WO2023028776A1 - 定位方法、终端和定位装置 - Google Patents

定位方法、终端和定位装置 Download PDF

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Publication number
WO2023028776A1
WO2023028776A1 PCT/CN2021/115436 CN2021115436W WO2023028776A1 WO 2023028776 A1 WO2023028776 A1 WO 2023028776A1 CN 2021115436 W CN2021115436 W CN 2021115436W WO 2023028776 A1 WO2023028776 A1 WO 2023028776A1
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WIPO (PCT)
Prior art keywords
terminal
positioning
under test
anchor
location
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PCT/CN2021/115436
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English (en)
French (fr)
Inventor
刘洋
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Oppo广东移动通信有限公司
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Application filed by Oppo广东移动通信有限公司 filed Critical Oppo广东移动通信有限公司
Priority to PCT/CN2021/115436 priority Critical patent/WO2023028776A1/zh
Priority to CN202180100671.3A priority patent/CN117859379A/zh
Publication of WO2023028776A1 publication Critical patent/WO2023028776A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements

Definitions

  • the present application relates to the field of communication technologies, and more specifically, to a positioning method, a terminal and a positioning device.
  • the positioning system provides positioning services for the terminal under test through the Uu interface
  • multiple network devices need to send positioning reference signals to the terminal, so that the terminal under test can perform measurements based on the positioning reference signals.
  • at least some of the above-mentioned multiple network devices may not be able to provide accurate positioning services for the terminal under test, which leads to a reduction in the accuracy of the estimated position finally obtained by the terminal under test.
  • the present application provides a positioning method, a terminal and a positioning device, so as to improve the accuracy of the estimated position of the terminal to be tested.
  • a positioning method including: when a preset event occurs, the first terminal determines the first estimated position of the terminal under test based on the measurement result of the reference signal and the position of the anchor terminal, wherein, The reference signal is transmitted by the terminal under test and the anchor terminal on a sidelink, and the first terminal is the terminal under test or the anchor terminal.
  • the preset event includes one or more of the following: the accuracy of the second estimated position of the terminal under test obtained through the Uu interface is lower than the first accuracy threshold; providing positioning for the terminal under test through the Uu interface
  • the first quality of service (quality of service, Qos) of the service (location service, LCS) does not meet the LCS Qos level to which the first Qos belongs; the validity of the positioning assistance data is lower than the validity threshold; the location of the LCS is provided
  • the positioning integrity level of the system is lower than the first positioning integrity level threshold; the positioning integrity result of the positioning system is failure; a suspicious event occurs when the positioning assistance data is acquired; a suspicious event occurs when the positioning assistance data is generated;
  • the positioning reference signal PRS is transmitted between the terminal under test and the network device; the transmission scenario of the PRS causes the accuracy of the second estimated position to be lower than that of the positioning system providing positioning services for other terminals
  • the PRS transmission scenario causes the accuracy of the measurement result obtained based on the PRS to be lower than the
  • a positioning method including: when a preset event occurs, a positioning management function LMF activates a sidelink positioning function for a terminal under test, and the sidelink positioning function includes The position of the anchor terminal is to determine the first estimated position of the terminal under test, and the measurement result is obtained by measuring the reference signal transmitted in the sidelink.
  • the preset event includes one or more of the following: the accuracy of the second estimated position of the terminal under test obtained through the Uu interface is lower than the first accuracy threshold; providing positioning for the terminal under test through the Uu interface
  • the first quality of service Qos of the serving LCS does not meet the LCS Qos level to which the first Qos belongs; the validity of the positioning assistance data is lower than the validity threshold; the positioning integrity level of the positioning system providing the LCS is lower than the first positioning Integrity level threshold; the positioning integrity result of the positioning system is a failure; a suspicious event occurs when the positioning assistance data is acquired; a suspicious event occurs in the generation of the positioning assistance data; in the non-line-of-sight transmission scenario, the The positioning reference signal PRS is transmitted between the terminal and the network device; the transmission scenario of the PRS causes the accuracy of the second estimated position to be lower than the accuracy when the positioning system provides positioning services for other terminals; the transmission scenario of the PRS results in The accuracy of the measurement result obtained based on the PRS is lower than the second accuracy threshold;
  • a positioning method including: when a preset event occurs, the location management function LMF determines the first estimated position of the terminal under test based on the measurement result of the reference signal and the position of the anchor terminal, wherein, The reference signal is transmitted by the terminal under test and the anchor terminal on a sidelink.
  • the preset event includes one or more of the following: the accuracy of the second estimated position of the terminal under test obtained through the Uu interface is lower than the first accuracy threshold; providing positioning for the terminal under test through the Uu interface
  • the first quality of service Qos of the serving LCS does not meet the LCS Qos level to which the first Qos belongs; the validity of the positioning assistance data is lower than the validity threshold; the positioning integrity level of the positioning system providing the LCS is lower than the first positioning Integrity level threshold; the positioning integrity result of the positioning system is a failure; a suspicious event occurs when the positioning assistance data is acquired; a suspicious event occurs in the generation of the positioning assistance data; in the non-line-of-sight transmission scenario, the A positioning reference signal (positioning reference signal, PRS) is transmitted between the terminal and the network device; the transmission scenario of the PRS causes the accuracy of the second estimated position to be lower than the accuracy when the positioning system provides positioning services for other terminals; The transmission scenario of the PRS causes the accuracy of the measurement result obtained based on the PRS to be
  • a positioning method including: when a preset event occurs, the first terminal receives a reference signal transmitted through a sidelink, and the sidelink is between the terminal under test and the anchor terminal the sidelink between; the first terminal generates the measurement result of the reference signal, and the measurement result is used to calculate the first estimated position of the terminal under test, wherein the first terminal is the terminal under test Or the anchor terminal, the preset event includes one or more of the following: the accuracy of the second estimated position of the terminal under test obtained through the Uu interface is lower than the first accuracy threshold; through the Uu interface for the The first quality of service Qos of the LCS provided by the terminal under test does not meet the LCS Qos level to which the first Qos belongs; the validity of the positioning assistance data is lower than the validity threshold; the positioning integrity level of the positioning system providing the LCS Below the first positioning integrity level threshold; the positioning integrity result of the positioning system is failure; a suspicious event occurs when the positioning assistance data is acquired; a suspicious event occurs in the generation of the positioning
  • a first terminal including: when a preset event occurs, the determining unit is configured to determine a first estimated position of the terminal under test based on the measurement result of the reference signal and the position of the anchor terminal, wherein , the reference signal is transmitted by the terminal under test and the anchor terminal on a sidelink, the first terminal is the terminal under test or the anchor terminal, and the preset event includes One or more of the following: the accuracy of the second estimated position of the terminal under test acquired through the Uu interface is lower than the first accuracy threshold; providing the terminal under test with the first service of location service LCS through the Uu interface The quality Qos does not meet the LCS Qos level to which the first Qos belongs; the validity of the positioning assistance data is lower than the validity threshold; the positioning integrity level of the positioning system providing the LCS is lower than the first positioning integrity level threshold; The positioning integrity result of the positioning system is a failure; a suspicious event occurs when the positioning assistance data is obtained; a suspicious event occurs in the generation of the positioning assistance data; Trans
  • a positioning device has a positioning management function LMF, and the device includes: a processing unit configured to activate a sidelink positioning function for a terminal under test when a preset event occurs,
  • the sidelink positioning function includes determining a first estimated location of the terminal under test based on a measurement result and the location of the anchor terminal, the measurement result being obtained by measuring a reference signal transmitted in the sidelink
  • the preset event includes one or more of the following: the accuracy of the second estimated position of the terminal under test obtained through the Uu interface is lower than the first accuracy threshold; providing the terminal under test through the Uu interface
  • the first quality of service Qos of the location service LCS does not meet the LCS Qos level to which the first Qos belongs; the validity of the location assistance data is lower than the validity threshold; the location integrity level of the location system providing the LCS is lower than the first
  • the positioning integrity level threshold; the positioning integrity result of the positioning system is failure; a suspicious event occurs when the positioning assistance data is obtained; a suspicious event occurs
  • a positioning device has a positioning management function LMF
  • the device includes: a processing unit configured to, in the case of a preset event occurring, based on the measurement result of the reference signal and the position of the anchor terminal , to determine the first estimated position of the terminal under test, wherein the reference signal is transmitted by the terminal under test and the anchor terminal on the sidelink, and the preset event includes one or more of the following : the accuracy of the second estimated position of the terminal under test acquired through the Uu interface is lower than the first accuracy threshold; the first quality of service Qos of the location service LCS provided for the terminal under test through the Uu interface does not meet the specified The LCS Qos level to which the first Qos belongs; the validity of the positioning assistance data is lower than the validity threshold; the positioning integrity level of the positioning system providing the LCS is lower than the first positioning integrity level threshold; the positioning integrity of the positioning system The result is failure; a suspicious event occurs when the positioning assistance data is acquired; a suspicious event occurs in the generation
  • a first terminal including: a receiving unit, configured to receive a reference signal transmitted through a sidelink when a preset event occurs, and the sidelink is a link between the terminal under test and the anchor A side link between point terminals; a generating unit, configured to generate a measurement result of the reference signal, and the measurement result is used to calculate a first estimated position of the terminal to be measured, wherein the first terminal is The terminal under test or the anchor terminal, the preset event includes one or more of the following: the accuracy of the second estimated position of the terminal under test obtained through the Uu interface is lower than the first accuracy threshold; through the Uu interface
  • the first quality of service Qos of the LCS that provides the positioning service for the terminal under test does not meet the LCS Qos level to which the first Qos belongs; the validity of the positioning assistance data is lower than the validity threshold; the positioning of the positioning system of the LCS is provided The integrity level is lower than the first positioning integrity level threshold; the positioning integrity result of the positioning system is failure; a suspicious
  • a terminal including a memory and a processor, the memory is used to store programs, and the processor is used to call the programs in the memory to execute the method as described in the first aspect or the fourth aspect .
  • a network device including a memory and a processor, the memory is used to store a program, and the processor is used to call the program in the memory to execute the method described in the second aspect or the third aspect .
  • an apparatus including a processor, configured to call a program from a memory to execute the method described in the first aspect or the fourth aspect.
  • an apparatus including a processor, configured to call a program from a memory to execute the method described in the second aspect or the third aspect.
  • a thirteenth aspect provides a chip, including a processor, configured to call a program from a memory, so that a device installed with the chip executes the method described in the first aspect or the fourth aspect.
  • a chip including a processor, configured to call a program from a memory, so that a device installed with the chip executes the method described in the second aspect or the third aspect.
  • a computer-readable storage medium on which a program is stored, and the program causes a computer to execute the method described in the first aspect or the fourth aspect.
  • a computer-readable storage medium on which a program is stored, and the program causes a computer to execute the method described in the second aspect or the third aspect.
  • a seventeenth aspect provides a computer program product, including a program, the program causes a computer to execute the method described in the first aspect or the fourth aspect.
  • a computer program product including a program, the program causes a computer to execute the method described in the second aspect or the third aspect.
  • a computer program causes a computer to execute the method described in the first aspect or the fourth aspect.
  • a computer program causes a computer to execute the method described in the second aspect or the third aspect.
  • the positioning reference signal is transmitted through the sidelink resource, which is conducive to improving the rationality of using the sidelink resource.
  • FIG. 1 is a wireless communication system 100 applied in an embodiment of the present application.
  • FIG. 2 is an example of downlink positioning to introduce a method of providing a positioning service for a terminal under test through a Uu interface.
  • Fig. 3 is a flow chart of sidelink positioning in the embodiment of the application.
  • Fig. 4 is a flow chart of sidelink positioning according to another embodiment.
  • Fig. 5 is a flow chart of sidelink positioning according to another embodiment.
  • FIG. 6 is a schematic diagram of a first terminal according to an embodiment of the present application.
  • Fig. 7 is a schematic diagram of a positioning device according to an embodiment of the present application.
  • Fig. 8 is a schematic diagram of a positioning device according to an embodiment of the present application.
  • FIG. 9 is a schematic diagram of a first terminal according to an embodiment of the present application.
  • Fig. 10 is a schematic structural diagram of a communication device according to an embodiment of the present application.
  • Fig. 1 is a wireless communication system 100 applicable to the embodiment of the present application.
  • the wireless communication system 100 may include a network device 110 and terminal devices 121 - 129 .
  • the network device 110 can provide communication coverage for a specific geographical area, and can communicate with terminal devices located in the coverage area.
  • terminal devices may communicate with each other through a sidelink (sidelink, SL).
  • Sidelink communication may also be called proximity services (Proximity services, ProSe) communication, unilateral communication, side chain communication, and device to device (D2D) communication.
  • ProSe proximity services
  • D2D device to device
  • sidelink data is transmitted between terminal devices through sidelinks.
  • the sidelink data may include data and/or control signaling.
  • the sidelink data may be, for example, a physical sidelink control channel (physical sidelink control channel, PSCCH), a physical sidelink shared channel (physical sidelink control channel, PSSCH), a PSCCH demodulation positioning reference signal (demodulation reference signal , DMRS), PSSCH DMRS, physical sidelink feedback channel (physical sidelink feedback channel, PSFCH), etc.;
  • the terminal device performs sidelink communication within the coverage of the network device.
  • scenario 2 some terminal devices perform sidelink communication within the coverage of the network device.
  • scenario 3 the terminal device performs sidelink communication outside the coverage of the network device.
  • terminal devices 121-122 can communicate through sidelinks, and terminal devices 121-122 are all within the coverage of network device 110, or in other words, terminal devices 121-122 are all in within the coverage of the same network device 110.
  • the network device 110 may send configuration signaling to the terminals 121-122, and accordingly, the terminals 121-122 communicate through the sidelink based on the configuration signaling.
  • terminal devices 123 - 124 can communicate through sidelinks, and terminal device 123 is within the coverage of network device 110 , and terminal device 124 is outside the coverage of network device 110 .
  • the terminal device 123 receives the configuration information of the network device 110, and communicates through the sidelink based on the configuration of the configuration signaling. But for the terminal device 124, because the terminal device 124 is located outside the coverage of the network device 110, it cannot receive the configuration information of the network device 110.
  • the terminal device 124 can be configured based on the pre-configuration information and/or the configuration information sent by the terminal device 123 located within the coverage area, and obtain the configuration of the sidelink communication, so as to communicate with the terminal device 123 through the sidelink based on the obtained configuration.
  • the terminal device 123 may send the above configuration information to the terminal device 124 through the sidelink broadcast channel PSBCH, so as to configure the terminal device 124 to communicate through the sidelink.
  • the terminal devices 125 - 129 are located outside the coverage of the network device 110 and cannot communicate with the network device 110 .
  • both terminal devices can configure sidelink communication based on pre-configured information.
  • the terminal devices 127-129 located outside the coverage of the network device may form a communication group, and the terminal devices 127-129 in the communication group may communicate with each other.
  • the terminal device 127 in the communication group can serve as a central control node, also known as a cluster header terminal (cluster header, CH), and correspondingly, the terminal devices in other communication groups can be called "group members".
  • the terminal device 127 as a CH can have one or more of the following functions: responsible for the establishment of a communication group; joining and leaving of group members; performing resource coordination, allocating sideline transmission resources for group members, and receiving sideway feedback information from group members ; Functions such as resource coordination with other communication groups.
  • FIG. 1 exemplarily shows a network device and multiple terminal devices.
  • the wireless communication system 100 may include multiple network devices and the coverage of each network device may include other numbers terminal device, which is not limited in the embodiment of this application.
  • the wireless communication system 100 may further include other network entities such as a network controller and a mobility management entity, which is not limited in this embodiment of the present application.
  • network entities such as a network controller and a mobility management entity, which is not limited in this embodiment of the present application.
  • the technical solutions of the embodiments of the present application can be applied to various communication systems, for example: the fifth generation (5th generation, 5G) system or new radio (new radio, NR), long term evolution (long term evolution, LTE) system , LTE frequency division duplex (frequency division duplex, FDD) system, LTE time division duplex (time division duplex, TDD), etc.
  • the technical solutions provided in this application can also be applied to future communication systems, such as the sixth generation mobile communication system, and satellite communication systems, and so on.
  • the terminal equipment in the embodiment of the present application may also be called user equipment (user equipment, UE), access terminal, subscriber unit, subscriber station, mobile station, mobile station (mobile station, MS), mobile terminal (mobile terminal, MT) ), remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent, or user device.
  • the terminal device in the embodiment of the present application may be a device that provides voice and/or data connectivity to users, and can be used to connect people, objects and machines, such as handheld devices with wireless connection functions, vehicle-mounted devices, and the like.
  • the terminal device in the embodiment of the present application may be a mobile phone, a tablet computer (Pad), a notebook computer, a palmtop computer, a mobile internet device (mobile internet device, MID), a wearable device, a virtual reality (virtual reality, VR) equipment, augmented reality (augmented reality, AR) equipment, wireless terminals in industrial control, wireless terminals in self driving, wireless terminals in remote medical surgery, smart Wireless terminals in smart grid, wireless terminals in transportation safety, wireless terminals in smart city, wireless terminals in smart home, etc.
  • UE can be used to act as a base station.
  • a UE may act as a scheduling entity, which provides sidelink data between UEs in V2X or D2D, etc.
  • a cell phone and a car communicate with each other using side-by-side data. Communication between cellular phones and smart home devices without relaying communication signals through base stations.
  • the network device in this embodiment of the present application may be a device for communicating with a terminal device, and the network device may also be called an access network device or a wireless access network device, for example, the network device may be a base station.
  • the network device in this embodiment of the present application may refer to a radio access network (radio access network, RAN) node (or device) that connects a terminal device to a wireless network.
  • radio access network radio access network, RAN node (or device) that connects a terminal device to a wireless network.
  • the base station can broadly cover various names in the following, or replace with the following names, such as: Node B (NodeB), evolved base station (evolved NodeB, eNB), next generation base station (next generation NodeB, gNB), relay station, Access point, transmission point (transmitting and receiving point, TRP), transmission point (transmitting point, TP), primary station MeNB, secondary station SeNB, multi-standard wireless (MSR) node, home base station, network controller, access node , wireless node, access point (access point, AP), transmission node, transceiver node, base band unit (base band unit, BBU), remote radio unit (Remote Radio Unit, RRU), active antenna unit (active antenna unit) , AAU), radio head (remote radio head, RRH), central unit (central unit, CU), distributed unit (distributed unit, DU), positioning nodes, etc.
  • NodeB Node B
  • eNB evolved base station
  • next generation NodeB next generation NodeB
  • a base station may be a macro base station, a micro base station, a relay node, a donor node, or the like, or a combination thereof.
  • a base station may also refer to a communication module, a modem or a chip configured in the aforementioned equipment or device.
  • the base station can also be a mobile switching center, a device that undertakes the function of a base station in D2D, vehicle-to-everything (V2X), machine-to-machine (M2M) communication, and a device in a 6G network.
  • V2X vehicle-to-everything
  • M2M machine-to-machine
  • Base stations can support networks of the same or different access technologies. The embodiment of the present application does not limit the specific technology and specific device form adopted by the network device.
  • Base stations can be fixed or mobile.
  • a helicopter or drone can be configured to act as a mobile base station, and one or more cells can move according to the location of the mobile base station.
  • a helicopter or drone may be configured to serve as a device in communication with another base station.
  • the network device in this embodiment of the present application may refer to a CU or a DU, or, the network device includes a CU and a DU.
  • a gNB may also include an AAU.
  • Network equipment and terminal equipment can be deployed on land, including indoors or outdoors, hand-held or vehicle-mounted; they can also be deployed on water; they can also be deployed on aircraft, balloons and satellites in the air.
  • the scenarios where the network device and the terminal device are located are not limited.
  • positioning technologies mainly provide a positioning service for a terminal under test (or “terminal to be located") by a network device, and this positioning method may be called "positioning through a Uu interface”.
  • Positioning through the Uu interface refers to positioning the terminal under test by sending/receiving positioning reference signals between the network device and the terminal under test.
  • Figure 2 introduces the method of providing positioning service for the terminal under test through the Uu interface by taking downlink positioning as an example.
  • the method for providing a location service for a terminal under test may include processes 210 to 280 .
  • LPP request capabilities A process of LPP request capabilities (LPP request capabilities).
  • the location management function location management function, LMF) requests the location capability of the terminal under test.
  • LPP LPP providing capabilities
  • LPP provides positioning assistance data
  • the terminal to be tested informs the LMF that it has a positioning capability
  • the LMF sends positioning assistance data to the terminal to be tested.
  • the positioning assistance data may include the PRS resource configuration of the anchor node, the location of the anchor node, and the like.
  • the aforementioned anchor node is a network device.
  • LPP request location information A process of LPP requesting location information (LPP request location information).
  • the LMF requests the terminal under test to report the downlink measurement result based on the PRS.
  • the terminal under test performs downlink PRS measurement and generates a measurement result.
  • LPP provides location information
  • the terminal to be tested provides the location information of the terminal to be tested to the LMF.
  • the LMF calculates the location of the terminal to be tested based on the location information reported by the terminal to be tested.
  • the carrier where the PRS resource is configured in 230 may be different from the carrier used by the terminal under test for Uu interface communication. Therefore, before 250, the terminal under test may request a measurement gap (measurement gap) from the network device through the process 280. gap).
  • the following takes the determination of the location of the terminal to be tested based on the time of arrival (time of arrival, TOA) as an example for illustration.
  • time of arrival time of arrival
  • the terminal under test needs to measure the downlink positioning reference signals sent by the three network devices to obtain the measurement results.
  • the measurement results include the positioning information sent by each network device. TOA of the reference signal.
  • the terminal to be tested reports the measurement report to the LMF, and accordingly, the LMF can use triangular positioning to obtain the estimated position of the terminal to be tested.
  • the above method of positioning through the Uu interface also supports the RAN-independent (RAN-independent) positioning method, or the "network-assisted global navigation satellite system (GNSS) method (network -assisted GNSS method)" to locate the terminal under test.
  • GNSS global navigation satellite system
  • three network devices can be replaced by three GNSS satellites to locate the terminal under test.
  • the ground communication network can assist the GNSS to locate the terminal to be tested in an auxiliary manner, specifically, it can assist the GNSS to locate the terminal to be tested in the following aspects.
  • the GNSS receiver can obtain positioning assistance data through the access network (for example, 5G access network), so when the terminal under test cannot demodulate the GNSS satellite signal, the GNSS receiver of the terminal under test can Work.
  • the access network for example, 5G access network
  • the power consumed by the terminal under test is reduced. This is because the GNSS receiver of the terminal under test can be in idle mode when not working. In addition, since the GNSS receiver of the terminal under test is in the idle mode, if the GNSS receiver needs to enter the active mode from the idle mode, the start-up time required is relatively short.
