL positioning assistance information through a PC5-RRC message.
  • the conditions for establishing a Sidelink Unicast connection between the second terminal and the first terminal may include at least one of the following (3011)-(3012).
  • the second terminal Based on the attribute information of the first terminal, the second terminal expects (is willing to) establish a Sidelink Unicast connection with the first terminal. For example, when the second terminal determines according to the attribute information of the first terminal that it is willing to establish a Sidelink Unicast connection with the first terminal, the second terminal establishes a Sidelink Unicast connection with the first terminal.
  • the RSRP measured by the second terminal satisfies the first threshold. For example, when the RSRP measured by the second terminal is not greater than the first threshold, the second terminal establishes a Sidelink Unicast connection with the first terminal.
  • the SL positioning related information includes SL positioning assistance information
  • the SL positioning related information includes the SL positioning assistance information
  • the SL positioning related information includes the first time-frequency resource, acquire the SL positioning assistance information according to the first time-frequency resource.
  • the second terminal requests the first terminal corresponding to the identification information of the terminal according to the identification information of the terminal indicated by the sixth information.
  • the terminal device broadcasts Sidelink positioning assistance information.
  • the second terminal may send the SL positioning measurement result and/or the SL positioning assistance information of the second terminal to the first terminal, so that the first terminal can
  • the positioning measurement result and/or the SL positioning assistance information of the second terminal determine the SL positioning result, and feed back the SL positioning result to the second terminal, so that the first terminal determines the SL positioning result based on the SL measurement result.
  • the second terminal may send the SL positioning measurement result to the first terminal when the following (401) and/or (402) are satisfied.
  • the RSRP measured by the second terminal is not greater than the second threshold, or the RSRP measured by the second terminal is not smaller than the second threshold.
  • the attribute information of the first terminal carries third information, and the third information indicates that the first terminal has the ability to calculate the SL of the second terminal based on the SL positioning measurement result of the second terminal Ability to localize results.
  • fourth information may be carried in the attribute information of the first terminal, and the fourth information indicates that the first terminal has information based on the first terminal and/or at least one
  • the second terminal sends its own SL positioning assistance information to the first terminal, so that the second terminal A terminal determines the SL positioning result of the second terminal based on the SL positioning related information.
  • the first terminal receives the SL positioning measurement result sent by the second terminal and/or the SL positioning assistance information of the second terminal, according to the SL positioning measurement result and/or the The SL positioning assistance information of the second terminal determines the SL positioning result of the second terminal.
  • the first terminal sends the SL positioning result to the second terminal.
  • the implementation process of the positioning method given in this embodiment is different according to the difference in SL positioning-related information.
  • the positioning method given in this embodiment will be further described below in conjunction with Example 1-Example 3 , the content is as follows.
  • the first terminal acquires SL positioning assistance information (included in SL positioning related information) of at least one third terminal.
  • the first terminal sends a broadcast message to directly broadcast SL positioning assistance information (included in SL positioning related information), and/or to indicate that other second terminals can acquire SL positioning assistance information in an on-demand manner.
  • the second terminal that needs SL positioning can obtain SL positioning assistance information of the first terminal and the third terminal based on the broadcast message, such as latitude and longitude information, SL PRS configuration, etc. of the first terminal and the third terminal.
  • the second terminal performs SL PRS measurement based on the SL RPS configuration, and obtains SL positioning measurement results, such as RSRP, TDoA, and phase difference.
  • the second terminal calculates its own SL positioning result based on the measurement result and the latitude and longitude information.
  • the first terminal acquires SL positioning assistance information (included in SL positioning related information) of the third terminal.
  • the first terminal sends a broadcast message, directly broadcasts SL positioning assistance information, and/or indicates that other second terminals can obtain SL positioning assistance information in an on-demand manner, and/or indicates other second terminals
  • the SL positioning result can be obtained by using the computing capability of the first terminal.
  • the second terminal with a positioning requirement obtains the SL positioning assistance information of the first terminal and the third terminal based on the broadcast message, such as the SL PRS configuration of the first terminal and the third terminal (in this example, the second The terminal may not acquire the latitude and longitude information of the first terminal and the third terminal).
