WO2023206364A1

WO2023206364A1 - Wireless communication method and terminal device

Info

Publication number: WO2023206364A1
Application number: PCT/CN2022/090280
Authority: WO
Inventors: 张世昌; 马腾
Original assignee: Oppo广东移动通信有限公司
Priority date: 2022-04-29
Filing date: 2022-04-29
Publication date: 2023-11-02

Abstract

A wireless communication method and a terminal device, which facilitate the accurate positioning of a terminal device. The method comprises: a first terminal sending a first sidelink positioning reference signal, wherein a measurement result of a second terminal for the first sidelink positioning reference signal is used for positioning the second terminal.

Description

Wireless communication method and terminal equipment

Technical field

The embodiments of the present application relate to the field of communications, and specifically relate to a wireless communication method and terminal equipment.

Background technique

In some scenarios, in New Radio (NR), terminal equipment can be positioned based on the downlink reference signal of network equipment. However, in out-of-coverage communication scenarios or sidelink communication systems, How to locate the terminal device is a problem that needs to be solved.

Contents of the invention

This application provides a wireless communication method and terminal equipment, which is beneficial to realizing the positioning of the terminal equipment.

In a first aspect, a wireless communication method is provided, including: a first terminal sending a first sidelink positioning reference signal, wherein the measurement result of the first sidelink positioning reference signal by the second terminal is used for the third Second terminal positioning.

In a second aspect, a wireless communication method is provided, including: a second terminal receiving a side-link positioning reference signal sent by at least one terminal device, and measuring the received side-link positioning reference signal, where the side-link positioning reference signal The measurement results are used for positioning the second terminal.

A third aspect provides a terminal device for executing the method in the above first aspect or its respective implementations.

Specifically, the terminal device includes a functional module for executing the method in the above-mentioned first aspect or its respective implementations.

A fourth aspect provides a network device for performing the method in the above second aspect or its respective implementations.

Specifically, the network device includes a functional module for executing the method in the above second aspect or its respective implementations.

In the fifth aspect, a terminal device is provided, including a processor and a memory. The memory is used to store computer programs, and the processor is used to call and run the computer programs stored in the memory to execute the method in the above first aspect or its implementations.

A sixth aspect provides a network device, including a processor and a memory. The memory is used to store computer programs, and the processor is used to call and run the computer programs stored in the memory, and execute the method in the above second aspect or its respective implementations.

A seventh aspect provides a chip for implementing any one of the above-mentioned first to second aspects or the method in each implementation manner thereof.

Specifically, the chip includes: a processor, configured to call and run a computer program from a memory, so that the device installed with the device executes any one of the above-mentioned first to second aspects or implementations thereof. method.

An eighth aspect provides a computer-readable storage medium for storing a computer program, the computer program causing the computer to execute any one of the above-mentioned first to second aspects or the method in each implementation thereof.

In a ninth aspect, a computer program product is provided, including computer program instructions, which cause a computer to execute any one of the above-mentioned first to second aspects or the method in each implementation thereof.

A tenth aspect provides a computer program that, when run on a computer, causes the computer to execute any one of the above-mentioned first to second aspects or the method in each implementation thereof.

Through the above technical solution, one terminal device can position the terminal device using the sideline positioning reference signal sent by another terminal device, which is beneficial to positioning the terminal device in an out-of-coverage scenario or a sideline communication system.

Description of the drawings

Figure 1 is a schematic diagram of a communication system architecture applied in an embodiment of the present application.

FIG. 2 is a schematic diagram of another communication system architecture applied in the embodiment of the present application.

Figure 3 is a schematic diagram of intra-network communication provided by this application.

Figure 4 is a schematic diagram of partial network coverage sidelink communication provided by this application.

Figure 5 is a schematic diagram of a network coverage outer row communication provided by this application.

Figure 6 is a schematic diagram of side communication with a central control node provided by this application.

Figure 7 is a schematic diagram of a unicast side-link communication provided by this application.

Figure 8 is a schematic diagram of a multicast side communication provided by this application.

Figure 9 is a schematic diagram of a broadcast side communication provided by this application.

Figure 10 is a schematic diagram of a time slot structure in NR-V2X provided by this application.

Figure 11 is a schematic diagram of another time slot structure in NR-V2X provided by this application.

Figure 12 is a schematic diagram of the time domain positions of four DMRS symbols when the number of PSSCH symbols provided by this application is 13.

Figure 13 is a schematic diagram of a DMRS port pattern provided by this application.

Figure 14 is a schematic interaction diagram of a wireless communication method provided by an embodiment of the present application.

Figure 15 is a schematic diagram of the frequency domain pattern occupied by SL-PRS resources provided by the embodiment of the present application.

Figure 16 is a schematic diagram of an example of SL-PRS resources provided by the embodiment of the present application.

Figure 17 is a schematic diagram of a reference point terminal assisting a target terminal in positioning provided by an embodiment of the present application.

Figure 18 is a schematic diagram of a sending method of positioning assistance information provided by an embodiment of the present application.

Figure 19 is a schematic diagram of carrying positioning assistance information through SCI and PSSCH provided by an embodiment of the present application.

Figure 20 is a schematic diagram of another example of SL-PRS resources provided by this embodiment of the present application.

Figure 21 is a schematic diagram of a second resource set provided by an embodiment of the present application.

Figure 22 is a schematic block diagram of a terminal device provided according to an embodiment of the present application.

Figure 23 is a schematic block diagram of another terminal device provided according to an embodiment of the present application.

Figure 24 is a schematic block diagram of a communication device provided according to an embodiment of the present application.

Figure 25 is a schematic block diagram of a chip provided according to an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, but not all of the embodiments. Regarding the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

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, Advanced long term evolution (LTE-A) system , New Radio (NR) system, evolution system of NR system, LTE (LTE-based access to unlicensed spectrum, LTE-U) system on unlicensed spectrum, NR (NR-based access to unlicensed spectrum) unlicensed spectrum (NR-U) system, Non-Terrestrial Networks (NTN) system, Universal Mobile Telecommunication System (UMTS), Wireless Local Area Networks (WLAN), wireless fidelity (Wireless Fidelity, WiFi), fifth-generation communication (5th-Generation, 5G) system or other communication systems, etc.

Generally speaking, traditional communication systems support a limited number of connections and are easy to implement. However, with the development of communication technology, mobile communication systems will not only support traditional communication, but also support, for example, Device to Device, D2D) communication, Machine to Machine (M2M) communication, Machine Type Communication (MTC), Vehicle to Vehicle (V2V) communication, or Vehicle to everything (V2X) communication, etc. , the embodiments of the present application can also be applied to these communication systems.

Optionally, the communication system in the embodiment of the present application can be applied to a carrier aggregation (Carrier Aggregation, CA) scenario, a dual connectivity (Dual Connectivity, DC) scenario, or a standalone (Standalone, SA) deployment scenario. Internet scene.

Optionally, the communication system in the embodiment of the present application can be applied to the unlicensed spectrum, where the unlicensed spectrum can also be considered as a shared spectrum; or the communication system in the embodiment of the present application can also be applied to the licensed spectrum, where, Licensed spectrum can also be considered as unshared spectrum.

The embodiments of this application describe various embodiments in combination with network equipment and terminal equipment. The terminal equipment may also be called user equipment (User Equipment, UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication equipment, user agent or user device, etc.

The terminal device can be a station (STATION, ST) in the WLAN, a cellular phone, a cordless phone, a Session Initiation Protocol (Session Initiation Protocol, SIP) phone, a wireless local loop (Wireless Local Loop, WLL) station, or a personal digital assistant. (Personal Digital Assistant, PDA) devices, handheld devices with wireless communication capabilities, computing devices or other processing devices connected to wireless modems, vehicle-mounted devices, wearable devices, next-generation communication systems such as terminal devices in NR networks, or in the future Terminal equipment in the evolved Public Land Mobile Network (PLMN) network, etc.

In the embodiment of this application, the terminal device can be deployed on land, including indoor or outdoor, handheld, wearable or vehicle-mounted; it can also be deployed on water (such as ships, etc.); it can also be deployed in the air (such as aircraft, balloons and satellites). superior).

In the embodiment of this application, the terminal device may be a mobile phone (Mobile Phone), a tablet computer (Pad), a computer with a wireless transceiver function, a virtual reality (Virtual Reality, VR) terminal device, or an augmented reality (Augmented Reality, AR) terminal. Equipment, wireless terminal equipment in industrial control, wireless terminal equipment in self-driving, wireless terminal equipment in remote medical, wireless terminal equipment in smart grid , wireless terminal equipment in transportation safety, wireless terminal equipment in smart city, or wireless terminal equipment in smart home, etc.

As an example and not a limitation, in this embodiment of the present application, the terminal device may also be a wearable device. Wearable devices can also be called wearable smart devices. It is a general term for applying wearable technology to intelligently design daily wear and develop wearable devices, such as glasses, gloves, watches, clothing and shoes, etc. A wearable device is a portable device that is worn directly on the body or integrated into the user's clothing or accessories. Wearable devices are not just hardware devices, but also achieve powerful functions through software support, data interaction, and cloud interaction. Broadly defined wearable smart devices include full-featured, large-sized devices that can achieve complete or partial functions without relying on smartphones, such as smart watches or smart glasses, and those that only focus on a certain type of application function and need to cooperate with other devices such as smartphones. Use, such as various types of smart bracelets, smart jewelry, etc. for physical sign monitoring.

In the embodiment of this application, the network device may be a device used to communicate with mobile devices. The network device may be an access point (Access Point, AP) in WLAN, or a base station (Base Transceiver Station, BTS) in GSM or CDMA. , or it can be a base station (NodeB, NB) in WCDMA, or an evolutionary base station (Evolutional Node B, eNB or eNodeB) in LTE, or a relay station or access point, or a vehicle-mounted device, a wearable device, and an NR network network equipment or base station (gNB) or network equipment in the future evolved PLMN network or network equipment in the NTN network, etc.

As an example and not a limitation, in the embodiment of the present application, the network device may have mobile characteristics, for example, the network device may be a mobile device. Optionally, the network device can be a satellite or balloon station. For example, the satellite can be a low earth orbit (LEO) satellite, a medium earth orbit (MEO) satellite, a geosynchronous orbit (geostationary earth orbit, GEO) satellite, a high elliptical orbit (High Elliptical Orbit, HEO) satellite ) satellite, etc. Optionally, the network device may also be a base station installed on land, water, etc.