  • the access network can provide correction services for GNSS positioning, for example, provide carrier phase difference technology (also known as "real-time dynamic difference method" (Real-time kinematic, RTK)) for correction.
  • RTK real-time dynamic difference method
  • SSR state space representation
  • the terminal under test In the process of providing positioning service for the terminal under test through the Uu interface described above, it includes network equipment, LMF and other network elements in the communication system (for example, access and mobility management function (access and mobility management function, AMF) ) can be regarded as a positioning system that provides positioning services for the terminal under test.
  • access and mobility management function access and mobility management function, AMF
  • some parameters can be set to characterize the integrity of the positioning system.
  • Positioning integrity is used to describe the degree of trust in the accuracy of position-related data provided by a positioning system and the ability to provide timely and effective warnings to LCS clients when a positioning system does not meet expected operating conditions.
  • the failure of the positioning system to meet the expected operating conditions can be understood as the protection level (protection level, PL) is greater than the warning level (alert level, AL) within a certain period of time, and after the time corresponding to the above-mentioned period of time, the positioning system is declared unavailable.
  • the above duration is greater than or equal to the duration defined by the fault detection time interval (also known as "time-to-alert" (time-to-alert, TTA)).
  • the target integrity rate is defined as the probability that the positioning system's positioning error exceeds the AL without warning the user within the TTA.
  • PL is the statistical upper limit of the positioning error (PE). Since the positioning error of the positioning system cannot be known without knowing the actual position, PL can be used to measure the positioning error of the positioning system. When PL exceeds AL, an alarm will be raised. Therefore, PL must satisfy the following relationship: P(Positioning error > PL) ⁇ TIR to avoid the positioning system from losing positioning integrity.
  • the above AL refers to the maximum allowable positioning error. If this limit is exceeded, an alert must be sounded.
  • TTA is defined as the maximum allowed time span.
  • the starting point of the time span is when the positioning error bounded by PL exceeds AL, and the end of the time span is when PL>AL and the positioning system enters a safe state, for example, the output of the positioning system is no longer used.
  • AL, TTA and TIR are the key performance indicators (key performance indicator, KPI) independently stipulated by the positioning system.
  • KPI key performance indicator
  • the PL is calculated based on a series of feared events that the positioning system may face. In general, the lower the TIR is set, the more suspicious events the positioning system has to take into account.
  • the above-mentioned suspicious events can be divided into two categories, namely, suspicious events caused by faults and suspicious events caused by no faults.
  • the above-mentioned suspicious events due to failures may be events inherent to the positioning system, for example, caused by a failure of a certain element of the positioning system (such as a failure of a satellite network or a terrestrial network).
  • the above-mentioned suspicious events due to non-fault are not caused by the fault of the positioning system, for example, when the input of the positioning system is wrong, the suspicious event due to non-fault occurs.
  • suspicious events caused by no faults include signal interruptions due to poor satellite geographic distribution, strong atmospheric gradients. Suspicious events caused by no faults will degrade the positioning performance of the positioning system but will not cause the positioning system to fail.
  • the above-mentioned suspicious events may include suspicious events of the positioning assistance data, for example, positioning errors of the positioning assistance data and/or external suspicious events affecting the positioning assistance data, and the like.
  • the aforementioned suspicious events may also include locating suspicious events occurring during data transmission, for example, data integrity errors.
  • the aforementioned suspicious events may also include GNSS suspicious events, for example, satellite suspicious events, atmospheric suspicious events, and local environment suspicious events.
  • Integrity events occur when a positioning system outputs hazardous misleading information (HMI).
  • HMI hazardous misleading information
  • An HMI occurs when the actual position error exceeds AL without an alert within the required TTA when the position claim is available. Misleading information is generated when the actual positioning error exceeds PL when the positioning system is declared available.
  • positioning systems are designed to tolerate a certain degree of misleading information (MI), provided that the system can continue to operate safely within the AL. Both faulty and non-faulty conditions that can lead to MI or HMI need to be characterized for both the network and the endpoint.
  • the positioning system can also use the quality of service to define the positioning service.
  • LCS Qos Location service quality of service
  • LCS Qos is used to describe the service level of location requests.
  • LCS Qos can include 3 key attributes: LCS Qos category, precision and response time.
  • the LCS Qos category defines the degree of compliance of location services with respect to other Qos parameters (e.g., accuracy).
  • LCS Qos categories can include best effort class and assure class.
  • the best effort class defines the minimum requirement for the Qos achieved by the location request. If the obtained position estimate of the terminal to be tested does not meet the requirements of other Qos parameters, the position estimate value (or "estimated position") is still returned, but an appropriate indication is required to indicate that the Qos of the positioning request is not met. If no position estimate is obtained, an error response is sent for the response.
  • the Deterministic class defines the most stringent requirements for the accuracy achieved by location requests. If the obtained position estimate does not meet the requirements of other Qos parameters, the position estimate shall be discarded and a corresponding error reason shall be sent.
  • the positioning system will try to satisfy other Qos parameters.
  • Mode 1 two resource configuration modes of sidelink resources are defined, Mode 1 and Mode 2.
  • the network device schedules sidelink resources for the terminal.
  • Mode 1 can be divided into two modes: dynamic resource allocation (dynamic resource allocation) and sidelink configured grant (SLCG).
  • DCI downlink control information
  • the network device can allocate sidelink transmission resources for the terminal by sending downlink control information (DCI).
  • DCI downlink control information
  • the terminal can use the configured sidelink resources to transmit data without resetting to the network device. Apply for sidelink resources. Therefore, the transmission delay of the sidelink can be reduced by adopting the resource configuration mode of configuring the grant.
  • Type 1 configuration authorization sidelink resource configuration is completely based on radio resource control (radio resource control, RRC) signaling.
  • Type 2 Type 2
  • the sidelink resource configuration in the communication system can be configured jointly by RRC signaling and layer 1 (layer 1, L1) signaling, where L1 signaling is used to indicate the RRC configuration Activation and deactivation.
  • the network device may schedule sidelink resources for a single transmission for the terminal. In other implementation manners, the network device may also configure semi-static sidelink resources for the terminal.
  • the terminal independently selects sidelink resources in the resource pool.
  • the process performed by the terminal includes a resource detection process and/or a resource selection process.
  • the terminal can identify the occupancy of sidelink resources by demodulating sidelink control information (sidelink control information, SCI).
  • the terminal can also identify the occupancy of sidelink resources by measuring the received power of the sidelink.
  • the positioning system provides positioning services for the terminal under test through the Uu interface
  • multiple network devices need to send PRS to the terminal so that the terminal can perform measurement based on the PRS.
  • at least some of the above-mentioned multiple network devices may not be able to provide accurate positioning services for the terminal under test, which leads to a reduction in the accuracy of the estimated position finally obtained by the terminal under test.
  • the accuracy of the positioning assistance data provided by the LMF is not high, for example, the positioning accuracy of the position of the network device as the anchor point is not high enough, at this time, if the terminal under test is calculated based on the position of the network device The estimated position of the terminal under test will also lead to an inaccurate estimated position.
  • the PRS received by the terminal under test from a network device may contain many multipath signal components, This will also reduce the accuracy of the measurement report of the terminal under test based on the PRS, thus causing the estimated location of the terminal under test to be inaccurate.
  • the terminal may be used as an anchor point to determine the estimated location of the terminal to be tested.
  • the sidelink positioning function may be triggered to determine the estimated location of the terminal under test.
  • the side link positioning function can be understood as replacing some or all of the multiple network devices serving as anchor points in traditional positioning technology with terminals, and using the anchor point terminal to move sideways between the terminals to be tested.
  • the link transmits a reference signal, and measures the reference signal to obtain a measurement result, and calculates an estimated position of the terminal to be measured based on the measurement result.
  • the flow of the sidelink positioning function will be introduced below in conjunction with FIG. 3 to FIG. 5 , and details will not be repeated here for brevity.
  • the aforementioned reference signal sent through the sidelink may be any reference signal sent on the existing sidelink, for example, a sidelink positioning reference signal (sidelink-PRS). It may also be other reference signals for positioning specified in the future communication system, which is not limited in this embodiment of the present application.
  • sidelink-PRS sidelink positioning reference signal
  • the reference signal sent through the sidelink is referred to as a "positioning reference signal" hereinafter.
  • the above-mentioned sidelink positioning function can be positioned based on an existing positioning technology, for example, the above-mentioned sidelink positioning function can be performed based on the TOA technology.
  • the above sidelink positioning function may be performed based on a time difference of arrival (time difference of arrival, TDOA) technology.
  • the information contained in the above measurement results may comply with the current regulations of the measurement results when the terminal under test is positioned through the Uu interface.
  • the measurement results may include downlink angle of departure, uplink angle of arrival, downlink reference signal time difference, terminal RX-TX time difference, and the like.
  • the positioning service can be provided for the terminal under test through the positioning function of the side link, it is currently not stipulated under what circumstances the positioning function of the side link is activated. If the sidelink positioning function is activated when the terminal under test positioning service can be normally provided through the Uu interface, it may result in waste of sidelink transmission resources.
  • the embodiment of the present application provides an activation mechanism of a side link positioning function to provide a positioning service for the terminal under test, so as to reduce waste of side link transmission resources.
  • the above activation mechanism may include activating the sidelink positioning function when a preset event occurs.
  • activating the sidelink positioning function may be performed by the LMF.
  • the above function of activating the sidelink positioning may also be performed by other devices, which is not limited in this embodiment of the present application.
  • the formulation of the above preset events mainly considers the accuracy of the location service provided to the terminal under test through the Uu interface, the QoS level of the location service provided to the terminal under test through the Uu interface, the validity of the location assistance data, and whether the location system triggers an integrity event etc.
  • the following mainly introduces several preset events formulated in the embodiment of the present application.
  • first estimated position the estimated position of the terminal under test obtained through the sidelink positioning function
  • second estimated position the estimated position of the terminal under test obtained through the Uu interface
  • Preset event 1 The accuracy of the second estimated location of the terminal to be tested is lower than the first accuracy threshold.
  • the first accuracy threshold may request an accuracy threshold indicated by a client that provides positioning services for the terminal under test.
  • the first accuracy threshold may also be an accuracy threshold set in a preset, preconfigured, or predefined manner. This embodiment of the present application does not limit it.
  • Preset event 2 The first quality of service Qos of the LCS that provides the positioning service for the terminal under test through the Uu interface does not meet the LCS Qos level to which the first Qos belongs. In other words, the first Qos of the positioning service providing the second estimated position does not meet the corresponding LCS Qos level.
  • the LCS Qos level corresponding to the first Qos is a definite class, and the first Qos parameter of the above-mentioned second estimated position does not satisfy other Qos parameters, then the first Qos does not satisfy the corresponding LCS Qos level.
  • other Qos parameters can be accuracy, that is to say, if the first Qos parameter does not meet the accuracy requirement corresponding to the Qos level, then the first Qos does not meet the corresponding LCS Qos level.
  • the LCS Qos level corresponding to the second estimated position above can be the LCS Qos level specified by the client of the positioning system, for example, it can be the LCS Qos level specified by the client when requesting the positioning service of the terminal to be tested.
  • the LCS Qos level corresponding to the above-mentioned second estimated position may also be the default LCS Qos level of the positioning system. This embodiment of the present application does not limit it.
  • Preset event 3 The validity of the positioning assistance data is lower than the validity threshold.
  • the validity of the positioning assistance data may include a valid duration of the positioning assistance data. That is to say, the valid duration of the positioning assistance data is lower than the threshold.
  • the validity threshold above can be understood as the remaining duration for ensuring the validity duration of the positioning assistance data.
  • the validity threshold is 2ms
  • the preset event is that the valid duration of the positioning assistance data is shorter than 2ms.
  • the positioning assistance data is time-sensitive. If the valid duration of the positioning assistance data is lower than a threshold, it means that the positioning assistance data will become invalid in the near future. At this time, if such positioning assistance data is still used, the positioning accuracy of the terminal under test may be reduced, and even the positioning of the terminal under test may fail.
  • the positioning assistance data includes the resource location where the terminal under test receives the positioning reference signal. If the effective duration of the positioning assistance data is lower than the threshold, but the terminal under test still uses the positioning assistance data, then when the terminal under test follows the instructions of the positioning assistance data When receiving the positioning reference signal at the corresponding resource position, due to the failure of the positioning assistance data, the above positioning reference signal may be transmitted on other resource positions. At this time, the terminal under test will not be able to receive the positioning reference signal, resulting in Targeting failed for .
  • Preset event 4 The positioning integrity level of the positioning system providing the LCS is low.
  • the location integrity level of the location system providing the LCS is below a first location location integrity level threshold, or the location system that determined the second estimated position has an integrity level below the first location location integrity level threshold .
  • the positioning integrity level of the above positioning system is lower than the first positioning integrity level threshold, which can be explained that the accuracy of the location-related data provided by the positioning system may be low at this time.
  • the above positioning integrity level may be expressed as (PL-AL)/AL, where PL represents the protection level of the positioning system, and AL represents the warning level of the positioning system.
  • the foregoing first positioning integrity level threshold may be configured in a predefined and pre-configured manner, which is not specifically introduced in this embodiment of the present application.
  • the positioning integrity result of the positioning system is failure, or in other words, the positioning integrity result of the second estimated position is failure. Based on the above introduction to the positioning integrity, it can be seen that the positioning integrity result of the positioning system is failure, which can explain that the accuracy of the location-related data provided by the positioning system may be low at this time.
  • Preset event 4 triggering integrity events and/or suspicious events.
  • positioning assistance data is important information to help determine the estimated location of the terminal under test. If suspicious events and/or integrity events occur during the process of generating positioning assistance data, it will directly affect the positioning accuracy of the terminal under test. Therefore, the occurrence of a suspicious event in the generation of positioning assistance data may be used as a preset condition; and/or the occurrence of a suspicious event in the acquisition of positioning assistance data may be used as a preset condition.
  • the transmission scenario of the PRS causes the accuracy and/or positioning integrity of the second estimated position to decrease. Or, the transmission scenario of the PRS causes the accuracy of the measurement result obtained based on the PRS to be lower than the second accuracy threshold.
  • the transmission scenario of the PRS may affect the measurement results obtained by the PRS, the accuracy and/or integrity of the second estimated position, and even cause the positioning integrity result of the second estimated position to fail (or cause the positioning of the positioning system to be complete. sex results in failure). Therefore, some special transmission scenarios can be set as preset conditions.
  • the preset condition may be set to include non-line-of-sight transmission between the network device sending the PRS and the terminal under test. If there is non-line-of-sight transmission between the network device sending the PRS and the terminal under test, the accuracy and/or integrity of the second estimated position may be reduced.
  • the preset condition includes that the network device of the PRS is a satellite.
  • the network equipment sending the PRS is a satellite, and the PRS is transmitted in a non-terrestrial transmission mode, due to the long transmission path of the PRS, multipath signal components may be introduced, resulting in the measurement results obtained based on the PRS, the accuracy of the second estimated position, and / or reduced positioning integrity.
  • the above-mentioned special PRS transmission scenario does not necessarily affect the accuracy and/or positioning integrity of the second estimated position. Therefore, the accuracy and/or positioning of the second estimated position by the PRS transmission scenario can be determined Integrity impacted as a preset event.
  • the aforementioned preset events may include that the transmission scenario of the PRS causes the accuracy and/or positioning integrity level of the second estimated position to be lower than the accuracy and/or positioning integrity level when the positioning system provides positioning services for other terminals level.
  • the foregoing preset event indicates that the PRS transmission scenario affects the measurement result obtained based on the PRS, the accuracy of the second estimated position, and/or the positioning integrity level.
  • the influence of the transmission scenario of the PRS on the accuracy and/or the positioning integrity of the second estimated position may be determined based on the current positioning integrity level and the historical integrity level of the positioning system.
  • the terminal under test moves from line-of-sight transmission with network device 1 to non-line-of-sight transmission with network device 1.
  • the terminal under test is at position 1
  • the positioning integrity level of the measurement result obtained based on the received PRS is generally higher than the positioning integrity level of the measurement result obtained by the terminal under test at position 2 based on the received PRS.
  • the positioning integrity level of the estimated position obtained by the terminal under test at position 1 will be higher than the positioning integrity level of the estimated position obtained by the terminal under test at position 2 .
  • the location integrity level of the estimated location obtained by the terminal under test at location 1 may be understood as the historical location integrity level.
  • the terminal under test moves from line-of-sight transmission with network device 1 to non-line-of-sight transmission with network device 1.
  • the terminal under test is at position 1
  • the accuracy of the measurement result obtained based on the received PRS is generally higher than the accuracy of the measurement result obtained by the terminal under test at position 2 based on the received PRS.
  • the accuracy of the estimated position obtained by the terminal under test at position 1 is higher than the accuracy of the estimated position obtained by the terminal under test at position 2 .
  • the accuracy of the estimated location obtained by the terminal under test at location 1 may be understood as historical accuracy.
  • the receiving end for example, the terminal under test
  • the receiving end can judge whether there is non-line-of-sight transmission by observing the impulse response of the channel.
  • the energy of the signal in the straight path is relatively weak, and the energy of the signal in other paths is strong, it can be judged that the straight line propagation path of the signal is non-line-of-sight transmission.
  • the road positioning function is used to transmit positioning reference signals through side link resources, which is conducive to improving the rationality of using side link resources.
  • the aforementioned preset events may be monitored by any one of the terminal to be tested, the network device, or the LMF.
  • the aforementioned preset events may also be monitored simultaneously by the aforementioned three parties or two of them, so as to improve the reliability of monitoring. This embodiment of the present application does not limit it.
  • the embodiment of the present application also provides a solution for selecting an anchor terminal. The following describes how to select an anchor terminal in several situations.
  • the method for selecting an anchor terminal described below can be applied independently to select an anchor terminal.
  • the selection methods described below can also be used in combination to select an anchor terminal.
  • all of the following methods may be used in combination, or some of the methods may be used in combination, and implementation methods in different methods may also be used in combination. This embodiment of the present application does not limit it.
  • the position between the anchor terminal and the terminal to be tested may be considered. If the distance between the anchor terminal and the terminal to be tested is relatively short, the accuracy of transmitting positioning reference signals between the anchor terminal and the terminal to be tested can be improved, and the multipath signal components in the positioning reference signal can be reduced to improve the accuracy of the terminal to be tested. The accuracy of the resulting measurements.
  • the distance between the anchor terminal and the terminal under test may be limited by a preset distance. That is to say, the distance between the anchor terminal and the terminal to be tested is less than or equal to the preset distance.
  • the preset distance may be predefined or preconfigured, which is not limited in this embodiment of the present application.
  • the distance between the anchor terminal and the terminal under test may be limited by whether the anchor terminal and the terminal under test can discover each other through a discovery message (for example, a sidelink discovery message).
  • a discovery message for example, a sidelink discovery message.
  • the distance between terminals that can be discovered through the discovery message is also within a certain range.
  • the anchor terminal discovers the terminal to be tested through the first sidelink discovery message.
  • the terminal under test discovers the anchor terminal through the second sidelink discovery message.
  • the signal measurement result of the signal transmitted between the anchor terminal and the terminal under test may be considered. If the signal measurement result is better, it means that the accuracy of the measurement result obtained based on the positioning reference signal between the anchor terminal and the terminal under test is higher, so that the accuracy of the first estimated position calculated based on the measurement result is also higher.
  • the anchor terminal may be selected by setting a threshold of the first signal measurement result. For example, the signal measurement result of the signal sent by the anchor terminal measured by the terminal to be tested is higher than the preset first signal measurement result. For another example, the signal measurement result of the signal sent by the terminal under test measured by the anchor terminal is higher than the preset second signal measurement result.
  • the foregoing signal may be any signal transmitted through the sidelink, for example, may be a positioning reference signal transmitted through the sidelink.
  • other positioning reference signals may also be transmitted through the sidelink.
  • it may also be a signal specially used for selecting the anchor terminal transmitted through the sidelink. This embodiment of the present application does not limit it.
  • the aforementioned preset first signal measurement result and/or second signal measurement result may be configured by means of pre-configuration, pre-definition, etc., which is not limited in this embodiment of the present application.
  • Mode 3 in the process of selecting the anchor terminal, the location accuracy, positioning integrity level and/or positioning result of the anchor terminal may be considered.
  • the positioning integrity level and/or the positioning integrity result is not a failure, then there is It is advantageous to ensure a level of accuracy and/or positioning integrity of the first estimated position.
  • the anchor terminal may be selected by setting a second accuracy threshold. That is, the accuracy of the estimated location of the anchor terminal is higher than the second accuracy threshold.
  • the second accuracy threshold may be configured in a pre-configured or predefined manner, which is not limited in this embodiment of the present application.
  • the anchor terminal may be selected by setting a third positioning integrity level threshold. That is, the location integrity level of the estimated location of the anchor terminal is higher than the third location integrity level threshold.
  • the third positioning integrity level threshold may be configured in a pre-configured or predefined manner, which is not limited in this embodiment of the present application.
  • the locations of certain terminals may be known, and generally such terminals can also be selected as anchor terminals.
  • anchor terminals For example, for a road side unit (RSU), the location of the RSU is known, and the RSU can be selected as the anchor terminal.
  • RSU road side unit
  • the selection of the anchor point described above can be performed by any one of the terminal under test, the anchor terminal, LMF or network equipment, and finally reported to the network element that calculates the first estimated position of the terminal under test.
  • the following will introduce the reporting method 1 and the reporting method 2 as examples.
  • Reporting method 1 Take the initiative to report.
  • the terminal to be tested may actively report the anchor terminal to the LMF.
  • the terminal to be tested may report the anchor terminal to the LMF after selecting a suitable terminal based on the selection manner of the above-mentioned anchor terminal.
  • the anchor terminal may actively report to the LMF that it can serve as the anchor terminal of the terminal to be tested.
  • the anchor terminal may, based on the selection method of the above-mentioned anchor terminal, confirm that it is suitable as the anchor terminal of the terminal under test, and then actively report to the LMF that it can serve as the anchor terminal of the terminal under test.
  • Reporting method Passive reporting.
  • the LMF may send inquiry information to the terminal under test, where the inquiry information is used to inquire about an anchor terminal that provides positioning services for the terminal under test.
  • the terminal to be tested may report the anchor terminal to the LMF.
  • the LMF may send inquiry information to the anchor terminal, where the inquiry information is used to inquire about the anchor terminal that provides the positioning service for the terminal under test.
  • the anchor terminal may report itself as the anchor terminal of the terminal to be tested to the LMF.
  • the anchor point terminal when providing positioning services for the terminal under test through the Uu interface, there may be inappropriate network devices among the multiple network devices serving as the anchor point, then we can choose the anchor point terminal to replace this inappropriate network
  • the device is used to provide positioning services for the terminal under test.
