WO2023207510A1 - 用于sidelink的定位方法、装置及可读存储介质 - Google Patents

用于sidelink的定位方法、装置及可读存储介质 Download PDF

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Publication number
WO2023207510A1
WO2023207510A1 PCT/CN2023/085365 CN2023085365W WO2023207510A1 WO 2023207510 A1 WO2023207510 A1 WO 2023207510A1 CN 2023085365 W CN2023085365 W CN 2023085365W WO 2023207510 A1 WO2023207510 A1 WO 2023207510A1
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Prior art keywords
positioning
information
reference signal
measurement
target
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PCT/CN2023/085365
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English (en)
French (fr)
Inventor
郑石磊
赵锐
赵丽
习一凡
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中信科智联科技有限公司
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Publication of WO2023207510A1 publication Critical patent/WO2023207510A1/zh

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Classifications

    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02Services making use of location information
    • H04W4/023Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00Arrangements affording multiple use of the transmission path
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00Arrangements affording multiple use of the transmission path
    • H04L5/003Arrangements for allocating sub-channels of the transmission path
    • H04L5/0048Allocation of pilot signals, i.e. of signals known to the receiver
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02Services making use of location information
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02Services making use of location information
    • H04W4/025Services making use of location information using location based information parameters
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W64/00Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • This application belongs to the field of communication technology, and specifically relates to a positioning method, device and readable storage medium for sidelink.
  • the base station sends a cell-specific downlink positioning reference signal (Positioning Reference Signal, PRS), and the terminal (User Equipment, UE) sends an uplink sounding reference signal (SRS) for positioning.
  • PRS Cell-specific downlink positioning reference signal
  • SRS uplink sounding reference signal
  • the terminal can measure the reference signal time difference (RSTD), or measure the reference signal receiving power (RSRP) of the downlink positioning reference signal (Downlink Positioning Reference Signal, DL PRS) , or measure the time difference between the terminal receiving the DL PRS and sending out the SRS;
  • the base station can measure the uplink reference signal arrival time (Relative Time of Arrival, RTOA), the RSRP of the SRS, the next generation base station (the next Generation Node B, gNB) reception The time difference between SRS and gNB sending DL PRS, as well as the angle measurement value, etc.
  • RTOA Real Time of Arrival
  • gNB next Generation Node B
  • Sidelink is different from New Radio (NR) Downlink and Uplink.
  • the main application scenarios include indoor, outdoor, tunnel areas, etc.
  • outdoor and tunnel area scenes also need to support positioning services with moving speeds up to 250km/h, etc. Therefore, the corresponding positioning measurement process between UEs needs to be redesigned to adapt to sidelink Positioning technology.
  • Embodiments of this application provide a positioning method, device and readable storage medium for sidelink, which can solve the problem of redesigning the corresponding positioning measurement process between UEs to adapt to sidelink Positioning technology.
  • the first aspect provides a positioning method for the sidelink of the direct link, including:
  • the first device sends first information to one or more second devices, where the first information includes positioning request signaling;
  • the first device sends a first positioning reference signal to the second device, or the first device receives a second positioning reference signal from the second device;
  • the first device obtains the positioning solution result of the first device based on the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or the first device obtains the positioning solution result from the first positioning reference signal.
  • the second device receives the positioning solution result of the first device.
  • the second aspect provides a positioning method for sidelink, including:
  • a second device receives first information from one or more first devices, the first information including positioning request signaling;
  • the second device receives a first positioning reference signal from the first device, or the second device sends a second positioning reference signal to the first device;
  • the first device obtains the positioning solution of the first device according to the measurement result of the second positioning reference signal, or the second device sends the first positioning reference to the first device.
  • the measurement result of the signal, or the second device obtains the positioning solution result of the first device according to the measurement result of the first positioning reference signal, and sends the positioning result of the first device to the first device. Positioning solution results.
  • the third aspect is to provide a positioning method for sidelink, including:
  • the first device sends first information to one or more second devices, where the first information includes positioning indication signaling;
  • the first device sends a first positioning reference signal to the second device, or the first device receives a second positioning reference signal from the second device;
  • the second device obtains the positioning solution result of the second device according to the measurement result of the first positioning reference signal, or the first device sends the second positioning reference to the second device.