In this embodiment of the present application, network equipment can provide services for a cell, and terminal equipment communicates with the network equipment through transmission resources (for example, frequency domain resources, or spectrum resources) used by the cell. The cell can be a network equipment ( For example, the cell corresponding to the base station), the cell can belong to the macro base station, or it can belong to the base station corresponding to the small cell (Small cell). The small cell here can include: urban cell (Metro cell), micro cell (Micro cell), pico cell ( Pico cell), femto cell (Femto cell), etc. These small cells have the characteristics of small coverage and low transmission power, and are suitable for providing high-rate data transmission services.

It should be understood that the terms "system" and "network" are often used interchangeably herein. The term "and/or" in this article is just an association relationship that describes related objects, indicating that three relationships can exist. For example, A and/or B can mean: A exists alone, A and B exist simultaneously, and they exist alone. B these three situations. In addition, the character "/" in this article generally indicates that the related objects are an "or" relationship.

The terms used in the embodiments of the present application are only used to explain specific embodiments of the present application and are not intended to limit the present application. The terms “first”, “second”, “third” and “fourth” in the description, claims and drawings of this application are used to distinguish different objects, rather than to describe a specific sequence. . Furthermore, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion.

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.

In the embodiment of this application, "predefinition" or "preconfiguration" can be achieved by pre-saving corresponding codes, tables or other methods that can be used to indicate relevant information in devices (for example, including terminal devices and network devices). The application does not limit its specific implementation method. For example, predefined can refer to what is defined in the protocol.

In the embodiment of this application, the "protocol" may refer to a standard protocol in the communication field, which may include, for example, LTE protocol, NR protocol, and related protocols applied in future communication systems. This application does not limit this.

In order to facilitate understanding of the technical solutions of the embodiments of the present application, the technical solutions of the present application are described in detail below through specific embodiments. The following related technologies can be arbitrarily combined with the technical solutions of the embodiments of the present application as optional solutions, and they all fall within the protection scope of the embodiments of the present application. The embodiments of this application include at least part of the following contents.

Figure 1 is a schematic diagram of a communication system applicable to the embodiment of the present application. The transmission resources of the vehicle-mounted terminals (for example, the vehicle-mounted terminal 121 and the vehicle-mounted terminal 122) are allocated by the base station 110, and the vehicle-mounted terminals transmit data on the sidelink according to the resources allocated by the base station 110. Specifically, the base station 110 may allocate resources for a single transmission to the terminal, or may allocate resources for semi-static transmission to the terminal.

Figure 2 is a schematic diagram of another communication system applicable to the embodiment of the present application. The vehicle-mounted terminal (for example, the vehicle-mounted terminal 131 and the vehicle-mounted terminal 132) autonomously selects transmission resources on the resources of the side link for data transmission. Optionally, the vehicle-mounted terminal can select transmission resources randomly or select transmission resources through listening.

It should be noted that in side-link communication, according to the network coverage of the communicating terminal, it can be divided into side-link communication with network coverage, as shown in Figure 3; side-link communication with partial network coverage, as shown in Figure 4 ; and network coverage outer row communication, as shown in Figure 5.

Figure 3: In side-link communication within network coverage, all terminals performing side-link communication are within the coverage of the base station. Therefore, the above-mentioned terminals can perform side-link communication based on the same side-link configuration by receiving configuration signaling from the base station. .

Figure 4: When part of the network covers side-link communication, some terminals performing side-link communication are located within the coverage of the base station. These terminals can receive the configuration signaling of the base station and perform side-link communication according to the configuration of the base station. The terminal located outside the network coverage cannot receive the configuration signaling of the base station. In this case, the terminal outside the network coverage will use the pre-configuration information and the physical signal sent by the terminal located within the network coverage. The information carried in the Physical Sidelink Broadcast Channel (PSBCH) determines the sidelink configuration and performs sidelink communication.

Figure 5: For side-link communication outside network coverage, all terminals performing side-link communication are located outside the network coverage, and all terminals determine the side-link configuration based on pre-configuration information for side-link communication.

Figure 6: For side-line communication with a central control node, multiple terminals form a communication group. The communication group has a central control node, which can also be called the cluster head terminal (Cluster Header, CH). The central control node has the following One of the functions: Responsible for the establishment of communication groups; joining and leaving group members; coordinating resources, allocating sideline transmission resources to other terminals, receiving sideline feedback information from other terminals; coordinating resources with other communication groups, etc.

It should be noted that device-to-device communication is a Sidelink (SL) transmission technology based on Device to Device (D2D), which is different from the traditional cellular system in which communication data is received or sent through the base station. The methods are different. The Internet of Vehicles system uses end-to-end direct communication, so it has higher spectrum efficiency and lower transmission delay. There are two transmission modes defined in 3GPP, which are recorded as: first mode (sidelink resource allocation mode 1) and second mode (sidelink resource allocation mode 2).

First mode: The transmission resources of the terminal are allocated by the base station, and the terminal transmits data on the sidelink according to the resources allocated by the base station; the base station can allocate resources for a single transmission to the terminal, or can allocate semi-static transmission to the terminal. H. As shown in Figure 3, the terminal is located within the network coverage, and the network allocates transmission resources for sidelink transmission to the terminal.

Second mode: The terminal selects a resource in the resource pool for data transmission. As shown in Figure 5, the terminal is located outside the cell coverage, and the terminal independently selects transmission resources from the preconfigured resource pool for sideline transmission; or, as shown in Figure 3, the terminal independently selects transmission resources from the network configured resource pool. Perform lateral transmission.

Resource selection in the second mode is carried out in the following two steps:

Step 1: The terminal uses all available resources in the resource selection window as resource set A.

If the terminal sends data in certain time slots within the listening window without listening, all resources in the corresponding time slots within the selection window will be excluded. The terminal uses the value set of the "resource reservation period" field in the resource pool configuration used to determine the corresponding time slot in the selection window.

If the terminal listens to the Physical Sidelink Control Channel (PSCCH) within the listening window, measure the Reference Signal Receiving Power (RSRP) of the PSCCH or the physical sidelink shared channel scheduled by the PSCCH (Physical Sidelink Shared Channel, PSSCH) RSRP, if the measured RSRP is greater than the sidelink RSPR (SL-RSRP) threshold, and the reserved resources are determined based on the resource reservation information in the sidelink control information transmitted in the PSCCH. Within the resource selection window, the corresponding resource is excluded from set A. If the remaining resources in resource set A are less than X% of all resources in resource set A before resource exclusion, raise the SL-RSRP threshold by 3dB and perform step 1 again. The possible values of the above X are {20, 35, 50}, and the terminal determines the parameter X from the value set according to the priority of the data to be sent. At the same time, the above-mentioned SL-RSRP threshold is related to the priority carried in the PSCCH heard by the terminal and the priority of the data to be sent by the terminal. The terminal uses the remaining resources after resource exclusion in set A as a candidate resource set.

Step 2: The terminal randomly selects several resources from the candidate resource set as its sending resources for initial transmission and retransmission.

In New Radio-Vehicle to Everything (NR-V2X), autonomous driving is supported, which puts forward higher requirements for data interaction between vehicles, such as higher throughput, lower latency, higher reliability, larger coverage, more flexible resource allocation, etc.

In LTE-V2X, broadcast transmission is supported, and in NR-V2X, unicast and multicast transmission are introduced. For unicast transmission, there is only one receiving terminal. As shown in Figure 7, unicast transmission is performed between UE1 and UE2; for multicast transmission, the receiving terminal is all terminals in a communication group, or in a certain All terminals within the transmission distance, as shown in Figure 8, UE1, UE2, UE3 and UE4 form a communication group, in which UE1 sends data, and other terminal devices in the group are receiving terminals; for broadcast transmission methods, their receiving terminals The terminal is any terminal around the sending terminal. As shown in Figure 9, UE1 is the sending terminal, and the other terminals around it, UE2-UE6, are all receiving terminals.

In order to facilitate a better understanding of the embodiments of the present application, the time slot structure in the NR-V2X system related to the present application will be described.

In NR-V2X, PSSCH and its associated PSCCH are transmitted in the same time slot, and PSCCH occupies 2 or 3 orthogonal frequency-division multiplexing (OFDM) symbols. The time domain resource allocation of NR-V2X uses time slot as the allocation granularity. Configure the starting point and length of OFDM symbols used for sideline transmission in a time slot through the parameters sideline start symbol (sl-startSLsymbols) and sideline symbol length (sl-lengthSLsymbols). The last OFDM symbol in this part of the symbol is As a guard interval (Guard Period, GP), PSSCH and PSCCH can only use the remaining OFDM symbols. However, if the transmission resources of the physical sidelink feedback channel (PSFCH) are configured in a time slot, PSSCH and PSCCH cannot Occupies the OFDM symbol used for PSFCH transmission, as well as the automatic gain control (Auto gain control, AGC) and GP symbols before the OFDM symbol.

As shown in Figure 10, the network configuration is sl-StartSymbol=3, sl-LengthSymbols=11, that is, 11 OFDM symbols starting from symbol index 3 in a time slot can be used for sideline transmission, and there are PSFCH transmission resources in this time slot. The PSFCH occupies OFDM symbol 11 and OFDM symbol 12, of which OFDM symbol 11 is used as the AGC symbol of PSFCH,

OFDM symbols

10 and 13 are used as GP respectively. The OFDM symbols that can be used for PSSCH transmission are symbols 3 to 9, and PSCCH occupies 3 OFDM symbols. Symbols, namely

symbols

3, 4, 5, symbol 3 is usually used as the AGC symbol.

In NR-V2X, in addition to PSCCH and PSSCH, there may also be PSFCH in a sidelink time slot, as shown in Figure 11. It can be seen that within a time slot, the first OFDM symbol is fixed for AGC. On the AGC symbol, the UE copies the information sent on the second OFDM symbol. There is one OFDM symbol left at the end of the time slot for transceiver conversion, which is used for the UE to transition from the transmit (or receive) state to the receive (or transmit) state. Among the remaining OFDM symbols, PSCCH can occupy two or three OFDM symbols starting from the second OFDM symbol. In the frequency domain, the number of physical resource blocks (PRBs) occupied by PSCCH is within one PSSCH. Within the subband range, if the number of PRBs occupied by PSCCH is less than the size of one subchannel of PSSCH, or the frequency domain resource of PSSCH includes multiple subchannels, PSCCH can be frequency division multiplexed with PSSCH on the OFDM symbol where PSCCH is located. .