  • the number of network devices serving as anchor points is specified in some positioning methods, therefore, anchor terminals having the same number as unsuitable network devices may be selected so as to continue to use the positioning method. For example, in the positioning method based on TOA positioning, it is usually necessary to select 3 network devices as anchor network devices. At this time, if the number of unsuitable network devices is 1, then one anchor terminal can be selected to replace the unsuitable network device. network equipment to provide positioning services for the terminal under test. Of course, in some other implementation manners, in order to improve the positioning accuracy of the terminal to be tested, the number of anchor terminals may also be greater than the number of unsuitable network devices.
  • the aforementioned unsuitable network device is also called “target network device”, and may be a network device whose location information accuracy provided for the terminal to be tested is lower than the second accuracy threshold.
  • the above-mentioned target network device may also be a network device that cannot provide the LCS Qos level required by the location service for the terminal under test.
  • the above describes the triggering conditions of the sidelink positioning and the selection method of the anchor point terminal.
  • the following describes the sidelink positioning method with reference to FIG. 2 to FIG. 4 .
  • the measurement result obtained by the positioning reference signal sent by the network device may be referred to as "the measurement result of the Uu interface”.
  • the terminal under test calculates a first estimated position.
  • the following describes the flow of sidelink positioning in the embodiment of the application with reference to FIG. 3 .
  • the method shown in FIG. 3 includes step S310.
  • Step S310 the terminal under test determines a first estimated position of the terminal under test based on the measurement result and the location of the anchor terminal.
  • the location of the anchor terminal may be an actual location of the anchor terminal, and the location of the anchor terminal may also be an estimated location of the anchor terminal.
  • the above measurement results may be measured by positioning reference signals transmitted between multiple anchor point terminals and the terminal under test, obtained measurement results.
  • the anchor point that provides location services for the terminal under test includes a terminal and a network device
  • the above-mentioned measurement results may be transmitted by the positioning reference signal transmitted between the anchor point terminal and the terminal under test, and the network device sending the terminal under test to the terminal under test.
  • the positioning reference signal is measured, and the measurement result is obtained. That is to say, in this case, the above measurement results are obtained by measuring the positioning reference signals transmitted through the Uu interface and the sidelink interface.
  • the measurement result corresponding to the positioning reference signal may be obtained by measuring the terminal under test. That is to say, the measurement result corresponding to the positioning reference signal may be obtained by the terminal under test by measuring the positioning reference signal sent by the anchor terminal.
  • the measurement result corresponding to the positioning reference signal may also be obtained by the anchor terminal through measurement and sent to the terminal under test. That is to say, the above measurement result may be obtained by the anchor terminal by measuring the positioning reference signal sent by the terminal to be tested.
  • the positioning method for calculating the first estimated position of the terminal under test may be used in conjunction with two measurement schemes (measurement scheme 320, measurement scheme 330).
  • Measurement scheme 320 the terminal under test generates a measurement result.
  • the above method includes: the anchor terminal sends a positioning reference signal to the terminal under test; the terminal under test measures the positioning reference signal to obtain a measurement result.
  • the above resource location for transmitting the positioning reference signal may be sent through the configuration information of the positioning reference signal.
  • the configuration information of the positioning reference signal may be sent by the anchor terminal to the terminal under test through the LMF.
  • the anchor terminal may also directly send the above configuration information of the positioning reference signal to the terminal under test. This embodiment of the present application does not limit it.
  • Measurement scheme 330 the anchor terminal generates a measurement result
  • the above method includes: the terminal to be measured sends a positioning reference signal to the anchor terminal; the anchor terminal measures the positioning reference signal to obtain a measurement result; the anchor terminal sends the measurement result to the terminal to be measured .
  • the above resource location for transmitting the positioning reference signal may be sent through the configuration information of the positioning reference signal.
  • the configuration information of the positioning reference signal may be sent by the terminal under test to the anchor terminal through the LMF.
  • the terminal to be tested may also directly send the above configuration information of the positioning reference signal to the anchor terminal. This embodiment of the present application does not limit it.
  • the anchor terminal calculates the first estimated position.
  • the following describes the flow of sidelink positioning in the embodiment of the application with reference to FIG. 4 .
  • the method shown in FIG. 4 includes step S410.
  • step S410 the anchor terminal determines a first estimated location of the terminal to be tested based on the measurement result and the location of the anchor terminal.
  • the location of the anchor terminal may be the actual location of the anchor terminal, and the location of the anchor terminal may also be an estimated location of the anchor terminal.
  • the above measurement results may be measured by positioning reference signals transmitted between multiple anchor point terminals and the terminal under test, obtained measurement results.
  • the anchor point that provides location services for the terminal under test includes a terminal and a network device
  • the above-mentioned measurement results may be transmitted by the positioning reference signal transmitted between the anchor point terminal and the terminal under test, and the network device sending the terminal under test to the terminal under test.
  • the positioning reference signal is measured, and the measurement result is obtained. That is to say, in this case, the above measurement results are obtained by measuring the positioning reference signals transmitted through the Uu interface and the sidelink interface.
  • the measurement result corresponding to the positioning reference signal may be measured by the terminal under test and sent to the anchor point terminal. That is to say, the measurement result corresponding to the positioning reference signal may be obtained by the terminal under test by measuring the positioning reference signal sent by the anchor terminal.
  • the measurement result corresponding to the positioning reference signal may also be obtained by the anchor terminal. That is to say, the above measurement result may be obtained by the anchor terminal by measuring the positioning reference signal sent by the terminal to be tested.
  • the positioning method for the anchor terminal to calculate the first estimated position can be used in conjunction with two measurement schemes (measurement scheme 420, measurement scheme 430).
  • Measurement scheme 420 the anchor point terminal generates a measurement result
  • the above method includes: the terminal to be measured sends a positioning reference signal to the anchor point terminal; the anchor point terminal measures the positioning reference signal to obtain a measurement result.
  • the above resource location for transmitting the positioning reference signal may be sent through the configuration information of the positioning reference signal.
  • the configuration information of the positioning reference signal may be sent by the terminal under test to the anchor terminal through the LMF.
  • the terminal to be tested may also directly send the above configuration information of the positioning reference signal to the anchor terminal. This embodiment of the present application does not limit it.
  • Measurement solution 430 the terminal under test generates a measurement result
  • the method includes: the anchor terminal sends a positioning reference signal to the terminal under test; the terminal under test measures the positioning reference signal to obtain a measurement result; the terminal under test sends the measurement result to the anchor terminal .
  • the above resource location for transmitting the positioning reference signal may be sent through the configuration information of the positioning reference signal.
  • the configuration information of the positioning reference signal may be sent by the anchor terminal to the terminal under test through the LMF.
  • the anchor terminal may also directly send the above configuration information of the positioning reference signal to the terminal under test. This embodiment of the present application does not limit it.
  • the LMF calculates the first estimated position.
  • the following describes the flow of sidelink positioning in the embodiment of the application with reference to FIG. 5 .
  • the method shown in FIG. 5 includes step S510.
  • step S510 the LMF determines a first estimated location of the terminal to be tested based on the measurement result and the location of the anchor terminal.
  • the location of the anchor terminal may be the actual location of the anchor terminal, and the location of the anchor terminal may also be an estimated location of the anchor terminal.
  • the above measurement results may be measured by positioning reference signals transmitted between multiple anchor point terminals and the terminal under test, obtained measurement results.
  • the anchor point that provides location services for the terminal under test includes a terminal and a network device
  • the above-mentioned measurement results may be transmitted by the positioning reference signal transmitted between the anchor point terminal and the terminal under test, and the network device sending the terminal under test to the terminal under test.
  • the positioning reference signal is measured, and the measurement result is obtained. That is to say, in this case, the above measurement results are obtained by measuring the positioning reference signals transmitted through the Uu interface and the sidelink interface.
  • the measurement result corresponding to the positioning reference signal may be obtained by the terminal under test and sent to the LMF. That is to say, the measurement result corresponding to the positioning reference signal may be obtained by the terminal under test by measuring the positioning reference signal sent by the anchor terminal. Certainly, the measurement result corresponding to the positioning reference signal may also be obtained by the anchor terminal through measurement and sent to the LMF. That is to say, the above measurement result may be obtained by the anchor terminal by measuring the positioning reference signal sent by the terminal to be tested. As mentioned above, the above-mentioned positioning method for calculating the first estimated position by the LMF can be used in conjunction with two measurement schemes (measurement scheme 520, measurement scheme 530).
  • Measurement solution 520 the anchor terminal generates a measurement result
  • the method includes: the terminal to be measured sends a positioning reference signal to the anchor terminal; the anchor terminal measures the positioning reference signal to obtain a measurement result.
  • the above resource location for transmitting the positioning reference signal may be sent through the configuration information of the positioning reference signal.
  • the configuration information of the positioning reference signal may be sent by the terminal under test to the anchor terminal through the LMF.
  • the terminal to be tested may also directly send the above configuration information of the positioning reference signal to the anchor terminal. This embodiment of the present application does not limit it.
  • Measurement scheme 530 the terminal under test generates a measurement result
  • the method includes: the anchor terminal sends a positioning reference signal to the terminal under test; the terminal under test measures the positioning reference signal to obtain a measurement result.
  • the above resource location for transmitting the positioning reference signal may be sent through the configuration information of the positioning reference signal.
  • the configuration information of the positioning reference signal may be sent by the anchor terminal to the terminal under test through the LMF.
  • the anchor terminal may also directly send the above configuration information of the positioning reference signal to the terminal under test. This embodiment of the present application does not limit it.
  • FIG. 6 is a schematic diagram of a first terminal according to an embodiment of the present application.
  • the first terminal 600 shown in FIG. 6 includes a determining unit 610 .
  • the determining unit 610 may be configured to determine the first estimated position of the terminal under test based on the measurement result of the reference signal and the position of the anchor terminal, wherein the reference signal is the terminal under test For transmission with the anchor terminal on a sidelink, the first terminal is the terminal under test or the anchor terminal.
  • the preset event includes one or more of the following: the accuracy of the second estimated position of the terminal under test obtained through the Uu interface is lower than the first accuracy threshold; providing positioning for the terminal under test through the Uu interface
  • the first quality of service Qos of the serving LCS does not meet the LCS Qos level to which the first Qos belongs; the validity of the positioning assistance data is lower than the validity threshold; the positioning integrity level of the positioning system providing the LCS is lower than the first positioning Integrity level threshold; the positioning integrity result of the positioning system is a failure; a suspicious event occurs when the positioning assistance data is acquired; a suspicious event occurs in the generation of the positioning assistance data; in the non-line-of-sight transmission scenario, the The positioning reference signal PRS is transmitted between the terminal and the network device; the transmission scenario of the PRS causes the accuracy of the second estimated position to be lower than the accuracy when the positioning system provides positioning services for other terminals; the transmission scenario of the PRS results in The accuracy of the measurement result obtained based on the PRS is lower than the second accuracy threshold;
  • the anchor terminal satisfies one or more of the following conditions: the distance between the anchor terminal and the terminal under test is less than or equal to a preset distance; the anchor terminal passes through the first sidewalk A link discovery message discovers the terminal under test; the terminal under test discovers the anchor terminal through a second sidelink discovery message; the signal measurement of the signal sent by the anchor terminal measured by the terminal under test The result is higher than the preset first signal measurement result; the signal measurement result of the signal sent by the terminal under test measured by the anchor point terminal is higher than the preset second signal measurement result; the position of the anchor point terminal has been The accuracy of the estimated position of the anchor terminal is higher than the third accuracy threshold; the positioning integrity level of the estimated position of the anchor terminal is higher than the third positioning integrity level threshold; the estimated position of the anchor terminal The location integrity result for is not a failure.
  • the number of anchor terminals is greater than or equal to the number of target network devices, and the target network devices are network devices that provide positioning services for the terminal under test through the Uu interface.
  • the accuracy of the location information provided by the target network device for the terminal under test is lower than a third precision threshold, and/or, the LCS Qos of the target network device does not meet the requirements for providing location services for the terminal under test.
  • the required LCS Qos level is lower than a third precision threshold, and/or, the LCS Qos of the target network device does not meet the requirements for providing location services for the terminal under test.
  • the first terminal further includes: a first receiving unit, configured to receive the reference signal sent by the second terminal; a generating unit, configured to generate the measurement result based on the reference signal, wherein, If the first terminal is the terminal to be tested, the second terminal is the anchor terminal; if the first terminal is the anchor terminal, the second terminal is the terminal to be tested.
  • the first receiving unit is further configured to receive configuration information of the reference signal; the first receiving unit is further configured to receive the positioning reference signal based on the configuration information of the reference signal.
  • the first terminal further includes: a first sending unit, configured to send the reference signal to the third terminal; a second receiving unit, configured to receive the measurement result sent by the third terminal , wherein, if the first terminal is the terminal to be tested, the third terminal is the anchor terminal; if the first terminal is the anchor terminal, the third terminal is the test terminal.
  • the first sending unit is further configured to send configuration information of the positioning reference signal to the third terminal or a location management function LMF, where the configuration information is used to configure the third terminal to receive the positioning reference signal.
  • the preset event is monitored by the terminal under test, the network device and/or the LMF.
  • the first terminal further includes: a second sending unit, configured to report to the LMF the anchor terminal that provides the location service for the terminal under test.
  • a second sending unit configured to report to the LMF the anchor terminal that provides the location service for the terminal under test.
  • the first terminal further includes: a third receiving unit, configured to receive inquiry information sent by the LMF, where the inquiry information is used to inquire about an anchor terminal that provides positioning services for the terminal under test.
  • a third receiving unit configured to receive inquiry information sent by the LMF, where the inquiry information is used to inquire about an anchor terminal that provides positioning services for the terminal under test.
  • the determining unit is further configured to: determine the first estimated position based on the measurement result of the reference signal, the measurement result of the Uu interface, and the location of the anchor terminal, where the measurement result of the Uu interface is It is obtained by measuring the positioning reference signal sent by the network device.
  • Fig. 7 is a schematic diagram of a positioning device according to an embodiment of the present application.
  • the device 700 shown in FIG. 7 has a location management function LMF, and the device 700 includes: a processing unit 710 .
  • the processing unit 710 may be configured to activate a sidelink positioning function for the terminal under test when a preset event occurs, the sidelink positioning function includes determining the measuring the first estimated position of the terminal, the measurement result is obtained by measuring the reference signal transmitted in the sidelink,
  • the preset event includes one or more of the following: the accuracy of the second estimated position of the terminal under test obtained through the Uu interface is lower than the first accuracy threshold; providing positioning for the terminal under test through the Uu interface
  • the first quality of service Qos of the serving LCS does not meet the LCS Qos level to which the first Qos belongs; the validity of the positioning assistance data is lower than the validity threshold; the positioning integrity level of the positioning system providing the LCS is lower than the first positioning Integrity level threshold; the positioning integrity result of the positioning system is a failure; a suspicious event occurs when the positioning assistance data is acquired; a suspicious event occurs in the generation of the positioning assistance data; in the non-line-of-sight transmission scenario, the The positioning reference signal PRS is transmitted between the terminal and the network device; the transmission scenario of the PRS causes the accuracy of the second estimated position to be lower than the accuracy when the positioning system provides positioning services for other terminals; the transmission scenario of the PRS results in The accuracy of the measurement result obtained based on the PRS is lower than the second accuracy threshold;
  • the anchor terminal satisfies one or more of the following conditions: the distance between the anchor terminal and the terminal under test is less than or equal to a preset distance; the anchor terminal passes through the first sidewalk A link discovery message discovers the terminal under test; the terminal under test discovers the anchor terminal through a second sidelink discovery message; the signal measurement of the signal sent by the anchor terminal measured by the terminal under test The result is higher than the preset first signal measurement result; the signal measurement result of the signal sent by the terminal under test measured by the anchor point terminal is higher than the preset second signal measurement result; the position of the anchor point terminal has been The accuracy of the estimated position of the anchor terminal is higher than the third accuracy threshold; the positioning integrity level of the estimated position of the anchor terminal is higher than the third positioning integrity level threshold; the estimated position of the anchor terminal The location integrity result for is not a failure.
  • the number of anchor terminals is greater than or equal to the number of target network devices, where the target network device is a network device that provides positioning services for the terminal under test through the Uu interface, and the A network device for terminals to perform non-line-of-sight transmission.
  • the apparatus further includes: a first receiving unit, configured to receive configuration information of the reference signal sent by the first terminal, where the configuration information is used to configure the third terminal to receive the reference signal .
  • the preset event is monitored by the terminal under test, the network device and/or the LMF.
  • the apparatus further includes: a second receiving unit, configured to receive the anchor terminal that provides the positioning service for the terminal under test reported by the first terminal.
  • the apparatus further includes: a sending unit, configured to send inquiry information to the first terminal, where the inquiry information is used to inquire about an anchor terminal that provides positioning services for the terminal under test.
  • a sending unit configured to send inquiry information to the first terminal, where the inquiry information is used to inquire about an anchor terminal that provides positioning services for the terminal under test.
  • the sidelink positioning function includes determining the first estimated position based on the measurement result, the measurement result of the Uu interface, and the position of the anchor terminal, and the measurement result of the Uu interface is a network device It is obtained by measuring the transmitted positioning reference signal.
  • FIG. 8 is a schematic diagram of a positioning device 800 according to an embodiment of the present application.
  • the device 800 shown in Fig. 8 has a location management function LMF.
  • the above-mentioned apparatus 800 includes: a processing unit 810 .
  • the processing unit 810 may be configured to determine the first estimated position of the terminal under test based on the measurement result of the reference signal and the position of the anchor terminal when a preset event occurs, wherein the reference signal is the terminal under test transmitted on the sidelink with the anchor terminal.
  • the preset event includes one or more of the following: the accuracy of the second estimated position of the terminal under test obtained through the Uu interface is lower than the first accuracy threshold; providing positioning for the terminal under test through the Uu interface
  • the first quality of service Qos of the serving LCS does not meet the LCS Qos level to which the first Qos belongs; the validity of the positioning assistance data is lower than the validity threshold; the positioning integrity level of the positioning system providing the LCS is lower than the first positioning Integrity level threshold; the positioning integrity result of the positioning system is a failure; a suspicious event occurs when the positioning assistance data is acquired; a suspicious event occurs in the generation of the positioning assistance data; in the non-line-of-sight transmission scenario, the The positioning reference signal PRS is transmitted between the terminal and the network device; the transmission scenario of the PRS causes the accuracy of the second estimated position to be lower than the accuracy when the positioning system provides positioning services for other terminals; the transmission scenario of the PRS results in The accuracy of the measurement result obtained based on the PRS is lower than the second accuracy threshold;
  • the apparatus further includes: a first receiving unit, configured to receive the measurement result sent by the terminal under test; or the first receiving unit, configured to receive the measurement result sent by the anchor terminal. measurement results.
  • the anchor terminal satisfies one or more of the following conditions: the distance between the anchor terminal and the terminal under test is less than or equal to a preset distance; the anchor terminal passes through the first sidewalk A link discovery message discovers the terminal under test; the terminal under test discovers the anchor terminal through a second sidelink discovery message; the signal measurement of the signal sent by the anchor terminal measured by the terminal under test The result is higher than the preset first signal measurement result; the signal measurement result of the signal sent by the terminal under test measured by the anchor point terminal is higher than the preset second signal measurement result; the position of the anchor point terminal has been The accuracy of the estimated position of the anchor terminal is higher than the third accuracy threshold; the positioning integrity level of the estimated position of the anchor terminal is higher than the third positioning integrity level threshold; the estimated position of the anchor terminal The location integrity result for is not a failure.
  • the number of anchor terminals is greater than or equal to the number of target network devices, and the target network devices are network devices that provide positioning services for the terminal under test through the Uu interface.
  • the accuracy of the location information provided by the target network device for the terminal under test is lower than a third precision threshold, and/or, the LCS Qos of the target network device does not meet the requirements for providing location services for the terminal under test.
  • the required LCS Qos level is lower than a third precision threshold, and/or, the LCS Qos of the target network device does not meet the requirements for providing location services for the terminal under test.
  • the apparatus further includes: a second receiving unit, configured to receive configuration information of the reference signal sent by the terminal under test, where the configuration information is used to configure the anchor terminal to receive the reference signal ; or, the second receiving unit is configured to receive configuration information of the reference signal sent by the anchor terminal, where the configuration information is used to configure the terminal under test to receive the reference signal.
  • a second receiving unit configured to receive configuration information of the reference signal sent by the terminal under test, where the configuration information is used to configure the anchor terminal to receive the reference signal.
  • the preset event is monitored by the terminal under test, the network device and/or the LMF.
  • the device further includes: a third receiving unit, configured to receive an anchor terminal that provides positioning services for the terminal under test reported by a target node, where the target node is the terminal under test and the anchor terminal.
  • a third receiving unit configured to receive an anchor terminal that provides positioning services for the terminal under test reported by a target node, where the target node is the terminal under test and the anchor terminal. Click Terminal or Network Device.
  • the apparatus further includes: a sending unit, configured to send inquiry information to the target node, where the inquiry information is used to inquire about an anchor terminal that provides positioning services for the terminal under test.
  • a sending unit configured to send inquiry information to the target node, where the inquiry information is used to inquire about an anchor terminal that provides positioning services for the terminal under test.
  • the processing unit is further configured to: determine the first estimated position based on the measurement result of the reference signal, the measurement result of the Uu interface, and the location of the anchor terminal, where the measurement result of the Uu interface is It is obtained by measuring the positioning reference signal sent by the network device.
  • FIG. 9 is a schematic diagram of a first terminal according to an embodiment of the present application.
  • the first terminal 900 shown in FIG. 9 includes a receiving unit 910 and a generating unit 920 .
  • the first terminal is a terminal to be tested or an anchor terminal.
  • the receiving unit 910 is configured to receive a reference signal transmitted through a sidelink when a preset event occurs, and the sidelink is a sidelink between the terminal under test and the anchor terminal;
  • a generating unit 920 configured to generate a measurement result of the reference signal, where the measurement result is used to calculate a first estimated position of the terminal under test
  • the preset event includes one or more of the following: the accuracy of the second estimated position of the terminal under test obtained through the Uu interface is lower than the first accuracy threshold; providing positioning for the terminal under test through the Uu interface
  • the first quality of service Qos of the serving LCS does not meet the LCS Qos level to which the first Qos belongs; the validity of the positioning assistance data is lower than the validity threshold; the positioning integrity level of the positioning system providing the LCS is lower than the first positioning Integrity level threshold; the positioning integrity result of the positioning system is a failure; a suspicious event occurs when the positioning assistance data is acquired; a suspicious event occurs in the generation of the positioning assistance data; in the non-line-of-sight transmission scenario, the The positioning reference signal PRS is transmitted between the terminal and the network device; the transmission scenario of the PRS causes the accuracy of the second estimated position to be lower than the accuracy when the positioning system provides positioning services for other terminals; the transmission scenario of the PRS results in The accuracy of the measurement result obtained based on the PRS is lower than the second accuracy threshold;
  • the first terminal further includes: a first sending unit, configured to send the measurement result to a location management function LMF.