  • the measurement result of the signal, or the first device obtains the positioning solution result of the second device based on the measurement result of the second positioning reference signal, and sends the positioning solution of the second device to the second device. Positioning solution results.
  • the fourth aspect is to provide a positioning method for sidelink, including:
  • a second device receives first information from one or more first devices, the first information including positioning indication signaling;
  • the second device receives a first positioning reference signal from the first device, or the second device sends a second positioning reference signal to the first device;
  • the second device obtains the positioning solution result of the second device based on the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or the second device obtains the positioning solution result from the second positioning reference signal.
  • the first device receives the positioning solution result of the second device.
  • a positioning device for sidelink including:
  • a first sending module configured for a first device to send first information to one or more second devices, where the first information includes positioning request signaling;
  • a first transceiver module configured for the first device to send a first positioning reference signal to the second device, or for the first device to receive a second positioning reference signal from the second device;
  • a first positioning module configured for the first device to obtain the positioning solution result of the first device based on the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or, The first device receives the positioning solution result of the first device from the second device.
  • the sixth aspect provides a positioning device for sidelink, including:
  • a first receiving module configured for the second device to receive first information from one or more first devices, where the first information includes positioning request signaling;
  • a second transceiver module configured for the second device to receive a first positioning reference signal from the first device, or for the second device to send a second positioning reference signal to the first device;
  • the second positioning module is used to obtain the positioning solution result of the first device according to the measurement result of the second positioning reference signal by the first device, or the second device sends a request to the first device.
  • the seventh aspect provides a positioning device for sidelink, including:
  • a second sending module configured for the first device to send first information to one or more second devices, where the first information includes positioning indication signaling;
  • a third transceiver module configured for the first device to send a first positioning reference signal to the second device, or for the first device to receive a second positioning reference signal from the second device;
  • the third positioning module is used to obtain the positioning solution result of the second device according to the measurement result of the first positioning reference signal by the second device, or the first device sends the positioning result to the second device.
  • An eighth aspect provides a positioning device for sidelink, including:
  • a second receiving module configured for the second device to receive first information from one or more first devices, where the first information includes positioning indication signaling;
  • a fourth transceiver module configured for the second device to receive a first positioning reference signal from the first device, or for the second device to send a second positioning reference signal to the first device;
  • the fourth positioning module is used for the second device to obtain the positioning solution result of the second device according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or, the The second device receives the positioning solution result of the second device from the first device.
  • a positioning device for sidelink including: memory, transceiver, and processor:
  • Memory used to store computer programs
  • transceiver used to send and receive data under the control of the processor
  • processor used to read the computer program in the memory and perform the following operations:
  • the first device sends first information to one or more second devices, where the first information includes positioning request signaling;
  • the first device sends a first positioning reference signal to the second device, or the first device receives a second positioning reference signal from the second device;
  • the first device obtains the positioning solution result of the first device based on the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or the first device obtains the positioning solution result from the first positioning reference signal.
  • the second device receives the positioning solution result of the first device.
  • a positioning device for sidelink including: memory, transceiver, and processor:
  • a second device receives first information from one or more first devices, the first information including positioning request signaling;
  • the second device receives a first positioning reference signal from the first device, or the second device sends a second positioning reference signal to the first device;
  • the first device obtains the positioning solution of the first device according to the measurement result of the second positioning reference signal, or the second device sends the first positioning reference to the first device.
  • the measurement result of the signal, or the second device obtains the positioning solution result of the first device according to the measurement result of the first positioning reference signal, and sends the positioning result of the first device to the first device. Positioning solution results.
  • a positioning device for sidelink including: memory, transceiver, and processor:
  • the first device sends first information to one or more second devices, where the first information includes positioning indication signaling;
  • the first device sends a first positioning reference signal to the second device, or the first device receives a second positioning reference signal from the second device;
  • the second device obtains the positioning solution result of the second device according to the measurement result of the first positioning reference signal, or the first device sends the second positioning reference to the second device.
  • the measurement result of the signal, or the first device obtains the positioning solution result of the second device based on the measurement result of the second positioning reference signal, and sends the positioning solution of the second device to the second device. Positioning solution results.