  • the second terminal performs Sidelink PRS measurement based on the SL RPS configuration, obtains the SL positioning measurement result, and sends the SL positioning measurement result to the first terminal, requesting the first terminal to calculate the positioning result.
  • the first terminal calculates the SL positioning result of the second terminal based on the received SL positioning measurement result and latitude and longitude information.
  • the first terminal feeds back the SL positioning result to the second terminal.
  • the first terminal acquires SL positioning assistance information (included in SL positioning related information) of at least one third terminal.
  • the first terminal sends a broadcast message, directly broadcasts SL positioning assistance information, and/or indicates that other second terminals (that is, Target UE1 or Target UE2 in Figure 5b) can obtain SL positioning in an on-demand manner Auxiliary information, and a second threshold for reporting SL positioning measurement results.
  • the second terminal having a positioning requirement acquires SL positioning assistance information of the first terminal and the third terminal based on the broadcast message, such as SL PRS configuration of the first terminal and the third terminal.
  • the second terminal performs SL PRS measurement based on the SL RPS configuration, and compares the SL positioning measurement result with the second threshold.
  • the first terminal calculates the SL positioning result of the second terminal based on the received SL positioning measurement result and latitude and longitude information, and if the second terminal enters or leaves a certain area, an alarm may be triggered.
  • 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 SL positioning related information.
  • the second terminal performs SL positioning measurement based on the SL positioning related information.
  • 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, and the first terminal and the third terminal are used to assist the second terminal The terminal performs SL positioning.
  • the SL positioning-related information includes at least one of the following: attribute information of the first terminal; identification information of the third terminal; SL positioning assistance information, the SL positioning assistance information including SL positioning assistance information of the first terminal and/or SL positioning assistance information of at least one third terminal; a first time-frequency resource, the first time-frequency resource being used to instruct the second terminal to acquire the The SL positioning assistance information; the relevant information of the on-demand assistance request; the first threshold, the first threshold is the threshold for the second terminal to obtain the SL positioning related information; the second threshold, the second The threshold is the threshold for the second terminal to report the SL positioning measurement result or the SL positioning result; the first positioning capability, the first positioning capability is the SL positioning capability supported by the first terminal, and/or, at least one of the The SL positioning capability supported by the third terminal; the state information of the first terminal.
  • the attribute information of the first terminal includes at least one of the following: identification information of the first terminal; first information, where the first information is used to indicate that the first terminal has or does not have the ability to forward at least one SL positioning assistance information of the third terminal by establishing an SL connection with the first terminal; the second information is used to indicate whether the first terminal has or does not Ability to forward at least one SL positioning assistance information of the third terminal based on an on-demand assistance request; third information, the third information is used to indicate whether the first terminal has or does not have the information based on the second The SL positioning measurement result of the terminal is capable of calculating the SL positioning result of the second terminal; fourth information, the fourth information is used to indicate whether the first terminal has or does not have the capability based on the first terminal and/or at least A capability of calculating the SL positioning result of the second terminal from the SL positioning measurement result of the third terminal; fifth information, the fifth information is used to indicate the presence or absence of SL positioning assistance information of the first terminal Forwarded by the fourth terminal;
  • the identification information of the third terminal includes at least one of the following: an Application Layer ID of the third terminal; and a Layer-2 ID of the third terminal.
  • the SL positioning assistance information includes at least one of the following: identification information of the first terminal; synchronization related information of the first terminal; absolute position information of the first terminal; Configuration information of the reference signal of the first terminal; identification information of the third terminal; synchronization related information of the third terminal; absolute position information of the third terminal; configuration information.
  • the relevant information of the on-demand assistance request includes at least one of the following: the period of the on-demand assistance request; the time-frequency resource of the on-demand assistance request; -demand time-frequency resource indication information for auxiliary requests.
  • the first threshold includes at least one of the following: a reference signal received power RSRP threshold of the first terminal; an RSRP threshold of the third terminal.
  • the first threshold includes at least one threshold group, and the threshold group corresponds to a target measurement area one by one; wherein, the second terminal corresponds to a plurality of target measurement areas, and one The target measurement area corresponds to one SL positioning measurement result or SL positioning result.