  • a first sending unit configured to send the measurement result to a location management function LMF.
  • the anchor terminal satisfies one or more of the following conditions: the distance between the anchor terminal and the terminal under test is less than or equal to a preset distance; the anchor terminal passes through the first sidewalk A link discovery message discovers the terminal under test; the terminal under test discovers the anchor terminal through a second sidelink discovery message; the signal measurement of the signal sent by the anchor terminal measured by the terminal under test The result is higher than the preset first signal measurement result; the signal measurement result of the signal sent by the terminal under test measured by the anchor point terminal is higher than the preset second signal measurement result; the position of the anchor point terminal has been The accuracy of the estimated position of the anchor terminal is higher than the third accuracy threshold; the positioning integrity level of the estimated position of the anchor terminal is higher than the third positioning integrity level threshold; the estimated position of the anchor terminal The location integrity result for is not a failure.
  • the number of anchor terminals is greater than or equal to the number of target network devices, and the target network devices are network devices that provide positioning services for the terminal under test through the Uu interface.
  • the accuracy of the location information provided by the target network device for the terminal under test is lower than a third precision threshold, and/or, the LCS Qos of the target network device does not meet the requirements for providing location services for the terminal under test.
  • the required LCS Qos level is lower than a third precision threshold, and/or, the LCS Qos of the target network device does not meet the requirements for providing location services for the terminal under test.
  • the receiving unit is configured to receive configuration information of the reference signal sent by the LMF, where the configuration information is used to configure the anchor terminal to receive the reference signal.
  • the preset event is monitored by the terminal under test, the network device and/or the LMF.
  • the second sending unit is configured to report to the LMF the anchor terminal that provides the positioning service for the terminal under test.
  • the receiving unit is further configured to receive inquiry information sent by the LMF, where the inquiry information is used to inquire about an anchor terminal that provides positioning services for the terminal under test.
  • the first terminal is a terminal to be tested, and the first terminal further includes a third sending unit, configured to send the measurement result of the Uu interface to the LMF, and the measurement result of the Uu interface The result is obtained by measuring the positioning reference signal sent by the network device.
  • a third sending unit configured to send the measurement result of the Uu interface to the LMF, and the measurement result of the Uu interface The result is obtained by measuring the positioning reference signal sent by the network device.
  • Fig. 10 is a schematic structural diagram of a communication device according to an embodiment of the present application.
  • the dashed line in Figure 10 indicates that the unit or module is optional.
  • the apparatus 1000 may be used to implement the methods described in the foregoing method embodiments.
  • the apparatus 1000 may be a chip, a terminal device or a network device.
  • Apparatus 1000 may include one or more processors 1010 .
  • the processor 1010 can support the device 1000 to implement the methods described in the foregoing method embodiments.
  • the processor 1010 may be a general purpose processor or a special purpose processor.
  • the processor may be a central processing unit (central processing unit, CPU).
  • the processor can also be other general-purpose processors, digital signal processors (digital signal processors, DSPs), application specific integrated circuits (application specific integrated circuits, ASICs), off-the-shelf programmable gate arrays (field programmable gate arrays, FPGAs) Or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • Apparatus 1000 may also include one or more memories 1020 .
  • a program is stored in the memory 1020, and the program can be executed by the processor 1010, so that the processor 1010 executes the methods described in the foregoing method embodiments.
  • the memory 1020 may be independent of the processor 1010 or may be integrated in the processor 1010 .
  • the apparatus 1000 may also include a transceiver 1030 .
  • the processor 1010 can communicate with other devices or chips through the transceiver 1030 .
  • the processor 1010 may send and receive data with other devices or chips through the transceiver 1030 .
  • the embodiment of the present application also provides a computer-readable storage medium for storing programs.
  • the computer-readable storage medium can be applied to the terminal or the network device provided in the embodiments of the present application, and the program enables the computer to execute the methods performed by the terminal or the network device in the various embodiments of the present application.
  • the embodiment of the present application also provides a computer program product.
  • the computer program product includes programs.
  • the computer program product can be applied to the terminal or the network device provided in the embodiments of the present application, and the program enables the computer to execute the methods performed by the terminal or the network device in the various embodiments of the present application.
  • the embodiment of the present application also provides a computer program.
  • the computer program can be applied to the terminal or the network device provided in the embodiments of the present application, and the computer program enables the computer to execute the methods performed by the terminal or the network device in the various embodiments of the present application.
  • B corresponding to A means that B is associated with A, and B can be determined according to A.
  • determining B according to A does not mean determining B only according to A, and B may also be determined according to A and/or other information.
  • sequence numbers of the above-mentioned processes do not mean the order of execution, and the execution order of the processes should be determined by their functions and internal logic, and should not be used in the embodiments of the present application.
  • the implementation process constitutes any limitation.
  • the disclosed systems, devices and methods may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • all or part of them may be implemented by software, hardware, firmware or any combination thereof.
  • software When implemented using software, it may be implemented in whole or in part in the form of a computer program product.
  • the computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present application will be generated in whole or in part.
  • the computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices.
  • the computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website, computer, server or data center Transmission to another website site, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.).
  • the computer-readable storage medium may be any available medium that can be read by a computer, or a data storage device such as a server or a data center integrated with one or more available media.
  • the available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a digital versatile disc (digital video disc, DVD)) or a semiconductor medium (for example, a solid state disk (solid state disk, SSD) )wait.
  • a magnetic medium for example, a floppy disk, a hard disk, a magnetic tape
  • an optical medium for example, a digital versatile disc (digital video disc, DVD)
  • a semiconductor medium for example, a solid state disk (solid state disk, SSD)

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Abstract

提供了一种定位方法、终端和定位装置。该方法包括在预设事件发生的情况下，第一终端基于参考信号的测量结果与锚点终端的位置，确定待测终端的第一估计位置，其中，所述参考信号是所述待测终端与所述锚点终端在侧行链路上传输的，所述第一终端为所述待测终端或所述锚点终端。在预设事件发生的情况下，激活侧行链路定位功能，以基于测量结果、锚点终端的位置确定待测终端的第一估计位置，有利于提高待测终端的第一估计位置的精度。避免了传统的定位过程中，作为锚点的网络设备出于某些原因无法为待测终端提供准确的定位服务。

Description

定位方法、终端和定位装置 技术领域
本申请涉及通信技术领域，并且更为具体地，涉及一种定位方法、终端和定位装置。
背景技术
在定位系统通过Uu接口为待测终端提供定位服务时，需要有多个网络设备向终端发送定位参考信号，以便待测终端基于定位参考信号进行测量。然而，在一些情况下，上述多个网络设备中可能会有至少部分网络设备无法为待测终端提供准确的定位服务，这就导致了待测终端最终获得的估计位置的精度降低。
发明内容
本申请提供一种定位方法、终端和定位装置，以提高待测终端的估计位置的精度。
第一方面，提供了一种定位方法，包括：在预设事件发生的情况下，第一终端基于参考信号的测量结果与锚点终端的位置，确定待测终端的第一估计位置，其中，所述参考信号是所述待测终端与所述锚点终端在侧行链路上传输的，所述第一终端为所述待测终端或所述锚点终端。所述预设事件包括以下一种或多种：通过Uu接口获取的所述待测终端的第二估计位置的精度低于第一精度阈值；通过所述Uu接口为所述待测终端提供定位服务(location service，LCS)的第一服务质量(quality of service，Qos)不满足所述第一Qos所属的LCS Qos等级；定位辅助数据的有效性低于有效性阈值；提供所述LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值；所述定位系统的定位完整性结果为失败；获取所述定位辅助数据时发生可疑事件；所述定位辅助数据的产生发生可疑事件；在非视距传输场景下所述待测终端与网络设备之间传输定位参考信号PRS；所述PRS的传输场景导致所述第二估计位置的精度低于所述定位系统为其他终端提供定位服务时的精度；所述PRS的传输场景导致基于所述PRS得到的测量结果的精度低于第二精度阈值；所述PRS的传输场景导致所述定位系统的定位完整性水平低于所述定位系统的历史定位完整性水平；所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
第二方面，提供一种定位方法，包括：在预设事件发生的情况下，定位管理功能LMF为待测终端激活侧行链路定位功能，所述侧行链路定位功能包括基于测量结果与锚点终端的位置，确定所述待测终端的第一估计位置，所述测量结果为对侧行链路中传输的参考信号进行测量得到的。所述预设事件包括以下一种或多种：通过Uu接口获取的所述待测终端的第二估计位置的精度低于第一精度阈值；通过所述Uu接口为所述待测终端提供定位服务LCS的第一服务质量Qos不满足所述第一Qos所属的LCS Qos等级；定位辅助数据的有效性低于有效性阈值；提供所述LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值；所述定位系统的定位完整性结果为失败；获取所述定位辅助数据时发生可疑事件；所述定位辅助数据的产生发生可疑事件；在非视距传输场景下所述待测终端与网络设备之间传输定位参考信号PRS；所述PRS的传输场景导致所述第二估计位置的精度低于所述定位系统为其他终端提供定位服务时的精度；所述PRS的传输场景导致基于所述PRS得到的测量结果的精度低于第二精度阈值；所述PRS的传输场景导致所述定位系统的定位完整性水平低于所述定位系统的历史定位完整性水平；所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
第三方面，提供一种定位方法，包括：在预设事件发生的情况下，定位管理功能LMF基于参考信号的测量结果与锚点终端的位置，确定待测终端的第一估计位置，其中，所述参考信号是所述待测终端与所述锚点终端在侧行链路上传输的。所述预设事件包括以下一种或多种：通过Uu接口获取的所述待测终端的第二估计位置的精度低于第一精度阈值；通过所述Uu接口为所述待测终端提供定位服务LCS的第一服务质量Qos不满足所述第一Qos所属的LCS Qos等级；定位辅助数据的有效性低于有效性阈值；提供所述LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值；所述定位系统的定位完整性结果为失败；获取所述定位辅助数据时发生可疑事件；所述定位辅助数据的产生发生可疑事件；在非视距传输场景下所述待测终端与网络设备之间传输定位参考信号(positioning reference signal，PRS)；所述PRS的传输场景导致所述第二估计位置的精度低于所述定位系统为其他终端提供定位服务时的精度；所述PRS的传输场景导致基于所述PRS得到的测量结果的精度低于第二精度阈值；所述PRS的传输场景导致所述定位系统的定位完整性水平低于所述定位系统的历史定位完整性水平；所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
第四方面，提供一种定位方法，包括：在预设事件发生的情况下，第一终端接收通过侧行链路传输 的参考信号，所述侧行链路为待测终端与锚点终端之间的侧行链路；所述第一终端生成所述参考信号的测量结果，所述测量结果用于计算所述待测终端的第一估计位置，其中，所述第一终端为待测终端或锚点终端，所述预设事件包括以下一种或多种：通过Uu接口获取的所述待测终端的第二估计位置的精度低于第一精度阈值；通过所述Uu接口为所述待测终端提供定位服务LCS的第一服务质量Qos不满足所述第一Qos所属的LCS Qos等级；定位辅助数据的有效性低于有效性阈值；提供所述LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值；所述定位系统的定位完整性结果为失败；获取所述定位辅助数据时发生可疑事件；所述定位辅助数据的产生发生可疑事件；在非视距传输场景下所述待测终端与网络设备之间传输定位参考信号PRS；所述PRS的传输场景导致所述第二估计位置的精度低于所述定位系统为其他终端提供定位服务时的精度；所述PRS的传输场景导致基于所述PRS得到的测量结果的精度低于第二精度阈值；所述PRS的传输场景导致所述定位系统的定位完整性水平低于所述定位系统的历史定位完整性水平；所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