  • a positioning device for sidelink including: memory, transceiver, and processor:
  • a second device receives first information from one or more first devices, the first information including positioning indication signaling;
  • the second device receives a first positioning reference signal from the first device, or the second device sends a second positioning reference signal to the first device;
  • the second device obtains the positioning solution result of the second device based on the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or the second device obtains the positioning solution result from the second positioning reference signal.
  • the first device receives the positioning solution result of the second device.
  • a readable storage medium is provided. Programs or instructions are stored on the readable storage medium. When the programs or instructions are executed by a processor, the positioning method for sidelink as described in the first aspect is implemented. The steps, or the steps of implementing the positioning method for sidelink as described in the second aspect, or the steps of implementing the positioning method for sidelink as described in the third aspect, or the steps of implementing the positioning method for sidelink as described in the fourth aspect Steps of sidelink positioning method.
  • a chip in a fourteenth aspect, includes a processor and a communication interface.
  • the communication interface is coupled to the processor.
  • the processor is used to run programs or instructions to implement the method described in the first aspect.
  • the steps of the positioning method for sidelink, or the steps of implementing the positioning method for sidelink as described in the second aspect, or the steps of the positioning method for sidelink as described in the third aspect, or implementing the steps of the positioning method for sidelink as described in the fourth aspect The steps for the sidelink positioning method described in this aspect.
  • a computer program/program product is provided, the computer program/program product is stored in a storage medium, and the computer program/program product is executed by at least one processor to implement the first aspect
  • Four aspects The steps of the positioning method for sidelink.
  • the first device sends the first information to the second device to trigger the positioning process.
  • the first device and the second device interact with the first positioning reference signal or the second positioning reference signal, and the first device and the second device interact according to the first positioning reference signal.
  • the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal is used to obtain the positioning solution result, realizing positioning measurement between UEs in the sidelink scenario.
  • Figure 1 is a block diagram of a wireless communication system provided by an embodiment of the present application.
  • Figure 2 is one of the flow diagrams of the sidelink positioning method provided by the embodiment of the present application.
  • Figure 3 is the second schematic flowchart of the positioning method for sidelink provided by the embodiment of the present application.
  • Figure 4 is the third schematic flowchart of the positioning method for sidelink provided by the embodiment of the present application.
  • Figure 5 is the fourth schematic flowchart of the positioning method for sidelink provided by the embodiment of the present application.
  • Figure 6a is one of the flow diagrams of an implementation example provided by the embodiment of this application.
  • Figure 6b is the second schematic flow diagram of an implementation example provided by the embodiment of the present application.
  • Figure 6c is the third schematic flowchart of the implementation example provided by the embodiment of the present application.
  • Figure 6d is the fourth schematic flowchart of an implementation example provided by the embodiment of the present application.
  • Figure 6e is the fifth schematic flowchart of an implementation example provided by the embodiment of the present application.
  • Figure 6f is the sixth schematic flowchart of an implementation example provided by the embodiment of the present application.
  • Figure 6g is the seventh schematic flowchart of an implementation example provided by the embodiment of the present application.
  • Figure 6h is the eighth schematic flowchart of an implementation example provided by the embodiment of the present application.
  • Figure 6i is the ninth schematic flowchart of an implementation example provided by the embodiment of the present application.
  • Figure 6j is the ninth schematic flow chart of the implementation example provided by the embodiment of the present application.
  • Figure 7 is one of the structural schematic diagrams of the positioning device for sidelink provided by the embodiment of the present application.
  • Figure 8 is the second structural schematic diagram of the positioning device for sidelink provided by the embodiment of the present application.
  • Figure 9 is the third structural schematic diagram of the positioning device for sidelink provided by the embodiment of the present application.
  • Figure 10 is the fourth structural schematic diagram of the positioning device for sidelink provided by the embodiment of the present application.
  • Figure 11 is a fifth structural schematic diagram of a positioning device for sidelink provided by an embodiment of the present application.
  • first, second, etc. in the description and claims of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. It is understood that the terms so used are interchangeable where appropriate, So that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by “first” and “second” are generally of the same type, and the number of objects is not limited, for example
  • the first object can be one or multiple.
  • “and/or” in the description and claims indicates at least one of the connected objects, and the character “/” generally indicates that the related objects are in an "or” relationship.
