WO2023201628A1

WO2023201628A1 - Sidelink positioning method and apparatus, device, and storage medium

Info

Publication number: WO2023201628A1
Application number: PCT/CN2022/088200
Authority: WO
Inventors: 刘洋; 于新磊; 石聪; 卢前溪
Original assignee: Oppo广东移动通信有限公司
Priority date: 2022-04-21
Filing date: 2022-04-21
Publication date: 2023-10-26

Abstract

The present application relates to the technical field of communications, and discloses a sidelink positioning method and apparatus, a device, and a storage medium. The method is executed by a first terminal, and comprises: sending first information, the first information being used for determining clock synchronization of the first terminal. According to the method, a positioning system can know the clock synchronization of the terminal, so that the positioning system can conveniently select a sidelink positioning method and an anchor terminal.

Description

Lateral positioning method, device, equipment and storage medium

Technical field

The embodiments of the present application relate to the field of communication technology, and in particular to a lateral positioning method, device, equipment and storage medium.

Background technique

The traditional positioning method based on TDOA (Time Difference of Arrival) requires clock synchronization between each base station participating in positioning. For example, in the case of uplink positioning, the base station needs to measure the reference signal sent by the terminal, determine the path difference from the reference signal sent by the terminal to each base station, use the path difference and the positions of the two base stations to make a hyperbola, and based on the two double The intersection points of the curves determine the location of the terminals. If the clocks of the two base stations are not synchronized, the path difference cannot be accurately calculated, resulting in deviations in the positioning results.

The positioning method based on TDOA can also be applied to sideline positioning scenarios. For example, multiple anchor terminals measure the reference signal sent by the target terminal, and calculate the position of the target terminal based on the position of the anchor terminal.

In a sideline positioning scenario, since the positioning system cannot know whether clock synchronization between terminals is possible, it is not conducive for the positioning system to choose a positioning method such as TDOA and the anchor terminal that executes this method.

Contents of the invention

Embodiments of the present application provide a lateral positioning method, device, equipment and storage medium, which can enable the positioning system to learn the clock synchronization status of the terminal, and facilitate the positioning system to select the lateral positioning method and anchor terminal. The technical solutions are as follows:

According to one aspect of the embodiment of the present application, a side-travel positioning method is provided. The method is executed by a first terminal. The method includes:

Send first information, where the first information is used to determine the clock synchronization situation of the first terminal.

According to one aspect of the embodiments of the present application, a lateral positioning method is provided. The method is executed by a second terminal or a core network element. The method includes:

Receive first information sent by the first terminal, where the first information is used to determine clock synchronization of the first terminal.

According to one aspect of the embodiment of the present application, a lateral positioning device is provided, and the device includes:

The first sending module is configured to send first information, where the first information is used to determine the clock synchronization situation of the first terminal.

The second receiving module is configured to receive the first information sent by the first terminal, where the first information is used to determine the clock synchronization situation of the first terminal.

According to one aspect of the embodiment of the present application, a terminal device is provided, the terminal device includes a transceiver;

The transceiver is configured to send first information, and the first information is used to determine the clock synchronization status of the first terminal.

According to an aspect of an embodiment of the present application, a communication device is provided, where the communication device includes a transceiver;

The transceiver is configured to receive first information sent by a first terminal, where the first information is used to determine a clock synchronization situation of the first terminal.

According to one aspect of the embodiment of the present application, a computer-readable storage medium is provided, and a computer program is stored in the storage medium, and the computer program is used for execution by a processor to implement the above-mentioned lateral positioning method of the first terminal. , or implement the above-mentioned side row positioning method on the second terminal/core network element side.

According to one aspect of the embodiment of the present application, a chip is provided, the chip including programmable logic circuits and/or program instructions, when the chip is running, used to implement the above-mentioned side row positioning method of the first terminal, or Implement the above-mentioned side row positioning method on the second terminal/core network element side.

According to an aspect of an embodiment of the present application, a computer program product or computer program is provided. The computer program product or computer program includes computer instructions. The computer instructions are stored in a computer-readable storage medium. The processor obtains the instructions from the computer program. The computer-readable storage medium reads and executes the computer instructions to implement the above-mentioned lateral positioning method of the first terminal, or to implement the above-mentioned lateral positioning method of the second terminal/core network element side.

The technical solutions provided by the embodiments of this application can bring the following beneficial effects:

The terminal sends the first information, and the clock synchronization status of the terminal can be determined based on the first information. For example, whether the terminal is synchronized to the Global Navigation Satellite System (GNSS), whether the terminal is clock synchronized with other terminals, whether the terminal is connected to a cellular communication system, etc. If the terminal can synchronize clocks with other terminals through at least one method, the positioning system can select a positioning method that requires clock synchronization between anchor terminals (such as a positioning method based on TDOA), and select the terminal and other terminals as anchor terminals, Make it send a reference signal to the target terminal, or make it measure the reference signal sent by the target terminal, obtain the path difference based on the measurement results, and locate the target terminal based on the path difference and the position of the anchor terminal. This method facilitates the positioning system to select the lateral positioning method and anchor point terminal, and improves the accuracy of lateral positioning.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic diagram of a communication system provided by an embodiment of the present application;

Figure 2 is a schematic diagram of a TDOA-based positioning method provided by an embodiment of the present application;

Figure 3 is a flow chart of a lateral positioning method provided by an embodiment of the present application;

Figure 4 is a flow chart of a lateral positioning method provided by an embodiment of the present application;

Figure 5 is a flow chart of a lateral positioning method provided by an embodiment of the present application;

Figure 6 is a flow chart of a lateral positioning method provided by an embodiment of the present application;

Figure 7 is a flow chart of a lateral positioning method provided by an embodiment of the present application;

Figure 8 is a flow chart of a lateral positioning method provided by an embodiment of the present application;

Figure 9 is a flow chart of a lateral positioning method provided by an embodiment of the present application;

Figure 10 is a block diagram of a side positioning device provided by an embodiment of the present application;

Figure 11 is a block diagram of a side positioning device provided by an embodiment of the present application;

Figure 12 is a schematic structural diagram of a communication device provided by an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the appended claims.

The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a," "the" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of the present application, the first parameter may also be called a second parameter, and similarly, the second parameter may also be called a first parameter. Depending on the context, the word "if" as used herein may be interpreted as "when" or "when" or "in response to determining."

It should be noted that the information (including but not limited to user equipment information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this application, All are authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions.

Please refer to FIG. 1 , which shows a schematic diagram of a communication system 100 provided by an embodiment of the present application. The communication system 100 may include: terminal equipment 10, access network equipment 20 and core network equipment 30.

The terminal equipment 10 may refer to user equipment (User Equipment, UE), access terminal, user unit, user station, mobile station, mobile station (Mobile Station, MS), remote station, remote terminal, mobile device, wireless communication device, user Agent or user device. Optionally, the terminal device 10 may also be a cellular phone, a cordless phone, a Session Initiation Protocol (Session Initiation Protocol, SIP) phone, a Wireless Local Loop (WLL) station, or a Personal Digital Assistant (Personal Digital Assistant, PDA). , handheld devices with wireless communication functions, computing devices or other processing devices connected to wireless modems, vehicle-mounted devices, wearable devices, terminal devices in the fifth generation mobile communication system (5th Generation System, 5GS) or public utility devices that will evolve in the future The embodiments of the present application are not limited to terminal equipment in a land mobile communication network (Public Land Mobile Network, PLMN), etc. For convenience of description, the devices mentioned above are collectively referred to as terminal devices. The number of terminal devices 10 is usually multiple, and one or more terminal devices 10 may be distributed in the cell managed by each access network device 20 .

The access network device 20 is a device deployed in the access network to provide wireless communication functions for the terminal device 10 . The access network device 20 may include various forms of macro base stations, micro base stations, relay stations, access points, etc. In systems using different wireless access technologies, the names of devices with access network device functions may be different. For example, in 5G NR systems, they are called gNodeB or gNB. As communication technology evolves, the name "access network equipment" may change. For convenience of description, in the embodiment of the present application, the above-mentioned devices that provide wireless communication functions for the terminal device 10 are collectively referred to as access network devices. Optionally, through the access network device 20, a communication relationship can be established between the terminal device 10 and the core network device 30. For example, in a Long Term Evolution (LTE) system, the access network device 20 may be an Evolved Universal Terrestrial Radio Access Network (EUTRAN) or one or more eNodeBs in EUTRAN; In the 5G NR system, the access network device 20 may be a radio access network (Radio Access Network, RAN) or one or more gNBs in the RAN.

Exemplarily, each access network device 20 includes one or more transmission reference points (Transmission Reference Point, TRP). The TRP can send a downlink positioning reference signal (Positioning Reference Signal, PRS) to the terminal device. The TRP can also receive and Measure the uplink detection reference signal (Sounding Reference Signal, SRS) sent by the terminal to locate the terminal device.

The core network device 30 is a device deployed in the core network. The core network device 30 mainly functions to provide user connections, manage users, and carry services, and serves as an interface for the bearer network to provide to external networks. For example, the core network equipment in the 5G NR system can include Access and Mobility Management Function (AMF) network elements, User Plane Function (UPF) network elements, Session Management Function (Session Management Function) Function, SMF) network element and location management function (Location Management Function, LMF) network element, etc.

In one example, the access network device 20 and the core network device 30 communicate with each other through some air interface technology, such as the NG interface in the 5G NR system. The access network device 20 and the terminal device 10 communicate with each other through some air interface technology, such as the Uu interface.

The "5G NR system" in the embodiments of this application may also be called a 5G system or an NR system, but those skilled in the art can understand its meaning. The technical solution described in the embodiments of this application can be applied to the 5G NR system, and can also be applied to the subsequent evolution system of the 5G NR system.