  • the second threshold includes at least one of the following: the RSRP threshold of the first terminal; the RSRP threshold of the third terminal; The time difference of arrival TdoA of the reference signal, the fifth terminal belongs to the at least one third terminal; the TdoA of the reference signal between the sixth terminal and the seventh terminal, wherein the sixth terminal and the seventh terminal belong to the at least one third terminal.
  • the first positioning capability includes at least one of the following: identification information of the first terminal; a positioning mode supported by the first terminal; identification information of the third terminal; The positioning mode supported by the third 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 moving state of the first terminal; a network coverage of the first terminal State: the unicast link state of the PC5 unicast connection 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 status of the first terminal includes any of the following: being within a cellular network coverage; not being 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 established PC5 The indication information of the interval to which the number of unicast links belongs; the established PC5 unicast links exceed or do not exceed the predetermined value.
  • the step of the second terminal performing SL positioning measurement based on the SL positioning related information includes: the second terminal determines SL positioning assistance information according to the first manner; the second The terminal performs SL positioning measurement based on the SL positioning assistance information; wherein, the first method includes any of the following: the SL positioning related information includes first information, and the first information indicates the first When the terminal has the ability to forward at least one SL positioning assistance information of the third terminal by establishing an SL connection with the first terminal, the second terminal establishes a Sidelink Unicast connection with the first terminal, and through PC5-RRC message to obtain the SL positioning assistance information; in the case that the SL positioning related information includes the SL positioning assistance information, read the SL positioning related information including the SL positioning assistance information; If the information includes the first time-frequency resource, acquire the SL positioning assistance information according to the first time-frequency resource; if the SL positioning related information includes sixth information, the second terminal according to The identification information of the terminal indicated by the sixth information requests the first terminal device corresponding
  • the conditions for establishing a Sidelink Unicast connection between the second terminal and the first terminal include at least one of the following: based on the attribute information of the first terminal, the second terminal expects to communicate with the first terminal The first terminal establishes a Sidelink Unicast connection; the RSRP measured by the second terminal meets the first threshold.
  • 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 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: the second terminal sends an SL positioning assistance request to the first terminal, and the SL positioning assistance request It is used to request the SL positioning related information.
  • the method further includes: the second terminal sends the SL positioning measurement result and/the SL positioning assistance information of the second terminal to the The first terminal; the second terminal receiving the SL positioning result fed back by the first terminal, wherein the SL positioning result is the first terminal based on the SL positioning measurement result and/or the second terminal
  • the SL positioning assistance information is determined.
  • the step of the second terminal sending the SL positioning measurement result to the first terminal includes: when at least one of the following conditions is satisfied, the second terminal sends the SL positioning measurement result For the first terminal; the RSRP measured by the second terminal satisfies the second threshold; the attribute information of the first terminal carries third information, and the third information indicates that the first terminal has A capability of calculating an SL positioning result of the second terminal based on an SL positioning measurement result of the second terminal.
  • the step of the second terminal sending the SL positioning assistance information of the second terminal to the first terminal includes: the attribute information of the first terminal carries fourth information , and the fourth information indicates that the first terminal has the ability to calculate the SL positioning result of the second terminal based on the SL positioning measurement results of the first terminal and/or at least one of the third terminals.
  • the execution subject may be a positioning device, or a control module in the positioning device for executing the positioning method.
  • the positioning device provided in the embodiment of the present application is described by taking the positioning device executing the positioning method as an example.
  • 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 related information is at least used to assist the second terminal to perform SL positioning, the SL positioning related information includes the SL positioning related information of the first terminal and/or the SL positioning related information of at least one third terminal, and the second terminal is a terminal to be positioned, and the third terminal is used to assist the second terminal to perform SL positioning.
  • the apparatus 700 further includes a receiving module, configured to receive SL positioning assistance information sent by the third terminal.