The Demodulation Reference Signal (DMRS) of PSSCH in NR-V2X draws on the design of the Uu interface of the NR system and uses multiple time domain PSSCH DMRS patterns. In a resource pool, the number of DMRS patterns that can be used is related to the number of PSSCH symbols in the resource pool. For a specific number of PSSCH symbols (including the first AGC symbol) and the number of PSCCH symbols, the available DMRS patterns and each The positions of DMRS symbols are shown in Table 1. Figure 12 shows a schematic diagram of the time domain positions of 4 DMRS symbols when the number of PSSCH symbols is 13.

Table 1

If multiple time-domain DMRS patterns are configured in the resource pool, the specific time-domain DMRS pattern used can be selected by the sending UE and indicated in the first-level sidelink control information (Sidelink Control Information, SCI). Such a design allows high-speed moving UEs to select high-density DMRS patterns to ensure the accuracy of channel estimation, while for low-speed moving UEs, low-density DMRS patterns can be used to improve spectral efficiency.

The generation method of PSSCH DMRS sequence is almost the same as that of PSCCH DMRS sequence. The only difference lies in the initialization formula c _init of pseudo-random sequence c(m),

p _i is the i-th CRC of the PSCCH that schedules the PSSCH, and L=24 is the number of bits of the PSCCH CRC.

In the NR system, PDSCH and PUSCH support two frequency domain DMRS patterns, namely DMRS frequency domain type 1 and DMRS frequency domain type 2, and for each frequency domain type, there are two different types of single DMRS symbols and dual DMRS symbols. type. Single-symbol DMRS frequency domain type 1 supports 4 DMRS ports, single-symbol DMRS frequency domain type 2 can support 6 DMRS ports, and in the case of dual DMRS symbols, the number of supported ports doubles. However, in NR-V2X, since PSSCH only needs to support up to two DMRS ports, only single-symbol DMRS frequency domain type 1 is supported, as shown in Figure 13.

In some scenarios, within network coverage, the terminal device can measure the downlink positioning reference signals (PRS) sent by the network device to obtain signal measurement results, such as the downlink relative signal time difference (downlink relative signal time difference). , DL RSTD), further, the positioning server can perform positioning based on the measurement results.

However, in out-of-coverage scenarios or sideline communication scenarios, how to perform accurate positioning is an urgent problem that needs to be solved.

In order to facilitate understanding of the technical solutions of the embodiments of the present application, the technical solutions of the present application are described in detail below through specific embodiments. The above related technologies can be arbitrarily combined with the technical solutions of the embodiments of the present application as optional solutions, and they all fall within the protection scope of the embodiments of the present application. The embodiments of this application include at least part of the following contents.

Figure 14 is a schematic interaction diagram of a wireless communication method 200 according to an embodiment of the present application. As shown in Figure 14, the method 200 includes at least part of the following content:

S210, the first terminal sends the first sidelink positioning reference signal (Sidelink Positioning Reference Signals, SL-PRS);

S220: The second terminal measures the first side row positioning reference signal, and the measurement result of the first side row positioning reference signal is used for positioning of the second terminal.

In some embodiments, the first terminal may refer to a sidelink positioning reference signal that may be used to assist the positioning of the second terminal, may send a sidelink positioning reference signal on a sidelink or a sidelink communication frequency band, or may be sent to the second terminal. The terminal on which the signal measurement is performed.

In some embodiments, the first terminal is also called a reference terminal, a reference point terminal, and an anchor point terminal.

It should be understood that the method 200 in the embodiment of the present application can be used for the absolute positioning of the second terminal, that is, for determining the absolute position information of the second terminal, or it can also be used for the relative positioning of the second terminal, that is, for determining the second terminal. Relative position information between the second terminal and the first terminal.

For example, the second terminal can determine the relative position, relative distance, relative angle and other information between the first terminal and the second terminal based on the measurement result of the first side row positioning reference signal.

For another example, the second terminal may determine the absolute position information of the first terminal based on the measurement result of the first sideline positioning reference signal combined with the position information of the first terminal.

It should be understood that in this embodiment of the present application, the second terminal can determine the positioning result of the second terminal by itself, which is called terminal-based absolute positioning. Alternatively, the second terminal can also report the measurement results of the first sideline positioning reference signal to the positioning server, such as the location management function (LMF), and the positioning server calculates the absolute position of the second terminal and notifies the second terminal. Terminal, called terminal-assisted absolute positioning.

In some embodiments, the first terminal may send the first SL-PRS periodically.

In this embodiment of the present application, the resources used to send SL-PRS are also called SL-PRS resources.

In some embodiments, the resources used by the first terminal to send the first SL-PRS are periodic resources.

Optionally, in each cycle, there may be one resource used to send the first SL-PRS, or there may be multiple resources.

In other words, in each cycle, the resources used to send the first SL-PRS may not be repeated, or may be repeated multiple times. That is to say, in each cycle, the first SL-PRS can be sent once, or the first SL-PRS can be sent repeatedly multiple times.

For example, if the period of the resources used to send the first SL-PRS is 100ms, and the resources used to send the first SL-PRS are repeated once within 100ms, and the repetition interval is 10ms, then the resources used to send the first SL-PRS are Resources will appear in

time slots

0, 10, 100, 110, 200, 210... and other time slots.

In some embodiments, the frequency domain pattern of the first SL-PRS sent by the first terminal is related to the number of OFDM symbols occupied by the first terminal sending the first SL-PRS, wherein the frequency domain pattern of the first SL-PRS The pattern is used to indicate the resource unit (Resource Element, RE) pattern occupied by the first SL-PRS in a resource block (Resource Block, RB).

For example, if the resource occupied by the first terminal sending the first SL-PRS contains 4 OFDM symbols, the frequency domain interval of the first SL-PRS sent by the first terminal is 3 REs (i.e. Comb 3), as shown in Figure 15 As shown in (a) in 2), as shown in (b) in Figure 15.

In some embodiments, the first SL-PRS is sent on the first resource, where the first resource is configured by the network device or independently selected by the first terminal.

In some embodiments, the first resource is a periodic SL-PRS resource.

In some embodiments, the first resource is a resource in the first resource pool.

In some embodiments, the first resource pool is one of the following:

A sideline communication resource pool for resource selection in the first mode;

A resource pool dedicated to transmitting sidelink positioning reference signals, or a separately configured resource pool;

Sidelink communication resource pool for resource selection in the second mode.

That is, the resource pool used for SL-PRS transmission may be a sidelink communication resource pool used for resource selection in the first mode, or it may be a dedicated resource pool used for transmitting SL-PRS, or it may be used. Side communication resource pool for resource selection in the second mode.

In some embodiments, the first resource pool may be network device configured, or preconfigured.

In some embodiments, the first resource may be configured by the network device or preconfigured.

In some embodiments, when the network device allocates SL-PRS resources to the first terminal, the network device may allocate resources in the sidelink communication resource pool used for resource selection in the first mode to the first terminal, or, Resources in a dedicated resource pool used to send SL-PRS.

In some embodiments, in the case where the first terminal self-selects the SL-PRS resource, the first terminal may self-select the resource in the sideline communication resource pool used for resource selection in the second mode, or, in the case where the first terminal selects the resource for sending SL-PRS's dedicated resource pool selects its own resources.

In some embodiments, resources used by different terminal devices to transmit SL-PRS are different in at least one of the time domain, frequency domain and code domain. That is, the resources used by different terminal devices to send SL-PRS may be time-division multiplexing (TDM) and/or frequency-division multiplexing (FDM) and/or code-division multiplexing (code-division). multiplexing, CDM).

For example, SL-PRS sent by different terminal devices occupy different OFDM symbols within a time slot, or occupy different time slots.

In some embodiments, the SL-PRS sent by each terminal device occupies at least 2 OFDM symbols in a time slot, or in other words, each SL-PRS resource occupies at least 2 OFDM symbols.

In some embodiments, if the first terminal sends the first SL-PRS occupying r OFDM symbols in a time slot, then the first OFDM symbol and the second OFDM symbol among the r OFDM symbols send the same SL-PRS, and the first terminal does not receive the SL-PRS sent by other terminals in the one time slot and the last OFDM symbol among the r OFDM symbols is not the last one in the one time slot. In the case of OFDM symbols, the first terminal sends the first SL-PRS on the last OFDM symbol among r OFDM symbols, where r is a positive integer.

For example, the first terminal sends the first SL-PRS occupying the i-th, i+1,..., i+r-1 OFDM symbols in a time slot, and the SL sent on the i-th and i+1 OFDM symbols - The PRS can be the same, thereby preventing the receiving terminal from being unable to receive the SL-PRS sent on the i-th OFDM symbol due to AGC adjustment on the OFDM symbol, because the first terminal does not need to receive the SL-PRS sent by other terminals in the time slot. , so the first terminal can also send SL-PRS on the i+r-1th OFDM symbol, i represents the index of the OFDM symbol, r represents the number of OFDM symbols occupied by the first terminal sending SL-PRS, i+ r-1<=12.

In some embodiments, the first terminal sends the SL-PRS on one SL-PRS resource among the preconfigured plurality of SL-RS resources.

In other embodiments, the first terminal may determine the time slot position for sending the first SL-PRS according to the scheduling information of the network device, as well as the position and number of OFDM symbols occupied in the time slot. That is, the network device can dynamically indicate the time slot position, OFDM symbol position and number occupied by the first terminal each time the first terminal is scheduled to send the SL-PRS.

As shown in Figure 16, assume that one time slot in the first resource pool contains 14 OFDM symbols, where the first SL-PRS resource includes OFDM symbols #0~#3, and the second SL-PRS resource includes OFDM symbols # 4 to #6, the third SL-PRS resource includes OFDM symbols #7 to #9, and the fourth SL-PRS resource includes OFDM symbols #10 to #12, which are different SL-PRS resources configured or preconfigured by the network device. PRS resource, OFDM symbol #13 is used for transceiver conversion (GP). When sending SL-PRS, the terminal device can select one of the above four SL-PRS resources to send SL-PRS. Alternatively, the SL-PRS may also be sent according to the SL-PRS resource dynamically indicated by the network device.