The technical solutions of the embodiments of the present application can be applied to various communication systems, such as: Global System of Mobile Communication (GSM) system, Code Division Multiple Access (Code Division Multiple Access, CDMA) system, broadband code division multiple access (Wideband Code Division Multiple Access, WCDMA) system, General Packet Radio Service (GPRS), Long Term Evolution (LTE) system, LTE Frequency Division Duplex (FDD) system, LTE Time Division Duplex (TDD) system, Advanced Long Term Evolution (LTE-A) system, New Radio (NR) system, evolution system of NR system, LTE on unlicensed frequency band (LTE-based access to Unlicensed spectrum, LTE-U) system, NR-U system, Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication system, Wireless Local Area Networks (WLAN), Wireless Fidelity (WiFi), next-generation communication systems or other communication systems, etc.

TDOA positioning

TDOA positioning is a method that uses time difference for positioning. By measuring the time it takes for a signal to arrive at a monitoring station, the distance to the signal source can be determined. By comparing the absolute time difference between signals arriving at each monitoring station, a hyperbola can be made with the monitoring station as the focus and the distance difference as the long axis. The intersection of the hyperbola is the location of the signal source.

The traditional positioning method based on TDOA requires clock synchronization between the base stations participating in the positioning.

In the uplink positioning scenario, the terminal sends an uplink sounding reference signal (Sounding Reference Signal, SRS). Each base station measures the sounding reference signal sent by the terminal to determine the distance difference from the terminal to each base station. Based on the distance difference between a pair of base stations A hyperbola can be drawn with the positions of the two base stations. The intersection point of the two hyperbolas corresponding to the two pairs of base stations is the position of the terminal. As shown in Figure 2, there are three TRPs, namely TRP1, TRP2 and TRP3. A hyperbola is made based on the distance difference d2-d1 between TRP1 and TRP2, and a hyperbola is made based on the distance difference d1-d3 between TRP1 and TRP3. Two hyperbola The intersection point is the terminal position. It can be seen that at least two hyperbolas, that is, three TRPs, are needed to locate the terminal.

If the clocks between the two base stations are not synchronized, there will be an error in the calculation result of the signal distance difference between the terminal and the two base stations. This error is proportional to the degree of time asynchronous between the two base stations, resulting in positioning The results are biased.

In the downlink positioning scenario, multiple base stations send downlink positioning reference signals (Positioning Reference Signal, PRS) to the terminal equipment. The terminal receives and measures the positioning reference signal, obtains the distance difference from the terminal to each base station, and then locates the terminal. In order to ensure the accuracy of the distance difference, each base station also needs to send PRS under the premise of clock synchronization, so that the distance difference estimated by the terminal when measuring the PRS can truly reflect the actual situation.

Sidelink positioning

If the TDOA-based positioning method is applied to sidelink positioning, the anchor UE is equivalent to the base station (TRP) in the traditional TDOA-based positioning method, and the anchor UE sends S-PRS (sidelink positioning reference signal) to the target UE. or other reference signals used for positioning. The target UE measures the reference signals sent by each anchor UE, estimates the path difference, and locates the target UE based on the path difference and the location of the anchor UE. Alternatively, the target UE sends S-PRS or other reference signals for positioning to the anchor UE. Each anchor UE measures the reference signal sent by the target UE, estimates the path difference, and performs positioning based on the path difference and the location of the anchor UE. Target UE.

In the out-of-coverage scenario of Sidelink positioning, both the anchor UE and the target UE are disconnected from the cellular communication system (for example, 5G system) and cannot complete clock synchronization with the 5G system. . In this case, their sidelink positioning reference signals (sidelink PRS) are not controlled by the LMF (Location Management Function) network element. In the out-of-coverage scenario, the anchor UE performs measurements on the S-PRS sent by the target UE, or the target UE performs measurements on the S-PRS sent by the anchor UE, combined with the location information of the anchor UE, to complete the target UE positioning.

In the partial coverage scenario of Sidelink positioning, some anchor UEs and/or target UEs are located in-coverage (within coverage) and connected to the 5G system, and can complete clock synchronization with the 5G system; while some When the anchor terminal is located out-of-coverage, it cannot be connected to the 5G system, and therefore cannot synchronize its clock with the 5G system.

In the in-coverage scenario of Sidelink positioning, all anchor UEs are connected to the 5G system by default and can be synchronized with the 5G system clock.

Positioning measurement result reporting process in related technologies

The LPP (LTE Positioning Protocol, LTE positioning protocol) Location Information Request (location information request) in 3GPP (3rd Generation Partnership Project) TS (Technical Specification) 37.355 may contain corresponding positioning methods. The measurement results are reported, which reflects the positioning method selected by the positioning system. LPP IE (Information Element) is as follows:

The RequestLocationInformation message body in a LPP message is used by the location server to request positioning measurements or a position estimate from the target device (the location server uses the RequestLocationInformation message body in the LPP message to request positioning measurements or position estimates from the target device).

As shown above, if the positioning system decides to apply the DL-TDOA positioning method, then the positioning system will send the LPP RequestLocationInformation containing nr-DL-TDOA-RequestLocationInformation-r16 IE to the terminal:

The IE NR-DL-TDOA-RequestLocationInformation is used by the location server to request NR DL-TDOA location measurements from a target device.

Among them, nr-DL-PRS-RstdMeasurementInfoRequest-r16 requests the Reference Signal Time Difference (reference signal time difference), which is the arrival time difference monitored by the terminal for downlink PRS sent by different base stations, which reflects the distance difference.

Please refer to Figure 3, which shows a flow chart of a side positioning method provided by an embodiment of the present application. This method can be executed by a terminal device (first terminal) in the communication system shown in FIG. 1 . The method may include the following steps:

Step 210: Send first information, which is used to determine the clock synchronization situation of the first terminal.

The first terminal sends the first information to the second terminal and/or the core network element. Exemplarily, the first terminal sends dedicated signaling to the second terminal and/or the core network element, and the dedicated signaling carries the first information; the second terminal and/or the core network element receives the dedicated signaling and reads The first information in dedicated signaling. Or, the first terminal broadcasts the first information, and the second terminal and/or the core network element receives the first information broadcast by the first terminal.

The first terminal is an anchor terminal in performing the TDOA-based side row positioning method, or the first terminal is a candidate terminal of the anchor terminal. For example, before the first terminal is selected as the anchor terminal, it may be called a candidate terminal, and after being selected, it may be called an anchor terminal. The first terminal is a terminal located on the peripheral side of the second terminal.

The anchor terminal is a terminal that participates in signal measurement as a reference positioning node in the TDOA-based sidelink positioning method. In one case, the anchor terminal receives and measures the lateral positioning reference signal, and reports the measurement results to the positioning system. The positioning system obtains the distance difference based on the measurement results of multiple anchor terminals, combining the positions of multiple anchor terminals and at least two The path difference creates at least two hyperbolas, and the intersection point of at least two hyperbolas is the position of the target terminal (second terminal); in another case, the anchor terminal sends a side positioning reference signal to the target terminal, and the target terminal Measure sidelink positioning reference signals sent by at least three anchor point terminals to obtain at least three measurement results. The target terminal/positioning system obtains at least two path differences based on at least three measurement results, and makes at least two hyperbolas based on the positions of multiple anchor point terminals and at least two path differences. The intersection of at least two hyperbolas is the target terminal. (second terminal) location.

In the side-line positioning method based on TDOA, at least three anchor devices are required, including at least one terminal device. In addition to the terminal device, the anchor device can also be an access network device/TRP. For example, a TDOA-based sideline positioning is performed by three anchor terminal devices, or a sideline positioning is performed by two anchor terminals and three anchor TRPs. Wherein, the position of the anchor device is known, and the position of the target terminal is located based on the position of the anchor terminal and the path difference.

In the sidelink positioning method based on TDOA, clock synchronization is required between anchor point devices, or clock synchronization is required between two anchor point devices corresponding to a path difference. For example, if anchor terminal 1 and anchor terminal 2 are used to measure the path difference 1, and anchor terminal 3 and anchor terminal 4 are used to measure the path difference 2, then anchor terminal 1 and anchor terminal 2 need clock synchronization, and anchor terminal 3 needs to synchronize their clocks. It needs to be synchronized with the anchor terminal 4 at all times to ensure that the measured path difference is accurate.

The second terminal is the target terminal, that is, the terminal that needs to be positioned. The position of the second terminal is the measurement result of positioning.

The core network elements include at least one of the following: LMF network elements and AMF network elements.

The positioning system includes at least one of the following: anchor device, target terminal (second terminal), access network device, and core network element.

For example, the first terminal may periodically broadcast the first information, or when receiving the indication information, the first terminal may send the first information according to the indication information. For example, when side positioning of the second terminal is required, the access network device sends instruction information to the first terminal, and the instruction information is used to instruct the first terminal to send the first information to the second terminal; the first terminal bases the instruction information on Send dedicated signaling to the second terminal, where the dedicated signaling carries the first information.

To sum up, in the technical solution provided by the embodiments of the present application, the terminal sends the first information, and the clock synchronization status of the terminal can be determined based on the first information. For example, whether the terminal is synchronized to the Global Navigation Satellite System (GNSS), whether the terminal is clock synchronized with other terminals, whether the terminal is connected to a cellular communication system, etc. If the terminal can synchronize clocks with other terminals through at least one method, the positioning system can select a positioning method that requires clock synchronization between anchor terminals (such as a positioning method based on TDOA), and select the terminal and other terminals as anchor terminals, Make it send a reference signal to the target terminal, or make it measure the reference signal sent by the target terminal, obtain the path difference based on the measurement results, and locate the target terminal based on the path difference and the position of the anchor terminal. This method facilitates the positioning system to select the lateral positioning method and anchor point terminal, and improves the accuracy of lateral positioning.