  • the SL positioning-related information includes at least one of the following: attribute information of the first terminal; identification information of the third terminal; SL positioning assistance information, and the SL positioning assistance information includes the first SL positioning assistance information of the terminal and/or SL positioning assistance information of at least one third terminal; a first time-frequency resource, where the first time-frequency resource is used to instruct the second terminal to obtain the SL positioning assistance information ; Relevant information of on-demand assistance request; A first threshold, the first threshold is the threshold for the second terminal to obtain the SL positioning related information; A second threshold, the second threshold is the first threshold The second terminal reports the SL positioning measurement result or the threshold of the SL positioning result; the first positioning capability, the first positioning capability is the SL positioning capability supported by the first terminal, and/or, at least one of the third terminals supports Supported SL positioning capability; status information of the first terminal.
  • the attribute information of the first terminal includes at least one of the following: identification information of the first terminal; first information, the first information is used to indicate whether the first terminal has The first terminal establishes an SL connection and forwards at least one SL positioning assistance information of the third terminal; second information, the second information is used to indicate whether the first terminal has or does not have an on-demand based Assistance request, the ability to forward at least one SL positioning assistance information of the third terminal; third information, the third information is used to indicate whether the first terminal has or does not have SL positioning measurement based on the second terminal As a result, the ability to calculate the SL positioning result of the second terminal; the fourth information, the fourth information is used to indicate whether the first terminal has or does not have the capability based on the first terminal and/or at least one of the third The ability of the SL positioning measurement result of the terminal to calculate the SL positioning result of the second terminal; the fifth information, the fifth information is used to indicate the existence or non-existence of the SL positioning assistance information of the first terminal to be forwarded by the fourth
  • the identification information of the third terminal includes at least one of the following: Application Layer ID of the third terminal; Layer-2 ID of the third terminal.
  • the SL positioning assistance information includes at least one of the following: identification information of the first terminal; synchronization related information of the first terminal; absolute position information of the first terminal; The configuration information of the reference signal of the third terminal; the identification information of the third terminal; the synchronization related information of the third terminal; the absolute position information of the third terminal; the configuration information of the reference signal of the third terminal.
  • the relevant information of the on-demand assistance request includes at least one of the following: a period of the on-demand assistance request; a time-frequency resource of the on-demand assistance request; Time-frequency resource indication information.
  • the first threshold includes at least one of the following: a reference signal received power RSRP threshold of the first terminal; an RSRP threshold of the third terminal.
  • the first threshold includes at least one threshold group, and the threshold group corresponds to a target measurement area one by one; wherein, the second terminal corresponds to multiple target measurement areas, and one target measurement area Corresponding to one SL positioning measurement result or SL positioning result.
  • the second threshold includes at least one of the following: an RSRP threshold of the first terminal; an RSRP threshold of the third terminal; a time difference of arrival of a reference signal between the first terminal and the fifth terminal TdoA, the fifth terminal belongs to the at least one third terminal; TdoA of the reference signal between the sixth terminal and the seventh terminal, wherein the sixth terminal and the seventh terminal belong to the at least one third terminal .
  • the first positioning capability includes at least one of the following: identification information of the first terminal; positioning methods supported by the first terminal; identification information of the third terminal; The supported targeting methods.
  • 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 first sending module 710 is configured to, in a case of receiving the SL positioning assistance request sent by the second terminal, broadcast SL positioning related information.
  • the apparatus 700 further includes: a first receiving module, configured to, when receiving the SL positioning measurement result sent by the second terminal and/or the SL positioning assistance information of the second terminal, according to The SL positioning measurement result and/or the SL positioning assistance information of the second terminal determine the SL positioning result of the second terminal; the first sending module 710 is configured to send the SL positioning result to the second terminal.
  • a first receiving module configured to, when receiving the SL positioning measurement result sent by the second terminal and/or the SL positioning assistance information of the second terminal, according to The SL positioning measurement result and/or the SL positioning assistance information of the second terminal determine the SL positioning result of the second terminal.
  • 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 second receiving module for receiving SL positioning-related information; a measuring module for based on the SL Positioning related information to perform SL positioning measurement; 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, and the first terminal and the third terminal The terminal is used to assist the second terminal to perform SL positioning.