第五方面，提供一种第一终端，包括：在预设事件发生的情况下，确定单元用于基于参考信号的测量结果与锚点终端的位置，确定待测终端的第一估计位置，其中，所述参考信号是所述待测终端与所述锚点终端在侧行链路上传输的，所述第一终端为所述待测终端或所述锚点终端，所述预设事件包括以下一种或多种：通过Uu接口获取的所述待测终端的第二估计位置的精度低于第一精度阈值；通过所述Uu接口为所述待测终端提供定位服务LCS的第一服务质量Qos不满足所述第一Qos所属的LCS Qos等级；定位辅助数据的有效性低于有效性阈值；提供所述LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值；所述定位系统的定位完整性结果为失败；获取所述定位辅助数据时发生可疑事件；所述定位辅助数据的产生发生可疑事件；在非视距传输场景下所述待测终端与网络设备之间传输定位参考信号PRS；所述PRS的传输场景导致所述第二估计位置的精度低于所述定位系统为其他终端提供定位服务时的精度；所述PRS的传输场景导致基于所述PRS得到的测量结果的精度低于第二精度阈值；所述PRS的传输场景导致所述定位系统的定位完整性水平低于所述定位系统的历史定位完整性水平；所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
第六方面，提供一种定位装置，所述装置具有定位管理功能LMF，所述装置包括：处理单元，用于在预设事件发生的情况下，为待测终端激活侧行链路定位功能，所述侧行链路定位功能包括基于测量结果与锚点终端的位置，确定所述待测终端的第一估计位置，所述测量结果为对侧行链路中传输的参考信号进行测量得到的，所述预设事件包括以下一种或多种：通过Uu接口获取的所述待测终端的第二估计位置的精度低于第一精度阈值；通过所述Uu接口为所述待测终端提供定位服务LCS的第一服务质量Qos不满足所述第一Qos所属的LCS Qos等级；定位辅助数据的有效性低于有效性阈值；提供所述LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值；所述定位系统的定位完整性结果为失败；获取所述定位辅助数据时发生可疑事件；所述定位辅助数据的产生发生可疑事件；在非视距传输场景下所述待测终端与网络设备之间传输定位参考信号PRS；所述PRS的传输场景导致所述第二估计位置的精度低于所述定位系统为其他终端提供定位服务时的精度；所述PRS的传输场景导致基于所述PRS得到的测量结果的精度低于第二精度阈值；所述PRS的传输场景导致所述定位系统的定位完整性水平低于所述定位系统的历史定位完整性水平；所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
第七方面，提供一种定位装置，所述装置具有定位管理功能LMF，所述装置包括：处理单元，用于在预设事件发生的情况下，基于参考信号的测量结果与锚点终端的位置，确定待测终端的第一估计位置，其中，所述参考信号是所述待测终端与所述锚点终端在侧行链路上传输的，所述预设事件包括以下一种或多种：通过Uu接口获取的所述待测终端的第二估计位置的精度低于第一精度阈值；通过所述Uu接口为所述待测终端提供定位服务LCS的第一服务质量Qos不满足所述第一Qos所属的LCS Qos等级；定位辅助数据的有效性低于有效性阈值；提供所述LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值；所述定位系统的定位完整性结果为失败；获取所述定位辅助数据时发生可疑事件；所述定位辅助数据的产生发生可疑事件；在非视距传输场景下所述待测终端与网络设备之间传输定位参考信号PRS；所述PRS的传输场景导致所述第二估计位置的精度低于所述定位系统为其他终端提供定位服务时的精度；所述PRS的传输场景导致基于所述PRS得到的测量结果的精度低于第二精度阈值；所述PRS的传输场景导致所述定位系统的定位完整性水平低于所述定位系统的历史定位完整性水平；所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
第八方面，提供一种第一终端，包括：接收单元，用于在预设事件发生的情况下，接收通过侧行链路传输的参考信号，所述侧行链路为待测终端与锚点终端之间的侧行链路；生成单元，用于生成所述参考信号的测量结果，所述测量结果用于计算所述待测终端的第一估计位置，其中，所述第一终端为待测终端或锚点终端，所述预设事件包括以下一种或多种：通过Uu接口获取的所述待测终端的第二估计位 置的精度低于第一精度阈值；通过所述Uu接口为所述待测终端提供定位服务LCS的第一服务质量Qos不满足所述第一Qos所属的LCS Qos等级；定位辅助数据的有效性低于有效性阈值；提供所述LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值；所述定位系统的定位完整性结果为失败；获取所述定位辅助数据时发生可疑事件；所述定位辅助数据的产生发生可疑事件；在非视距传输场景下所述待测终端与网络设备之间传输定位参考信号PRS；所述PRS的传输场景导致所述第二估计位置的精度低于所述定位系统为其他终端提供定位服务时的精度；所述PRS的传输场景导致基于所述PRS得到的测量结果的精度低于第二精度阈值；所述PRS的传输场景导致所述定位系统的定位完整性水平低于所述定位系统的历史定位完整性水平；所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
第九方面，提供一种终端，包括存储器和处理器，所述存储器用于存储程序，所述处理器用于调用所述存储器中的程序，以执行如第一方面或第四方面所述的方法。
第十方面，提供一种网络设备，包括存储器和处理器，所述存储器用于存储程序，所述处理器用于调用所述存储器中的程序，以执行第二方面或第三方面所述的方法。
第十一方面，提供一种装置，包括处理器，用于从存储器中调用程序，以执行第一方面或第四方面所述的方法。
第十二方面，提供一种装置，包括处理器，用于从存储器中调用程序，以执行第二方面或第三方面所述的方法。
第十三方面，提供一种芯片，包括处理器，用于从存储器调用程序，使得安装有所述芯片的设备执行第一方面或第四方面所述的方法。
第十四方面，提供一种芯片，包括处理器，用于从存储器调用程序，使得安装有所述芯片的设备执行第二方面或第三方面所述的方法。
第十五方面，提供一种计算机可读存储介质，其上存储有程序，所述程序使得计算机执行第一方面或第四方面所述的方法。
第十六方面，提供一种计算机可读存储介质，其上存储有程序，所述程序使得计算机执行第二方面或第三方面所述的方法。
第十七方面，提供一种计算机程序产品，包括程序，所述程序使得计算机执行第一方面或第四方面所述的方法。
第十八方面，提供一种计算机程序产品，包括程序，所述程序使得计算机执行第二方面或第三方面所述的方法。
第十九方面，提供一种计算机程序，所述计算机程序使得计算机执行第一方面或第四方面所述的方法。
第二十方面，提供一种计算机程序，所述计算机程序使得计算机执行第二方面或第三方面所述的方法。
在预设事件发生的情况下，激活侧行链路定位功能，以基于测量结果、锚点终端的位置确定待测终端的第一估计位置，有利于提高待测终端的第一估计位置的精度。避免了传统的定位过程中，作为锚点的网络设备出于某些原因无法为待测终端提供准确的定位服务。
另一方面，通过设置激活侧行链路定位功能的条件，即在预设事件发生的情况下，避免在传统定位可以为待测终端提供定位服务的情况下，依然激活侧行链路定位功能，通过侧行链路资源传输定位参考信号，有利于提高使用侧行链路资源的合理性。
附图说明
图1是本申请实施例应用的无线通信系统100。
图2是以下行定位为例介绍通过Uu接口为待测终端提供定位服务的方法。
图3是申请实施例的侧行链路定位的流程图。
图4是申请另一实施例的侧行链路定位的流程图。
图5是申请另一实施例的侧行链路定位的流程图。
图6是本申请实施例的第一终端的示意图。
图7是本申请实施例的定位装置的示意图。
图8是本申请实施例的定位装置的示意图。
图9是本申请实施例的第一终端的示意图。
图10是本申请实施例的通信装置的示意性结构图。
具体实施方式
为了便于理解本申请，下文先结合附图介绍本申请实施例适用的通信系统及通信过程。
图1是本申请实施例适用的无线通信系统100。该无线通信系统100可以包括网络设备110和终端设备121～129。网络设备110可以为特定的地理区域提供通信覆盖，并且可以与位于该覆盖区域内的终端设备进行通信。
在一些实现方式中，终端设备与终端设备之间可以通过侧行链路(sidelink，SL)进行通信。侧行链路通信也可称为邻近服务(proximity services，ProSe)通信、单边通信、旁链通信、设备到设备(device to device，D2D)通信。
或者说，终端设备和终端设备之间通过侧行链路传输侧行数据。其中侧行数据可以包括数据和/或控制信令。在一些实现方式中，侧行数据例如可以是物理侧行控制信道(physical sidelink control channel，PSCCH)、物理侧行共享信道(physical sidelink control channel，PSSCH)、PSCCH解调定位参考信号(demodulation reference signal，DMRS)、PSSCH DMRS、物理侧行反馈信道(physical sidelink feedback channel，PSFCH)等；
下文结合图1介绍几种常见的侧行链路通信场景。在侧行链路通信中，根据侧行链路中的终端设备是否处于网络设备的覆盖范围内，可以分为4种场景。场景1，终端设备在网络设备的覆盖范围内进行侧行链路通信。场景2，部分终端设备在网络设备的覆盖范围内进行侧行链路通信。场景3，终端设备在网络设备的覆盖范围外进行侧行链路通信。
如图1所示，在场景1中，终端设备121～122可以通过侧行链路通信，且终端设备121～122都在网络设备110的覆盖范围内，或者说，终端设备121～122均处于同一网络设备110的覆盖范围内。在这种场景中，网络设备110可以向终端121～122发送配置信令，相应地，终端121～122基于配置信令通过侧行链路进行通信。
如图1所示，在场景2中，终端设备123～124可以通过侧行链路通信，且终端设备123在网络设备110的覆盖范围内，终端设备124在网络设备110的覆盖范围之外。在这种场景中，终端设备123接收到网络设备110的配置信息，并基于配置信令的配置通过侧行链路进行通信。但是对于终端设备124而言，由于终端设备124位于网络设备110的覆盖范围之外，无法接收到网络设备110的配置信息，此时，终端设备124可以基于根据预配置(pre-configuration)的配置信息和/或位于覆盖范围内的终端设备123发送的配置信息，获取侧行链路通信的配置，以便基于获取的配置与终端设备123通过侧行链路进行通信。
在一些情况下，终端设备123可以通过侧行广播信道PSBCH向终端设备124发送上述配置信息，以配置终端设备124通过侧行链路进行通信。
如图1所示，在场景3中，终端设备125～129都位于网络设备110的覆盖范围之外，无法与网络设备110进行通信。在这种情况下，终端设备都可以基于预配置信息配置侧行链路通信。
在一些情况下，位于网络设备覆盖范围之外的终端设备127～129可以组成一个通信组，通信组内的终端设备127～129可以相互通信。另外，通信组内的终端设备127可以作为中央控制节点，又称为组头终端(cluster header，CH)，相应地，其他通信组内的终端设备可以称为“组成员”。
作为CH的终端设备127可以具有以下一种或多种功能：负责通信组的建立；组成员的加入、离开；进行资源协调，为组成员分配侧行传输资源，接收组成员的侧行反馈信息；与其他通信组进行资源协调等功能。
需要说明的是，图1示例性地示出了一个网络设备和多个终端设备，可选地，该无线通信系统100可以包括多个网络设备并且每个网络设备的覆盖范围内可以包括其它数量的终端设备，本申请实施例对此不做限定。
可选地，该无线通信系统100还可以包括网络控制器、移动管理实体等其他网络实体，本申请实施例对此不作限定。
应理解，本申请实施例的技术方案可以应用于各种通信系统，例如：第五代(5th generation，5G)系统或新无线(new radio，NR)、长期演进(long term evolution，LTE)系统、LTE频分双工(frequency division duplex，FDD)系统、LTE时分双工(time division duplex，TDD)等。本申请提供的技术方案还可以应用于未来的通信系统，如第六代移动通信系统，又如卫星通信系统，等等。
本申请实施例中的终端设备也可以称为用户设备(user equipment，UE)、接入终端、用户单元、用户站、移动站、移动台(mobile station，MS)、移动终端(mobile terminal，MT)、远方站、远程终端、移动设备、用户终端、终端、无线通信设备、用户代理或用户装置。本申请实施例中的终端设备可以是指向用户提供语音和/或数据连通性的设备，可以用于连接人、物和机，例如具有无线连接功能的手持式设备、车载设备等。本申请的实施例中的终端设备可以是手机(mobile phone)、平板电脑(Pad)、 笔记本电脑、掌上电脑、移动互联网设备(mobile internet device，MID)、可穿戴设备，虚拟现实(virtual reality，VR)设备、增强现实(augmented reality，AR)设备、工业控制(industrial control)中的无线终端、无人驾驶(self driving)中的无线终端、远程手术(remote medical surgery)中的无线终端、智能电网(smart grid)中的无线终端、运输安全(transportation safety)中的无线终端、智慧城市(smart city)中的无线终端、智慧家庭(smart home)中的无线终端等。可选地，UE可以用于充当基站。例如，UE可以充当调度实体，其在V2X或D2D等中的UE之间提供侧行数据。比如，蜂窝电话和汽车利用侧行数据彼此通信。蜂窝电话和智能家居设备之间通信，而无需通过基站中继通信信号。
本申请实施例中的网络设备可以是用于与终端设备通信的设备，该网络设备也可以称为接入网设备或无线接入网设备，如网络设备可以是基站。本申请实施例中的网络设备可以是指将终端设备接入到无线网络的无线接入网(radio access network，RAN)节点(或设备)。基站可以广义的覆盖如下中的各种名称，或与如下名称进行替换，比如：节点B(NodeB)、演进型基站(evolved NodeB，eNB)、下一代基站(next generation NodeB，gNB)、中继站、接入点、传输点(transmitting and receiving point，TRP)、发射点(transmitting point，TP)、主站MeNB、辅站SeNB、多制式无线(MSR)节点、家庭基站、网络控制器、接入节点、无线节点、接入点(access point，AP)、传输节点、收发节点、基带单元(base band unit，BBU)、射频拉远单元(Remote Radio Unit，RRU)、有源天线单元(active antenna unit，AAU)、射频头(remote radio head，RRH)、中心单元(central unit，CU)、分布式单元(distributed unit，DU)、定位节点等。基站可以是宏基站、微基站、中继节点、施主节点或类似物，或其组合。基站还可以指用于设置于前述设备或装置内的通信模块、调制解调器或芯片。基站还可以是移动交换中心以及设备到设备D2D、车辆外联(vehicle-to-everything，V2X)、机器到机器(machine-to-machine，M2M)通信中承担基站功能的设备、6G网络中的网络侧设备、未来的通信系统中承担基站功能的设备等。基站可以支持相同或不同接入技术的网络。本申请的实施例对网络设备所采用的具体技术和具体设备形态不做限定。
基站可以是固定的，也可以是移动的。例如，直升机或无人机可以被配置成充当移动基站，一个或多个小区可以根据该移动基站的位置移动。在其他示例中，直升机或无人机可以被配置成用作与另一基站通信的设备。
在一些部署中，本申请实施例中的网络设备可以是指CU或者DU，或者，网络设备包括CU和DU。gNB还可以包括AAU。
网络设备和终端设备可以部署在陆地上，包括室内或室外、手持或车载；也可以部署在水面上；还可以部署在空中的飞机、气球和卫星上。本申请实施例中对网络设备和终端设备所处的场景不做限定。
应理解，本申请中的通信设备的全部或部分功能也可以通过在硬件上运行的软件功能来实现，或者通过平台(例如云平台)上实例化的虚拟化功能来实现。
随着通信网络的应用越来越广，物联网和智能化对通信网络中基于定位的服务要求越来越高。目前已知的定位技术主要是由网络设备为待测终端(或称“待定位终端”)提供定位服务，这种定位方式可以称为“通过Uu接口定位”。
通过Uu接口定位
通过Uu接口定位是指网络设备与待测终端之间，通过发送/接收定位参考信号的方式对待测终端进行定位。图2以下行定位为例介绍通过Uu接口为待测终端提供定位服务的方法。基于LTE定位协议(LPP)的规定，为待测终端提供位置服务的方法可以包括过程210至280。
210，LPP请求能力(LPP request capabilities)的过程。定位管理功能(location management function，LMF)请求待测终端的定位能力。
220，LPP提供能力(LPP provide capabilities)的过程。待测终端向LMF发送应答，以指示待测终端的能力。
230，LPP提供定位辅助数据(LPP provide assistance data)的过程。若待测终端告知LMF具有定位能力，LMF向待测终端发送定位辅助数据。
其中，定位辅助数据可以包含锚点节点的PRS资源配置、锚点节点的位置等。上述锚点节点为网络设备。
240，LPP请求定位信息(LPP request location information)的过程。LMF请求待测终端上报基于PRS的下行测量结果。
250，待测终端执行下行PRS测量，生成测量结果。
260，LPP提供定位信息(LPP provide location information)的过程。待测终端向LMF提供待测终端的位置信息。
270，LMF基于待测终端上报的位置信息，对待测终端的位置进行计算。
在一些情况下，上述230中配置PRS资源所在的载波，可能与待测终端Uu接口通信所使用的载波不同，因此，可以在250之前通过过程280，待测终端向网络设备请求测量间隙(measurement gap)。
下文以基于到达时间(time of arrival，TOA)确定待测终端的位置为例，进行说明。假设由3个网络设备为待测终端提供定位服务，相应地，待测终端需要对3个网络设备发送的下行定位参考信号分别进行测量，得到测量结果，测量结果包含每个网络设备发送的定位参考信号的TOA。然后，待测终端将测量报告上报给LMF，相应地，LMF可以利用三角形定位获得待测终端的估计位置。
随着非地面通信技术的发展，上述通过Uu接口定位的方式也支持通过RAN独立(RAN-independent)定位方法，或者称“网络辅助全球导航卫星系统(global navigation satellite system，GNSS)的方法(network-assisted GNSS method)”来对待测终端进行定位。例如，可以基于上文介绍的TOA方式，将3个网络设备替换为3个GNSS卫星，来对待测终端进行定位。其中，地面通信网络可以以辅助的方式辅助GNSS对待测终端定位，具体可以在以下几个方面辅助GNSS对待测终端定位。
一、减少待测终端的GNSS接收器的启动时间，减少GNSS接收器获取GNSS测量结果的时间。可以通过限制待测终端测量定位参考信号的搜索窗口，以提高待测终端得到测量结果的速度。
二、提高待测终端的GNSS接收器的灵敏度。GNSS接收器可以通过接入网(例如，5G接入网)获得定位辅助数据，因此，当待测终端无法解调GNSS卫星信号时，待测终端GNSS接收器可以在低信噪比的情况下工作。
三、与基于独立GNSS为待测终端提供定位服务相比，减少了待测终端消耗的电量。这是因为待测终端的GNSS接收器在不工作时可以处于空闲模式。另外，由于待测终端的GNSS接收器处于空闲模式，因此如果GNSS接收器需要从空闲模式进入激活模式所需的启动时间也较短。
四、提高待测终端的定位精度。接入网(例如，5G接入网)可以为GNSS定位提供校正服务，例如，提供载波相位差分技术(又称“实时动态差分法”(Real-time kinematic，RTK))来进行校正。又例如，通过PPP算法对状态空间域(state space representation，SSR)进行校正得到SSR校正参数来校正待测终端的位置。
在上文介绍的通过Uu接口为待测终端提供定位服务的过程中，包含网络设备、LMF以及通信系统中的其他网元(例如，接入和移动性管理功能(access and mobility management function，AMF)可以视为为待测终端提供定位服务的定位系统。在定位系统为待测终端提供定位服务的过程中，可以设置一些参数来表征定位系统的完整性。
定位完整性
定位完整性用于描述对定位系统提供的位置相关数据的准确性的信任程度，以及在定位系统不满足预期操作条件时向LCS客户端提供及时有效警告的能力。
通常，定位系统不满足预期操作条件可以理解为在一定时长内保护水平(protection level，PL)大于警告水平(alert level，AL)，且在上述时长对应的时间之后，定位系统宣告不可用。其中，上述时长大于或等于故障检测时间间隔(又称“警告时间”(time-to-alert，TTA))定义的时长。
目标完整性风险(target integrity rate，TIR)被定义为定位系统的定位错误超出AL，且未在TTA内警告用户的概率。
上述PL是定位误差(positioning error，PE)的统计上限。由于在不知道实际位置的情况下，无法知道定位系统的定位误差，因此可以使用PL来度量定位系统的定位误差。当PL超过AL时，将引发警报。因此，PL必须满足以下关系:P(定位误差>PL)≤TIR，以避免定位系统失去定位完整性。
上述AL指最大允许定位误差。如果超过这个限制，就必须发出警报。
TTA被定义为最大允许时间跨度。该时间跨度的起点为PL为界限的定位误差超过AL的时刻，该时间跨度的终点为PL>AL的时刻且定位系统进入安全状态，例如，不再使用定位系统的输出。
在上文介绍的参数中，AL、TTA和TIR是定位系统自主规定的关键绩效指标(key performance indicator，KPI)。而PL是在考虑定位系统可能面临的一系列可疑事件(feared event)的基础上计算得出。通常，TIR设置的越低，定位系统需要考虑到的可疑事件也就越多。
上述可疑事件可以分为两类即故障(fault)造成的可疑事件以及无故障造成的可疑事件。在一些情况下，上述由于故障造成的可疑事件可以是定位系统固有的事件，例如，是由定位系统的某个元件的故障(例如卫星网络或地面网络故障)引起的。在一些情况下，上述由于无故障造成的可疑事件不是由定位系统的故障造成的，例如，当定位系统输入错误时，会发生无故障造成的可疑事件。又例如，在GNSS中，无故障造成的可疑事件包括由于不良的卫星地理分布，较强的大气梯度导致的信号中断。无故障造成的可疑事件会降低定位系统的定位性能但不会导致定位系统故障。
在一些情况下，上述可疑事件可以包括定位辅助数据的可疑事件，例如，定位辅助数据定位错误和/或影响定位辅助数据的外部可疑事件等。上述可疑事件还可以包括定位数据传输过程中发生的可疑事 件，例如，数据完整性错误。上述可疑事件还可以包括GNSS可疑事件，例如，卫星可疑事件、大气可疑事件、当地环境可疑事件。
另外，当定位完整性系统发生故障可以理解为触发完整性事件(integrity event)。当定位系统输出有害误导信息(hazardous misleading information，HMI)时，就会发生完整性事件。当定位声明可用时，实际定位误差超过AL而未在所需TTA内发出警报时，就会发生HMI。当宣布该定位系统可用时，实际定位误差超过PL时，就会产生误导信息。通常，定位系统的设计可以容忍一定程度的误导信息(misleading information，MI)，前提是系统可以在AL内继续安全运行。对于网络和终端来说，可能导致MI或HMI的故障和无故障条件都需要进行表征。
上文结合定位系统的完整性参数对定位系统的完整性进行介绍，在定位系统为待测终端提供定位服务的过程中还可以使用服务质量来定义定位服务。
定位服务的服务质量(location service quality of service，LCS Qos)
LCS Qos用于描述定位请求的服务级别。通常，LCS Qos可以包含3个关键属性：LCS Qos类别、精度以及响应时间。
LCS Qos类别定义了定位服务对其他Qos参数(例如，准确性)的遵守程度。目前，LCS Qos类别可以包括最佳努力类(best effort class)以及确定类(assure class)。
其中，最佳努力类定义对位置请求所达到的Qos的最低要求。如果获得的待测终端的位置估计不满足其他Qos参数的要求，则依然返回该位置估计值(或者称“估计位置”)，但是要以适当的指示表明未满足该定位请求的Qos。如果未获得位置估计，则会发送响应的错误响应。
确定类定义了对位置请求所达到的准确性的最严格要求。如果获得的位置估计不满足其他Qos参数要求，则应将该位置估计丢弃，并发送相应错误原因。
需要说明的是，在目前已有的通信系统(例如，5G通信系统)或未来的通信系统中，定位系统将尝试满足其他Qos参数。
侧行链路资源分配方式
目前，在某些通信系统(例如，NR)中，定义了两种侧行链路资源的资源配置方式，模式1和模式2。
模式1，由网络设备为终端调度侧行链路资源。
目前，在模式1中可以分为动态资源配置(dynamic resource allocation)和侧行链路配置授权(sidelink configured grant，SL CG)两种方式。在动态资源配置下，网络设备可以通过发送下行控制信息(downlink control information，DCI)为终端分配侧行传输资源。在侧行链路配置授权方式下，当终端被配置了侧行链路资源后，如果终端有待发送的数据时，终端可以使用配置的侧行链路资源传输数据，而不需要向网络设备重新申请侧行链路资源。因此，采用配置授权的资源配置方式可以降低侧行链路的传输时延。