Please refer to FIG. 4 , which shows a flow chart of a side positioning method provided by an embodiment of the present application. This method can be executed by the terminal device (second terminal) or the core network device (core network element) in the communication system shown in Figure 1 . The method may include the following steps:

Step 310: Receive the first information sent by the first terminal. The first information is used to determine the clock synchronization situation of the first terminal.

The second terminal/core network element receives the dedicated signaling sent by the first terminal, and the dedicated signaling carries the first information; or the second terminal/core network element receives the first information broadcast by the first terminal.

The first information is used to directly/indirectly indicate the clock synchronization status of the first terminal.

For example, the first information is used to indicate whether the first terminal is currently connected to the GNSS or cellular communication system. If the first terminal is connected to the GNSS or cellular communication system, the clock can be synchronized with the system.

Alternatively, the first information is used to indicate whether the first terminal can synchronize clocks with other terminals. For example, the first terminal can establish a sidelink connection with other terminals, or the first terminal can monitor the clock synchronization information broadcast by other terminals, then the first terminal can synchronize the clocks of other terminals, and the first information can Report the identities of other terminals that can synchronize their clocks.

Alternatively, the first information is used to indicate the signal strength of the cell reference signal measured by the first terminal, for example, Reference Signal Received Power (RSRP), whether RSRP is lower than a threshold, Reference Signal Received Quality (Reference Signal Received Quality, RSRQ), whether RSRQ is lower than the threshold, signal to interference plus noise ratio (Signal to Interference plus Noise Ratio, SINR), whether SINR is lower than the threshold. Based on the signal strength of the cell reference signal, the network connection scenario of the first terminal (out-of-coverage/partial coverage/in-coverage) can be determined. If the signal strength of the reference signal is good, it means that the first terminal is in in-coverage. scenario, the clock synchronization status is good; if the signal strength of the reference signal is poor, it means that the first terminal is in an out-of-coverage scenario, and the clock synchronization status is poor.

To sum up, the first information includes at least one of the following sub-information:

The first sub-information is used to indicate whether the first terminal is synchronized to GNSS. For example, the first sub-information includes a first identifier, and the first identifier is used to indicate whether the first terminal is synchronized to GNSS. When the first identifier is 0, it indicates that the first terminal has not been synchronized to GNSS; when the first identifier is 1, it indicates that the first terminal has been synchronized to GNSS. For another example, the first sub-information includes a second identifier, and the second identifier is used to indicate the GNSS system type/GNSS system type to which the first terminal is synchronized/GNSS system type to which the first terminal is not synchronized. In an optional manner, the first sub-information includes a first identifier and a second identifier. When the first identifier indicates that the first terminal has been synchronized to GNSS, the second identifier includes a type identifier of the synchronized GNSS system. . For example, GNSS system types include: GPS (Global Positioning System, Global Positioning System), GLONASS (GLOBAL NAVIGATION SATELLITE SYSTEM, GLONASS), GALILEO (Galileo Satellite Navigation System, Galileo Satellite Navigation System), Beidou Satellite Navigation System (BeiDou Navigation Satellite System, BDS).

The second sub-information is used to indicate whether the first terminal can synchronize clocks with other terminals. For example, the second sub-information includes a third identifier, and the third identifier is used to indicate whether the first terminal can synchronize clocks with other terminals. When the third terminal is 0, it means that the first terminal cannot synchronize the clocks of other terminals. When the third flag is 1, it means that the first terminal can synchronize the clocks of other terminals. Alternatively, the second sub-information includes a fourth identifier, and the fourth identifier includes identifiers of other terminals with which the first terminal can synchronize its clocks. When the fourth identifier is empty, the first terminal cannot synchronize its clocks with other terminals.

The third sub-information is used to indicate at least one of the following: whether the first terminal is connected to the cellular communication system and whether the first terminal can receive high-precision synchronization information. For example, the third sub-information includes a fifth identifier, and the fifth identifier is used to indicate whether the first terminal is connected to the cellular communication system. The third sub-information includes a sixth identifier, and the sixth identifier is used to indicate whether the first terminal can receive high-precision synchronization information.

The fourth sub-information is used to indicate at least one of the following: whether the highest signal strength of the cell measured by the first terminal is less than the first threshold, the highest signal strength of the cell measured by the first terminal, the nearest cell measured by the first terminal Whether the signal strength is less than the second threshold and the nearest cell signal strength measured by the first terminal. The first threshold and/or the second threshold may be preconfigured, or the first threshold and/or the second threshold may be configured in real time by the second terminal/core network element. Signal strength includes: at least one of RSRP, RSRQ, and SINR.

The second terminal/core network element selects a positioning method and/or an anchor terminal for side-link positioning based on the received first information sent by at least one terminal. The first information is used to assist in selecting the anchor terminal for performing side row positioning. And/or, the first information is used to assist in selecting a positioning method for performing lateral positioning.

The second terminal/core network element may preferentially select the terminal with better clock synchronization as the anchor terminal. In the case where at least N anchor point devices can be selected to synchronize their clocks, the second terminal can choose the positioning method based on TDOA. In the case where N anchor point devices cannot be selected and can always be synchronized, the second terminal can give priority to the positioning method. Other positioning methods, for example, positioning methods based on carrier phase/carrier phase difference. The value of N can be configured through signaling or pre-configured on the second terminal/core network element.

Two selection methods are provided for the selection of anchor terminals:

Method 1: Select the anchor terminal based on the first information.

If the first information satisfies at least one of the following conditions, select the first terminal as the anchor terminal: the first information indicates that the first terminal has been synchronized to GNSS; the first information indicates that the first terminal is clock synchronized with other terminals; The information indicates that the first terminal is connected to the cellular communication system, and/or the first information indicates that the first terminal has the ability to receive high-precision synchronization information; the first information indicates that the highest signal strength of the cell measured by the first terminal is not less than the first threshold. , or the first information indicates that the nearest cell signal strength measured by the first terminal is not less than the second threshold.

If the first information satisfies at least one of the following conditions, the first terminal is not selected as the anchor terminal: the first information indicates that the first terminal is not synchronized to GNSS; the first information indicates that the first terminal cannot synchronize its clocks with other terminals; The first information indicates that the first terminal is not connected to the cellular communication system, and/or the first information indicates that the first terminal does not have the ability to receive high-precision synchronization information; the first information indicates that the highest signal strength of the cell measured by the first terminal is less than The first threshold, or the first information indicates that the nearest cell signal strength measured by the first terminal is less than the second threshold.

Method 2: Adjust the priority of the first terminal based on the first information, and select the anchor terminal based on the priority.

If the first information satisfies at least one of the following conditions, the first terminal is selected as the anchor terminal or the priority for positioning is increased or set to a high priority: the first information indicates that the first terminal has been synchronized to GNSS. ; The first information indicates that the first terminal is clock synchronized with other terminals; the first information indicates that the first terminal is connected to the cellular communication system, and/or the first information indicates that the first terminal has the ability to receive high-precision synchronization information; the first information It indicates that the highest signal strength of the cell measured by the first terminal is not less than the first threshold, or the first information indicates that the signal strength of the nearest cell measured by the first terminal is not less than the second threshold.

If the first information satisfies at least one of the following conditions, the first terminal is selected as the anchor terminal or the priority for positioning is reduced or set to a low priority: the first information indicates that the first terminal is not synchronized to GNSS. ; The first information indicates that the first terminal cannot synchronize clocks with other terminals; the first information indicates that the first terminal is not connected to the cellular communication system, and/or the first information indicates that the first terminal does not have the ability to receive high-precision synchronization information; The first information indicates that the highest signal strength of the cell measured by the first terminal is less than the first threshold, or the first information indicates that the signal strength of the nearest cell measured by the first terminal is less than the second threshold.

Choice of targeting methods:

If the first information satisfies at least one of the following conditions, do not use the time difference of arrival TDOA positioning method or give priority to other positioning methods: the first information indicates that the first terminal is not synchronized to GNSS; the first information indicates that the first terminal cannot communicate with the GNSS. The clocks of other terminals are synchronized; the first information indicates that the first terminal is not connected to the cellular communication system, and/or the first information indicates that the first terminal does not have the ability to receive high-precision synchronization information; the first information indicates that the first terminal measured The highest signal strength of the cell is less than the first threshold, or the first information indicates that the signal strength of the nearest cell measured by the first terminal is less than the second threshold.

If the first information satisfies at least one of the following conditions, the TDOA positioning method based on arrival time difference is used: the first information indicates that the first terminal has synchronized to GNSS; the first information indicates that the first terminal has clock synchronization with other terminals; the first information indicates that the first terminal has clock synchronization with other terminals; Instructing the first terminal to be connected to the cellular communication system, and/or the first information indicating that the first terminal has the ability to receive high-precision synchronization information; the first information indicating that the highest signal strength of the cell measured by the first terminal is not less than the first threshold, Or the first information indicates that the nearest cell signal strength measured by the first terminal is not less than the second threshold.

In summary, according to the technical solution provided by the embodiments of this application, the second terminal/core network element receives the first information sent by the first terminal, and can determine the clock synchronization status of the first terminal based on the first information. For example, whether the first terminal is synchronized to the Global Navigation Satellite System (GNSS), whether the first terminal can synchronize clocks with other terminals, whether the first terminal is connected to a cellular communication system, and so on. If the first terminal can synchronize clocks with other terminals through at least one method, the positioning system can select a positioning method that requires clock synchronization between anchor terminals (such as a positioning method based on TDOA), and select the first terminal and other terminals as anchors. point terminal, causing it to send a reference signal to the second terminal, or causing it to measure the reference signal sent by the second terminal, obtain the path difference based on the measurement results, and position the second terminal based on the path difference and the position of the anchor terminal. This method facilitates the positioning system to select the lateral positioning method and anchor point terminal, and improves the accuracy of lateral positioning.