  • the SL positioning-related information includes at least one of the following: attribute information of the first terminal; identification information of the third terminal; SL positioning assistance information, and the SL positioning assistance information includes the first SL positioning assistance information of the terminal and/or SL positioning assistance information of at least one third terminal; a first time-frequency resource, where the first time-frequency resource is used to instruct the second terminal to obtain the SL positioning assistance information ; Relevant information of on-demand assistance request; A first threshold, the first threshold is the threshold for the second terminal to obtain the SL positioning related information; A second threshold, the second threshold is the first threshold The second terminal reports the SL positioning measurement result or the threshold of the SL positioning result; the first positioning capability, the first positioning capability is the SL positioning capability supported by the first terminal, and/or, at least one of the third terminals supports Supported SL positioning capability; status information of the first terminal.
  • the attribute information of the first terminal includes at least one of the following: identification information of the first terminal; first information, the first information is used to indicate whether the first terminal has The first terminal establishes an SL connection and forwards at least one SL positioning assistance information of the third terminal; second information, the second information is used to indicate whether the first terminal has or does not have an on-demand based Ability to assist request forwarding at least one SL positioning assistance information of the third terminal; third information, the third information is used to indicate whether the first terminal has or does not have the SL positioning measurement result based on the second terminal The ability to calculate the SL positioning result of the second terminal; fourth information, the fourth information is used to indicate that the first terminal has or does not have the capability based on the first terminal and/or at least one of the third terminals The ability to calculate the SL positioning result of the second terminal based on the SL positioning measurement result; the fifth information, the fifth information is used to indicate the existence or non-existence of the SL positioning assistance information of the first terminal to be forwarded by the fourth terminal; Sixth
  • the identification information of the third terminal includes at least one of the following: Application Layer ID of the third terminal; Layer-2 ID of the third terminal.
  • the SL positioning assistance information includes at least one of the following: identification information of the first terminal; synchronization related information of the first terminal; absolute position information of the first terminal; The configuration information of the reference signal of the third terminal; the identification information of the third terminal; the synchronization related information of the third terminal; the absolute position information of the third terminal; the configuration information of the reference signal of the third terminal.
  • the relevant information of the on-demand assistance request includes at least one of the following: a period of the on-demand assistance request; a time-frequency resource of the on-demand assistance request; Time-frequency resource indication information.
  • the first threshold includes at least one of the following: a reference signal received power RSRP threshold of the first terminal; an RSRP threshold of the third terminal.
  • the first threshold includes at least one threshold group, and the threshold group corresponds to a target measurement area one by one; wherein, the second terminal corresponds to multiple target measurement areas, and one target measurement area Corresponding to one SL positioning measurement result or SL positioning result.
  • the second threshold includes at least one of the following: an RSRP threshold of the first terminal; an RSRP threshold of the third terminal; a time difference of arrival of a reference signal between the first terminal and the fifth terminal TdoA, the fifth terminal belongs to the at least one third terminal; TdoA of the reference signal between the sixth terminal and the seventh terminal, wherein the sixth terminal and the seventh terminal belong to the at least one third terminal .
  • the first positioning capability includes at least one of the following: identification information of the first terminal; positioning methods supported by the first terminal; identification information of the third terminal; The supported targeting methods.
  • 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 measurement module is configured to determine SL positioning assistance information according to a first manner; and perform SL positioning measurement based on the SL positioning assistance information; wherein, the first manner includes any of the following: in the The SL positioning related information includes first information, and the first information indicates that the first terminal has the capability of establishing an SL connection with the first terminal and forwarding at least one SL positioning assistance information of the third terminal
  • the second terminal establishes a Sidelink Unicast connection with the first terminal, and obtains the SL positioning assistance information through a PC5-RRC message; when the SL positioning related information includes the SL positioning assistance information, Read that the SL positioning related information includes SL positioning assistance information; if the SL positioning related information includes a first time-frequency resource, acquire the SL positioning assistance information according to the first time-frequency resource;
  • the sixth information is included in the SL positioning related information, the second terminal requests the first terminal device corresponding to the identification information of the terminal to broadcast a Sidelink according to the identification information of the terminal indicated by the sixth information.
  • the conditions for establishing a Sidelink Unicast connection between the second terminal and the first terminal include at least one of the following: based on the attribute information of the first terminal, the second terminal expects to establish a Sidelink Unicast connection with the first terminal. Sidelink Unicast connection; the RSRP measured by the second terminal meets the first threshold.