  • LTE Long Term Evolution
  • LTE-Advanced, LTE-A Long Term Evolution
  • LTE-A Long Term Evolution
  • CDMA Code Division Multiple Access
  • TDMA Time Division Multiple Access
  • FDMA Frequency Division Multiple Access
  • OFDMA Orthogonal Frequency Division Multiple Access
  • SC-FDMA Single-carrier Frequency Division Multiple Access
  • NR New Radio
  • FIG. 1 shows a block diagram of a wireless communication system to which embodiments of the present application are applicable.
  • the wireless communication system includes a terminal 11 and a network side device 12.
  • the terminal 11 may be a mobile phone, a tablet computer (Tablet Personal Computer), a laptop computer (Laptop Computer), or a notebook computer, a personal digital assistant (Personal Digital Assistant, PDA), a palmtop computer, a netbook, or a super mobile personal computer.
  • Tablet Personal Computer Tablet Personal Computer
  • laptop computer laptop computer
  • PDA Personal Digital Assistant
  • PDA Personal Digital Assistant
  • UMPC ultra-mobile personal computer
  • UMPC mobile Internet device
  • MID mobile Internet Device
  • AR augmented reality
  • VR virtual reality
  • robots wearable devices
  • WUE Vehicle User Equipment
  • PUE Pedestrian User Equipment
  • smart home home equipment with wireless communication functions, such as refrigerators, TVs, washing machines or furniture, etc.
  • game consoles personal computers (personal computer, PC), teller machine or self-service machine and other terminal-side devices.
  • Wearable devices include: smart watches, smart bracelets, smart headphones, smart glasses, smart jewelry (smart bracelets, smart bracelets, smart rings, smart necklaces, smart anklets) bracelets, smart anklets, etc.), smart wristbands, smart clothing, etc.
  • Network side equipment may include access network equipment or core network equipment, where the access network equipment 12 may also be called radio access network equipment, radio access network (Radio Access Network, RAN), radio access network function or wireless access network unit.
  • Access network equipment may include base stations, Wireless Local Area Networks (WLAN) access points or WiFi nodes, etc.
  • WLAN Wireless Local Area Networks
  • the base stations may be called Node B, Evolved Node B (eNB), access point, base transceiver station ( Base Transceiver Station (BTS), radio base station, radio transceiver, Basic Service Set (BSS), Extended Service Set (ESS), home B-node, home evolved B-node, transmitting and receiving point ( Transmitting Receiving Point (TRP) or some other appropriate terminology in the field, as long as the same technical effect is achieved, the base station is not limited to specific technical terms. It should be noted that in the embodiment of this application, only in the NR system The base station is introduced as an example, and the specific type of base station is not limited.
  • Core network equipment may include but is not limited to at least one of the following: core network nodes, core network functions, and mobility management entities.
  • MME Mobility Management Entity
  • AMF Access and Mobility Management Function
  • SMF Session Management Function
  • UPF User Plane Function
  • PCF Policy Control Function
  • PCF Policy and Charging Rules Function
  • EASDF Edge Application Server Discovery Function
  • UDM Unified Data Management
  • UDR Unified Data Repository
  • HSS Home Subscriber Server
  • CNC Centralized network configuration
  • NEF Network Repository Function
  • NEF Network Exposure Function
  • NEF Network Exposure Function
  • Local NEF Local NEF
  • L-NEF binding support function
  • BSF Application Function
  • the physical sidelink control channel (PSCCH) and the physical sidelink shared channel (PSSCH) adopt time division multiplexing (TDM) and frequency division multiplexing.
  • TDM time division multiplexing
  • FDM frequency division multiplexing
  • 2nd-stage SCI second-level system control information
  • the 1st-stage SCI is carried by PSCCH for instructions
  • MCS modulation and coding scheme
  • two reference signals are mainly introduced for positioning: the downlink positioning reference signal PRS and the uplink sounding reference signal SRS for positioning.
  • the downlink positioning reference signal PRS uses the Gold sequence, and introduces designs such as PRS resources, PRS resource sets, and PRS positioning frequency layers.
  • the PRS resource frequency domain can adopt a comb structure, and the time domain can occupy multiple consecutive OFDM symbols. Using a single port, the maximum bandwidth cannot exceed 272PRBs, and the minimum bandwidth cannot be less than 24PRBs. PRS only supports periodic transmission.