By way of example, an exemplary embodiment of performing side-link positioning based on the first information sent by the terminal is provided.

Please refer to FIG. 5 , which shows a flow chart of a side positioning method provided by an embodiment of the present application. This method is applied to the communication system shown in Figure 1. The method may include the following steps:

Step 401: The first terminal sends the first information.

At least one terminal broadcasts/sends the first information to the second terminal/core network element. The second terminal/core network element receives the first information sent by at least one terminal.

In the in-coverage scenario of Sidelink positioning, the first terminal and the second terminal are connected to the cellular communication system. When the second terminal has a positioning requirement, the second terminal sends a positioning request to the core network element; after the core network element decides to use the side positioning method, it sends a discovery request to the second terminal. The discovery request is used to request the second terminal to discover Other terminals located near the second terminal; the second terminal sends a discovery result to the core network element. The discovery result includes the terminal located around the second terminal monitored by the second terminal. Optionally, the core network element is based on the discovery As a result, a first information acquisition request is sent to a peripheral terminal (first terminal) of the second terminal, and the first information acquisition request is used to instruct the peripheral terminal (first terminal) to report the first information. The first terminal sends the first information to the core network element. Optionally, the first information acquisition request may also include the terminal identification of the peripheral terminal in the discovery result, for the first terminal to determine whether it is always synchronized with the peripheral terminal of the second terminal, so as to generate the second terminal in the first information. sub-information. The core network element selects the positioning method and anchor device, receives the measurement results (arrival time difference), and obtains the path difference based on the measurement results to obtain the second terminal location.

In the partial coverage scenario of Sidelink positioning, some first terminals are connected to the cellular communication system, and some first terminals are not connected to the cellular communication system. Based on the above in-coverage scenario, the first terminal connected to the cellular communication system can adopt the method in the above in-coverage scenario; for the first terminal not connected to the cellular communication system, the second terminal can communicate with the first terminal through The side link forwards messages between the core network element and the first terminal. Or, the second terminal receives the first information reported by the first terminal and forwards the first information to the core network element. The core network element selects the positioning method and anchor device, receives the measurement results (arrival time difference), and calculates the second terminal position based on the measurement results.

In the out-of-coverage scenario of Sidelink positioning, neither the first terminal nor the second terminal is connected to the cellular communication system. When the second terminal has a positioning requirement, the second terminal discovers other terminals located nearby; optionally, the second terminal sends a first information acquisition request to surrounding terminals (including the first terminal) located nearby based on the discovery result, The first information acquisition request is used to instruct the peripheral terminal (first terminal) to report the first information. The first terminal sends the first information to the second terminal. Optionally, the first information acquisition request may also include the terminal identification of the peripheral terminal in the discovery result, for the first terminal to determine whether it is always synchronized with the peripheral terminal of the second terminal, so as to generate the second terminal in the first information. sub-information. The second terminal selects a positioning method and an anchor device, obtains a measurement result (arrival time difference), and calculates the position of the second terminal based on the measurement result.

Step 402: The second terminal/core network element selects the anchor terminal and the positioning method based on the first information.

The second terminal/core network element selects an anchor terminal and a positioning method based on at least one first information.

In an optional implementation manner, the second terminal/core network element can adjust the priority of each terminal based on the first information and sort multiple terminals.

For example, for the first terminal, whenever the first terminal meets one of the following conditions, the priority of the first terminal is increased by one level or set to a high priority: able to synchronize to GNSS; connected to the 5G system and/or Can receive high-precision synchronization information (reference clock information); the measured signal strength of the strongest cell is higher than the first threshold/the measured signal strength of the nearest gNB's DL Pathloss reference (path loss reference) is higher than the second threshold. For example, if the initial priority level is level one, and the first information of the first terminal indicates that the first terminal has been synchronized to GNSS and the first terminal is connected to the cellular communication system, then the priority level of the first terminal is increased to level three.

For another example, for the first terminal, whenever the first terminal meets one of the following conditions, the priority of the first terminal is reduced by one level or set to a low priority: it cannot synchronize to GNSS; it cannot communicate with other anchor gNB/ UE clock synchronization; not connected to the 5G system or unable to receive high-precision synchronization information (reference clock information); the measured strongest cell signal strength is lower than the first threshold/the nearest cell signal strength measured is lower than the second threshold. For example, the initial priority level is level five, and the first terminal detects that the strongest cell signal strength is lower than the first threshold, then the priority level of the first terminal is reduced to level four.

After obtaining the priority of each terminal, the priority sequence of the terminal is obtained by sorting the priority from high to low, and the second terminal/core network element selects the anchor terminal based on the priority sequence.

For example, after obtaining the priority of each terminal, the second terminal can also select the anchor terminal based on the priority of each terminal, whether each terminal is synchronized to GNSS, and whether it is connected to the cellular communication system, for example, priority The level sequence includes five terminals, among which the first, second and fourth terminals are connected to the cellular communication system. The third and fifth terminals are not connected to the cellular communication system. Then the second terminal/core network element selects The first, second and fourth terminals serve as anchor terminals.

In the case where the anchor terminal is selected by the second terminal, the second terminal may also receive second information sent by the core network element. The second information includes the selection criteria and/or priority ranking of the anchor terminal, and the selection criteria are used to Indicates to select the terminal that meets the clock synchronization conditions as the anchor terminal. The priority sorting is used to indicate the method of priority sorting based on the clock synchronization condition of the terminal.

For example, the terminal receives the selection criteria or priority ranking of anchor terminals from the core network element. For example, the selection criteria is to select anchor terminals that are synchronized to GNSS or synchronized with other anchor gNB/eNB clocks; for another example, the priority ranking is : Anchor terminal synchronized with other anchor gNB/eNB clocks > GNSS synchronized anchor terminal > Anchor terminal synchronized with other terminals.

For example, the selection criteria may indicate the clock synchronization type of the anchor terminal, and the clock synchronization type includes at least one of the following: synchronization to GNSS, synchronization with other access network device clocks, and synchronization with other terminal clocks. For example, the selection criteria may indicate that a terminal whose clock synchronization type is synchronized to GNSS is selected as the anchor terminal.

For example, the priority order may be the priority order of various clock synchronization types. Prioritization is used to indicate the method by which terminals are ordered based on their clock synchronization type. For example, a terminal of a first clock synchronization type has priority over a terminal of a second clock synchronization type before a terminal of a third clock synchronization type.

The second terminal selects an anchor terminal to perform positioning from a plurality of terminals/candidate terminals (including the first terminal) based on selection criteria and/or priority ranking.

Optionally, after receiving the first information sent by the first terminal, the second terminal acquires the clock synchronization type of the first terminal. The second terminal receives the first information reported by multiple candidate terminals and obtains the clock synchronization types of the multiple candidate terminals. The second terminal reports the clock synchronization types of one/more candidate terminals to the core network element, so that the core network element The selection criteria/priority ordering is indicated to the second terminal based on the clock synchronization type, or the core network element selects the anchor terminal based on the clock synchronization type of each candidate terminal.

The second terminal sends third information to the core network element. The third information includes clock synchronization type information of the candidate terminal. The anchor terminal is selected from the candidate terminals, and the candidate terminals include the first terminal. The second terminal sends the obtained time synchronization type-related information that can reflect the anchor terminal to the core network element (such as LMF). The information related to the time synchronization type is one of the following: the synchronization type indicates explicit information; the synchronization type indicates implicit information. The implicit information of the synchronization type indicates the implicit information of the clock synchronization type indication information, such as SL SSID (Sidelink-SynchronizationSignal ID, sidelink synchronization signal identification number) and SL-SSB (Synchronization Signaland PBCH Block, broadcast channel block)-TimeAllocation1 (clock configuration).

The core network element generates second information based on the third information, and sends the second information to the second terminal. The second terminal selects the anchor terminal based on the second information.

In an optional implementation, when one or more first terminals have one or all of the following characteristics, the second terminal or LMF does not choose to use the TDOA-based positioning method. Specifically, the first terminal is not required / The second terminal reports positioning measurement quantities related to TDOA (such as DL Reference Signal Time Difference (downlink reference signal time difference)): cannot be synchronized to GNSS; cannot be synchronized with other anchor gNB/UE clocks; is not connected to the 5G system or cannot receive High-precision synchronization information (reference clock information); the measured strongest cell signal strength is lower than the first threshold/the nearest measured cell signal strength is lower than the second threshold.

For example, the second terminal/core network element can comprehensively select the positioning method and anchor terminal based on the first information of multiple first terminals. If the number of multiple first terminals that satisfy clock synchronization is less than the first number, Then the positioning method based on TDOA is not selected. Or, if the total number of access network devices that satisfy clock synchronization and anchor point access among the multiple first terminals is less than the first number, the TDOA-based positioning method is not selected. If the number of multiple first terminals that satisfy always synchronization is not less than the second number, the method based on TDOA is selected. Or, if the total number of access network devices that satisfy clock synchronization and anchor point access among the plurality of first terminals is not less than the second number, a positioning method based on TDOA is selected. The first quantity is equal to the second quantity, or the second quantity is greater than the first quantity.

After determining the positioning method, the second terminal/core network element determines that the first terminal sends the S-PRS or determines that the second terminal sends the S-PRS.

Step 403: The second terminal/core network element sends the first signaling to the first terminal.

The second terminal/core network element sends the first signaling to the first terminal. The first signaling can carry the configuration information of the reference signal (S-PRS) and instructs the first terminal to send the reference signal so that the second terminal can measure the reference signal. Signal. Or, the first signaling may carry a measurement request of the reference signal, requesting the first terminal to measure the reference signal sent by the second terminal.