  • 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 apparatus 800 further includes: a second sending module, further configured to send an SL positioning assistance request to the first terminal, where the SL positioning assistance request is used to request the SL positioning related information.
  • a second sending module further configured to send an SL positioning assistance request to the first terminal, where the SL positioning assistance request is used to request the SL positioning related information.
  • the second sending module is further configured for the second terminal to send the SL positioning measurement result and/or the SL positioning assistance information of the second terminal to the first terminal; the second receiving module, It is also used to receive the SL positioning result fed back by the first terminal, where the SL positioning result is determined by the first terminal according to the SL positioning measurement result and/or the SL positioning assistance information of the second terminal.
  • the second sending module is configured to send the SL positioning measurement result from the second terminal to the first terminal when at least one of the following is satisfied; the RSRP measured by the second terminal satisfies the required The second threshold; the attribute information of the first terminal carries third information, and the third information indicates that the first terminal has the ability to calculate the second terminal based on the SL positioning measurement result of the second terminal. The ability of the SL to locate the results.
  • the second sending module is configured to carry fourth information in the attribute information of the first terminal, and the fourth information indicates that the first terminal has Or in a case where at least one SL positioning measurement result of the third terminal has the ability to calculate the SL positioning result of the second terminal, sending the SL positioning assistance information of the second terminal to the first terminal.
  • 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 terminals 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 at least used to assist The second terminal performs SL positioning, 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, the second terminal is a terminal to be positioned , the third terminal is used to assist the second terminal to perform SL positioning.
  • the SL positioning-related information includes at least one of the following: attribute information of the first terminal; identification information of the third terminal; SL positioning assistance information, and the SL positioning assistance information includes the first SL positioning assistance information of the terminal and/or SL positioning assistance information of at least one third terminal; a first time-frequency resource, where the first time-frequency resource is used to instruct the second terminal to obtain the SL positioning assistance information ; Relevant information of on-demand assistance request; A first threshold, the first threshold is the threshold for the second terminal to obtain the SL positioning related information; A second threshold, the second threshold is the first threshold The second terminal reports the SL positioning measurement result or the threshold of the SL positioning result; the first positioning capability, the first positioning capability is the SL positioning capability supported by the first terminal, and/or, at least one of the third terminals supports Supported SL positioning capability; status information of the first terminal.
  • the attribute information of the first terminal includes at least one of the following: identification information of the first terminal; first information, the first information is used to indicate whether the first terminal has The first terminal establishes an SL connection and forwards at least one SL positioning assistance information of the third terminal; second information, the second information is used to indicate whether the first terminal has or does not have an on-demand based Assistance request, the ability to forward at least one SL positioning assistance information of the third terminal; third information, the third information is used to indicate whether the first terminal has or does not have SL positioning measurement based on the second terminal As a result, the ability to calculate the SL positioning result of the second terminal; the fourth information, the fourth information is used to indicate whether the first terminal has or does not have the capability based on the first terminal and/or at least one of the third The ability of the SL positioning measurement result of the terminal to calculate the SL positioning result of the second terminal; the fifth information, the fifth information is used to indicate the existence or non-existence of the SL positioning assistance information of the first terminal to be forwarded by the fourth
  • the identification information of the third terminal includes at least one of the following: Application Layer ID of the third terminal; Layer-2 ID of the third terminal.
  • the SL positioning assistance information includes at least one of the following: identification information of the first terminal; synchronization related information of the first terminal; absolute position information of the first terminal; The configuration information of the reference signal of the third terminal; the identification information of the third terminal; the synchronization related information of the third terminal; the absolute position information of the third terminal; the configuration information of the reference signal of the third terminal.
  • the relevant information of the on-demand assistance request includes at least one of the following: a period of the on-demand assistance request; a time-frequency resource of the on-demand assistance request; Time-frequency resource indication information.
  • the first threshold includes at least one of the following: a reference signal received power RSRP threshold of the first terminal; an RSRP threshold of the third terminal.