  • the uplink sounding reference signal SRS for positioning uses the ZC sequence, which can continuously occupy multiple OFDM symbols in the time domain. It also uses a comb structure in the frequency domain to facilitate support of multiple sounding reference signals (Sounding Reference Signal, SRS).
  • -Position POS
  • POS is frequency division multiplexed on the same orthogonal frequency division multiplexing (OFDM) symbol.
  • OFDM orthogonal frequency division multiplexing
  • NR positioning supports "RAT-independent" positioning technologies, including Global Navigation Satellite System (GNSS) positioning, atmospheric pressure sensor positioning, WLAN positioning, inertial navigation positioning, Bluetooth positioning, ground Beacon system positioning.
  • GNSS Global Navigation Satellite System
  • WLAN Wireless Fidelity
  • inertial navigation positioning Bluetooth positioning
  • ground Beacon system positioning ground Beacon system positioning
  • gNB periodically sends downlink PRS (Positioning Reference Signal), supporting DL (Downlink)-TDOA, DL-AoD (Angle of Departure) measurement, and E-CID (Enhanced Cell Identification) detection; the terminal sends Uplink SRS (Sounding Reference Symbol), supports UL (Uplink)-TDOA, UL-AoA (Angle of Arrival) measurement; supports uplink and downlink combination for RTT (Round Trip Time) measurement, and can measure multi-process RTT ( Multi-RTT) for position positioning.
  • PRS Puritioning Reference Signal
  • DL-TDOA Downlink
  • DL-AoD DL-AoD
  • E-CID Enhanced Cell Identification
  • the overall positioning process of NR/LTE positioning is controlled and scheduled by the base station and LMF.
  • the cellular network positioning solution in related technologies requires interaction between gNB and Location Management Function (LMF), and is not supported for scenarios outside cellular coverage.
  • LMF Location Management Function
  • SL positioning performs distributed positioning processing and may work in scenarios outside cellular coverage.
  • this embodiment of the present application provides a positioning method for sidelink.
  • the execution subject of this method is a first device.
  • the first device can be a terminal.
  • the opposite end communicates and interacts with the first device.
  • the device is a second device, which may also be a terminal.
  • Sidelink communication is used between the first device and the second device, including:
  • Step 201 The first device sends first information to one or more second devices, where the first information includes positioning request signaling;
  • the first information includes positioning request signaling, which is used to request the second device to assist the first device in positioning (or ranging).
  • the first device may send the first information to one or more second devices, that is, the first device may request one or more second devices to assist the first device in positioning (or ranging).
  • Step 202 The first device sends a first positioning reference signal to the second device, or the first device receives a second positioning reference signal from the second device;
  • positioning reference signals are interacted between the first device and the second device, where the first device sends the first positioning reference signal (which can be abbreviated as the first PRS or the first PRS) to the second device.
  • the first device sends the first positioning reference signal (which can be abbreviated as the first PRS or the first PRS) to the second device.
  • the second device sends the second positioning reference signal to the first device (which can be abbreviated as the second PRS or the second SL-PRS, etc., this application does not limit it);
  • Step 203 The first device obtains the positioning solution of the first device based on the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or the first device receives the positioning of the first device from the second device. Solution results;
  • the first device can obtain the positioning solution result of the first device based on the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal. That is, the position solution can be performed on the first device. execution, or the first device may receive the positioning solution result of the first device from the second device, that is, the position solution may be performed on the second device. The device executes it and then the second device sends it to the first device;
  • the measurement result of the above-mentioned first positioning reference signal or the measurement result of the second positioning reference signal may specifically be the time of arrival (TOA) of the first positioning reference signal or the second positioning reference signal, that is, the first device measures the first positioning reference signal.
  • the arrival time of the PRS transmission or the second PRS reception is used to perform the final positioning calculation based on the arrival time to implement the positioning method based on TOA or TDOA.
  • the first device sends the first information to the second device to trigger the positioning process.
  • the first device and the second device interact with the first positioning reference signal or the second positioning reference signal, and the first device and the second device interact according to the first positioning reference signal.
  • the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal is used to obtain the positioning solution result, realizing positioning measurement between UEs in the sidelink scenario.