In some embodiments, the sidelink bandwidth part (Band Width Part, BWP) used by the first terminal to send the first SL-PRS resource may be the same as the SL BWP used for sidelink communication, or may be different.

For example, if the first terminal needs to send and receive SL-PRS and also needs to send and receive side-link data, in order to avoid the additional delay caused by the terminal switching side-link BWP, the first terminal can be configured or pre-configured for SL -The SL BWP sent by the PRS is the same as the SL BWP used for sidelink communication.

Hereinafter, the positioning method of the second terminal will be described with reference to Embodiment 1 and Embodiment 2.

Example 1:

In this Embodiment 1, the second terminal can learn in advance the resource location where the first terminal sends the SL-PRS.

In this embodiment 1, the first terminal can be considered as a reference point terminal, which is used for positioning of the second terminal, such as absolute positioning.

In some embodiments, the resource location of the SL-PRS sent by the first terminal may be notified by the first terminal to the second terminal, or may be notified by the network device to the second terminal.

In some embodiments, the second terminal may be positioned based on a set of reference point terminals.

In some embodiments, the resources used by the reference point terminal to send SL-PRS may be allocated by the network device.

In some embodiments, the reference point terminal may send resource information for sending SL-PRS to the second terminal. Further, the second terminal may detect the SL-PRS based on the resource information and perform processing on the received SL-PRS. Measure to obtain a measurement result, which can be used for positioning the second terminal.

For example, as shown in Figure 17, the base station can allocate resources for sending SL-PRS to multiple reference point terminals respectively. Further, the reference point terminal can send SL-PRS based on the resources allocated by the base station, so that the target terminal (for example, the first Second terminal) realizes the positioning of the target terminal.

In some embodiments of the present application, the method 200 further includes:

S201. The first terminal sends positioning assistance information to the second terminal, where the positioning assistance information is used for assisted positioning of the second terminal.

In some embodiments, the positioning assistance information is used to determine the sending method of the first SL-PRS, for example, used to send resource information of the first SL-PRS, for example, including time domain resource information and/or frequency Domain resource information.

In some embodiments, the positioning assistance information may also include other information used to determine the location of the second terminal.

In some embodiments, the positioning assistance information includes at least one of the following:

The transmission period of the first SL-PRS;

In each cycle, the time domain position information occupied by the first SL-PRS;

The bandwidth information of the first SL-PRS;

The frequency domain location information of the first SL-PRS;

The location information of the first terminal;

Timing information of the first terminal, such as timing time difference information.

In some embodiments, in each cycle, the time domain location information occupied by the first SL-PRS may include:

The time slot occupied by the first SL-PRS in each cycle and the OFDM symbols occupied in each time slot.

In some embodiments, the frequency domain location information of the first SL-PRS may include: a frequency domain pattern of the first SL-PRS.

In some embodiments, the second terminal can be jointly positioned through multiple terminal devices, where the multiple terminal devices include the first terminal. That is, the plurality of terminal devices may form a reference terminal group, and each terminal device in the plurality of terminal devices may be considered as a reference terminal.

In some embodiments, the resources used by the multiple terminal devices to send SL-PRS may form a first resource set. The first resource set is used to allocate resources to the multiple terminal devices and coordinate the SL-PRS of the multiple terminal devices. is sent to facilitate precise positioning of the second terminal.

In some embodiments, the first resource set may be used to indicate resources used by the multiple terminal devices to send SL-PRS, timing relationships of the multiple terminal devices, such as timing time differences and other information.

In some embodiments, the resources in the first resource set are all periodic resources, and the periods of the multiple resources are the same.

In some embodiments, the first resource set includes a plurality of resources for the plurality of terminal devices to send SL-PRS, wherein the plurality of terminal devices transmit SL-PRS on the plurality of resources. The sent SL-PRS is used for positioning of the second terminal.

For example, the four SL-PRS resources in Figure 16 may form the first resource set, and the four SL-PRS resources are repeated according to the same cycle. The four terminal devices using the first resource set can sequentially send SL-PRS in the order of the four SL-PRS resources. Correspondingly, the second terminal can sequentially detect the SL-PRS on the four SL-PRS resources and Perform measurement on the received SL-PRS and obtain the measurement result.

In some embodiments, the first resource set is configured by a network device, or is preconfigured.

For example, the network device may indicate the first resource set to each reference terminal in the reference terminal group through downlink signaling.

That is, each terminal device among the plurality of terminal devices can learn the resource information of other reference terminals in the reference terminal group.

In some embodiments, at least one reference terminal in the reference terminal group sends positioning assistance information to the second terminal.

Method 1: Each reference terminal in the reference terminal group sends positioning assistance information to the second terminal. The positioning assistance information is used to instruct itself to send resource information of SL-PRS and other information used to determine the location of the second terminal. For example, the reference terminal's location information, timing information, etc. For example, the positioning assistance information sent by the first terminal may be used to instruct the first terminal to send resource information of SL-PRS and other information used to determine the location of the second terminal.

Method 2: One reference terminal (for example, the first terminal) in the reference terminal group sends positioning assistance information to the second terminal. The positioning assistance information is used to instruct all reference terminals to send SL-PRS resource information and to determine the second terminal. Other information about the location, such as the location information of all reference terminals, timing information, etc.

In some embodiments, positioning assistance information is sent periodically.

In some embodiments, the transmission period of the positioning assistance information is an integer multiple of the transmission period of the first SL-PRS.

For example, the transmission period of the positioning assistance information may be the same as the transmission period of the first SL-PRS, or may be the transmission period of multiple SL-PRSs.

In some embodiments, the positioning assistance information is sent in a time slot no later than the time slot in which the first terminal sends the first SL-PRS, so that the second terminal can decode the positioning assistance information and receive the SL-PRS.

In some embodiments, the positioning assistance information is sent in the Nth time slot before the time slot in which the first SL-PRS is located within the SL-PRS transmission cycle, where N is a positive integer.

For example, as shown in Figure 18, when the transmission period of positioning assistance information and the transmission period of SL-PRS are both P, the positioning assistance information can be before the time slot of the first SL-PRS in an SL-PRS transmission period. is sent in the Nth time slot.

As an example, when the SL-PRS is sent in time slot n, the positioning assistance information may be sent in time slot n-N, or when the SL-PRS is sent in time slot n+P, the positioning assistance information may be sent in time slot n+P-N. , or, when sending SL-PRS in time slot n+2P, positioning assistance information can be sent in time slot n+2P-N.

In some embodiments, the N is predefined, or configured by the network device, or preconfigured.

In some embodiments, the positioning assistance information is carried through PSCCH and/or PSSCH.

For example, the positioning assistance information is carried through SCI and PSSCH in PSCCH.

Optionally, when the resource used to send SL-PRS is independently selected by the first terminal, the positioning assistance information may be carried through the SCI and PSSCH in the PSCCH.

In some embodiments, the reserved resources in the current cycle indicated by the SCI are resources used to send the first SL-PRS.

For example, the frequency domain resource allocation (Frequency resource assignment) field of the SCI is used to indicate the bandwidth information and/or frequency domain pattern information of the first SL-PRS.

As another example, the time resource assignment (Time resource assignment) field of SCI is used to indicate the time slot position occupied by the first SL-PRS within a transmission cycle.

For another example, the reservation period (Resource reservation period) field of the SCI is used to indicate the transmission period information of the first SL-PRS.

In some embodiments, the PSSCH is used to carry other information in the positioning assistance information except the transmission mode of the first SL-PRS, such as location information of the first terminal, timing information, etc.

In some embodiments, the SCI includes a first information field, and the first information field is set to a first value to indicate that the SCI is used to carry positioning assistance information. Optionally, the first information field may be a reserved field or a reserved bit. For example, one reserved bit of the SCI is set to 1.

Figure 19 shows an example of how positioning assistance information is carried. In this example, the SCI indicates the PSSCH resource in the current timeslot. The PSSCH resource is used to carry the positioning assistance information except for the transmission of the first SL-PRS. In addition, the SCI has reserved two time slots in the current cycle, which are used to send the first SL-PRS. In addition, the SCI has also reserved 3 time slots in the next cycle. The resources in each time slot are used to send positioning assistance information or SL-PRS in the next cycle.

Example 2:

In this Embodiment 2, the second terminal cannot learn in advance the resource location where the first terminal sends the SL-PRS.

In this embodiment 2, the first terminal and the second terminal can perform relative positioning based on the sideline positioning reference signal sent by the other party.

In some embodiments, the first terminal sends the first SL-PRS on the first resource.

In some embodiments, the first resource is configured by the network device or independently selected by the first terminal.

In some embodiments, where the first resource is a network device configuration, the resource pool used for SL-PRS transmission may be a sidelink communication resource pool used for resource selection in the first mode, or a resource pool dedicated to transmission. SL-PRS resource pool.

In other embodiments, when the first resource is independently selected by the first terminal, the resource pool used for SL-PRS transmission may be a resource pool dedicated to transmitting SL-PRS.

In some embodiments, in the case where the first terminal can autonomously select resources for transmitting SL-PRS, the first terminal can randomly select resources for transmitting in a resource pool for SL-PRS transmission.

In some embodiments, the sequence identification ID of the first SL-PRS is related to at least one of the following:

The type of the first terminal, the source ID of the first terminal, and the service type of the first terminal.

For example, the sequence ID of the first SL-PRS is determined by the type of the first terminal and the source ID of the first terminal.

Since the second terminal does not know the resource location where the first terminal sends the SL-PRS, in some embodiments, the first terminal may send indication information before sending the SL-PRS to indicate that the indication information is sent in the time slot. The signal is SL-PRS.

In some embodiments, the indication information may be a first sequence.

In some embodiments, the first sequence is predefined, network device configured, or preconfigured

In some embodiments, the first sequence may be an SL-PRS sequence with a sequence ID of X.

In some embodiments, the value of X may be predefined, network device configured, or preconfigured, for example, X=0.

In some embodiments, if the resources used by the first terminal to send SL-PRS (i.e., the first resource) include the #0th and #1th OFDM symbols in a time slot, then the first terminal transmits the SL-PRS in the #0th OFDM symbol. and the first sequence is sent on the #1th OFDM symbol. The first sequence is used to indicate to the receiving terminal that the signal sent in this time slot is SL-PRS.