The first terminal receives the first signaling and performs sidelink positioning measurement according to the first signaling.

Step 404: The first terminal and the second terminal/core network element perform sideline positioning and measurement.

If the first signaling instructs the first terminal to send the reference signal, the first terminal sends the reference signal. The second terminal receives and measures reference signals sent by at least three anchor devices, and obtains measurement results. At least two path differences are obtained based on the measurement results. The second terminal calculates the position of the second terminal based on the path difference and the position of the anchor device, or the second terminal sends the measurement result to the core network element, and the core network element obtains the path difference based on the measurement result, and uses the path difference and the anchor point device to calculate the position. The position of the point device is calculated to obtain the position of the second terminal.

If the first signaling instructs the second terminal to send the reference signal, the second terminal sends the reference signal. The first terminal receives and measures the reference signal to obtain the arrival time. The first terminal sends the arrival time to the second terminal/core network element. The second terminal/core network element obtains the arrival time difference based on the arrival times of multiple first terminals to obtain the path difference. The second terminal/core network element The position of the second terminal is calculated based on the path difference and the position of the anchor device.

To sum up, in the technical solution provided by the embodiments of this application, the first terminal sends the first information, and the second terminal/core network element determines the clock synchronization status of the first terminal based on the first information. Based on the clock synchronization of the first terminal, the second terminal/core network element can determine whether to use a positioning method such as TDOA that requires clock synchronization of the anchor device, and the second terminal/core network element can choose to participate Anchor device for side row positioning. This method facilitates the positioning system to select the lateral positioning method and anchor point terminal, and improves the accuracy of lateral positioning.

An exemplary embodiment is provided for confirming whether the first terminal can receive high-precision clock synchronization information.

Please refer to FIG. 6 , which shows a flow chart of a side positioning method provided by an embodiment of the present application. This method is applied to the communication system shown in Figure 1. The method may include the following steps:

Step 401: The first terminal sends the first information.

Optionally, the first terminal, the third terminal, and the fourth terminal send the first information to the second terminal/core network element. The first terminal, the third terminal, and the fourth terminal are all candidate terminals located around the second terminal.

The second terminal/core network element selects the first terminal as the anchor terminal based on the first information, and selects a positioning method based on TDOA for sideline positioning.

Optionally, the second terminal/core network element also selects the third terminal and the fourth terminal as anchor terminals.

The first terminal receives the first signaling. Optionally, the first signaling carries at least one of the following: reference signal configuration information, reference signal measurement request, and high-precision synchronization information reception capability inquiry.

For example, the first information of the first terminal indicates that the first terminal has the ability to receive high-precision synchronization information (being provision with reference time information), then the second terminal/core network element sends the first signaling to the first terminal , the first signaling carries a high-precision synchronization information reception capability inquiry, and the high-precision synchronization information reception capability inquiry is used to inquire whether the first terminal can receive high-precision clock information from the network.

Step 404: The first terminal and the second terminal/core network element perform sideline positioning measurements.

After the second terminal/core network element selects the first terminal as the anchor terminal, the first terminal and the second terminal perform sideline positioning measurements to obtain measurement results.

Step 405: The first terminal sends assistance information.

When receiving the first signaling, the first terminal sends assistance information to the access network device. The assistance information is used to indicate that the first terminal has the ability to receive high-precision synchronization information, so that the access network device sends the assistance information to the first terminal. Send high-precision clock information.

Step 406: The access network device sends high-precision clock information (reference time information) to the first terminal.

The access network device sends high-precision clock information to the first terminal based on the received assistance information. Or, the access network equipment broadcasts high-precision clock information.

Step 407: The first terminal sends confirmation information/denial information to the second terminal/core network element.

If the first terminal confirms receipt of the high-precision clock information; the first terminal sends confirmation information to the second terminal/core network element, and the confirmation information is used to confirm receipt of the high-precision clock information. At the same time, if the first terminal measures the reference signal sent by the second terminal, the first terminal can send the measurement result to the second terminal/core network element.

If the first terminal does not receive the high-precision clock information, the first terminal sends a denial message to the second terminal/core network element without receiving the high-precision clock information reference time information. The denial information is used to instruct the terminal. High-precision clock information was not received.

In the case of receiving the denial information, the second terminal/core network element does not select the first terminal to perform side positioning; or, in the case of receiving the denial information, the second terminal/core network element selects the first terminal except the arrival time difference. Positioning methods outside TDOA.

For example, if the first terminal does not receive high-precision clock information, the second terminal/core network element reselects the anchor terminal or reselects the positioning method.

To sum up, the technical solution provided by the embodiments of this application triggers the anchor terminal to confirm the high-precision clock information to the access network device when the anchor terminal has the ability to receive high-precision synchronization information, so that the access network can Network equipment sends high-precision clock information. If the anchor terminal can receive high-precision clock information, the anchor terminal sends confirmation information and measurement results to the target terminal/core network element; if the anchor terminal cannot receive high-precision clock information , then the anchor terminal sends a denial message to the target terminal/core network element, so that the target terminal/core network element reselects the anchor terminal and positioning method, and re-performs lateral positioning.

Please refer to FIG. 7 , which shows a flow chart of a side positioning method provided by an embodiment of the present application. This method is applied to the communication system shown in Figure 1. The method may include the following steps:

Step 501: UE1, UE2, UE3, and UE4 broadcast their respective synchronization performance related characteristics (first information).

Synchronization performance related characteristics are used to determine the clock synchronization of the UE.

Step 502: The UE selects an appropriate anchor terminal according to the received broadcast synchronization performance related characteristics.

For example, the synchronization performance-related characteristics of UE1 indicate that UE1 is not connected to the cellular communication system, and the synchronization performance-related characteristics of UE2, UE3, and UE4 respectively indicate that UE2, UE3, and UE4 are connected to the cellular communication system. Then the UE selects UE2, UE3, and UE4 as anchor terminals based on synchronization performance related characteristics.

Step 503: The UE sends location information requests (LocationInformationRequest) to UE2, UE3, and UE4 respectively.

For example, the location information request can refer to the LPP Location Information Request in 3GPP TS 37.355. The location information request includes the positioning method selected by the UE, and the UE sends RequestLocationInformation containing nr-DL-TDOA-RequestLocationInformation-r16IE to UE2, UE3, and UE4.

To sum up, in the technical solution provided by the embodiments of this application, the UE receives the synchronization performance-related characteristics sent by multiple UEs, and selects the anchor terminal and positioning method based on the synchronization performance-related characteristics of the multiple UEs, which facilitates the positioning system to perform sideline positioning. method and the selection of anchor point terminals to improve the accuracy of lateral positioning.

Please refer to FIG. 8 , which shows a flow chart of a side positioning method provided by an embodiment of the present application. This method is applied to the communication system shown in Figure 1. The method may include the following steps:

Step 601: UE1, UE2, UE3, and UE4 broadcast their respective synchronization performance-related characteristics (first information), and the synchronization performance-related characteristics respectively indicate that UE1, UE2, UE3, and UE4 are not synchronized to GNSS.

Step 602: The UE selects the anchor terminal and positioning method according to the received broadcast synchronization performance related characteristics.

Since UE1, UE2, UE3, and UE4 are not synchronized to GNSS, the positioning method based on TDOA is not used. For example, the UE selects UE2, UE3, and UE4 as anchor points and the UE uses other positioning methods to perform sideline positioning.

Step 603: The UE sends a location information request (LocationInformationRequest) to UE2, UE3, and UE4 respectively, and the location information request indicates that a non-TDOA positioning method is used.

For example, the location information request can refer to the LPP Location Information Request in 3GPP TS 37.355. The location information request includes the positioning method selected by the UE, instructing the anchor UE to send measurement results required by non-TDOA positioning methods.

To sum up, according to the technical solution provided by the embodiments of this application, the UE receives the synchronization performance-related characteristics sent by multiple UEs. When multiple UEs cannot synchronize their clocks, a non-TDOA positioning method is selected. This method facilitates the positioning system. Select the lateral positioning method and anchor terminal to improve the accuracy of lateral positioning.

Please refer to FIG. 9 , which shows a flow chart of a side positioning method provided by an embodiment of the present application. This method is applied to the communication system shown in Figure 1. The method may include the following steps:

Step 701: The anchor UE sends Assistance info: prefer being provisioned with reference time info (Assistance information: supports high-precision clock information) to the access network device.

When the anchor UE supports receiving high-precision clock information (being provision with reference time information), after the positioning system configures the reference signal (S-PRS) to the anchor UE or requests the anchor UE to measure the reference signal, or inquires After determining whether high-precision clock information can be received from the network, the anchor UE sends signaling containing preference in being provisioned with reference time information to the access network device.

Step 702: The access network device sends Acknowledgement of transmission of reference time info (high-precision clock information transmission confirmation signaling) to the anchor UE.

The high-precision clock information transmission confirmation signaling includes high-precision clock information.

Step 703a: The anchor UE sends Acknowledgment of transmission of reference time info (clock information transmission confirmation) to the LMF.

After the anchor UE confirms (can) receive the reference time information, it optionally sends the relevant confirmation information to the second terminal or LMF or AMF. In addition, after this, the anchor UE also sends the measurement results to the second terminal/LMF/AMF accordingly.

Step 703b: The anchor UE sends Negative Acknowledgement of transmission of reference time info (clock information transmission denial) to the LMF.

When the anchor UE confirms that it cannot receive reference time information, it sends the relevant negative confirmation information.

Step 704a: The anchor UE sends a LocationInformationResponse (location information response) to the LMF.

Step 704b: LMF reselection of more proper anchor UE or resending a Location Information Request for location result other than RSTD (LMF reselects a more suitable anchor UE or resends the location information request to obtain a reference signal other than RSTD (Reference Signal Time Difference) measurement results other than time difference).