  • the first information includes one or more of the following:
  • the signaling type information of the first information includes: at least one of positioning reference signal request signaling and positioning request flag bit; positioning reference signal request signaling is used to trigger at least one second device to assist the first device. Positioning or ranging; the positioning request flag is used to distinguish the current information as positioning request signaling.
  • Identification information including: at least one of target identification information, source identification information, and interaction process ID; the interaction process ID represents the ID information of the positioning process, because the first device may request assistance from multiple second devices For positioning, the measured positioning reference signal and the corresponding second device can be determined through the interaction process ID to prevent positioning reference signal mapping errors during the interaction with multiple second devices.
  • Positioning reference signal configuration information including: at least one of positioning reference signal configuration parameters, time interval and time domain reference point;
  • Positioning measurement configuration information including: positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning solution function indication information, measurement At least one of auxiliary information, feedback delay limit, time domain reference point and positioning priority information.
  • the information content of the above-mentioned first information may be configured or pre-configured through high-level parameters, that is, the first information may only include part of the above-mentioned information content, and the remaining part may be configured or pre-configured by high-level parameters.
  • step 202 the first device receives a second positioning reference signal from the second device, including:
  • the first device receives second information and a second positioning reference signal from the second device
  • the information interaction process between the first device and the second device is: the second device sends the second information and the second positioning reference signal to the first device.
  • the second device sends the second information to the first device.
  • a device sends the second information and the second positioning reference signal they may be sent at the same time or not at the same time. That is, the second information and the second positioning reference signal may be sent together in the same time slot. Or send them separately in different slots.
  • the following article also follows this rule when describing other steps for sending multiple messages, that is, they can be sent at the same time or not at the same time, and will not be repeated again.
  • Step 203 The first device obtains the positioning solution of the first device based on the measurement result of the second positioning reference signal. results, including:
  • the first device performs positioning measurement based on the second information and/or the second positioning reference signal to obtain the first positioning measurement value
  • the first device obtains the positioning solution result of the first device based on the second information and/or the first positioning measurement value.
  • the first device performs positioning calculation according to the measurement result of the second positioning reference signal, and obtains the positioning solution result of the first device; it should be noted that, the first device performs positioning calculation on the second positioning reference signal.
  • the measurement result obtained by measuring the second positioning reference signal is called the first positioning measurement value
  • the measurement result obtained by measuring the first positioning reference signal by the second device is called the second positioning measurement value.
  • the first device may perform measurement based on the second positioning reference signal, that is, the first device directly measures the second positioning reference signal; or, it may be The first device performs measurements based on the second information and the second positioning reference signal.
  • the second information may carry configuration information or auxiliary information related to the positioning measurement, which is used by the first device to perform positioning measurements; similarly, the first device performs During the process of positioning calculation, the first device may perform positioning calculation based on the first positioning measurement value, or the first device may perform positioning calculation based on the second information and the first positioning measurement value.
  • the second information can carry configuration information or auxiliary information related to positioning calculation, and is used for the first device to perform positioning measurements, or the second information can carry the coordinate information, location information, etc. of the second device, and is used for the first device in an absolute positioning scenario.
  • the equipment performs positioning calculation;
  • step 202 the first device sends a first positioning reference signal to the second device, including:
  • the first device sends the first positioning reference signal to the second device;
  • the first device receives the second information from the second device
  • the information exchange process between the first device and the second device is: the first device first sends a first positioning reference signal to the second device.
  • the first positioning reference signal may be sent simultaneously with the first information.
  • Step 203 The first device obtains the positioning solution result of the first device based on the measurement result of the first positioning reference signal, including:
  • the first device receives the second positioning measurement value measured by the second device from the second device through the second information
  • the first device obtains the positioning solution result of the first device based on the second information and/or the second positioning measurement value
  • the corresponding positioning solution is executed on the first device.
  • the first device interacts with the second device according to the above interaction process and obtains the second positioning measurement value, since the first device performs positioning
  • the calculation may specifically be that the first device performs positioning calculation based on the second positioning measurement value, or it may also be that the first device performs positioning calculation based on the second information and the second positioning measurement value.
  • Step 203 The first device receives the positioning solution result of the first device from the second device, including:
  • the first device receives the positioning solution result of the first device from the second device through the second information.