上述配置授权又细分为两个类型，在配置授权的类型1(Type1)中，侧行链路资源配置完全基于无线资源控制(radio resource control，RRC)信令。在配置授权的类型2(Type2)中，通信系统中的侧行链路资源配置可以由RRC信令和层1(layer 1，L1)信令共同配置，其中L1信令用于指示RRC配置的激活和去激活。
在一些实现方式中，网络设备可以为终端调度单次传输的侧行链路资源。在另一些实现方式中，网络设备还可以为终端配置半静态的侧行链路资源。
模式2，终端在资源池中自主选择侧行链路资源。
在该模式下，终端执行的过程包括资源探测过程和/或资源选择过程。在资源探测过程中，终端可以通过解调侧行链路的控制信息(sidelink control information，SCI)来对侧行链路资源的占用情况进行鉴定。终端还可以通过测量侧行链路的接收功率来对侧行链路资源的占用情况进行鉴定。
如上文介绍，在定位系统通过Uu接口为待测终端提供定位服务时，需要有多个网络设备向终端发送PRS，以便终端基于PRS进行测量。然而，在一些情况下，上述多个网络设备中可能会有至少部分网络设备无法为待测终端提供准确的定位服务，这就导致了待测终端最终获得的估计位置的精度降低。
在一些情况下，如果上述多个网络设备中的目标网络设备与待测终端之间为非视距传输，这就为目标网络设备和待测终端之间传输PRS引入了误差，降低了待测终端对PRS进行测量的测量结果的准确性，最终导致待测终端的估计位置并不准确。
在另一些情况下，如果LMF提供的定位辅助数据的准确性不高，例如，作为锚点的网络设备的位置的定位精度不够高，此时，如果基于这种网络设备的位置计算待测终端的估计位置，也会导致待测终端的估计位置并不准确。
在另一些情况下，如果待测终端处于一个较为复杂的环境中(例如，城市环境)，此时，待测终端从网络设备(例如，卫星基站)接收的PRS可能包含众多多径信号成分，这也会导致待测终端基于该 PRS的测量报告的准确性降低，从而导致待测终端的估计位置并不准确。
因此，为了避免上述问题，提高待测终端的估计位置的准确度，可以采用终端作为锚点，来确定待测终端的估计位置。或者说，可以触发侧行链路定位功能来确定待测终端的估计位置。其中，侧行链路定位功能可以理解为将传统的定位技术中作为锚点的多个网络设备中的部分或全部网络设备替换为终端，并利用锚点终端向待测终端之间的侧行链路传输参考信号，并对参考信号进行测量，得到测量结果，并基于测量结果计算待测终端的估计位置。下文将结合图3至图5介绍侧行链路定位功能的流程，为了简洁，在此不再赘述。
上述通过侧行链路发送的参考信号可以是现有的侧行链路上发送的任意一种参考信号，例如，侧行链路定位参考信号(sidelink-PRS)。也可以是未来通信系统中规定的用于定位的其他参考信号，本申请实施例对此不作限定。为了便于理解，下文将上述通过侧行链路发送的参考信号称为“定位参考信号”。
需要说明的是，上述侧行链路定位功能可以基于已有的定位技术进行定位，例如，可以基于TOA技术执行上述侧行链路定位功能。又例如，可以基于到达时间差(time difference of arrival，TDOA)技术执行上述侧行链路定位功能。
另外，上述测量结果中包含的信息可以遵循目前通过Uu接口为待测终端定位时的测量结果的规定。例如，测量结果可以包含下行离开角、上行到达角、下行参考信号时间差、终端的RX-TX时间差等。
虽然可以通过侧行链路定位功能为待测终端提供定位服务，但是目前并未规定在什么情况下激活侧行链路定位功能。如果在通过Uu接口可以为正常提供待测终端定位服务的情况下，激活了侧行链路定位功能，可能会导致侧行传输资源的浪费。
因此，在本申请实施例提供了一种侧行链路定位功能的激活机制，来为待测终端提供定位服务，以减少侧行传输资源的浪费。在本申请实施例中，上述激活机制可以包括在预设事件发生的情况下，激活侧行链路定位功能。其中，激活侧行链路定位功能可以由LMF执行。当然，上述激活侧行链路定位功能也可以由其他设备执行，本申请实施例对此不作限定。
上述预设事件的制定主要考虑了通过Uu接口为待测终端提供定位服务的精度、通过Uu接口为待测终端提供定位服务的Qos等级、定位辅助数据的有效性、定位系统是否触发完整性事件等方面。下文主要介绍本申请实施例制定的几种预设事件。
需要说明的是，本申请实施例提供的各种预设事件可以单独使用作为触发侧行链路定位服务的激活机制。本申请实施例提供的多种预设事件还可以任意组合，作为触发侧行链路定位服务的激活机制。本申请实施例对此不作限定。
另外，为了便于区分，下文将通过侧行链路定位功能获得的待测终端的估计位置称为“第一估计位置”，将通过Uu接口获得的待测终端的估计位置称为“第二估计位置”。也就是说，在确定第一估计位置的过程中，作为锚点的节点可以全部是终端，也可以包含终端和网络设备。在确定第二估计位置的过程中，作为锚点的节点全部是网络设备。
预设事件一、待测终端的第二估计位置的精度低于第一精度阈值。
其中，第一精度阈值可以请求为待测终端提供定位服务的客户端指示的精度阈值。第一精度阈值还可以是通过预设、预配置、预定义的方式设定的精度阈值。本申请实施例对此不作限定。
预设事件二、通过Uu接口为待测终端提供定位服务LCS的第一服务质量Qos不满足第一Qos所属的LCS Qos等级。或者说，提供第二估计位置的定位服务的第一Qos不满足对应的LCS Qos等级。
上述LCS Qos等级的相关介绍可以参见上文的介绍，为了简洁，在此不再赘述。
在一些实现方式中，假设第一Qos对应的LCS Qos等级为确定类，上述第二估计位置的第一Qos参数不满足其他Qos参数，则第一Qos不满足对应的LCS Qos等级。其中，其他Qos参数可以是准确性，也就是说，第一Qos参数不满足Qos等级对应的准确性要求，则第一Qos不满足对应的LCS Qos等级。
上述第二估计位置对应的LCS Qos等级，可以是定位系统的客户端指定的LCS Qos等级，例如，可以是客户端在请求待测终端的定位服务时指定的LCS Qos等级。上述第二估计位置对应的LCS Qos等级还可以是定位系统默认的LCS Qos等级。本申请实施例对此不作限定。
预设事件三、定位辅助数据的有效性低于有效性阈值。
上述定位辅助数据的有效性可以包括定位辅助数据的有效时长。也就是说，定位辅助数据的有效时长低于阈值。上述有效性阈值可以理解为用于保障定位辅助数据的有效时长的剩余时长。例如，有效性阈值为2ms，上述预设事件为定位辅助数据的有效时长短于2ms。
在一些情况下，定位辅助数据具有时效性，如果定位辅助数据的有效时长低于阈值，则说明该定位辅助数据在不久的将来会失效。此时，如果依然使用这种定位辅助数据，可能导致待测终端的定位精度降低，甚至导致待测终端的定位失败。
例如，定位辅助数据包含待测终端接收定位参考信号的资源位置，如果定位辅助数据的有效时长低于阈值，但是待测终端依然使用该定位辅助数据，那么当待测终端按照定位辅助数据的指示在对应的资源位置上接收定位参考信号时，由于定位辅助数据的失效，上述定位参考信号可能在其他资源位置上传输了，此时，待测终端将无法接收到定位参考信号，导致待测终端的定位失败。
预设事件四、提供LCS的定位系统的定位完整性水平较低。
在一些实现方式中，提供LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值，或者说，确定第二估计位置的定位系统的完整性水平低于第一定位完整性水平阈值。
基于上文对定位完整性的介绍可知，上述定位系统的定位完整性水平低于第一定位完整性水平阈值，可以说明，此时定位系统提供的位置相关数据的准确性可能较低。
例如，上述定位完整性水平可以表示为(PL-AL)/AL，其中，PL表示定位系统的保护水平，AL表示定位系统的警告水平。
上述第一定位完整性水平阈值可以是通过预定义、预配置的方式配置的，本申请实施例对此不作具体介绍。
在另一些实现方式中，定位系统的定位完整性结果为失败，或者说，第二估计位置的定位完整性结果为失败。基于上文对定位完整性的介绍可知，定位系统的定位完整性结果为失败，可以说明，此时定位系统提供的位置相关数据的准确性可能较低。
预设事件四、触发完整性事件和/或可疑事件。
当定位系统发生完整性事件和/或可疑事件时，可以理解为待测终端的第二估计位置可能存在完整性问题，其中，完整性事件、可疑事件的相关介绍可以参见上文，为了简洁，在此不再赘述。
如上文介绍，定位辅助数据是帮助确定待测终端的估计位置的重要信息，如果在产生定位辅助数据的过程中，发生可疑事件和/或完整性事件，将直接影响待测终端的定位精度，因此，可以将定位辅助数据的产生发生可疑事件作为预设条件；和/或，将获取位辅助数据时发生可疑事件作为预设条件。
预设事件五、PRS的传输场景导致第二估计位置的精度和/或定位完整性降低。或者，PRS的传输场景导致基于PRS得到的测量结果的精度低于第二精度阈值。
PRS的传输场景有可能会对PRS得到的测量结果、第二估计位置的精度和/或完整性造成影响，甚至导致第二估计位置的定位完整性结果为失败(或者说导致定位系统的定位完整性结果为失败)。因此，可以设定一些特殊传输场景作为预设条件。在一些实现方式中，可以设定预设条件包括发送PRS的网络设备与待测终端之间为非视距传输。如果发送PRS的网络设备与待测终端之间为非视距传输，则可能降低第二估计位置的精度和/或完整性。在另一些实现方式中，可以设定预设条件包括PRS的网络设备为卫星。当发送PRS的网络设备为卫星，PRS以非地面传输的方式传输时，由于PRS的传输路径较长，可能会引入多径信号成分，导致基于PRS得到的测量结果、第二估计位置的精度和/或定位完整性降低。
在一些情况下，上述特殊的PRS传输场景也不是一定会对第二估计位置的精度和/或定位完整性造成影响，因此，可以将确定PRS传输场景对第二估计位置的精度和/或定位完整性造成影响作为预设事件。在一些实现方式中，上述预设事件可以包括PRS的传输场景导致第二估计位置的精度和/或定位完整性水平，低于定位系统为其他终端提供定位服务时的精度和/或定位完整性水平。上述预设事件说明PRS传输场景对基于PRS得到的测量结果、第二估计位置的精度和/或定位完整性水平造成影响。
在另一些情况下，可以基于定位系统的当前定位完整性水平和历史完整性水平确定PRS的传输场景对第二估计位置的精度和/或定位完整性的影响。
例如，待测终端在从位置1向位置2移动的过程中，从与网络设备1的视距传输移动到与网络设备1的非视距传输，在这种情况下，待测终端在位置1基于接收到的PRS得到的测量结果的定位完整性水平，通常会高于待测终端在位置2基于接收到的PRS得到的测量结果的定位完整性水平。相应地，待测终端在位置1处获得的估计位置的定位完整性水平，会高于待测终端在位置2处获得的估计位置的定位完整性水平。其中，待测终端在位置1处获得的估计位置的定位完整性水平可以理解为历史定位完整性水平。
又例如，待测终端在从位置1向位置2移动的过程中，从与网络设备1的视距传输移动到与网络设备1的非视距传输，在这种情况下，待测终端在位置1基于接收到的PRS得到的测量结果的精度，通常会高于待测终端在位置2基于接收到的PRS得到的测量结果的精度。相应地，待测终端在位置1处获得的估计位置的精度，会高于待测终端在位置2处获得的估计位置的精度。其中，待测终端在位置1处获得的估计位置的精度可以理解为历史精度。
需要说明的是，在上文介绍的预设条件五中，PRS的传输场景的检测方式可以由很多种，本申请实 施例对此不作限定。例如，接收端(例如，待测终端)可以通过观察信道的冲击响应，来判断是否存在非视距传输。通常，如果信道冲击响应中，直线路径的信号的能量较弱，其他路径的信号的能量较强，则可以判断信号直线传播路径是非视距传输。
在本申请实施例中，通过设置激活侧行链路定位功能的条件，即在预设事件发生的情况下，避免在传统定位可以为待测终端提供定位服务的情况下，依然激活侧行链路定位功能，通过侧行链路资源传输定位参考信号，有利于提高使用侧行链路资源的合理性。
另外，上述预设事件可以由待测终端、网络设备或LMF中任意一方监测。当然，上述预设事件也可以由上述三方或其中两方同时监测，以提高监测的可靠性。本申请实施例对此不作限定。
如上文所述，当作为锚点的多个网络设备无法为待测终端提供合适的定位服务时，可以将上述多个网络设备中的部分或全部网络设备替换为锚点终端。为了保证待测终端的定位精度和/或完整性水平，本申请实施例还提供了一种选择锚点终端的方案。下文分几种情况介绍选择锚点锚点终端的方式。
需要说明的是，下文介绍的锚点终端的选择方式可以单独应用，以选择锚点终端。下文介绍的选择方式也可以结合使用以选择锚点终端。其中，结合使用以确定锚点终端的情况下可以将下文中的方式全部结合使用，也可任选部分方式组合使用，还可将不同方式中的实现方式结合使用。本申请实施例对此不作限定。
方式一，选择锚点终端的过程中，可以考虑锚点终端与待测终端之间的位置。如果锚点终端与待测终端之间的距离较近，可以提高锚点终端与待测终端之间传输定位参考信号的准确性，减少定位参考信号中的多径信号成分，以提高待测终端生成测量结果的准确性。
在一些实现方式中，锚点终端和待测终端之间的距离可以通过预设距离限定。也就是说，锚点终端与待测终端之间的距离小于或等于预设距离。其中，预设距离可以是预定义或预配置的，本申请实施例对此不作限定。
在另一些实现方式中，可以通过锚点终端和待测终端之间是否能通过发现消息(例如，侧行链路发现消息)发现对方，来限定锚点终端和待测终端之间的距离。通常，通过发现消息可以发现的终端之间的距离也是在一定范围内的。例如，锚点终端通过第一侧行链路发现消息发现待测终端。又例如，待测终端通过第二侧行链路发现消息发现锚点终端。
方式二，选择锚点终端的过程中，可以考虑锚点终端和待测终端之间传输信号的信号测量结果。如果信号测量结果较好，说明锚点终端和待测终端之间基于定位参考信号得到的测量结果的准确性越高，这样，基于测量结果计算的第一估计位置的准确性也会较高。
在一些实现方式中，可以通过设置第一信号测量结果门限的方式，来选择锚点终端。例如，待测终端测量的锚点终端发送的信号的信号测量结果高于预设的第一信号测量结果。又例如，锚点终端测量的待测终端发送的信号的信号测量结果高于预设的第二信号测量结果。
上述信号可以是通过侧行链路传输的任一种信号，例如，可以是通过侧行链路传输的定位参考信号。又例如，还可以通过侧行链路传输的其他定位参考信号。又例如，还可以是通过侧行链路传输的专门用于选择锚点终端的信号。本申请实施例对此不作限定。
上述预设的第一信号测量结果和/或第二信号测量结果，可以是通过预配置、预定义等方式配置的，本申请实施例对此不作限定。
方式三，选择锚点终端的过程中可以考虑锚点终端的位置的精度、定位完整性水平和/或定位结果。
因为在估计待测终端的第一估计位置时，需要基于锚点终端的位置来计算，如果锚点终端具有较高精度位置、定位完整性水平和/或定位完整性结果不为失败，那么有利于确保第一估计位置的精度和/或定位完整性水平。
在一些实现方式中，可以通过设置第二精度阈值，来选择锚点终端。即，锚点终端的估计位置的精度高于第二精度阈值。其中，第二精度阈值可以通过预配置或预定义的方式来配置，本申请实施例对此不作限定。
在另一些实现方式中，可以通过设置第三定位完整性水平阈值，来选择锚点终端。即，锚点终端的估计位置的定位完整性水平高于第三定位完整性水平阈值。其中，第三定位完整性水平阈值可以通过预配置或预定义的方式来配置，本申请实施例对此不作限定。
当然，在一些情况下，某些终端的位置可能是已知的，通常也可以选择这类终端作为锚点终端。例如，对于路测单元(road side unit，RSU)来说，RSU的位置是已知的，可以选用RSU作为锚点终端。
需要说明的是，上文介绍的锚点的选择可以由待测终端、锚点终端、LMF或网络设备中的任意一方执行，并最终上报给计算待测终端的第一估计位置的网元。为了便于理解，下文以上报方式一、和上报方式二为例介绍。
上报方式一、主动上报。
在一些实现方式中，待测终端可以主动向LMF上报锚点终端。例如，待测终端可以基于上述锚点终端的选择方式选择合适的终端后，将锚点终端上报给LMF。
在另一些实现方式中，锚点终端可以主动向LMF上报自己可以作为待测终端的锚点终端。例如，锚点终端可以基于上述锚点终端的选择方式，确认自己适合作为待测终端的锚点终端后，可以主动向LMF上报自己可以作为待测终端的锚点终端。
上报方式二、被动上报。
在一些实现方式中，LMF可以向待测终端发送询问信息，其中，询问信息用于询问为待测终端提供定位服务的锚点终端。相应地，待测终端可以向LMF上报锚点终端。
在另一些实现方式中，LMF可以向锚点终端发送询问信息，其中，询问信息用于询问为待测终端提供定位服务的锚点终端。相应地，锚点终端可以向LMF上报自己作为待测终端的锚点终端。
如上文所述，在通过Uu接口，为待测终端提供定位服务时，作为锚点的多个网络设备中可能存在不合适的网络设备，那么我们可以选择锚点终端替换这种不合适的网络设备，以为待测终端提供定位服务。
在一些实现方式中，有些定位方式中规定了作为锚点的网络设备的数量，因此，可以选择与不合适的网络设备的数量相同的锚点终端，以便继续沿用该定位方式。例如，在基于TOA定位的定位方式中，通常需要选择3个网络设备作为锚点网络设备，此时，如果不合适的网络设备的数量为1，那么可以选择1个锚点终端替换该不合适的网络设备，为待测终端提供定位服务。当然，在另一些实现方式中，为了提高待测终端的定位的准确性，锚点终端的数量也可以大于不合适的网络设备的数量。
上述不合适的网络设备又称“目标网络设备”，可以是为待测终端提供的位置信息的精度低于第二精度阈值的网络设备。上述目标网络设备还可以是无法为待测终端提供定位服务所需的LCS Qos等级的网络设备。
上文介绍了侧行链路定位的触发条件、锚点终端的选择方式，下文结合图2至图4介绍侧行链路定位的方式。需要说明的是，在下文的介绍中，通过对网络设备发送的定位参考信号得到的测量结果，可以称为“Uu接口的测量结果”。
侧行链路定位方式一，待测终端计算第一估计位置。下文结合图3介绍申请实施例的侧行链路定位的流程。图3所示的方法包括步骤S310。
步骤S310，待测终端基于测量结果、锚点终端的位置，确定待测终端的第一估计位置。
上述锚点终端的位置可以是锚点终端的实际位置，上述锚点终端的位置也可以是锚点终端的估计位置。
在为待测终端提供位置服务的锚点都为终端(即锚点终端)的情况下，上述测量结果可以是通过对多个锚点终端与待测终端之间传输的定位参考信号进行测量，得到的测量结果。在为待测终端提供位置服务的锚点包括终端和网络设备的情况下，上述测量结果可以是通过对锚点终端与待测终端之间传输的定位参考信号、以及网络设备向待测终端发送的定位参考信号进行测量，得到的测量结果。也就是说，在这种情况下，上述测量结果是对通过Uu接口以及侧行链路接口传输的定位参考信号进行测量得到的。
对于通过侧行链路传输的定位参考信号而言，该定位参考信号对应的测量结果可以是待测终端测量得到的。也就是说，该定位参考信号对应的测量结果可以是待测终端通过对锚点终端发送的定位参考信号进行测量得到的。当然，该定位参考信号对应的测量结果还可以是锚点终端进行测量得到，并发送给待测终端的。也就是说，上述测量结果可以是锚点终端通过对待测终端发送的定位参考信号进行测量得到的。如上文所述，上述待测终端计算第一估计位置的定位方式，可以与两种测量方案(测量方案320、测量方案330)配合使用。
测量方案320，待测终端生成测量结果，上述方法包括：锚点终端向待测终端发送定位参考信号；待测终端对定位参考信号进行测量得到测量结果。
上述传输定位参考信号的资源位置，可以是通过定位参考信号的配置信息发送的。其中定位参考信号的配置信息可以是锚点终端通过LMF发送给待测终端的。当然，锚点终端也可以直接向待测终端发送上述定位参考信号的配置信息。本申请实施例对此不作限定。
测量方案330，锚点终端生成测量结果，上述方法包括：待测终端向锚点终端发送定位参考信号；锚点终端对定位参考信号进行测量得到测量结果；锚点终端向待测终端发送测量结果。
上述传输定位参考信号的资源位置，可以是通过定位参考信号的配置信息发送的。其中定位参考信号的配置信息可以是待测终端通过LMF发送给锚点终端的。当然，待测终端也可以直接向锚点终端发送上述定位参考信号的配置信息。本申请实施例对此不作限定。
侧行链路定位方式二，锚点终端计算第一估计位置。下文结合图4介绍申请实施例的侧行链路定位的流程。图4所示的方法包括步骤S410。
步骤S410，锚点终端基于测量结果、锚点终端的位置，确定待测终端的第一估计位置。
上述锚点终端的位置可以锚点终端的实际位置，上述锚点终端的位置也可以是锚点终端的估计位置。
在为待测终端提供位置服务的锚点都为终端(即锚点终端)的情况下，上述测量结果可以是通过对多个锚点终端与待测终端之间传输的定位参考信号进行测量，得到的测量结果。在为待测终端提供位置服务的锚点包括终端和网络设备的情况下，上述测量结果可以是通过对锚点终端与待测终端之间传输的定位参考信号、以及网络设备向待测终端发送的定位参考信号进行测量，得到的测量结果。也就是说，在这种情况下，上述测量结果是对通过Uu接口以及侧行链路接口传输的定位参考信号进行测量得到的。
对于通过侧行链路传输的定位参考信号而言，该定位参考信号对应的测量结果可以是待测终端测量得到，并发送给锚点终端的。也就是说，该定位参考信号对应的测量结果可以是待测终端通过对锚点终端发送的定位参考信号进行测量得到的。当然，该定位参考信号对应的测量结果还可以是锚点终端进行测量得到的。也就是说，上述测量结果可以是锚点终端通过对待测终端发送的定位参考信号进行测量得到的。如上文所述，上述锚点终端计算第一估计位置的定位方式，可以与两种测量方案(测量方案420、测量方案430)配合使用。
测量方案420，锚点终端生成测量结果，上述方法包括：待测终端向锚点终端发送定位参考信号；锚点终端对定位参考信号进行测量得到测量结果。
上述传输定位参考信号的资源位置，可以是通过定位参考信号的配置信息发送的。其中定位参考信号的配置信息可以是待测终端通过LMF发送给锚点终端的。当然，待测终端也可以直接向锚点终端发送上述定位参考信号的配置信息。本申请实施例对此不作限定。
测量方案430，待测终端生成测量结果，上述方法包括：锚点终端向待测终端发送定位参考信号；待测终端对定位参考信号进行测量得到测量结果；待测终端向锚点终端发送测量结果。
上述传输定位参考信号的资源位置，可以是通过定位参考信号的配置信息发送的。其中定位参考信号的配置信息可以是锚点终端通过LMF发送给待测终端的。当然，锚点终端也可以直接向待测终端发送上述定位参考信号的配置信息。本申请实施例对此不作限定。
侧行链路定位方式三，LMF计算第一估计位置。下文结合图5介绍申请实施例的侧行链路定位的流程。图5所示的方法包括步骤S510。
步骤S510，LMF基于测量结果、锚点终端的位置，确定待测终端的第一估计位置。
上述锚点终端的位置可以锚点终端的实际位置，上述锚点终端的位置也可以是锚点终端的估计位置。
在为待测终端提供位置服务的锚点都为终端(即锚点终端)的情况下，上述测量结果可以是通过对多个锚点终端与待测终端之间传输的定位参考信号进行测量，得到的测量结果。在为待测终端提供位置服务的锚点包括终端和网络设备的情况下，上述测量结果可以是通过对锚点终端与待测终端之间传输的定位参考信号、以及网络设备向待测终端发送的定位参考信号进行测量，得到的测量结果。也就是说，在这种情况下，上述测量结果是对通过Uu接口以及侧行链路接口传输的定位参考信号进行测量得到的。
对于通过侧行链路传输的定位参考信号而言，该定位参考信号对应的测量结果可以是待测终端测量得到，并发送给LMF。也就是说，该定位参考信号对应的测量结果可以是待测终端通过对锚点终端发送的定位参考信号进行测量得到的。当然，该定位参考信号对应的测量结果还可以是锚点终端进行测量得到，并发送给LMF。也就是说，上述测量结果可以是锚点终端通过对待测终端发送的定位参考信号进行测量得到的。如上文所述，上述LMF计算第一估计位置的定位方式，可以与两种测量方案(测量方案520、测量方案530)配合使用。
测量方案520，锚点终端生成测量结果，上述方法包括：待测终端向锚点终端发送定位参考信号；锚点终端对定位参考信号进行测量得到测量结果。
上述传输定位参考信号的资源位置，可以是通过定位参考信号的配置信息发送的。其中定位参考信号的配置信息可以是待测终端通过LMF发送给锚点终端的。当然，待测终端也可以直接向锚点终端发送上述定位参考信号的配置信息。本申请实施例对此不作限定。
测量方案530，待测终端生成测量结果，上述方法包括：锚点终端向待测终端发送定位参考信号；待测终端对定位参考信号进行测量得到测量结果。
上述传输定位参考信号的资源位置，可以是通过定位参考信号的配置信息发送的。其中定位参考信号的配置信息可以是锚点终端通过LMF发送给待测终端的。当然，锚点终端也可以直接向待测终端发送上述定位参考信号的配置信息。本申请实施例对此不作限定。
上文结合图1至图5，详细描述了本申请的方法实施例，下面结合图6至图10，详细描述本申请的装置实施例。应理解，方法实施例的描述与装置实施例的描述相互对应，因此，未详细描述的部分可以 参见前面方法实施例。
图6是本申请实施例的第一终端的示意图。图6所示的第一终端600包括确定单元610。
在预设事件发生的情况下，确定单元610可以用于基于参考信号的测量结果与锚点终端的位置，确定待测终端的第一估计位置，其中，所述参考信号是所述待测终端与所述锚点终端在侧行链路上传输的，所述第一终端为所述待测终端或所述锚点终端。
所述预设事件包括以下一种或多种：通过Uu接口获取的所述待测终端的第二估计位置的精度低于第一精度阈值；通过所述Uu接口为所述待测终端提供定位服务LCS的第一服务质量Qos不满足所述第一Qos所属的LCS Qos等级；定位辅助数据的有效性低于有效性阈值；提供所述LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值；所述定位系统的定位完整性结果为失败；获取所述定位辅助数据时发生可疑事件；所述定位辅助数据的产生发生可疑事件；在非视距传输场景下所述待测终端与网络设备之间传输定位参考信号PRS；所述PRS的传输场景导致所述第二估计位置的精度低于所述定位系统为其他终端提供定位服务时的精度；所述PRS的传输场景导致基于所述PRS得到的测量结果的精度低于第二精度阈值；所述PRS的传输场景导致所述定位系统的定位完整性水平低于所述定位系统的历史定位完整性水平；所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