For example, as shown in Figure 20, if one time slot of the resource pool used for SL-PRS transmission contains 14 OFDM symbols, the first SL-PRS resource includes OFDM symbols #0~#5, and the second SL -PRS resources include OFDM symbols #6~#9, and the third SL-PRS resource includes OFDM symbols #10~#13, which are different SL-PRS resources configured or preconfigured by the network device, and the terminal needs to receive SL- PRS. Then, for the terminal that uses OFDM symbols #0~#5 to send SL-PRS, it needs to send the first sequence on OFDM symbol #0 and OFDM symbol #1, without sending any information on OFDM symbol #5, and on other OFDM symbols. Send SL-PRS. For a terminal that uses OFDM symbols #10 to #13 to send SL-PRS, no information is sent in OFDM symbol #13.

In some embodiments, the frequency domain pattern of the SL-PRS sent by the first terminal may be related to the number and position of OFDM symbols occupied by the SL-PRS resource. For example, if the first terminal occupies OFDM symbols #0~#5 to send SL-PRS, sends the first sequence in OFDM symbol #0 and OFDM symbol #1, and does not send any information in the last OFDM symbol, the first terminal #2~4 send SL-PRS of Comb 3 pattern.

In some embodiments, multiple terminal devices can perform relative positioning. For example, the multiple terminal devices can perform relative positioning by sending SL-PRS. For example, the first terminal and the second terminal may perform relative positioning by sending SL-PRS.

In some embodiments, the resources used by the plurality of terminal devices to send SL-PRS constitute a second resource set, wherein the second resource set includes multiple SL-PRS resources, and wherein Resources are used for the multiple terminal devices to send SL-PRS in turn.

In some embodiments, there is a fixed time interval between adjacent SL-PRS resources in the second resource set, such as the first time interval.

In some embodiments, the first time interval is predefined, configured by the network device, or preconfigured.

In some embodiments, the second resource set is configured by the network device, or preconfigured.

In some embodiments, the second resource set may be periodic resources, or may be dynamically configured by the network device.

In some embodiments, each terminal device among the plurality of terminal devices may learn resources used by other terminal devices to send SL-PRS.

For example, if a terminal device of multiple terminal devices receives the SL-PRS sent by other terminal devices on the i-th SL-PRS resource in a second resource set, the terminal device needs to use the i-th SL-PRS resource in the second resource set. When sending SL-PRS on the i+1 SL-PRS resource, the terminal device uses the starting point of the SL-PRS received on the i-th SL-PRS resource when sending SL-PRS on the i+1-th SL-PRS resource. Or the end point is the reference point to determine the start time of the i+1th SL-PRS resource.

Figure 21 is a second resource set composed of three SL-PRS resources with an interval of 1ms. It is assumed that the second terminal detects the SL-PRS sent by the first terminal in the first SL-PRS resource, and based on the detected SL -The start sending time of PRS is t0, then the second terminal should start sending SL-PRS after t0+1ms. Similarly, assuming that the first terminal detects the SL-PRS sent by the second terminal in the second SL-PRS resource, and the detected start sending time of the SL-PRS is t1, then the first terminal needs to send the SL-PRS at t1+1ms. Then start sending SL-PRS. Based on the above method, after the first terminal detects the SL-PRS sent by the second terminal, it can determine the round trip time (RTT) between the first terminal and the second terminal, and determine the round trip time between the first terminal and the second terminal. Relative distance: After the second terminal detects the SL-PRS sent by the first terminal on the third SL-PRS resource, it can also determine the relative distance between the second terminal and the first terminal through the same method.

In some embodiments, the method 200 further includes:

The first terminal receives the second SL-PRS sent by the second terminal, wherein there is a third SL-PRS resource between the first terminal sending the first SL-PRS and the second terminal sending the second SL-PRS resource. a time interval.

In some embodiments, the first SL-PRS is sent on a first resource, the second SL-PRS is sent on a second resource, and the first resource and the second resource are in the second resource set. Adjacent resources, wherein the second SL-PRS is sent after the first SL-PRS, and the second terminal sends the second SL-PRS on the second resource at a start time of the second terminal The start time or end time of receiving the first SL-PRS on the first resource is used as a reference.

In summary, in this embodiment of the present application, a terminal can perform positioning through the SL-PRS sent by other terminals.

For example, the first terminal may determine the absolute position of the first terminal based on the SL-PRS sent by the second terminal and the location information of the second terminal in the positioning assistance information. For another example, the first terminal may determine the relative position between the first terminal and the second terminal according to the SL-PRS sent by the second terminal.

In some embodiments, different terminals may occupy different OFDM symbols in the same time slot to transmit SL-PRS, the time slot used for SL-PRS transmission and the number of OFDM symbols contained in each SL-PRS resource in the time slot and locations can be configured by the network device or preconfigured.

In some embodiments, the terminal may determine the frequency domain pattern of the SL-PRS according to the number of OFDM symbols included in the SL-PRS resource.

In some embodiments, if the SL-PRS sending mode is indicated by positioning assistance information, the positioning assistance information may be sent before the first SL-PRS according to the SL-PRS sending cycle.

In some embodiments, when SL-PRS is sent alone (that is, no positioning assistance information is sent), the resources occupied by multiple SL-PRS can form an SL-PRS resource group, and adjacent SL-PRS resources in the SL-PRS resource group There is a specific time interval between PRS resources for different terminals to send SL-PRS. Through the above method, effective multiplexing of SL-PRS between different terminals can be achieved, and the absolute positioning and relative positioning of the terminals can be achieved with less complexity.

The method embodiments of the present application are described in detail above with reference to Figures 14 to 21. The device embodiments of the present application are described in detail below with reference to Figures 22 to 25. It should be understood that the device embodiments and the method embodiments correspond to each other, and are similar to The description may refer to the method embodiments.

Figure 22 shows a schematic block diagram of the first terminal 400 according to an embodiment of the present application. As shown in Figure 22, the first terminal 400 includes:

The communication unit 410 is configured to send a first sideline positioning reference signal, where the measurement result of the first sideline positioning reference signal by the second terminal is used for positioning of the second terminal.

In some embodiments, the resources used by the first terminal to send the first sidelink positioning reference signal are periodic resources.

In some embodiments, the frequency domain pattern in which the first terminal sends the first sideline positioning reference signal is orthogonal frequency division multiplexing with the frequency domain pattern in which the first terminal sends the first sideline positioning reference signal. The number of OFDM symbols is related, and the frequency domain pattern of the first side row positioning reference signal is used to indicate the resource unit RE pattern occupied by the first side row positioning reference signal in one resource block RB.

In some embodiments, the first sidelink positioning reference signal is sent on a first resource, where the first resource is configured by a network device or independently selected by the first terminal.

In some embodiments, the first resource is a resource in a first resource pool.

In some embodiments, the first resource pool is one of the following:

A sidelink communication resource pool used for resource selection in the first mode, wherein in the resource selection of the first mode, the sidelink transmission resources of the terminal device are allocated by the network device;

A resource pool dedicated to transmitting sidelink positioning reference signals;

A sidelink communication resource pool used for resource selection in the second mode, wherein in the resource selection of the second mode, sidelink transmission resources of the terminal device are selected by the terminal device.

In some embodiments, the resources used by different terminal devices to transmit sidelink positioning reference signals are different in at least one of the time domain, the frequency domain and the code domain.

In some embodiments, sidelink positioning reference signals sent by different terminal devices occupy different OFDM symbols within a time slot, or occupy different time slots.

In some embodiments, if the first terminal sends a first sideline positioning reference signal occupying r OFDM symbols in a time slot, then the first OFDM symbol and the second OFDM symbol among the r OFDM symbols symbols transmit the same sidelink positioning reference signal, and the first terminal does not receive sidelink positioning reference signals sent by other terminals in the one time slot and the last OFDM symbol among the r OFDM symbols is not the In the case of the last OFDM symbol in a time slot, the first terminal sends the first side row positioning reference signal on the last OFDM symbol among r OFDM symbols, where r is a positive integer.

In some embodiments, the communication unit 410 is further configured to: send positioning assistance information to the second terminal, where the positioning assistance information is used to determine the sending method and/or the sideline positioning reference signal of the first terminal. or the location information of the second terminal.

The transmission period of the first side row positioning reference signal;

In each cycle, the time domain position information occupied by the first side row positioning reference signal;

The frequency domain position information of the first side row positioning reference signal;

The location information of the first terminal;

Timing information of the first terminal.

In some embodiments, the first sidelink positioning reference signal is sent on a first resource, the first resource belongs to a first resource set, the first resource set includes a plurality of resources, and the plurality of The resource is used for multiple terminal devices to send sidelink positioning reference signals, wherein the multiple terminal devices include the first terminal, and the sidelink positioning reference signals sent by the multiple terminal devices on the multiple resources are used. positioning of the second terminal.

In some embodiments, the communication unit 410 is further configured to send positioning assistance information corresponding to other terminal devices among the plurality of terminal devices to the second terminal.

In some embodiments, the positioning assistance information is sent periodically.

In some embodiments, the transmission period of the positioning assistance information is an integer multiple of the transmission period of the first sideline positioning reference signal.

In some embodiments, the positioning assistance information is sent in a time slot no later than a time slot in which the first terminal sends the first first sidelink positioning reference signal.

In some embodiments, the positioning assistance information is sent in the Nth time slot before the time slot in which the first first sideline positioning reference signal is located within the transmission period of the first sideline positioning reference signal, wherein, N is a positive integer.

In some embodiments, the positioning assistance information is carried through the physical sidelink control channel PSCCH and/or the physical sidelink shared channel PSSCH.

In some embodiments, the positioning assistance information is carried through sidelink control information SCI and PSSCH in PSCCH.

In some embodiments, the reserved resources in the current cycle indicated by the SCI are resources used to send the first sidelink positioning reference signal.

In some embodiments, the frequency domain resource allocation domain of the SCI is used to indicate bandwidth information of the first sidelink positioning reference signal; and/or

The time domain resource allocation field of the SCI is used to indicate the time slot position occupied by the first sidelink positioning reference signal within a transmission cycle; and/or

The reservation period indication field of the SCI is used to indicate the transmission period information of the first side row positioning reference signal.

In some embodiments, the PSSCH is used to carry other information in the positioning assistance information except the sending method of the first sidelink positioning reference signal.

In some embodiments, the SCI includes a first information field, and the first information field is set to a first value to indicate that the SCI is used to carry positioning assistance information.