To sum up, the technical solution provided by the embodiments of this application allows the anchor UE to send assistance information to the access network device, so that the access network device sends high-precision clock information. If the anchor UE can receive the high-precision clock information, The anchor terminal sends confirmation information and measurement results to the LMF; if the anchor UE cannot receive the high-precision clock information, the anchor UE sends a denial message to the LMF so that the LMF reselects the anchor terminal and positioning method and performs sidestepping again. row positioning.

It should be noted that in the above method embodiment, the above steps related to the execution of the first terminal, the second terminal, and the core network element can be independently implemented as side rows on the side of the first terminal, the second terminal, and the core network element. Positioning method.

Those skilled in the art can combine any steps in any of the above embodiments to form a new embodiment, which will not be described again.

The following are device embodiments of the present application, which can be used to execute method embodiments of the present application. For details not disclosed in the device embodiments of this application, please refer to the method embodiments of this application.

Please refer to Figure 10, which shows a block diagram of a side positioning device provided by an embodiment of the present application. The device has the function of implementing the above-mentioned method example on the first terminal side, and the function can be implemented by hardware, or can also be implemented by hardware executing corresponding software. The device may be the first terminal introduced above, or may be provided in the first terminal. As shown in Figure 10, the device may include:

The first sending module 802 is configured to send first information, where the first information is used to determine the clock synchronization situation of the first terminal.

In an optional embodiment, the first information includes at least one of the following:

First sub-information, used to indicate whether the first terminal is synchronized to the global navigation satellite system GNSS;

The second sub-information is used to indicate whether the first terminal can synchronize the clocks with other terminals;

The third sub-information is used to indicate at least one of the following: whether the first terminal is connected to the cellular communication system and whether the first terminal can receive high-precision synchronization information;

The fourth sub-information is used to indicate at least one of the following: whether the highest signal strength of the cell measured by the first terminal is less than the first threshold, and the highest signal strength of the cell measured by the first terminal.

In an optional embodiment, the signal strength includes at least one of the following: reference signal received power RSRP, reference signal received quality RSRQ, signal to interference plus noise ratio SINR.

In an optional embodiment, the first information is used to assist in selecting an anchor terminal to perform side row positioning.

In an optional embodiment, if the first information satisfies at least one of the following conditions, the first terminal is selected as the anchor terminal or the priority for positioning is reduced, or not Select the first terminal as the anchor terminal:

The first information indicates that the first terminal is not synchronized to GNSS;

The first information indicates that the first terminal cannot synchronize clocks with other terminals;

The first information indicates that the first terminal is not connected to the cellular communication system, and/or the first information indicates that the first terminal does not have the ability to receive high-precision synchronization information;

The first information indicates that the highest signal strength of the cell measured by the first terminal is less than a first threshold.

In an optional embodiment, if the first information satisfies at least one of the following conditions, the first terminal is selected as the anchor terminal or the priority for positioning is increased, or selected The first terminal is the anchor terminal:

The first information indicates that the first terminal has been synchronized to GNSS;

The first information indicates that the first terminal is clock synchronized with other terminals;

The first information indicates that the first terminal is connected to a cellular communication system, and/or the first information indicates that the first terminal has the ability to receive high-precision synchronization information;

The first information indicates that the highest signal strength of the cell measured by the first terminal is not less than a first threshold.

In an optional embodiment, the first information is used to assist in selecting a positioning device for performing side row positioning.

In an optional embodiment, if the first information satisfies at least one of the following conditions, no positioning device based on time difference of arrival TDOA is used or other positioning devices are given priority:

In an optional embodiment, the first sending module 802 is used to send dedicated signaling, where the dedicated signaling carries the first information;

Or, the first sending module 802 is used to broadcast the first information.

In an optional embodiment, the first terminal has the ability to receive high-precision synchronization information;

The first sending module 802 is configured to send assistance information, where the assistance information is used to indicate that the first terminal has the ability to receive high-precision synchronization information.

In an optional embodiment, the device further includes:

The first receiving module 801 is configured to receive first signaling, which carries at least one of the following: reference signal configuration information, reference signal measurement request, and high-precision synchronization information receiving capability inquiry.

In an optional embodiment, the device further includes:

The first receiving module 801 is used to receive high-precision clock information reference time information;

The first sending module 802 is used to send confirmation information, and the confirmation information is used to confirm receipt of the high-precision clock information.

In an optional embodiment, the first sending module 802 is configured to send denial information when high-precision clock information reference time information is not received, and the denial information is used to indicate that the terminal has not received to the high-precision clock information.

Please refer to Figure 11, which shows a block diagram of a side positioning device provided by an embodiment of the present application. The device has the function of implementing the above method example on the second terminal/core network element side. The function can be implemented by hardware, or can also be implemented by hardware executing corresponding software. The device may be the second terminal/core network element introduced above, or may be set in the second terminal/core network element. As shown in Figure 11, the device may include:

The second receiving module 901 is configured to receive the first information sent by the first terminal, where the first information is used to determine the clock synchronization situation of the first terminal.

In an optional embodiment, the second receiving module 901 is configured to receive second information, where the second information includes selection criteria and/or priority ranking of anchor terminals, and the selection criteria are used to indicate A terminal that satisfies clock synchronization conditions is selected as the anchor terminal, and the priority ranking is used to indicate a priority ranking method based on the clock synchronization condition of the terminal.

In an optional embodiment, the device further includes:

The second sending module is configured to send third information, where the third information includes clock synchronization type information of candidate terminals, and the candidate terminals include the first terminal.

In an optional embodiment, the core network element includes at least one of the following: a location management function LMF network element and an access and mobility management function AMF network element.

In an optional embodiment, the second receiving module 901 is configured to receive dedicated signaling sent by the first terminal, where the dedicated signaling carries the first information;

Or, the second receiving module 901 is configured to receive the first information broadcast by the first terminal.

In an optional embodiment, the first information indicates that the first terminal has the ability to receive high-precision sub-information;

The second receiving module 901 is used to receive confirmation information sent by the first terminal, where the confirmation information is used to confirm that the first terminal has received high-precision clock information reference time information.

In an optional embodiment, the second receiving module 901 is configured to receive acknowledgment information sent by the first terminal, where the acknowledgment information is used to indicate that the first terminal has not received high-precision clock information reference time information.

In an optional embodiment, the device further includes:

A selection module 902, configured to not select the first terminal to perform lateral positioning when the denial information is received;

Or, the selection module 902 is configured to select a positioning device other than the time difference of arrival TDOA when the denial information is received.

It should be noted that when the device provided in the above embodiment implements its functions, only the division of the above functional modules is used as an example. In practical applications, the above functions can be allocated to different functional modules according to actual needs. That is, the content structure of the device is divided into different functional modules to complete all or part of the functions described above.

Regarding the devices in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and will not be described in detail here.

Please refer to Figure 12, which shows a schematic structural diagram of a communication device provided by an embodiment of the present application. The communication device may include: a processor 1001, a receiver 1002, a transmitter 1003, a memory 1004 and a bus 1005.

The processor 1001 includes one or more processing cores. The processor 1001 executes various functional applications and information processing by running software programs and modules.

The receiver 1002 and the transmitter 1003 can be implemented as a transceiver, and the transceiver can be a communication chip.

The memory 1004 is connected to the processor 1001 through a bus 1005.

The memory 1004 can be used to store a computer program, and the processor 1001 is used to execute the computer program to implement various steps performed by the communication device in the above method embodiment.

In addition, the memory 1004 can be implemented by any type of volatile or non-volatile storage device or their combination. Volatile or non-volatile storage devices include but are not limited to: RAM (Random-Access Memory, random access memory) And ROM (Read-Only Memory, read-only memory), EPROM (Erasable Programmable Read-Only Memory, erasable programmable read-only memory), EEPROM (Electrically Erasable Programmable Read-Only Memory, electrically erasable programmable read-only memory) memory), flash memory or other solid-state storage technology, CD-ROM (Compact Disc Read-Only Memory, read-only disc), DVD (Digital Video Disc, high-density digital video disc) or other optical storage, tape cassettes, tapes, disks storage or other magnetic storage device.

When the communication device is implemented as a first terminal, the processor and transceiver involved in the embodiment of the present application can perform the steps performed by the first terminal in any of the methods shown in Figure 3 to Figure 9, where No longer.

In a possible implementation, when the communication device is implemented as the first terminal,

When the communication device is implemented as a second terminal/core network element, the processor and transceiver involved in the embodiment of the present application can execute the method shown in any one of the above-mentioned Figures 3 to 9, by the second terminal/core network element. The steps performed by the core network elements will not be described again here.

Embodiments of the present application also provide a computer-readable storage medium. A computer program is stored in the storage medium. The computer program is configured to be executed by a processor to implement the above-mentioned lateral positioning method on the first terminal side.

Embodiments of the present application also provide a computer-readable storage medium. A computer program is stored in the storage medium. The computer program is used to be executed by a processor to implement the above-mentioned second terminal/core network element side. row positioning method.

Optionally, the computer-readable storage medium may include: ROM (Read-Only Memory), RAM (Random-Access Memory), SSD (Solid State Drives, solid state drive) or optical disk, etc. Among them, random access memory can include ReRAM (Resistance Random Access Memory, resistive random access memory) and DRAM (Dynamic Random Access Memory, dynamic random access memory).

An embodiment of the present application also provides a chip, which includes a programmable logic circuit and/or program instructions. When the chip is run on the first terminal, it is used to implement the above-mentioned lateral positioning method on the first terminal side. .

Embodiments of the present application also provide a chip. The chip includes programmable logic circuits and/or program instructions. When the chip is run on the second terminal/core network element, it is used to implement the above-mentioned second terminal/core network element. Side-link positioning method on the core network element side.