可选地，所述锚点终端满足以下一种或多种条件：所述锚点终端与所述待测终端之间的距离小于或等于预设距离；所述锚点终端通过第一侧行链路发现消息发现所述待测终端；所述待测终端通过第二侧行链路发现消息发现所述锚点终端；所述待测终端测量的所述锚点终端发送的信号的信号测量结果高于预设的第一信号测量结果；所述锚点终端测量的所述待测终端发送的信号的信号测量结果高于预设的第二信号测量结果；所述锚点终端的位置已知；所述锚点终端的估计位置的精度高于第三精度阈值；所述锚点终端的估计位置的定位完整性水平高于第三定位完整性水平阈值；所述锚点终端的估计位置的定位完整性结果不为失败。
可选地，所述锚点终端的数量大于或等于目标网络设备的数量，所述目标网络设备为通过所述Uu接口为所述待测终端提供定位服务的网络设备。
可选地，所述目标网络设备为所述待测终端提供的位置信息的精度低于第三精度阈值，和/或，所述目标网络设备的LCS Qos不满足为待测终端提供定位服务所需的LCS Qos等级。
可选地，所述第一终端还包括：第一接收单元，用于接收所述第二终端发送的所述参考信号；生成单元，用于基于所述参考信号生成所述测量结果，其中，若所述第一终端为所述待测终端，所述第二终端为所述锚点终端；若所述第一终端为所述锚点终端，所述第二终端为所述待测终端。
可选地，所述第一接收单元，还用于接收所述参考信号的配置信息；所述第一接收单元，还用于基于所述参考信号的配置信息接收所述定位参考信号。
可选地，所述第一终端还包括：第一发送单元，用于向所述第三终端发送所述参考信号；第二接收单元，用于接收所述第三终端发送的所述测量结果，其中，若所述第一终端为所述待测终端，所述第三终端为所述锚点终端；若所述第一终端为所述锚点终端，所述第三终端为所述待测终端。
可选地，所述第一发送单元，还用于向所述第三终端或定位管理功能LMF发送所述定位参考信号的配置信息，所述配置信息用于配置所述第三终端接收所述定位参考信号。
可选地，所述预设事件由所述待测终端、所述网络设备和/或LMF监测。
可选地，所述第一终端还包括：第二发送单元，用于向LMF上报为所述待测终端提供定位服务的锚点终端。
可选地，所述第一终端还包括：第三接收单元，用于接收LMF发送的询问信息，所述询问信息用于询问为所述待测终端提供定位服务的锚点终端。
可选地，所述确定单元还用于：基于参考信号的测量结果、所述Uu接口的测量结果以及锚点终端的位置，确定所述第一估计位置，所述Uu接口的测量结果为对网络设备发送的定位参考信号进行测量得到的。
图7是本申请实施例的定位装置的示意图。图7所示的装置700具有定位管理功能LMF，所述装置700包括：处理单元710。
处理单元710可以用于在预设事件发生的情况下，为待测终端激活侧行链路定位功能，所述侧行链路定位功能包括基于测量结果与锚点终端的位置，确定所述待测终端的第一估计位置，所述测量结果为对侧行链路中传输的参考信号进行测量得到的，
所述预设事件包括以下一种或多种：通过Uu接口获取的所述待测终端的第二估计位置的精度低于第一精度阈值；通过所述Uu接口为所述待测终端提供定位服务LCS的第一服务质量Qos不满足所述第一Qos所属的LCS Qos等级；定位辅助数据的有效性低于有效性阈值；提供所述LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值；所述定位系统的定位完整性结果为失败；获取所述定位 辅助数据时发生可疑事件；所述定位辅助数据的产生发生可疑事件；在非视距传输场景下所述待测终端与网络设备之间传输定位参考信号PRS；所述PRS的传输场景导致所述第二估计位置的精度低于所述定位系统为其他终端提供定位服务时的精度；所述PRS的传输场景导致基于所述PRS得到的测量结果的精度低于第二精度阈值；所述PRS的传输场景导致所述定位系统的定位完整性水平低于所述定位系统的历史定位完整性水平；所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
可选地，所述锚点终端满足以下一种或多种条件：所述锚点终端与所述待测终端之间的距离小于或等于预设距离；所述锚点终端通过第一侧行链路发现消息发现所述待测终端；所述待测终端通过第二侧行链路发现消息发现所述锚点终端；所述待测终端测量的所述锚点终端发送的信号的信号测量结果高于预设的第一信号测量结果；所述锚点终端测量的所述待测终端发送的信号的信号测量结果高于预设的第二信号测量结果；所述锚点终端的位置已知；所述锚点终端的估计位置的精度高于第三精度阈值；所述锚点终端的估计位置的定位完整性水平高于第三定位完整性水平阈值；所述锚点终端的估计位置的定位完整性结果不为失败。
可选地，所述锚点终端的数量大于或等于目标网络设备的数量，所述目标网络设备为通过所述Uu接口为所述待测终端提供定位服务的网络设备中，与所述待测终端进行非视距传输的网络设备。
可选地，所述装置还包括：第一接收单元，用于接收所述第一终端发送的所述参考信号的配置信息，所述配置信息用于配置所述第三终端接收所述参考信号。
可选地，所述预设事件由所述待测终端、所述网络设备和/或所述LMF监测。
可选地，所述装置还包括：第二接收单元，用于接收所述第一终端上报的为所述待测终端提供定位服务的锚点终端。
可选地，所述装置还包括：发送单元，用于向所述第一终端发送询问信息，所述询问信息用于询问为所述待测终端提供定位服务的锚点终端。
可选地，所述侧行链路定位功能包括基于测量结果、所述Uu接口的测量结果以及锚点终端的位置，确定所述第一估计位置，所述Uu接口的测量结果为对网络设备发送的定位参考信号进行测量得到的。
图8是本申请实施例的定位装置800的示意图。图8所示的装置800具有定位管理功能LMF。且上述装置800包括：处理单元810。
处理单元810可以用于在预设事件发生的情况下，基于参考信号的测量结果与锚点终端的位置，确定待测终端的第一估计位置，其中，所述参考信号是所述待测终端与所述锚点终端在侧行链路上传输的。
所述预设事件包括以下一种或多种：通过Uu接口获取的所述待测终端的第二估计位置的精度低于第一精度阈值；通过所述Uu接口为所述待测终端提供定位服务LCS的第一服务质量Qos不满足所述第一Qos所属的LCS Qos等级；定位辅助数据的有效性低于有效性阈值；提供所述LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值；所述定位系统的定位完整性结果为失败；获取所述定位辅助数据时发生可疑事件；所述定位辅助数据的产生发生可疑事件；在非视距传输场景下所述待测终端与网络设备之间传输定位参考信号PRS；所述PRS的传输场景导致所述第二估计位置的精度低于所述定位系统为其他终端提供定位服务时的精度；所述PRS的传输场景导致基于所述PRS得到的测量结果的精度低于第二精度阈值；所述PRS的传输场景导致所述定位系统的定位完整性水平低于所述定位系统的历史定位完整性水平；所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
可选地，所述装置还包括：第一接收单元，用于接收所述待测终端发送的所述测量结果；或所述第一接收单元，用于接收所述锚点终端发送的所述测量结果。
可选地，所述锚点终端满足以下一种或多种条件：所述锚点终端与所述待测终端之间的距离小于或等于预设距离；所述锚点终端通过第一侧行链路发现消息发现所述待测终端；所述待测终端通过第二侧行链路发现消息发现所述锚点终端；所述待测终端测量的所述锚点终端发送的信号的信号测量结果高于预设的第一信号测量结果；所述锚点终端测量的所述待测终端发送的信号的信号测量结果高于预设的第二信号测量结果；所述锚点终端的位置已知；所述锚点终端的估计位置的精度高于第三精度阈值；所述锚点终端的估计位置的定位完整性水平高于第三定位完整性水平阈值；所述锚点终端的估计位置的定位完整性结果不为失败。
可选地，所述锚点终端的数量大于或等于目标网络设备的数量，所述目标网络设备为通过所述Uu接口为所述待测终端提供定位服务的网络设备。
可选地，所述目标网络设备为所述待测终端提供的位置信息的精度低于第三精度阈值，和/或，所述目标网络设备的LCS Qos不满足为待测终端提供定位服务所需的LCS Qos等级。
可选地，所述装置还包括：第二接收单元，用于接收所述待测终端发送的所述参考信号的配置信息，所述配置信息用于配置所述锚点终端接收所述参考信号；或，所述第二接收单元，用于接收所述锚点终端发送的所述参考信号的配置信息，所述配置信息用于配置所述待测终端接收所述参考信号。
可选地，所述预设事件由所述待测终端、所述网络设备和/或所述LMF监测。
可选地，所述装置还包括：第三接收单元，用于接收目标节点上报的为所述待测终端提供定位服务的锚点终端，所述目标节点为所述待测终端、所述锚点终端或网络设备。
可选地，所述装置还包括：发送单元，用于向所述目标节点发送询问信息，所述询问信息用于询问为所述待测终端提供定位服务的锚点终端。
可选地，所述处理单元还用于：基于参考信号的测量结果、所述Uu接口的测量结果以及锚点终端的位置，确定所述第一估计位置，所述Uu接口的测量结果为对网络设备发送的定位参考信号进行测量得到的。
图9是本申请实施例的第一终端的示意图。图9所示的第一终端900包括接收单元910和生成单元920。其中，所述第一终端为待测终端或锚点终端。
接收单元910，用于在预设事件发生的情况下，接收通过侧行链路传输的参考信号，所述侧行链路为待测终端与锚点终端之间的侧行链路；
生成单元920，用于生成所述参考信号的测量结果，所述测量结果用于计算所述待测终端的第一估计位置，
所述预设事件包括以下一种或多种：通过Uu接口获取的所述待测终端的第二估计位置的精度低于第一精度阈值；通过所述Uu接口为所述待测终端提供定位服务LCS的第一服务质量Qos不满足所述第一Qos所属的LCS Qos等级；定位辅助数据的有效性低于有效性阈值；提供所述LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值；所述定位系统的定位完整性结果为失败；获取所述定位辅助数据时发生可疑事件；所述定位辅助数据的产生发生可疑事件；在非视距传输场景下所述待测终端与网络设备之间传输定位参考信号PRS；所述PRS的传输场景导致所述第二估计位置的精度低于所述定位系统为其他终端提供定位服务时的精度；所述PRS的传输场景导致基于所述PRS得到的测量结果的精度低于第二精度阈值；所述PRS的传输场景导致所述定位系统的定位完整性水平低于所述定位系统的历史定位完整性水平；所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
可选地，所述第一终端还包括：第一发送单元，用于向定位管理功能LMF发送所述测量结果。
可选地，所述锚点终端满足以下一种或多种条件：所述锚点终端与所述待测终端之间的距离小于或等于预设距离；所述锚点终端通过第一侧行链路发现消息发现所述待测终端；所述待测终端通过第二侧行链路发现消息发现所述锚点终端；所述待测终端测量的所述锚点终端发送的信号的信号测量结果高于预设的第一信号测量结果；所述锚点终端测量的所述待测终端发送的信号的信号测量结果高于预设的第二信号测量结果；所述锚点终端的位置已知；所述锚点终端的估计位置的精度高于第三精度阈值；所述锚点终端的估计位置的定位完整性水平高于第三定位完整性水平阈值；所述锚点终端的估计位置的定位完整性结果不为失败。
可选地，所述锚点终端的数量大于或等于目标网络设备的数量，所述目标网络设备为通过所述Uu接口为所述待测终端提供定位服务的网络设备。
可选地，所述目标网络设备为所述待测终端提供的位置信息的精度低于第三精度阈值，和/或，所述目标网络设备的LCS Qos不满足为待测终端提供定位服务所需的LCS Qos等级。
可选地，所述接收单元，用于接收LMF发送的所述参考信号的配置信息，所述配置信息用于配置所述锚点终端接收所述参考信号。
可选地，所述预设事件由所述待测终端、所述网络设备和/或LMF监测。
可选地，第二发送单元，用于向LMF上报为所述待测终端提供定位服务的锚点终端。
可选地，所述接收单元，还用于接收LMF发送的询问信息，所述询问信息用于询问为所述待测终端提供定位服务的锚点终端。
可选地，所述第一终端为待测终端，所述第一终端还包括第三发送单元，所述第三发送单元，用于向LMF发送Uu接口的测量结果，所述Uu接口的测量结果为对网络设备发送的定位参考信号进行测量得到的。
图10是本申请实施例的通信装置的示意性结构图。图10中的虚线表示该单元或模块为可选的。该装置1000可用于实现上述方法实施例中描述的方法。装置1000可以是芯片、终端设备或网络设备。
装置1000可以包括一个或多个处理器1010。该处理器1010可支持装置1000实现前文方法实施例所描述的方法。该处理器1010可以是通用处理器或者专用处理器。例如，该处理器可以为中央处理单元(central processing unit，CPU)。或者，该处理器还可以是其他通用处理器、数字信号处理器(digital signal processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现成可编程门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
装置1000还可以包括一个或多个存储器1020。存储器1020上存储有程序，该程序可以被处理器1010执行，使得处理器1010执行前文方法实施例所描述的方法。存储器1020可以独立于处理器1010也可以集成在处理器1010中。
装置1000还可以包括收发器1030。处理器1010可以通过收发器1030与其他设备或芯片进行通信。例如，处理器1010可以通过收发器1030与其他设备或芯片进行数据收发。
本申请实施例还提供一种计算机可读存储介质，用于存储程序。该计算机可读存储介质可应用于本申请实施例提供的终端或网络设备中，并且该程序使得计算机执行本申请各个实施例中的由终端或网络设备执行的方法。
本申请实施例还提供一种计算机程序产品。该计算机程序产品包括程序。该计算机程序产品可应用于本申请实施例提供的终端或网络设备中，并且该程序使得计算机执行本申请各个实施例中的由终端或网络设备执行的方法。
本申请实施例还提供一种计算机程序。该计算机程序可应用于本申请实施例提供的终端或网络设备中，并且该计算机程序使得计算机执行本申请各个实施例中的由终端或网络设备执行的方法。
应理解，在本申请实施例中，“与A相应的B”表示B与A相关联，根据A可以确定B。但还应理解，根据A确定B并不意味着仅仅根据A确定B，还可以根据A和/或其它信息确定B。
应理解，本申请实施例中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
应理解，在本申请的各种实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够读取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，数字通用光盘(digital video disc，DVD))或者半导体介质(例如，固态硬盘(solid state disk，SSD))等。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (92)

  1. 一种定位方法，其特征在于，包括：
    在预设事件发生的情况下，第一终端基于参考信号的测量结果与锚点终端的位置，确定待测终端的第一估计位置，
    其中，所述参考信号是所述待测终端与所述锚点终端在侧行链路上传输的，所述第一终端为所述待测终端或所述锚点终端，
    所述预设事件包括以下一种或多种：
    通过Uu接口获取的所述待测终端的第二估计位置的精度低于第一精度阈值；
    通过所述Uu接口为所述待测终端提供定位服务LCS的第一服务质量Qos不满足所述第一Qos所属的LCS Qos等级；
    定位辅助数据的有效性低于有效性阈值；
    提供所述LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值；
    所述定位系统的定位完整性结果为失败；
    获取所述定位辅助数据时发生可疑事件；
    所述定位辅助数据的产生发生可疑事件；
    在非视距传输场景下所述待测终端与网络设备之间传输定位参考信号PRS；
    所述PRS的传输场景导致所述第二估计位置的精度低于所述定位系统为其他终端提供定位服务时的精度；
    所述PRS的传输场景导致基于所述PRS得到的测量结果的精度低于第二精度阈值；
    所述PRS的传输场景导致所述定位系统的定位完整性水平低于所述定位系统的历史定位完整性水平；
    所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
  2. 如权利要求1所述的方法，其特征在于，所述锚点终端满足以下一种或多种条件：
    所述锚点终端与所述待测终端之间的距离小于或等于预设距离；
    所述锚点终端通过第一侧行链路发现消息发现所述待测终端；
    所述待测终端通过第二侧行链路发现消息发现所述锚点终端；
    所述待测终端测量的所述锚点终端发送的信号的信号测量结果高于预设的第一信号测量结果；
    所述锚点终端测量的所述待测终端发送的信号的信号测量结果高于预设的第二信号测量结果；
    所述锚点终端的位置已知；
    所述锚点终端的估计位置的精度高于第三精度阈值；
    所述锚点终端的估计位置的定位完整性水平高于第三定位完整性水平阈值
    所述锚点终端的估计位置的定位完整性结果不为失败。
  3. 如权利要求1或2所述的方法，其特征在于，所述锚点终端的数量大于或等于目标网络设备的数量，所述目标网络设备为通过所述Uu接口为所述待测终端提供定位服务的网络设备。
  4. 如权利要求3所述的方法，其特征在于，所述目标网络设备为所述待测终端提供的位置信息的精度低于第三精度阈值，和/或
    所述目标网络设备的LCS Qos不满足为待测终端提供定位服务所需的LCS Qos等级。
  5. 如权利要求1-4中任一项所述的方法，其特征在于，所述方法还包括：
    所述第一终端接收所述第二终端发送的所述参考信号；
    所述第一终端基于所述参考信号生成所述测量结果，
    其中，若所述第一终端为所述待测终端，所述第二终端为所述锚点终端；若所述第一终端为所述锚点终端，所述第二终端为所述待测终端。
  6. 如权利要求5所述的方法，其特征在于，所述方法还包括：
    所述第一终端接收所述参考信号的配置信息；
    所述第一终端基于所述参考信号的配置信息接收所述定位参考信号。
  7. 如权利要求1-4中任一项所述的方法，其特征在于，所述方法还包括：
    所述第一终端向所述第三终端发送所述参考信号；
    所述第一终端接收所述第三终端发送的所述测量结果，其中，若所述第一终端为所述待测终端，所述第三终端为所述锚点终端；若所述第一终端为所述锚点终端，所述第三终端为所述待测终端。
  8. 如权利要求7所述的方法，其特征在于，在所述第一终端向所述第三终端发送所述定位参考信号之前，所述方法还包括：
    所述第一终端向所述第三终端或定位管理功能LMF发送所述定位参考信号的配置信息，所述配置信息用于配置所述第三终端接收所述定位参考信号。
  9. 如权利要求1-8中任一项所述的方法，其特征在于，所述预设事件由所述待测终端、所述网络设备和/或LMF监测。
  10. 如权利要求1-9中任一项所述的方法，其特征在于，所述方法还包括：
    所述第一终端向LMF上报为所述待测终端提供定位服务的锚点终端。
  11. 如权利要求1-10中任一项所述的方法，其特征在于，在所述第一终端向LMF上报为所述待测终端提供定位服务的锚点终端之前，所述方法还包括：
    所述第一终端接收LMF发送的询问信息，所述询问信息用于询问为所述待测终端提供定位服务的锚点终端。
  12. 如权利要求1-11中任一项所述的方法，其特征在于，所述第一终端基于参考信号的测量结果与锚点终端的位置，确定待测终端的第一估计位置，包括：
    所述第一终端基于参考信号的测量结果、所述Uu接口的测量结果以及锚点终端的位置，确定所述第一估计位置，所述Uu接口的测量结果为对网络设备发送的定位参考信号进行测量得到的。
  13. 一种定位方法，其特征在于，包括：
    在预设事件发生的情况下，定位管理功能LMF为待测终端激活侧行链路定位功能，所述侧行链路定位功能包括基于测量结果与锚点终端的位置，确定所述待测终端的第一估计位置，所述测量结果为对侧行链路中传输的参考信号进行测量得到的，
    所述预设事件包括以下一种或多种：
    通过Uu接口获取的所述待测终端的第二估计位置的精度低于第一精度阈值；
    通过所述Uu接口为所述待测终端提供定位服务LCS的第一服务质量Qos不满足所述第一Qos所属的LCS Qos等级；
    定位辅助数据的有效性低于有效性阈值；
    提供所述LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值；
    所述定位系统的定位完整性结果为失败；
    获取所述定位辅助数据时发生可疑事件；
    所述定位辅助数据的产生发生可疑事件；
    在非视距传输场景下所述待测终端与网络设备之间传输定位参考信号PRS；
    所述PRS的传输场景导致所述第二估计位置的精度低于所述定位系统为其他终端提供定位服务时的精度；
    所述PRS的传输场景导致基于所述PRS得到的测量结果的精度低于第二精度阈值；
    所述PRS的传输场景导致所述定位系统的定位完整性水平低于所述定位系统的历史定位完整性水平；
    所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
  14. 如权利要求13所述的方法，其特征在于，所述锚点终端满足以下一种或多种条件：
    所述锚点终端与所述待测终端之间的距离小于或等于预设距离；
    所述锚点终端通过第一侧行链路发现消息发现所述待测终端；
    所述待测终端通过第二侧行链路发现消息发现所述锚点终端；
    所述待测终端测量的所述锚点终端发送的信号的信号测量结果高于预设的第一信号测量结果；
    所述锚点终端测量的所述待测终端发送的信号的信号测量结果高于预设的第二信号测量结果；
    所述锚点终端的位置已知；
    所述锚点终端的估计位置的精度高于第三精度阈值；
    所述锚点终端的估计位置的定位完整性水平高于第三定位完整性水平阈值；
    所述锚点终端的估计位置的定位完整性结果不为失败。
  15. 如权利要求13或14所述的方法，其特征在于，所述锚点终端的数量大于或等于目标网络设备的数量，所述目标网络设备为通过所述Uu接口为所述待测终端提供定位服务的网络设备中，与所述待测终端进行非视距传输的网络设备。
  16. 如权利要求13-15中任一项所述的方法，其特征在于，所述方法还包括：
    所述LMF接收所述第一终端发送的所述参考信号的配置信息，所述配置信息用于配置所述第三终端接收所述参考信号。
  17. 如权利要求13-16中任一项所述的方法，其特征在于，所述预设事件由所述待测终端、所述网络设备和/或所述LMF监测。
  18. 如权利要求13-17中任一项所述的方法，其特征在于，所述方法还包括：
    所述LMF接收所述第一终端上报的为所述待测终端提供定位服务的锚点终端。
  19. 如权利要求18所述的方法，其特征在于，在所述第一终端向LMF上报为所述待测终端提供定位服务的锚点终端之前，所述方法还包括：
    所述LMF向所述第一终端发送询问信息，所述询问信息用于询问为所述待测终端提供定位服务的锚点终端。
  20. 如权利要求13-19中任一项所述的方法，其特征在于，所述侧行链路定位功能包括基于测量结果、所述Uu接口的测量结果以及锚点终端的位置，确定所述第一估计位置，所述Uu接口的测量结果为对网络设备发送的定位参考信号进行测量得到的。
  21. 一种定位方法，其特征在于，包括：
    在预设事件发生的情况下，定位管理功能LMF基于参考信号的测量结果与锚点终端的位置，确定待测终端的第一估计位置，
    其中，所述参考信号是所述待测终端与所述锚点终端在侧行链路上传输的，
    所述预设事件包括以下一种或多种：
    通过Uu接口获取的所述待测终端的第二估计位置的精度低于第一精度阈值；
    通过所述Uu接口为所述待测终端提供定位服务LCS的第一服务质量Qos不满足所述第一Qos所属的LCS Qos等级；
    定位辅助数据的有效性低于有效性阈值；
    提供所述LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值；
    所述定位系统的定位完整性结果为失败；
    获取所述定位辅助数据时发生可疑事件；
    所述定位辅助数据的产生发生可疑事件；
    在非视距传输场景下所述待测终端与网络设备之间传输定位参考信号PRS；
    所述PRS的传输场景导致所述第二估计位置的精度低于所述定位系统为其他终端提供定位服务时的精度；
    所述PRS的传输场景导致基于所述PRS得到的测量结果的精度低于第二精度阈值；
    所述PRS的传输场景导致所述定位系统的定位完整性水平低于所述定位系统的历史定位完整性水平；
    所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
  22. 如权利要求21所述的方法，其特征在于，所述方法还包括：
    所述LMF接收所述待测终端发送的所述测量结果；或
    所述LMF接收所述锚点终端发送的所述测量结果。
  23. 如权利要求21或22所述的方法，其特征在于，所述锚点终端满足以下一种或多种条件：
    所述锚点终端与所述待测终端之间的距离小于或等于预设距离；
    所述锚点终端通过第一侧行链路发现消息发现所述待测终端；