  • the first threshold includes at least one threshold group, and the threshold group corresponds to a target measurement area one by one; wherein, the second terminal corresponds to multiple target measurement areas, and one target measurement area Corresponding to one SL positioning measurement result or SL positioning result.
  • the second threshold includes at least one of the following: an RSRP threshold of the first terminal; an RSRP threshold of the third terminal; a time difference of arrival of a reference signal between the first terminal and the fifth terminal TdoA, the fifth terminal belongs to the at least one third terminal; TdoA of the reference signal between the sixth terminal and the seventh terminal, wherein the sixth terminal and the seventh terminal belong to the at least one third terminal .
  • the first positioning capability includes at least one of the following: identification information of the first terminal; positioning methods supported by the first terminal; identification information of the third terminal; The supported targeting methods.
  • 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 radio frequency unit 901 is configured to, in a case of receiving the SL positioning assistance request sent by the second terminal, broadcast SL positioning related information.
  • the radio frequency unit 901 is configured to, when receiving the SL positioning measurement result sent by the second terminal and/or the SL positioning assistance information of the second terminal, according to the SL positioning measurement result And/or the SL positioning assistance information of the second terminal to determine the SL positioning result of the second terminal; the sending module is configured to send the SL positioning result to the second terminal.
  • the radio frequency unit 901 is configured to receive SL positioning related information; the processor 910 is configured to perform SL positioning related information based on the SL positioning related information.
  • SL positioning measurement 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.
  • the SL positioning-related information includes at least one of the following: attribute information of the first terminal; identification information of the third terminal; SL positioning assistance information, and the SL positioning assistance information includes the first SL positioning assistance information of the terminal and/or SL positioning assistance information of at least one third terminal; a first time-frequency resource, where the first time-frequency resource is used to instruct the second terminal to obtain the SL positioning assistance information ; Relevant information of on-demand assistance request; A first threshold, the first threshold is the threshold for the second terminal to obtain the SL positioning related information; A second threshold, the second threshold is the first threshold The second terminal reports the SL positioning measurement result or the threshold of the SL positioning result; the first positioning capability, the first positioning capability is the SL positioning capability supported by the first terminal, and/or, at least one of the third terminals supports Supported SL positioning capability; status information of the first terminal.
  • the attribute information of the first terminal includes at least one of the following: identification information of the first terminal; first information, the first information is used to indicate whether the first terminal has The first terminal establishes an SL connection and forwards at least one SL positioning assistance information of the third terminal; second information, the second information is used to indicate whether the first terminal has or does not have an on-demand based Assistance request, the ability to forward at least one SL positioning assistance information of the third terminal; third information, the third information is used to indicate whether the first terminal has or does not have SL positioning measurement based on the second terminal As a result, the ability to calculate the SL positioning result of the second terminal; the fourth information, the fourth information is used to indicate whether the first terminal has or does not have the capability based on the first terminal and/or at least one of the third The ability of the SL positioning measurement result of the terminal to calculate the SL positioning result of the second terminal; fifth information, the fifth information is used to indicate the existence or non-existence of the SL positioning assistance information of the first terminal to be forwarded by the fourth terminal
  • the identification information of the third terminal includes at least one of the following: Application Layer ID of the third terminal; Layer-2 ID of the third terminal.
  • the SL positioning assistance information includes at least one of the following: identification information of the first terminal; synchronization related information of the first terminal; absolute position information of the first terminal; The configuration information of the reference signal of the third terminal; the identification information of the third terminal; the synchronization related information of the third terminal; the absolute position information of the third terminal; the configuration information of the reference signal of the third terminal.
  • the relevant information of the on-demand assistance request includes at least one of the following: a period of the on-demand assistance request; a time-frequency resource of the on-demand assistance request; Time-frequency resource indication information.
  • the first threshold includes at least one of the following: a reference signal received power RSRP threshold of the first terminal; an RSRP threshold of the third terminal.
  • the first threshold includes at least one threshold group, and the threshold group corresponds to a target measurement area one by one; wherein, the second terminal corresponds to multiple target measurement areas, and one target measurement area Corresponding to one SL positioning measurement result or SL positioning result.