In some embodiments, when the first resource is autonomously selected by the first terminal, the sequence identification ID of the first sideline positioning reference signal is related to at least one of the following:

In some embodiments, if the first resource includes a first OFDM symbol and a second OFDM symbol in a time slot, the first terminal transmits on the first OFDM symbol and the second OFDM symbol. The first sequence is used to indicate to the receiving end terminal that the signal sent in the one time slot is a sidelink positioning reference signal.

In some embodiments, the first sequence is predefined, network device configured, or preconfigured.

In some embodiments, the first sequence is a sidelink positioning reference signal sequence with a sequence ID of X, and the value of X is predefined, configured by the network device, or preconfigured.

In some embodiments, the communication unit 410 is further configured to: receive a second sidelink positioning reference signal sent by a second terminal, wherein the first terminal sends resources of the first sidelink positioning reference signal and the third sidelink positioning reference signal. There is a first time interval between the resources used by the two terminals to send the second sidelink positioning reference signal.

In some embodiments, the resource used by the first terminal to send the first sidelink positioning reference signal is the first resource, and the resource used by the second terminal to send the second sidelink positioning reference signal is the second resource, wherein, the The first resource and the second resource belong to a second resource set, wherein the second resource set includes a plurality of resources, and the plurality of resources are used in sequence for the first terminal and the second terminal to alternately transmit sideline positioning reference signals, so There is a fixed time interval between adjacent resources in the plurality of resources.

In some embodiments, the first resource and the second resource are adjacent resources, and the start time of the second terminal sending the second sidelink positioning reference signal on the second resource is based on the The start time or end time when the second terminal receives the first sidelink positioning reference signal on the first resource is used as a reference.

In some embodiments, the second resource set is configured by the network device, or preconfigured. Optionally, in some embodiments, the above-mentioned communication unit may be a communication interface or transceiver, or an input/output interface of a communication chip or a system on a chip. The above-mentioned processing unit may be one or more processors.

It should be understood that the first terminal 400 according to the embodiment of the present application may correspond to the first terminal in the method embodiment of the present application, and the above and other operations and/or functions of each unit in the first terminal 400 are respectively to implement Figure 14 The corresponding process of the first terminal in the method 200 shown in 21 is not repeated here for the sake of brevity.

Figure 23 is a schematic block diagram of a second terminal according to an embodiment of the present application. The second terminal 500 of Figure 22 includes:

The communication unit 510 is configured to receive a side positioning reference signal sent by at least one terminal device, and measure the received side positioning reference signal. The measurement result of the side positioning reference signal is used for positioning of the second terminal. .

In some embodiments, the resources used by the terminal device to send sidelink positioning reference signals are periodic resources.

In some embodiments, the frequency domain pattern of the side-link positioning reference signal sent by the terminal equipment is related to the number of orthogonal frequency division multiplexing OFDM symbols occupied by the side-link positioning reference signal sent by the terminal equipment, wherein, The frequency domain pattern of the sidelink positioning reference signal is used to indicate the resource unit RE pattern occupied by the sidelink positioning reference signal in one resource block RB.

In some embodiments, the resources used by the terminal device to send side-link positioning reference signals are configured by the network device, or are independently selected by the terminal device.

In some embodiments, the resources used by the terminal device to send sidelink positioning reference signals are resources in the first resource pool.

In some embodiments, the first resource pool is one of the following:

In some embodiments, if the terminal device sends a side-link positioning reference signal occupying r OFDM symbols in a time slot, the first OFDM symbol and the second OFDM symbol among the r OFDM symbols are sent the same side-link positioning reference signal, and the terminal device does not receive side-link positioning reference signals sent by other terminals in the one time slot and the last OFDM symbol among the r OFDM symbols is not the one time slot. In the case of the last OFDM symbol within r OFDM symbols, the terminal device sends the side row positioning reference signal on the last OFDM symbol among r OFDM symbols, where r is a positive integer.

In some embodiments, the communication unit 510 is also used to:

Receive positioning assistance information sent by at least one terminal device, where the positioning assistance information is used to determine the sending method of the sideline positioning reference signal of the at least one terminal device and/or the location information of the at least one terminal device.

The transmission period of the sidelink positioning reference signal;

In each cycle, the time domain position information occupied by the sidelink positioning reference signal;

The frequency domain position information of the side row positioning reference signal;

The location information of the terminal device;

Timing information of the terminal device.

In some embodiments, the at least one terminal device includes multiple terminal devices, and the resources used by the multiple terminal devices to send sideline positioning reference signals belong to a first resource set, and the first resource set includes a plurality of resources. , the plurality of resources are used for the plurality of terminal devices to send sideline positioning reference signals, and the sideline positioning reference signals sent by the plurality of terminal devices on the plurality of resources are used for positioning of the second terminal. .

In some embodiments, the communication unit 510 is also used to:

Receive positioning assistance information sent by each terminal device in the plurality of terminal devices, where the positioning assistance information is used to determine the sending method of the sideline positioning reference signal of the terminal device and/or the location information of the terminal device ;or

Receive positioning assistance information sent by a second terminal among the plurality of terminal devices, where the positioning assistance information is used to determine the sending method and/or of the sideline positioning reference signal of each terminal device in the plurality of terminal devices. Location information of each terminal device in the plurality of terminal devices.

In some embodiments, the transmission period of the positioning assistance information is an integer multiple of the transmission period of the sidelink positioning reference signal.

In some embodiments, the positioning assistance information is sent in a time slot no later than a time slot in which the terminal device sends the first sidelink positioning reference signal.

In some embodiments, the positioning assistance information is sent in the Nth time slot before the time slot in which the first sidelink positioning reference signal is located within the transmission period of the sidelink positioning reference signal, where N is a positive integer. .

In some embodiments, the reserved resources in the current period indicated by the SCI are resources used to send the sidelink positioning reference signal.

In some embodiments, the frequency domain resource allocation domain of the SCI is used to indicate bandwidth information of the sidelink positioning reference signal; and/or

The time domain resource allocation field of the SCI is used to indicate the time slot position occupied by the sidelink positioning reference signal within a transmission cycle; and/or

The reservation period indication field of the SCI is used to indicate the transmission period information of the sidelink positioning reference signal;

In some embodiments, the PSSCH is used to carry other information in the positioning assistance information except the transmission method of the sidelink positioning reference signal.

In some embodiments, when the resource used by the terminal device to send the sidelink positioning reference signal is independently selected by the terminal device, the sequence identification ID of the sidelink positioning reference signal is the same as at least one of the following: Related:

The type of the terminal device, the source ID of the terminal device, and the service type of the terminal device.

In some embodiments, if the resource used by the terminal device to transmit the sidelink positioning reference signal includes a first OFDM symbol and a second OFDM symbol in a time slot, the terminal device uses the first OFDM symbol in the first OFDM symbol. and transmitting a first sequence on the second OFDM symbol, where the first sequence is used to indicate to the receiving end terminal that the signal sent in the one time slot is a sidelink positioning reference signal.

In some embodiments, the communication unit 510 is further configured to: send a sidelink positioning reference signal, wherein the second terminal sends a resource of the sidelink positioning reference signal and the at least one terminal device sends a sidelink positioning reference signal. resources with a specific time interval between them.

In some embodiments, the specific time interval is predefined, configured by the network device, or preconfigured

In some embodiments, the at least one terminal device includes a first terminal, the resource for the first terminal to send a sidelink positioning reference signal is a first resource, and the resource for the second terminal to send a sidelink positioning reference signal is a third resource. Two resources, wherein the first resource and the second resource belong to a second resource set, wherein the second resource set includes multiple resources, and the multiple resources are used in sequence for the first terminal and the third resource. The two terminals alternately send sidelink positioning reference signals, and there is a fixed time interval between adjacent resources in the multiple resources.

In some embodiments, the first resource and the second resource are adjacent resources, and the start time of the second terminal sending the sidelink positioning reference signal on the second resource is with the second terminal. The start time or end time of receiving the sidelink positioning reference signal on the first resource is used as a reference.

Optionally, in some embodiments, the above-mentioned communication unit may be a communication interface or transceiver, or an input/output interface of a communication chip or a system on a chip. The above-mentioned processing unit may be one or more processors.

It should be understood that the second terminal 500 according to the embodiment of the present application may correspond to the second terminal in the method embodiment of the present application, and the above and other operations and/or functions of each unit in the second terminal 500 are respectively to implement Figure 14 The corresponding process of the second terminal in the method 200 shown in 21 is not repeated here for the sake of brevity.

Figure 24 is a schematic structural diagram of a communication device 600 provided by an embodiment of the present application. The communication device 600 shown in Figure 24 includes a processor 610. The processor 610 can call and run a computer program from the memory to implement the method in the embodiment of the present application.

Optionally, as shown in Figure 24, the communication device 600 may further include a memory 620. The processor 610 can call and run the computer program from the memory 620 to implement the method in the embodiment of the present application.

The memory 620 may be a separate device independent of the processor 610 , or may be integrated into the processor 610 .

Optionally, as shown in Figure 24, the communication device 600 may also include a transceiver 630, and the processor 610 may control the transceiver 630 to communicate with other devices. Specifically, it may send information or data to other devices, or receive other devices. Information or data sent by the device.

Among them, the transceiver 630 may include a transmitter and a receiver. The transceiver 630 may further include an antenna, and the number of antennas may be one or more.

Optionally, the communication device 600 may specifically be a network device according to the embodiment of the present application, and the communication device 600 may implement the corresponding processes implemented by the network device in the various methods of the embodiment of the present application. For the sake of brevity, details will not be repeated here. .

Optionally, the communication device 600 can be specifically the first terminal in the embodiment of the present application, and the communication device 600 can implement the corresponding processes implemented by the first terminal in the various methods of the embodiment of the present application. For the sake of brevity, they are not mentioned here. Again.

Optionally, the communication device 600 may specifically be the second terminal in the embodiment of the present application, and the communication device 600 may implement the corresponding processes implemented by the second terminal in the various methods of the embodiment of the present application. For the sake of brevity, no details are provided here. Again.

Figure 25 is a schematic structural diagram of a chip according to an embodiment of the present application. The chip 700 shown in Figure 25 includes a processor 710. The processor 710 can call and run a computer program from the memory to implement the method in the embodiment of the present application.