    所述待测终端通过第二侧行链路发现消息发现所述锚点终端；
    所述待测终端测量的所述锚点终端发送的信号的信号测量结果高于预设的第一信号测量结果；
    所述锚点终端测量的所述待测终端发送的信号的信号测量结果高于预设的第二信号测量结果；
    所述锚点终端的位置已知；
    所述锚点终端的估计位置的精度高于第三精度阈值；
    所述锚点终端的估计位置的定位完整性水平高于第三定位完整性水平阈值；
    所述锚点终端的估计位置的定位完整性结果不为失败。
  24. 如权利要求21-23中任一项所述的方法，其特征在于，所述锚点终端的数量大于或等于目标网络设备的数量，所述目标网络设备为通过所述Uu接口为所述待测终端提供定位服务的网络设备。
  25. 如权利要求24所述的方法，其特征在于，所述目标网络设备为所述待测终端提供的位置信息的精度低于第三精度阈值，和/或
    所述目标网络设备的LCS Qos不满足为待测终端提供定位服务所需的LCS Qos等级。
  26. 如权利要求21-25中任一项所述的方法，其特征在于，所述方法还包括：
    所述LMF接收所述待测终端发送的所述参考信号的配置信息，所述配置信息用于配置所述锚点终端接收所述参考信号；或
    所述LMF接收所述锚点终端发送的所述参考信号的配置信息，所述配置信息用于配置所述待测终端接收所述参考信号。
  27. 如权利要求21-26中任一项所述的方法，其特征在于，所述预设事件由所述待测终端、所述网络设备和/或所述LMF监测。
  28. 如权利要求21-27中任一项所述的方法，其特征在于，所述方法还包括：
    所述LMF接收目标节点上报的为所述待测终端提供定位服务的锚点终端，所述目标节点为所述待测终端、所述锚点终端或网络设备。
  29. 如权利要求28所述的方法，其特征在于，在所述第一终端向LMF上报为所述待测终端提供定位服务的锚点终端之前，所述方法还包括：
    所述LMF向所述目标节点发送询问信息，所述询问信息用于询问为所述待测终端提供定位服务的锚点终端。
  30. 如权利要求21-29中任一项所述的方法，其特征在于，所述LMF基于参考信号的测量结果与锚点终端的位置，确定待测终端的第一估计位置，包括：
    所述LMF基于参考信号的测量结果、所述Uu接口的测量结果以及锚点终端的位置，确定所述第一估计位置，所述Uu接口的测量结果为对网络设备发送的定位参考信号进行测量得到的。
  31. 一种定位方法，其特征在于，包括：
    在预设事件发生的情况下，第一终端接收通过侧行链路传输的参考信号，所述侧行链路为待测终端与锚点终端之间的侧行链路；
    所述第一终端生成所述参考信号的测量结果，所述测量结果用于计算所述待测终端的第一估计位置，
    其中，所述第一终端为待测终端或锚点终端，
    所述预设事件包括以下一种或多种：
    通过Uu接口获取的所述待测终端的第二估计位置的精度低于第一精度阈值；
    通过所述Uu接口为所述待测终端提供定位服务LCS的第一服务质量Qos不满足所述第一Qos所属的LCS Qos等级；
    定位辅助数据的有效性低于有效性阈值；
    提供所述LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值；
    所述定位系统的定位完整性结果为失败；
    获取所述定位辅助数据时发生可疑事件；
    所述定位辅助数据的产生发生可疑事件；
    在非视距传输场景下所述待测终端与网络设备之间传输定位参考信号PRS；
    所述PRS的传输场景导致所述第二估计位置的精度低于所述定位系统为其他终端提供定位服务时的精度；
    所述PRS的传输场景导致基于所述PRS得到的测量结果的精度低于第二精度阈值；
    所述PRS的传输场景导致所述定位系统的定位完整性水平低于所述定位系统的历史定位完整性水平；
    所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
  32. 如权利要求31所述的方法，其特征在于，所述方法还包括：
    所述第一终端向定位管理功能LMF发送所述测量结果。
  33. 如权利要求31或32所述的方法，其特征在于，所述锚点终端满足以下一种或多种条件：
    所述锚点终端与所述待测终端之间的距离小于或等于预设距离；
    所述锚点终端通过第一侧行链路发现消息发现所述待测终端；
    所述待测终端通过第二侧行链路发现消息发现所述锚点终端；
    所述待测终端测量的所述锚点终端发送的信号的信号测量结果高于预设的第一信号测量结果；
    所述锚点终端测量的所述待测终端发送的信号的信号测量结果高于预设的第二信号测量结果；
    所述锚点终端的位置已知；
    所述锚点终端的估计位置的精度高于第三精度阈值；
    所述锚点终端的估计位置的定位完整性水平高于第三定位完整性水平阈值；
    所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
  34. 如权利要求31-33中任一项所述的方法，其特征在于，所述锚点终端的数量大于或等于目标网络设备的数量，所述目标网络设备为通过所述Uu接口为所述待测终端提供定位服务的网络设备。
  35. 如权利要求34所述的方法，其特征在于，所述目标网络设备为所述待测终端提供的位置信息的精度低于第三精度阈值，和/或
    所述目标网络设备的LCS Qos不满足为待测终端提供定位服务所需的LCS Qos等级。
  36. 如权利要求31-35中任一项所述的方法，其特征在于，所述方法还包括：
    所述第一终端接收LMF发送的所述参考信号的配置信息，所述配置信息用于配置所述锚点终端接收所述参考信号。
  37. 如权利要求31-36中任一项所述的方法，其特征在于，所述预设事件由所述待测终端、所述网络设备和/或LMF监测。
  38. 如权利要求31-37中任一项所述的方法，其特征在于，所述方法还包括：
    所述第一终端向LMF上报为所述待测终端提供定位服务的锚点终端。
  39. 如权利要求38所述的方法，其特征在于，在所述第一终端向LMF上报为所述待测终端提供定位服务的锚点终端之前，所述方法还包括：
    所述第一终端接收LMF发送的询问信息，所述询问信息用于询问为所述待测终端提供定位服务的锚点终端。
  40. 如权利要求31-39中任一项所述的方法，其特征在于，所述终端为待测终端，所述方法还包括：
    所述第一终端向LMF发送Uu接口的测量结果，所述Uu接口的测量结果为对网络设备发送的定位参考信号进行测量得到的。
  41. 一种第一终端，其特征在于，包括：
    在预设事件发生的情况下，确定单元，用于基于参考信号的测量结果与锚点终端的位置，确定待测终端的第一估计位置，
    其中，所述参考信号是所述待测终端与所述锚点终端在侧行链路上传输的，所述第一终端为所述待测终端或所述锚点终端，
    所述预设事件包括以下一种或多种：
    通过Uu接口获取的所述待测终端的第二估计位置的精度低于第一精度阈值；
    通过所述Uu接口为所述待测终端提供定位服务LCS的第一服务质量Qos不满足所述第一Qos所属的LCS Qos等级；
    定位辅助数据的有效性低于有效性阈值；
    提供所述LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值；
    所述定位系统的定位完整性结果为失败；
    获取所述定位辅助数据时发生可疑事件；
    所述定位辅助数据的产生发生可疑事件；
    在非视距传输场景下所述待测终端与网络设备之间传输定位参考信号PRS；
    所述PRS的传输场景导致所述第二估计位置的精度低于所述定位系统为其他终端提供定位服务时的精度；
    所述PRS的传输场景导致基于所述PRS得到的测量结果的精度低于第二精度阈值；
    所述PRS的传输场景导致所述定位系统的定位完整性水平低于所述定位系统的历史定位完整性水平；
    所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
  42. 如权利要求41所述的第一终端，其特征在于，所述锚点终端满足以下一种或多种条件：
    所述锚点终端与所述待测终端之间的距离小于或等于预设距离；
    所述锚点终端通过第一侧行链路发现消息发现所述待测终端；
    所述待测终端通过第二侧行链路发现消息发现所述锚点终端；
    所述待测终端测量的所述锚点终端发送的信号的信号测量结果高于预设的第一信号测量结果；
    所述锚点终端测量的所述待测终端发送的信号的信号测量结果高于预设的第二信号测量结果；
    所述锚点终端的位置已知；
    所述锚点终端的估计位置的精度高于第三精度阈值；
    所述锚点终端的估计位置的定位完整性水平高于第三定位完整性水平阈值；
    所述锚点终端的估计位置的定位完整性结果不为失败。
  43. 如权利要求41或42所述的第一终端，其特征在于，所述锚点终端的数量大于或等于目标网络设备的数量，所述目标网络设备为通过所述Uu接口为所述待测终端提供定位服务的网络设备。
  44. 如权利要求43所述的第一终端，其特征在于，所述目标网络设备为所述待测终端提供的位置信息的精度低于第三精度阈值，和/或
    所述目标网络设备的LCS Qos不满足为待测终端提供定位服务所需的LCS Qos等级。
  45. 如权利要求41-44中任一项所述的第一终端，其特征在于，所述第一终端还包括：
    第一接收单元，用于接收所述第二终端发送的所述参考信号；
    生成单元，用于基于所述参考信号生成所述测量结果，
    其中，若所述第一终端为所述待测终端，所述第二终端为所述锚点终端；若所述第一终端为所述锚点终端，所述第二终端为所述待测终端。
  46. 如权利要求45所述的第一终端，其特征在于，
    所述第一接收单元，还用于接收所述参考信号的配置信息；
    所述第一接收单元，还用于基于所述参考信号的配置信息接收所述定位参考信号。
  47. 如权利要求41-46中任一项所述的第一终端，其特征在于，所述第一终端还包括：
    第一发送单元，用于向所述第三终端发送所述参考信号；
    第二接收单元，用于接收所述第三终端发送的所述测量结果，其中，若所述第一终端为所述待测终端，所述第三终端为所述锚点终端；若所述第一终端为所述锚点终端，所述第三终端为所述待测终端。
  48. 如权利要求47所述的第一终端，其特征在于，
    所述第一发送单元，还用于向所述第三终端或定位管理功能LMF发送所述定位参考信号的配置信息，所述配置信息用于配置所述第三终端接收所述定位参考信号。
  49. 如权利要求41-48中任一项所述的第一终端，其特征在于，所述预设事件由所述待测终端、所述网络设备和/或LMF监测。
  50. 如权利要求41-49中任一项所述的第一终端，其特征在于，所述第一终端还包括：
    第二发送单元，用于向LMF上报为所述待测终端提供定位服务的锚点终端。
  51. 如权利要求41-50中任一项所述的第一终端，其特征在于，所述第一终端还包括：
    第三接收单元，用于接收LMF发送的询问信息，所述询问信息用于询问为所述待测终端提供定位服务的锚点终端。
  52. 如权利要求41-51中任一项所述的第一终端，其特征在于，所述确定单元还用于：
    基于参考信号的测量结果、所述Uu接口的测量结果以及锚点终端的位置，确定所述第一估计位置，所述Uu接口的测量结果为对网络设备发送的定位参考信号进行测量得到的。
  53. 一种定位装置，其特征在于，所述装置具有定位管理功能LMF，所述装置包括：
    处理单元，用于在预设事件发生的情况下，为待测终端激活侧行链路定位功能，所述侧行链路定位功能包括基于测量结果与锚点终端的位置，确定所述待测终端的第一估计位置，所述测量结果为对侧行链路中传输的参考信号进行测量得到的，
    所述预设事件包括以下一种或多种：
    通过Uu接口获取的所述待测终端的第二估计位置的精度低于第一精度阈值；
    通过所述Uu接口为所述待测终端提供定位服务LCS的第一服务质量Qos不满足所述第一Qos所属的LCS Qos等级；
    定位辅助数据的有效性低于有效性阈值；
    提供所述LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值；
    所述定位系统的定位完整性结果为失败；
    获取所述定位辅助数据时发生可疑事件；
    所述定位辅助数据的产生发生可疑事件；
    在非视距传输场景下所述待测终端与网络设备之间传输定位参考信号PRS；
    所述PRS的传输场景导致所述第二估计位置的精度低于所述定位系统为其他终端提供定位服务时的精度；
    所述PRS的传输场景导致基于所述PRS得到的测量结果的精度低于第二精度阈值；
    所述PRS的传输场景导致所述定位系统的定位完整性水平低于所述定位系统的历史定位完整性水平；
    所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
  54. 如权利要求53所述的装置，其特征在于，所述锚点终端满足以下一种或多种条件：
    所述锚点终端与所述待测终端之间的距离小于或等于预设距离；
    所述锚点终端通过第一侧行链路发现消息发现所述待测终端；
    所述待测终端通过第二侧行链路发现消息发现所述锚点终端；
    所述待测终端测量的所述锚点终端发送的信号的信号测量结果高于预设的第一信号测量结果；
    所述锚点终端测量的所述待测终端发送的信号的信号测量结果高于预设的第二信号测量结果；
    所述锚点终端的位置已知；
    所述锚点终端的估计位置的精度高于第三精度阈值；
    所述锚点终端的估计位置的定位完整性水平高于第三定位完整性水平阈值；
    所述锚点终端的估计位置的定位完整性结果不为失败。
  55. 如权利要求53或54所述的装置，其特征在于，所述锚点终端的数量大于或等于目标网络设备的数量，所述目标网络设备为通过所述Uu接口为所述待测终端提供定位服务的网络设备中，与所述待测终端进行非视距传输的网络设备。
  56. 如权利要求53-55中任一项所述的装置，其特征在于，所述装置还包括：
    第一接收单元，用于接收所述第一终端发送的所述参考信号的配置信息，所述配置信息用于配置所述第三终端接收所述参考信号。
  57. 如权利要求53-56中任一项所述的装置，其特征在于，所述预设事件由所述待测终端、所述网络设备和/或所述LMF监测。
  58. 如权利要求53-57中任一项所述的装置，其特征在于，所述装置还包括：
    第二接收单元，用于接收所述第一终端上报的为所述待测终端提供定位服务的锚点终端。
  59. 如权利要求58所述的装置，其特征在于，所述装置还包括：
    发送单元，用于向所述第一终端发送询问信息，所述询问信息用于询问为所述待测终端提供定位服务的锚点终端。
  60. 如权利要求53-59中任一项所述的装置，其特征在于，所述侧行链路定位功能包括基于测量结果、所述Uu接口的测量结果以及锚点终端的位置，确定所述第一估计位置，所述Uu接口的测量结果为对网络设备发送的定位参考信号进行测量得到的。
  61. 一种定位装置，其特征在于，所述装置具有定位管理功能LMF，所述装置包括：
    处理单元，用于在预设事件发生的情况下，基于参考信号的测量结果与锚点终端的位置，确定待测终端的第一估计位置，
    其中，所述参考信号是所述待测终端与所述锚点终端在侧行链路上传输的，
    所述预设事件包括以下一种或多种：
    通过Uu接口获取的所述待测终端的第二估计位置的精度低于第一精度阈值；
    通过所述Uu接口为所述待测终端提供定位服务LCS的第一服务质量Qos不满足所述第一Qos所属的LCS Qos等级；
    定位辅助数据的有效性低于有效性阈值；
    提供所述LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值；
    所述定位系统的定位完整性结果为失败；
    获取所述定位辅助数据时发生可疑事件；
    所述定位辅助数据的产生发生可疑事件；
    在非视距传输场景下所述待测终端与网络设备之间传输定位参考信号PRS；
    所述PRS的传输场景导致所述第二估计位置的精度低于所述定位系统为其他终端提供定位服务时的精度；
    所述PRS的传输场景导致基于所述PRS得到的测量结果的精度低于第二精度阈值；
    所述PRS的传输场景导致所述定位系统的定位完整性水平低于所述定位系统的历史定位完整性水平；
    所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
  62. 如权利要求61所述的装置，其特征在于，所述装置还包括：
    第一接收单元，用于接收所述待测终端发送的所述测量结果；或
    所述第一接收单元，用于接收所述锚点终端发送的所述测量结果。
  63. 如权利要求61或62所述的装置，其特征在于，所述锚点终端满足以下一种或多种条件：
    所述锚点终端与所述待测终端之间的距离小于或等于预设距离；
    所述锚点终端通过第一侧行链路发现消息发现所述待测终端；
    所述待测终端通过第二侧行链路发现消息发现所述锚点终端；
    所述待测终端测量的所述锚点终端发送的信号的信号测量结果高于预设的第一信号测量结果；
    所述锚点终端测量的所述待测终端发送的信号的信号测量结果高于预设的第二信号测量结果；
    所述锚点终端的位置已知；
    所述锚点终端的估计位置的精度高于第三精度阈值；
    所述锚点终端的估计位置的定位完整性水平高于第三定位完整性水平阈值；
    所述锚点终端的估计位置的定位完整性结果不为失败。
  64. 如权利要求61-63中任一项所述的装置，其特征在于，所述锚点终端的数量大于或等于目标网络设备的数量，所述目标网络设备为通过所述Uu接口为所述待测终端提供定位服务的网络设备。
  65. 如权利要求64所述的装置，其特征在于，所述目标网络设备为所述待测终端提供的位置信息的精度低于第三精度阈值，和/或
    所述目标网络设备的LCS Qos不满足为待测终端提供定位服务所需的LCS Qos等级。
  66. 如权利要求61-65中任一项所述的装置，其特征在于，所述装置还包括：
    第二接收单元，用于接收所述待测终端发送的所述参考信号的配置信息，所述配置信息用于配置所述锚点终端接收所述参考信号；或
    所述第二接收单元，用于接收所述锚点终端发送的所述参考信号的配置信息，所述配置信息用于配置所述待测终端接收所述参考信号。
  67. 如权利要求61-66中任一项所述的装置，其特征在于，所述预设事件由所述待测终端、所述网络设备和/或所述LMF监测。
  68. 如权利要求61-67中任一项所述的装置，其特征在于，所述装置还包括：
    第三接收单元，用于接收目标节点上报的为所述待测终端提供定位服务的锚点终端，所述目标节点为所述待测终端、所述锚点终端或网络设备。
  69. 如权利要求68所述的装置，其特征在于，所述装置还包括：
    发送单元，用于向所述目标节点发送询问信息，所述询问信息用于询问为所述待测终端提供定位服务的锚点终端。
  70. 如权利要求1-11中任一项所述的装置，其特征在于，所述处理单元还用于：
    基于参考信号的测量结果、所述Uu接口的测量结果以及锚点终端的位置，确定所述第一估计位置，所述Uu接口的测量结果为对网络设备发送的定位参考信号进行测量得到的。
  71. 一种第一终端，其特征在于，包括：
    接收单元，用于在预设事件发生的情况下，接收通过侧行链路传输的参考信号，所述侧行链路为待测终端与锚点终端之间的侧行链路；
    生成单元，用于生成所述参考信号的测量结果，所述测量结果用于计算所述待测终端的第一估计位置，
    其中，所述第一终端为待测终端或锚点终端，
    所述预设事件包括以下一种或多种：
    通过Uu接口获取的所述待测终端的第二估计位置的精度低于第一精度阈值；
    通过所述Uu接口为所述待测终端提供定位服务LCS的第一服务质量Qos不满足所述第一Qos所属的LCS Qos等级；
    定位辅助数据的有效性低于有效性阈值；
    提供所述LCS的定位系统的定位完整性水平低于第一定位完整性水平阈值；
    所述定位系统的定位完整性结果为失败；
    获取所述定位辅助数据时发生可疑事件；
    所述定位辅助数据的产生发生可疑事件；
    在非视距传输场景下所述待测终端与网络设备之间传输定位参考信号PRS；
    所述PRS的传输场景导致所述第二估计位置的精度低于所述定位系统为其他终端提供定位服务时的精度；
    所述PRS的传输场景导致基于所述PRS得到的测量结果的精度低于第二精度阈值；
    所述PRS的传输场景导致所述定位系统的定位完整性水平低于所述定位系统的历史定位完整性水平；
    所述PRS的传输场景导致所述定位系统的定位完整性结果为失败。
  72. 如权利要求71所述的第一终端，其特征在于，所述第一终端还包括：
    第一发送单元，用于向定位管理功能LMF发送所述测量结果。
  73. 如权利要求71或72所述的第一终端，其特征在于，所述锚点终端满足以下一种或多种条件：
    所述锚点终端与所述待测终端之间的距离小于或等于预设距离；
    所述锚点终端通过第一侧行链路发现消息发现所述待测终端；
    所述待测终端通过第二侧行链路发现消息发现所述锚点终端；
    所述待测终端测量的所述锚点终端发送的信号的信号测量结果高于预设的第一信号测量结果；
    所述锚点终端测量的所述待测终端发送的信号的信号测量结果高于预设的第二信号测量结果；
    所述锚点终端的位置已知；
    所述锚点终端的估计位置的精度高于第三精度阈值；
    所述锚点终端的估计位置的定位完整性水平高于第三定位完整性水平阈值；
    所述锚点终端的估计位置的定位完整性结果不为失败。
  74. 如权利要求71-73中任一项所述的第一终端，其特征在于，所述锚点终端的数量大于或等于目标网络设备的数量，所述目标网络设备为通过所述Uu接口为所述待测终端提供定位服务的网络设备。
  75. 如权利要求74所述的第一终端，其特征在于，所述目标网络设备为所述待测终端提供的位置信息的精度低于第三精度阈值，和/或
    所述目标网络设备的LCS Qos不满足为待测终端提供定位服务所需的LCS Qos等级。
  76. 如权利要求71-75中任一项所述的第一终端，其特征在于，
    所述接收单元，用于接收LMF发送的所述参考信号的配置信息，所述配置信息用于配置所述锚点终端接收所述参考信号。
  77. 如权利要求71-76中任一项所述的第一终端，其特征在于，所述预设事件由所述待测终端、所述网络设备和/或LMF监测。
  78. 如权利要求71-77中任一项所述的第一终端，其特征在于，
    第二发送单元，用于向LMF上报为所述待测终端提供定位服务的锚点终端。
  79. 如权利要求78所述的第一终端，其特征在于，
    所述接收单元，还用于接收LMF发送的询问信息，所述询问信息用于询问为所述待测终端提供定位服务的锚点终端。
  80. 如权利要求71-79中任一项所述的第一终端，其特征在于，所述第一终端为待测终端，所述第一终端还包括第三发送单元，
    所述第三发送单元，用于向LMF发送Uu接口的测量结果，所述Uu接口的测量结果为对网络设备发送的定位参考信号进行测量得到的。
  81. 一种终端，其特征在于，包括存储器和处理器，所述存储器用于存储程序，所述处理器用于调用所述存储器中的程序，以执行如权利要求1-12、31-40中任一项所述的方法。
  82. 一种定位装置，其特征在于，包括存储器和处理器，所述存储器用于存储程序，所述处理器用于调用所述存储器中的程序，以执行如权利要求13-30中任一项所述的方法。
  83. 一种装置，其特征在于，包括处理器，用于从存储器中调用程序，以执行如权利要求1-12、31-40中任一项所述的方法。
  84. 一种装置，其特征在于，包括处理器，用于从存储器中调用程序，以执行如权利要求13-30中任一项所述的方法。
  85. 一种芯片，其特征在于，包括处理器，用于从存储器调用程序，使得安装有所述芯片的设备执行如权利要求1-12、31-40中任一项所述的方法。
  86. 一种芯片，其特征在于，包括处理器，用于从存储器调用程序，使得安装有所述芯片的设备执行如权利要求13-30中任一项所述的方法。
  87. 一种计算机可读存储介质，其特征在于，其上存储有程序，所述程序使得计算机执行如权利要求1-12、31-40中任一项所述的方法。
  88. 一种计算机可读存储介质，其特征在于，其上存储有程序，所述程序使得计算机执行如权利要求13-30中任一项所述的方法。
  89. 一种计算机程序产品，其特征在于，包括程序，所述程序使得计算机执行如权利要求1-12、31-40中任一项所述的方法。
  90. 一种计算机程序产品，其特征在于，包括程序，所述程序使得计算机执行如权利要求13-30中任一项所述的方法。
  91. 一种计算机程序，其特征在于，所述计算机程序使得计算机执行如权利要求1-12、31-40中任一项所述的方法。
  92. 一种计算机程序，其特征在于，所述计算机程序使得计算机执行如权利要求13-30中任一项所述的方法。
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CN111770438A (zh) * 2020-06-23 2020-10-13 Oppo广东移动通信有限公司 一种定位方法及终端、存储介质
WO2021030583A1 (en) * 2019-08-15 2021-02-18 Idac Holdings, Inc. Wtru assisted positioning
CN112789912A (zh) * 2018-09-28 2021-05-11 华为技术有限公司 用于计算移动设备的位置的定位设备和方法
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