  • the second threshold includes at least one of the following: an RSRP threshold of the first terminal; an RSRP threshold of the third terminal; a time difference of arrival of a reference signal between the first terminal and the fifth terminal TdoA, the fifth terminal belongs to the at least one third terminal; TdoA of the reference signal between the sixth terminal and the seventh terminal, wherein the sixth terminal and the seventh terminal belong to the at least one third terminal .
  • the first positioning capability includes at least one of the following: identification information of the first terminal; positioning methods supported by the first terminal; identification information of the third terminal; The supported targeting methods.
  • 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 processor 910 is configured to determine SL positioning assistance information according to a first manner; and perform SL positioning measurement based on the SL positioning assistance information; wherein the first manner includes any of the following:
  • the SL positioning related information includes first information, and the first information indicates that the first terminal has forwarded at least one SL positioning assistance information of the third terminal by establishing an SL connection with the first terminal
  • the second terminal establishes a Sidelink Unicast connection with the first terminal, and obtains the SL positioning assistance information through a PC5-RRC message
  • the SL positioning related information includes the SL positioning assistance information Next, read the SL positioning assistance information included in the SL positioning related information; if the SL positioning related information includes a first time-frequency resource, acquire the SL positioning assistance information according to the first time-frequency resource ;
  • the sixth information is included in the SL positioning related information
  • the second terminal requests the first terminal device corresponding to the identification information of the terminal according to the identification information of the terminal indicated by the sixth information Broadcast Sidelink positioning
  • the conditions for establishing a Sidelink Unicast connection between the second terminal and the first terminal include at least one of the following: based on the attribute information of the first terminal, the second terminal expects to establish a Sidelink Unicast connection with the first terminal. Sidelink Unicast connection; the RSRP measured by the second terminal meets the first threshold.
  • 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 radio frequency unit 901 is further configured to send an SL positioning assistance request to the first terminal, where the SL positioning assistance request is used to request the SL positioning related information.
  • the radio frequency unit 901 is further configured for the second terminal to send the SL positioning measurement result and/or the SL positioning assistance information of the second terminal to the first terminal; and receive the feedback from the first terminal An SL positioning result, wherein the SL positioning result is determined by the first terminal according to the SL positioning measurement result and/or the SL positioning assistance information of the second terminal.
  • the radio frequency unit 901 is configured to send the SL positioning measurement result from the second terminal to the first terminal when at least one of the following is satisfied; the RSRP measured by the second terminal satisfies the first Two thresholds; the attribute information of the first terminal carries third information, and the third information indicates that the first terminal has the ability to calculate the SL of the second terminal based on the SL positioning measurement result of the second terminal Ability to localize results.
  • the radio frequency unit 901 is configured to carry fourth information in the attribute information of the first terminal, and the fourth information indicates that the first terminal has In a case where the SL positioning measurement result of the third terminal is capable of calculating the SL positioning result of the second terminal, sending the SL positioning assistance information of the second terminal to the first terminal.
  • 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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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

La présente demande se rapporte au domaine technique des communications sans fil. Sont divulgués un procédé et un appareil de positionnement, et un terminal. Le procédé de positionnement dans les modes de réalisation de la présente demande comprend les étapes suivantes : un premier terminal diffuse des informations associées à un positionnement de SL, les informations relatives à un positionnement de SL étant au moins utilisées pour aider un second terminal à effectuer un positionnement de SL ; les informations relatives au positionnement de SL comprennent des informations relatives à un positionnement de SL du premier terminal et/ou des informations relatives au positionnement de SL d'au moins un troisième terminal ; le deuxième terminal est un terminal à positionner ; et le troisième terminal est utilisé pour aider le deuxième terminal à effectuer un positionnement de SL.
PCT/CN2022/112264 2021-08-17 2022-08-12 Procédé et appareil de positionnement, et terminal WO2023020404A1 (fr)

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WO2020196483A1 (fr) * 2019-03-27 2020-10-01 三菱電機株式会社 Système de communication, station de base et dispositif hôte
WO2020231303A1 (fr) * 2019-05-13 2020-11-19 Telefonaktiebolaget L M Ericsson (Publ) Détermination de la position au moyen d'une liaison latérale
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