Optionally, as shown in FIG. 25 , the chip 700 may also include a memory 720 . The processor 710 can call and run the computer program from the memory 720 to implement the method in the embodiment of the present application.

The memory 720 may be a separate device independent of the processor 710 , or may be integrated into the processor 710 .

Optionally, the chip 700 may also include an input interface 730. The processor 710 can control the input interface 730 to communicate with other devices or chips. Specifically, it can obtain information or data sent by other devices or chips.

Optionally, the chip 700 may also include an output interface 740. The processor 710 can control the output interface 740 to communicate with other devices or chips. Specifically, it can output information or data to other devices or chips.

Optionally, the chip can be applied to the network device in the embodiment of the present application, and the chip can implement the corresponding processes implemented by the network device in the various methods of the embodiment of the present application. For the sake of brevity, the details will not be described again.

Optionally, the chip can be applied to the first terminal in the embodiment of the present application, and the chip can implement the corresponding processes implemented by the first terminal in the various methods of the embodiment of the present application. For the sake of brevity, details will not be described here.

Optionally, the chip can be applied to the second terminal in the embodiment of the present application, and the chip can implement the corresponding processes implemented by the second terminal in the various methods of the embodiment of the present application. For the sake of brevity, details will not be described here.

It should be understood that the chips mentioned in the embodiments of this application may also be called system-on-chip, system-on-a-chip, system-on-chip or system-on-chip, etc.

It should be understood that the processor in the embodiment of the present application may be an integrated circuit chip and has signal processing capabilities. During the implementation process, each step of the above method embodiment can be completed through an integrated logic circuit of hardware in the processor or instructions in the form of software. The above-mentioned processor can be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), an off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA) or other available processors. Programmed logic devices, discrete gate or transistor logic devices, discrete hardware components. Each method, step and logical block diagram disclosed in the embodiment of this application can be implemented or executed. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

It can be understood that the memory in the embodiment of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically removable memory. Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory. Volatile memory may be Random Access Memory (RAM), which is used as an external cache. By way of illustration, but not limitation, many forms of RAM are available, such as static random access memory (Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (Synchlink DRAM, SLDRAM) ) and direct memory bus random access memory (Direct Rambus RAM, DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

It should be understood that the above memory is an exemplary but not restrictive description. For example, the memory in the embodiment of the present application can also be a static random access memory (static RAM, SRAM), a dynamic random access memory (dynamic RAM, DRAM), Synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous connection Dynamic random access memory (synch link DRAM, SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DR RAM) and so on. That is, memories in embodiments of the present application are intended to include, but are not limited to, these and any other suitable types of memories.

Embodiments of the present application also provide a computer-readable storage medium for storing computer programs.

Optionally, the computer-readable storage medium can be applied to the network device in the embodiment of the present application, and the computer program causes the computer to execute the corresponding processes implemented by the network device in the various methods of the embodiment of the present application. For the sake of simplicity, here No longer.

Optionally, the computer-readable storage medium can be applied to the terminal device in the embodiment of the present application, and the computer program causes the computer to execute the corresponding processes implemented by the terminal device in each method of the embodiment of the present application. For the sake of simplicity, here No longer.

An embodiment of the present application also provides a computer program product, including computer program instructions.

Optionally, the computer program product can be applied to the network device in the embodiment of the present application, and the computer program instructions cause the computer to execute the corresponding processes implemented by the network device in the various methods of the embodiment of the present application. For the sake of brevity, they are not included here. Again.

Optionally, the computer program product can be applied to the terminal device in the embodiment of the present application, and the computer program instructions cause the computer to execute the corresponding processes implemented by the terminal device in the various methods of the embodiment of the present application. For the sake of brevity, they are not mentioned here. Again.

An embodiment of the present application also provides a computer program.

Optionally, the computer program can be applied to the network device in the embodiment of the present application. When the computer program is run on the computer, it causes the computer to execute the corresponding processes implemented by the network device in each method of the embodiment of the present application. For the sake of simplicity , which will not be described in detail here.

Optionally, the computer program can be applied to the terminal device in the embodiment of the present application. When the computer program is run on the computer, it causes the computer to execute the corresponding processes implemented by the terminal device in the various methods of the embodiment of the present application. For the sake of simplicity , which will not be described in detail here.

Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each specific application, but such implementations should not be considered beyond the scope of this application.

Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be described again here.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit.

If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code. .

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application. should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

A method of wireless communication, characterized by including:

The first terminal sends a first sideline positioning reference signal, wherein the measurement result of the first sideline positioning reference signal by the second terminal is used for positioning of the second terminal.
The method according to claim 1, characterized in that the resources used by the first terminal to send the first sidelink positioning reference signal are periodic resources.
The method according to claim 1 or 2, characterized in that the first terminal sends a frequency domain pattern of the first side row positioning reference signal and the first terminal sends the first side row positioning reference signal. related to the number of occupied orthogonal frequency division multiplexing OFDM symbols, wherein the frequency domain pattern of the first side row positioning reference signal is used to indicate that the first side row positioning reference signal occupies a resource block RB. Resource unit RE pattern.
The method according to any one of claims 1-3, characterized in that the first sidelink positioning reference signal is sent on a first resource, wherein the first resource is configured by a network device, Or the first terminal selects independently.
The method of claim 4, wherein the first resource is a resource in a first resource pool.
The method according to claim 5, characterized in that the first resource pool is one of the following:

A sidelink communication resource pool used for resource selection in the first mode, wherein in the resource selection of the first mode, the sidelink transmission resources of the terminal device are allocated by the network device;

Resource pool dedicated to sidelink positioning reference signal transmission;

A sidelink communication resource pool used for resource selection in the second mode, wherein in the resource selection of the second mode, sidelink transmission resources of the terminal device are selected by the terminal device.
The method according to any one of claims 1 to 6, characterized in that the resources used by different terminal devices to send sidelink positioning reference signals are different in at least one domain among the time domain, frequency domain and code domain.
The method according to claim 7, characterized in that side-link positioning reference signals sent by different terminal devices occupy different OFDM symbols in one time slot, or occupy different time slots.
The method according to claim 7 or 8, characterized in that if the first terminal sends the first sidelink positioning reference signal occupying r OFDM symbols in one time slot, then among the r OFDM symbols The first OFDM symbol and the second OFDM symbol transmit the same sidelink positioning reference signal, and the first terminal does not receive sideline positioning reference signals sent by other terminals in the one time slot and the r If the last OFDM symbol among the r OFDM symbols is not the last OFDM symbol in the one time slot, the first terminal sends the first sideline positioning reference signal on the last OFDM symbol among the r OFDM symbols. , where r is a positive integer.
The method according to any one of claims 1-9, characterized in that the method further includes:

The first terminal sends positioning assistance information to the second terminal, and the positioning assistance information is used to determine a sending method of the sideline positioning reference signal of the first terminal and/or the location information of the second terminal.
The method according to claim 10, characterized in that the positioning assistance information includes at least one of the following:

The transmission period of the first side row positioning reference signal;

In each cycle, the time domain position information occupied by the first side row positioning reference signal;

The frequency domain position information of the first side row positioning reference signal;

The location information of the first terminal;

Timing information of the first terminal.
The method according to claim 10 or 11, characterized in that the first sidelink positioning reference signal is sent on a first resource, the first resource belongs to a first resource set, and the first resource set Comprises a plurality of resources, the plurality of resources are used for a plurality of terminal devices to transmit sideline positioning reference signals, wherein the plurality of terminal devices include the first terminal, and the plurality of terminal devices use the plurality of resources to transmit sideline positioning reference signals. The sidelink positioning reference signal sent on the mobile phone is used for positioning of the second terminal.
The method according to claim 12, characterized in that the first resource set is configured by a network device or pre-configured.
The method according to claim 12 or 13, characterized in that, the method further includes:

The first terminal sends positioning assistance information corresponding to other terminal devices among the plurality of terminal devices to the second terminal.
The method according to any one of claims 10-14, characterized in that the positioning assistance information is sent periodically.
The method according to claim 15, characterized in that the transmission period of the positioning assistance information is an integer multiple of the transmission period of the first sideline positioning reference signal.
The method according to any one of claims 10 to 16, characterized in that the sending time slot of the positioning assistance information is no later than the time slot in which the first terminal sends the first first sidelink positioning reference signal. .
The method according to claim 17, characterized in that the positioning assistance information is in the Nth time slot before the first first sideline positioning reference signal in the transmission period of the first sideline positioning reference signal. sent in time slots, where N is a positive integer.
The method according to claim 18, characterized in that N is predefined, or configured by the network device, or preconfigured.
The method according to any one of claims 10 to 19, characterized in that the positioning assistance information is carried through a physical sidelink control channel (PSCCH) and/or a physical sidelink shared channel (PSSCH).
The method according to claim 20, characterized in that the positioning assistance information is carried by sidelink control information SCI and PSSCH in PSCCH.
The method according to claim 21, characterized in that the reserved resources in the current cycle indicated by the SCI are resources used to send the first sidelink positioning reference signal.
The method according to claim 21 or 22, characterized in that the frequency domain resource allocation domain of the SCI is used to indicate bandwidth information of the first sidelink positioning reference signal; and/or

The time domain resource allocation field of the SCI is used to indicate the time slot position occupied by the first sidelink positioning reference signal within a transmission cycle; and/or

The reservation period indication field of the SCI is used to indicate the transmission period information of the first side row positioning reference signal.
The method according to any one of claims 21 to 23, characterized in that the PSSCH is used to carry other information in the positioning assistance information except the sending method of the first sidelink positioning reference signal.
The method according to any one of claims 21 to 24, characterized in that the SCI includes a first information field, and the first information field is set to a first value to indicate that the SCI is used to carry positioning Supplementary information.
The method according to any one of claims 1 to 8, characterized in that the first sidelink positioning reference signal is sent on a first resource, and the first resource is the first terminal autonomous If selected, the sequence identification ID of the first side row positioning reference signal is related to at least one of the following:

The type of the first terminal, the source ID of the first terminal, and the service type of the first terminal.
The method according to claim 26, characterized in that if the first resource includes a first OFDM symbol and a second OFDM symbol in a time slot, the first terminal The first sequence is sent on the second OFDM symbol, and the first sequence is used to indicate to the receiving terminal that the signal sent in the one time slot is a sidelink positioning reference signal.
The method of claim 27, wherein the first sequence is predefined, configured by a network device, or preconfigured.
The method according to claim 27 or 28, characterized in that the first sequence is a sideline positioning reference signal sequence with a sequence ID of X, and the value of X is predefined and configured by the network device, or Preconfigured.
The method according to any one of claims 1 to 9, characterized in that the method further includes: the first terminal receiving a second sideline positioning reference signal sent by the second terminal, wherein the first There is a first time interval between the resource used by the terminal to send the first sidelink positioning reference signal and the resource used by the second terminal to send the second sidelink positioning reference signal.
The method according to claim 30, characterized in that the first time interval is predefined, configured by a network device, or preconfigured.
The method according to claim 30 or 31, characterized in that the resource used by the first terminal to send the first sidelink positioning reference signal is a first resource, and the second terminal sends the second sidelink positioning reference signal. The resource of the reference signal is a second resource, wherein the first resource and the second resource belong to a second resource set, wherein the second resource set includes multiple resources, and the multiple resources are used for the The first terminal and the second terminal take turns sending side-link positioning reference signals.
The method of claim 32, wherein the first resource and the second resource are adjacent resources, and the second terminal sends the second sideline positioning on the second resource. The start time of the reference signal is based on the start time or end time when the second terminal receives the first sidelink positioning reference signal on the first resource.
The method according to claim 32 or 33, characterized in that the second resource set is configured by a network device or pre-configured.
A method of wireless communication, characterized by including:

The second terminal receives the side positioning reference signal sent by at least one terminal device, and measures the received side positioning reference signal. The measurement result of the side positioning reference signal is used for positioning of the second terminal.
The method according to claim 35, characterized in that the resources used by the terminal equipment to send sidelink positioning reference signals are periodic resources.
The method according to claim 35 or 36, characterized in that the frequency domain pattern of the side-link positioning reference signal sent by the terminal equipment is equal to the orthogonal frequency division multiplexing OFDM occupied by the side-link positioning reference signal sent by the terminal equipment. It is related to the number of symbols, where the frequency domain pattern of the sidelink positioning reference signal is used to indicate the resource unit RE pattern occupied by the sidelink positioning reference signal in one resource block RB.
The method according to any one of claims 35 to 37, characterized in that the resources used by the terminal device to send sideline positioning reference signals are configured by the network device or independently selected by the terminal device.
The method according to claim 38, characterized in that the resources used by the terminal device to send sidelink positioning reference signals are resources in the first resource pool.
The method according to claim 39, characterized in that the first resource pool is one of the following:

A sidelink communication resource pool used for resource selection in the first mode, wherein in the resource selection of the first mode, the sidelink transmission resources of the terminal device are allocated by the network device;

A resource pool dedicated to transmitting sidelink positioning reference signals;

A sidelink communication resource pool used for resource selection in the second mode, wherein in the resource selection of the second mode, sidelink transmission resources of the terminal device are selected by the terminal device.
The method according to any one of claims 35 to 40, characterized in that the resources used by different terminal devices to transmit sidelink positioning reference signals are different in at least one domain among time domain, frequency domain and code domain.
The method according to claim 41, characterized in that side-link positioning reference signals sent by different terminal devices occupy different OFDM symbols in one time slot, or occupy different time slots.
The method according to claim 41 or 42, characterized in that if the terminal equipment sends a side-link positioning reference signal occupying r OFDM symbols in a time slot, then the first OFDM symbol among the r OFDM symbols symbol and the second OFDM symbol transmit the same sidelink positioning reference signal, and the terminal device does not receive the sidelink positioning reference signal sent by other terminals in the one time slot and the last of the r OFDM symbols If one OFDM symbol is not the last OFDM symbol in one time slot, the terminal device sends a side row positioning reference signal on the last OFDM symbol among r OFDM symbols, where r is a positive integer.
The method according to any one of claims 35-43, characterized in that the method further includes:

The second terminal receives the positioning assistance information sent by the at least one terminal device. The positioning assistance information is used to determine the sending method of the sideline positioning reference signal of the at least one terminal device and/or the at least one terminal device. location information.
The method according to claim 44, characterized in that the positioning assistance information includes at least one of the following:

The transmission period of the sidelink positioning reference signal;

In each cycle, the time domain position information occupied by the sidelink positioning reference signal;

The frequency domain position information of the side row positioning reference signal;

The location information of the terminal device;

Timing information of the terminal device.
The method according to claim 44 or 45, characterized in that the at least one terminal device includes multiple terminal devices, and the resources used by the multiple terminal devices to send sideline positioning reference signals belong to the first resource set, so The first resource set includes a plurality of resources, the plurality of resources are used for the plurality of terminal devices to send sidelink positioning reference signals, and the plurality of terminal devices send sidelink positioning reference signals on the plurality of resources. Used for positioning the second terminal.
The method according to claim 46, characterized in that the first resource set is configured by a network device or pre-configured.
The method according to claim 46 or 47, characterized in that the second terminal receives positioning assistance information sent by at least one terminal device, including:

The second terminal receives positioning assistance information sent by each terminal device in the plurality of terminal devices, and the positioning assistance information is used to determine the sending method of the sideline positioning reference signal of the terminal device and/or the Location information of the terminal device; or

The second terminal receives positioning assistance information sent by the first terminal among the plurality of terminal devices, and the positioning assistance information is used to determine the sideline positioning reference signal of each terminal device among the plurality of terminal devices. sending method and/or location information of each terminal device in the plurality of terminal devices.
The method according to any one of claims 44 to 48, characterized in that the positioning assistance information is sent periodically.
The method according to claim 49, characterized in that the transmission period of the positioning assistance information is an integer multiple of the transmission period of the sidelink positioning reference signal.
The method according to any one of claims 44 to 50, characterized in that the sending time slot of the positioning assistance information is no later than the time slot in which the terminal device sends the first sidelink positioning reference signal.
The method according to claim 51, characterized in that the positioning assistance information is sent in the Nth time slot before the time slot in which the first sidelink positioning reference signal is located within the transmission period of the sidelink positioning reference signal. , where N is a positive integer.
The method according to claim 52, characterized in that N is predefined, or configured by the network device, or preconfigured.
The method according to any one of claims 44 to 53, characterized in that the positioning assistance information is carried through a physical sidelink control channel (PSCCH) and/or a physical sidelink shared channel (PSSCH).
The method according to claim 54, characterized in that the positioning assistance information is carried by sidelink control information SCI and PSSCH in PSCCH.
The method according to claim 55, characterized in that the reserved resources in the current cycle indicated by the SCI are resources used to send the sidelink positioning reference signal.
The method according to claim 56, characterized in that the frequency domain resource allocation domain of the SCI is used to indicate bandwidth information of the sidelink positioning reference signal; and/or

The time domain resource allocation field of the SCI is used to indicate the time slot position occupied by the sidelink positioning reference signal within a transmission cycle; and/or

The reservation period indication field of the SCI is used to indicate the transmission period information of the sidelink positioning reference signal;
The method according to any one of claims 55 to 57, characterized in that the PSSCH is used to carry other information in the positioning assistance information except the transmission method of the sidelink positioning reference signal.
The method according to any one of claims 55 to 58, characterized in that the SCI includes a first information field, and the first information field is set to a first value to indicate that the SCI is used to carry positioning Supplementary information.
The method according to any one of claims 35 to 42, characterized in that, in the case where the resource used by the terminal device to send a side-link positioning reference signal is independently selected by the terminal device, the side-link positioning The sequence identification ID of the reference signal is related to at least one of the following: the type of the terminal device, the source ID of the terminal device, and the service type of the terminal device.
The method according to claim 60, characterized in that if the resources used by the terminal equipment to transmit sideline positioning reference signals include the first OFDM symbol and the second OFDM symbol in a time slot, the terminal equipment A first sequence is sent on the first OFDM symbol and the second OFDM symbol, and the first sequence is used to indicate to the receiving end terminal that the signal sent in the one time slot is a sidelink positioning reference signal.
The method of claim 61, wherein the first sequence is predefined, configured by a network device, or preconfigured.
The method according to claim 61 or 62, characterized in that the first sequence is a sideline positioning reference signal sequence with a sequence ID of X, and the value of X is predefined and configured by the network device, or Preconfigured.
The method according to any one of claims 35-43, characterized in that the method further includes:

The second terminal sends a sidelink positioning reference signal, wherein there is a specific time interval between the resources used by the second terminal to send the sidelink positioning reference signal and the resources used by the at least one terminal device to send the sidelink positioning reference signal.
The method of claim 64, wherein the specific time interval is predefined, configured by a network device, or preconfigured.
The method according to claim 64 or 65, characterized in that the at least one terminal device includes a first terminal, the resource for the first terminal to send a sidelink positioning reference signal is a first resource, and the second terminal sends The resource of the sidelink positioning reference signal is a second resource, wherein the first resource and the second resource belong to a second resource set, wherein the second resource set includes a plurality of resources, and the plurality of resources are used for all The first terminal and the second terminal take turns sending sideline positioning reference signals.
The method according to claim 66, characterized in that the first resource and the second resource are adjacent resources, and the second terminal starts sending a sidelink positioning reference signal on the second resource. The time is based on the start time or end time when the second terminal receives the sidelink positioning reference signal on the first resource.
The method according to claim 66 or 67, characterized in that the second resource set is configured by a network device or pre-configured.
A terminal device, characterized in that it includes: a processor and a memory, the memory is used to store a computer program, the processor is used to call and run the computer program stored in the memory, and execute any of claims 1 to 34. method described in one item.
A terminal device, characterized in that it includes: a processor and a memory, the memory is used to store a computer program, the processor is used to call and run the computer program stored in the memory, and execute any of claims 35 to 68. method described in one item.
A chip, characterized in that it includes: a processor for calling and running a computer program from a memory, so that the device equipped with the chip executes the method as described in any one of claims 1 to 34, or as The method of any one of claims 35 to 68.
A computer-readable storage medium, characterized in that it is used to store a computer program, the computer program causing the computer to perform the method according to any one of claims 1 to 34, or any one of claims 35 to 68. method described in the item.
A computer program product, characterized by comprising computer program instructions, the computer program instructions causing the computer to perform the method as described in any one of claims 1 to 34, or as described in any one of claims 35 to 68 Methods.
A computer program, characterized in that the computer program causes the computer to perform the method according to any one of claims 1 to 34, or the method according to any one of claims 35 to 68.