Embodiments of the present application also provide a computer program product or computer program. The computer program product or computer program includes computer instructions. The computer instructions are stored in a computer-readable storage medium. The processor of the first terminal obtains the information from the computer instructions. The computer-readable storage medium reads and executes the computer instructions to implement the above-mentioned lateral positioning method on the first terminal side.

Embodiments of the present application also provide a computer program product or computer program. The computer program product or computer program includes computer instructions. The computer instructions are stored in a computer-readable storage medium. The second terminal/core network element The processor reads and executes the computer instructions from the computer-readable storage medium to implement the above-mentioned lateral positioning method on the second terminal/core network element side.

It should be understood that the "instruction" mentioned in the embodiments of this application may be a direct instruction, an indirect instruction, or an association relationship. For example, A indicates B, which can mean that A directly indicates B, for example, B can be obtained through A; it can also mean that A indirectly indicates B, for example, A indicates C, and B can be obtained through C; it can also mean that there is an association between A and B. relation.

In the description of the embodiments of this application, the term "correspondence" can mean that there is a direct correspondence or indirect correspondence between the two, it can also mean that there is an associated relationship between the two, or it can mean indicating and being instructed, configuration and being. Configuration and other relationships.

The "plurality" mentioned in this article means two or more than two. "And/or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and/or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the related objects are in an "or" relationship.

In addition, the step numbers described in this article only illustrate a possible execution sequence between the steps. In some other embodiments, the above steps may not be executed in the numbering sequence, such as two different numbers. The steps are executed simultaneously, or two steps with different numbers are executed in the reverse order as shown in the figure, which is not limited in the embodiments of the present application.

Those skilled in the art should realize that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. Storage media can be any available media that can be accessed by a general purpose or special purpose computer.

The above are only exemplary embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection of the present application. within the range.

Claims

A lateral positioning method, characterized in that the method is executed by a first terminal, and the method includes:

Send first information, where the first information is used to determine the clock synchronization situation of the first terminal.
The method of claim 1, wherein the first information includes at least one of the following:

First sub-information, used to indicate whether the first terminal is synchronized to the global navigation satellite system GNSS;

The second sub-information is used to indicate whether the first terminal can synchronize the clocks with other terminals;

The third sub-information is used to indicate at least one of the following: whether the first terminal is connected to the cellular communication system and whether the first terminal can receive high-precision synchronization information;

The fourth sub-information is used to indicate at least one of the following: whether the highest signal strength of the cell measured by the first terminal is less than the first threshold, and the highest signal strength of the cell measured by the first terminal.
The method of claim 2, wherein the signal strength includes at least one of the following: reference signal received power RSRP, reference signal received quality RSRQ, and reference signal signal-to-noise-to-interference ratio.
The method according to any one of claims 1 to 3, characterized in that the first information is used to assist in selecting an anchor terminal for performing side row positioning.
The method according to claim 4, characterized in that if the first information satisfies at least one of the following conditions, the first terminal is selected as the anchor terminal or the priority for positioning is changed. Reduce or set the priority to low, or do not select the first terminal as the anchor terminal:

The first information indicates that the first terminal is not synchronized to GNSS;

The first information indicates that the first terminal cannot synchronize clocks with other terminals;

The first information indicates that the first terminal is not connected to the cellular communication system, and/or the first information indicates that the first terminal does not have the ability to receive high-precision synchronization information;

The first information indicates that the highest signal strength of the cell measured by the first terminal is less than a first threshold.
The method according to claim 4 or 5, characterized in that if the first information satisfies at least one of the following conditions, the first terminal is selected as the anchor terminal or the priority for positioning. level is raised, or the first terminal is selected as the anchor terminal:

The first information indicates that the first terminal has been synchronized to GNSS;

The first information indicates that the first terminal is clock synchronized with other terminals;

The first information indicates that the first terminal is connected to a cellular communication system, and/or the first information indicates that the first terminal has the ability to receive high-precision synchronization information;

The first information indicates that the highest signal strength of the cell measured by the first terminal is not less than a first threshold.
The method according to any one of claims 1 to 6, characterized in that the first information is used to assist in selecting a positioning method for performing lateral positioning.
The method according to claim 7, characterized in that if the first information satisfies at least one of the following conditions, then the time difference of arrival TDOA positioning method is not used or other positioning methods are given priority:

The first information indicates that the first terminal is not synchronized to GNSS;

The first information indicates that the first terminal cannot synchronize clocks with other terminals;

The first information indicates that the first terminal is not connected to the cellular communication system, and/or the first information indicates that the first terminal does not have the ability to receive high-precision synchronization information;

The first information indicates that the highest signal strength of the cell measured by the first terminal is less than a first threshold.
The method according to any one of claims 1 to 8, characterized in that sending the first information includes:

Send dedicated signaling, where the dedicated signaling carries the first information;

Or, broadcast the first information.
The method according to any one of claims 1 to 9, characterized in that the first terminal has the ability to receive high-precision synchronization information, and the method further includes:

Send assistance information, where the assistance information is used to indicate that the first terminal has the ability to receive high-precision synchronization information.
The method of claim 10, further comprising:

Receive first signaling, where the first signaling carries at least one of the following: configuration information of a reference signal, a measurement request of a reference signal, and a reception capability inquiry of high-precision synchronization information.
The method according to claim 10 or 11, characterized in that the method further includes:

Receive high-precision clock information reference time information;

Send acknowledgment information, the acknowledgment information being used to confirm receipt of the high-precision clock information.
The method according to claim 10 or 11, characterized in that the method further includes:

In the case where the high-precision clock information reference time information is not received, denial information is sent, and the denial information is used to indicate that the terminal has not received the high-precision clock information.
A lateral positioning method, characterized in that the method is executed by a second terminal or a core network element, and the method includes:

Receive first information sent by the first terminal, where the first information is used to determine clock synchronization of the first terminal.
The method of claim 14, wherein the first information includes at least one of the following:

First sub-information, used to indicate whether the first terminal is synchronized to the global navigation satellite system GNSS;

The second sub-information is used to indicate whether the first terminal can synchronize the clocks with other terminals;

The third sub-information is used to indicate at least one of the following: whether the first terminal is connected to the cellular communication system and whether the first terminal can receive high-precision synchronization information;

The fourth sub-information is used to indicate at least one of the following: whether the highest signal strength of the cell measured by the first terminal is less than the first threshold, and the highest signal strength of the cell measured by the first terminal.
The method according to claim 15, wherein the signal strength includes at least one of the following: reference signal received power RSRP, reference signal received quality RSRQ, signal to interference plus noise ratio SINR.
The method according to any one of claims 14 to 16, characterized in that the first information is used to assist in selecting the anchor point terminal for performing side row positioning.
The method according to claim 17, characterized in that if the first information satisfies at least one of the following conditions, the first terminal is selected as the anchor terminal or the priority for positioning is Reduce or set the priority to low, or do not select the first terminal as the anchor terminal:

The first information indicates that the first terminal is not synchronized to GNSS;

The first information indicates that the first terminal cannot synchronize clocks with other terminals;

The first information indicates that the first terminal is not connected to the cellular communication system, and/or the first information indicates that the first terminal does not have the ability to receive high-precision synchronization information;

The first information indicates that the highest signal strength of the cell measured by the first terminal is less than a first threshold.
The method according to claim 17 or 18, characterized in that if the first information satisfies at least one of the following conditions, the first terminal is selected as the anchor terminal or the priority for positioning. level is raised, or the first terminal is selected as the anchor terminal:

The first information indicates that the first terminal has been synchronized to GNSS;

The first information indicates that the first terminal is clock synchronized with other terminals;

The first information indicates that the first terminal is connected to a cellular communication system, and/or the first information indicates that the first terminal has the ability to receive high-precision synchronization information;

The first information indicates that the highest signal strength of the cell measured by the first terminal is not less than a first threshold.
The method according to any one of claims 14 to 19, characterized in that the first information is used to assist in selecting a positioning method for performing lateral positioning.
The method according to claim 20, characterized in that if the first information satisfies at least one of the following conditions, then the TDOA positioning method based on time difference of arrival is not used or other positioning methods are given priority:

The first information indicates that the first terminal is not synchronized to GNSS;

The first information indicates that the first terminal cannot synchronize clocks with other terminals;

The first information indicates that the first terminal is not connected to the cellular communication system, and/or the first information indicates that the first terminal does not have the ability to receive high-precision synchronization information;

The first information indicates that the highest signal strength of the cell measured by the first terminal is less than a first threshold.
The method according to any one of claims 14 to 21, characterized in that the method further includes:

The second terminal receives second information, the second information includes selection criteria and/or priority ranking of anchor terminals, and the selection criteria are used to indicate selecting a terminal that meets clock synchronization conditions as the anchor terminal, The priority sorting is used to indicate the manner of priority sorting based on the clock synchronization situation of the terminal.
The method according to any one of claims 14 to 22, characterized in that the method further includes:

The second terminal sends third information, where the third information includes clock synchronization type information of candidate terminals, and the candidate terminals include the first terminal.
The method according to any one of claims 14 to 23, characterized in that the core network element includes at least one of the following: a location management function LMF network element and an access and mobility management function AMF network element.
The method according to any one of claims 14 to 24, characterized in that receiving the first information sent by the first terminal includes:

Receive dedicated signaling sent by the first terminal, where the dedicated signaling carries the first information;

Or, receive the first information broadcast by the first terminal.
The method according to any one of claims 14 to 25, wherein the first information indicates that the first terminal has the ability to receive high-precision sub-information, and the method further includes:

Receive confirmation information sent by the first terminal, where the confirmation information is used to confirm that the first terminal has received high-precision clock information reference time information.
The method according to any one of claims 14 to 25, characterized in that the method further includes:

Receive acknowledgment information sent by the first terminal, where the acknowledgment information is used to indicate that the first terminal has not received high-precision clock information reference time information.
The method of claim 27, further comprising:

In the event that the denial information is received, the first terminal is not selected to perform lateral positioning;

Or, when the denial information is received, a positioning method other than the time difference of arrival TDOA is selected.
A side positioning device, characterized in that the device includes:

The first sending module is configured to send first information, where the first information is used to determine the clock synchronization situation of the first terminal.
The device according to claim 29, wherein the first information includes at least one of the following:

First sub-information, used to indicate whether the first terminal is synchronized to the global navigation satellite system GNSS;

The second sub-information is used to indicate whether the first terminal can synchronize the clocks with other terminals;

The third sub-information is used to indicate at least one of the following: whether the first terminal is connected to the cellular communication system and whether the first terminal can receive high-precision synchronization information;

The fourth sub-information is used to indicate at least one of the following: whether the highest signal strength of the cell measured by the first terminal is less than the first threshold, and the highest signal strength of the cell measured by the first terminal.
The method according to claim 30, wherein the signal strength includes at least one of the following: reference signal received power RSRP, reference signal received quality RSRQ, signal to interference plus noise ratio SINR.
The device according to any one of claims 29 to 31, characterized in that the first information is used to assist in selecting an anchor terminal for performing lateral positioning.
The device according to claim 32, characterized in that if the first information satisfies at least one of the following conditions, the first terminal is selected as the anchor terminal or the priority for positioning is Lower or not select the first terminal as the anchor terminal:

The first information indicates that the first terminal is not synchronized to GNSS;

The first information indicates that the first terminal cannot synchronize clocks with other terminals;

The first information indicates that the first terminal is not connected to the cellular communication system, and/or the first information indicates that the first terminal does not have the ability to receive high-precision synchronization information;

The first information indicates that the highest signal strength of the cell measured by the first terminal is less than a first threshold.
The device according to claim 32 or 33, characterized in that if the first information satisfies at least one of the following conditions, the first terminal is selected as the anchor terminal or the priority for positioning. level is raised, or the first terminal is selected as the anchor terminal:

The first information indicates that the first terminal has been synchronized to GNSS;

The first information indicates that the first terminal is clock synchronized with other terminals;

The first information indicates that the first terminal is connected to a cellular communication system, and/or the first information indicates that the first terminal has the ability to receive high-precision synchronization information;

The first information indicates that the highest signal strength of the cell measured by the first terminal is not less than a first threshold.
The device according to any one of claims 29 to 34, characterized in that the first information is used to assist in selecting a positioning device for performing lateral positioning.
The device according to claim 35, characterized in that if the first information satisfies at least one of the following conditions, then the time difference of arrival TDOA positioning device is not used or other positioning devices are given priority:

The first information indicates that the first terminal is not synchronized to GNSS;

The first information indicates that the first terminal cannot synchronize clocks with other terminals;

The first information indicates that the first terminal is not connected to the cellular communication system, and/or the first information indicates that the first terminal does not have the ability to receive high-precision synchronization information;

The first information indicates that the highest signal strength of the cell measured by the first terminal is less than a first threshold.
The device according to any one of claims 29 to 36, characterized in that the first sending module is used to send dedicated signaling, and the dedicated signaling carries the first information;

Or, the first sending module is used to broadcast the first information.
The device according to any one of claims 29 to 37, wherein the first terminal has the ability to receive high-precision synchronization information;

The first sending module is configured to send assistance information, where the assistance information is used to indicate that the first terminal has the ability to receive high-precision synchronization information.
The device of claim 38, further comprising:

The first receiving module is configured to receive first signaling, where the first signaling carries at least one of the following: configuration information of the reference signal, a measurement request of the reference signal, and a receiving capability inquiry of high-precision synchronization information.
The device according to claim 38 or 39, characterized in that the device further includes:

The first receiving module is used to receive high-precision clock information reference time information;

The first sending module is used to send confirmation information, and the confirmation information is used to confirm receipt of the high-precision clock information.
The device according to claim 38 or 39, characterized in that the first sending module is used to send denial information when high-precision clock information reference time information is not received, and the denial information is used to indicate The terminal has not received the high-precision clock information.
A side positioning device, characterized in that the device includes:

The second receiving module is configured to receive the first information sent by the first terminal, where the first information is used to determine the clock synchronization situation of the first terminal.
The device according to claim 42, wherein the first information includes at least one of the following:

First sub-information, used to indicate whether the first terminal is synchronized to the global navigation satellite system GNSS;

The second sub-information is used to indicate whether the first terminal can synchronize the clocks with other terminals;

The third sub-information is used to indicate at least one of the following: whether the first terminal is connected to the cellular communication system and whether the first terminal can receive high-precision synchronization information;

The fourth sub-information is used to indicate at least one of the following: whether the highest signal strength of the cell measured by the first terminal is less than the first threshold, and the highest signal strength of the cell measured by the first terminal.
The method according to claim 43, wherein the signal strength includes at least one of the following: reference signal received power RSRP, reference signal received quality RSRQ, signal to interference plus noise ratio SINR.
The device according to any one of claims 42 to 44, characterized in that the first information is used to assist in selecting an anchor terminal for performing lateral positioning.
The device according to claim 45, characterized in that if the first information satisfies at least one of the following conditions, the first terminal is selected as the anchor terminal or the priority for positioning is Lower or not select the first terminal as the anchor terminal:

The first information indicates that the first terminal is not synchronized to GNSS;

The first information indicates that the first terminal cannot synchronize clocks with other terminals;

The first information indicates that the first terminal is not connected to the cellular communication system, and/or the first information indicates that the first terminal does not have the ability to receive high-precision synchronization information;

The first information indicates that the highest signal strength of the cell measured by the first terminal is less than a first threshold.
The device according to claim 45 or 46, characterized in that if the first information satisfies at least one of the following conditions, the first terminal is selected as the anchor terminal or the priority for positioning. level is raised, or the first terminal is selected as the anchor terminal:

The first information indicates that the first terminal has been synchronized to GNSS;

The first information indicates that the first terminal is clock synchronized with other terminals;

The first information indicates that the first terminal is connected to a cellular communication system, and/or the first information indicates that the first terminal has the ability to receive high-precision synchronization information;

The first information indicates that the highest signal strength of the cell measured by the first terminal is not less than a first threshold.
The device according to any one of claims 42 to 47, characterized in that the first information is used to assist in selecting a positioning device for performing lateral positioning.
The device according to claim 48, characterized in that if the first information satisfies at least one of the following conditions, then the time difference of arrival TDOA positioning device is not used or other positioning devices are given priority:

The first information indicates that the first terminal is not synchronized to GNSS;

The first information indicates that the first terminal cannot synchronize clocks with other terminals;

The first information indicates that the first terminal is not connected to the cellular communication system, and/or the first information indicates that the first terminal does not have the ability to receive high-precision synchronization information;

The first information indicates that the highest signal strength of the cell measured by the first terminal is less than a first threshold.
The device according to any one of claims 42 to 49, characterized in that,

The second receiving module is configured to receive second information. The second information includes selection criteria and/or priority ranking of anchor terminals. The selection criteria are used to indicate the selection of terminals that meet clock synchronization conditions as the Anchor terminal, the priority ranking is used to indicate the priority ranking method based on the clock synchronization status of the terminal.
The device according to any one of claims 42 to 50, characterized in that the device further includes:

The second sending module is configured to send third information, where the third information includes clock synchronization type information of candidate terminals, and the candidate terminals include the first terminal.
The device according to any one of claims 42 to 51, wherein the core network element includes at least one of the following: a location management function LMF network element and an access and mobility management function AMF network element.
The device according to any one of claims 42 to 52, wherein the second receiving module is configured to receive dedicated signaling sent by the first terminal, the dedicated signaling carrying the first information;

Or, the second receiving module is configured to receive the first information broadcast by the first terminal.
The device according to any one of claims 42 to 53, wherein the first information indicates that the first terminal has the ability to receive high-precision sub-information;

The second receiving module is used to receive confirmation information sent by the first terminal. The confirmation information is used to confirm that the first terminal has received high-precision clock information reference time information.
The device according to any one of claims 42 to 54, characterized in that the second receiving module is configured to receive denial information sent by the first terminal, and the denial information is used to indicate to the first terminal High-precision clock information reference time information was not received.
The device of claim 55, further comprising:

A selection module configured to not select the first terminal to perform lateral positioning when the denial information is received;

Or, a selection module configured to select a positioning device other than the time difference of arrival TDOA when the denial information is received.
A terminal device, characterized in that the terminal device includes a transceiver;

The transceiver is configured to send first information, and the first information is used to determine the clock synchronization status of the first terminal.
A communication device, characterized in that the communication device includes a transceiver;

The transceiver is configured to receive first information sent by a first terminal, where the first information is used to determine a clock synchronization situation of the first terminal.
A computer-readable storage medium, characterized in that a computer program is stored in the storage medium, and the computer program is used to be executed by a processor to implement lateral positioning as described in any one of claims 1 to 13 method, or the lateral positioning method according to any one of claims 14 to 28.
A chip, characterized in that the chip includes programmable logic circuits and/or program instructions, and when the chip is run, it is used to implement the lateral positioning method as described in any one of claims 1 to 13, or The lateral positioning method according to any one of claims 14 to 28.
A computer program product or computer program, characterized in that the computer program product or computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium, and a processor reads from the computer-readable storage medium and execute the computer instructions to implement the lateral positioning method as described in any one of claims 1 to 13, or the lateral positioning method as described in any one of claims 14 to 28.