  • the positioning solution result of the first device is measured by the second device based on the first information and/or the second device.
  • the second positioning measurement value is obtained.
  • the corresponding positioning solution is executed on the second device.
  • the first device interacts with the second device according to the above interaction process and obtains the second positioning measurement value, because the second device performs positioning
  • the calculation may specifically be that the second device performs positioning calculation based on the second positioning measurement value, or it may also be that the second device performs positioning calculation based on the first information and the second positioning measurement value.
  • the resource location used to transmit the first SL-PRS and/or the sequence generation of the first SL-PRS may be related to the content of the first information/second information/fourth information and/or the resources occupied by them
  • the locations have a certain relationship and can be in the same BWP or in different partial bandwidths (Band width Part, BWP).
  • the first device multiplexes the first information or the fourth information with the first SL-PRS in one or more physical channels on the same time slot for transmission; for example, the first or fourth information is transmitted by PSCCH (1st stage SCI) or PSSCH (2nd stage SCI or MAC Control Element (MAC Control Element, MAC CE)) or positioning dedicated channel bearer, SL-PRS and PSSCH multiplex the same time-frequency position, and the overlapping position of PSSCH and SL-PRS adopts the rate Rate matching or punctured mapping.
  • PSCCH 1st stage SCI
  • PSSCH 2nd stage SCI or MAC Control Element (MAC Control Element, MAC CE)
  • positioning dedicated channel bearer SL-PRS and PSSCH multiplex the same time-frequency position
  • the overlapping position of PSSCH and SL-PRS adopts the rate Rate matching or punctured mapping.
  • the first device may also send the corresponding first SL-PRS based on the SL-PRS configuration parameters and combined with a specific SL-PRS resource selection process.
  • the SL-PRS configuration parameters are determined by the first information/second information.
  • the information/fourth information and/or high-layer parameter configuration or pre-configuration is obtained, or the SL-PRS configuration parameters in the first information/fourth information are used to indicate the specific occupied time-frequency resource location of the first SL-PRS.
  • the SL-PRS is repeatedly mapped on the first two symbols.
  • the SL-PRS on the first symbol is both It can be used for AGC processing and positioning measurement, and the last symbol is used as GP.
  • SL-PRS is periodic transmission, no signaling trigger is required; for aperiodic or semi-continuous transmission SL-PRS, first/second/fourth information triggering is required.
  • the first/second/third/fourth information and the first SL-PRS can be transmitted separately or in a binding manner.
  • the resource location used to send the second SL-PRS and/or the sequence generation of the second SL-PRS may have a certain relationship with the content of the second information/first information and/or the resource location occupied by it. Association relationship 1), can be in the same BWP or on different BWPs
  • the second device multiplexes the second information and the second SL-PRS in one or more physical channels on the same time slot for transmission. If the second information is carried by PSCCH (1st stage SCI) or PSSCH (2nd stage SCI or MAC CE) or a dedicated positioning channel, SL-PRS and PSSCH multiplex the same time and frequency position, and rate matching is used for the overlapping position of PSSCH and SL-PRS. Or the punctured mapping method.
  • the second device can also select a specific SL-PRS resource based on the SL-PRS configuration parameters.
  • the SL-PRS configuration parameters are obtained from the second information/first information and/or high-layer parameter configuration or preconfiguration, or the SL-PRS configuration parameters in the second information are used Indicate the specific occupied time and frequency resource position of the second SL-PRS.
  • the SL-PRS is repeatedly mapped on the first two symbols.
  • the SL-PRS on the first symbol is both It can be used for AGC processing and positioning measurement, and the last symbol is used as GP.
  • SL-PRS is periodic transmission, no signaling trigger is required; for aperiodic or semi-continuous transmission SL-PRS, first information or second information trigger is required.
  • the first/second/third/fourth information and the second SL-PRS can be transmitted separately or in a bundled manner.
  • the information content of the second information appearing in the interaction process described above includes one or more of the following: (1) at least part of the third information; (2) positioning measurement value; ( 3) Timestamp of the positioning measurement value; (4) Quality indication of the positioning measurement value; (5) Positioning measurement value identification information; (6) Positioning solution result information;
  • the third information includes one or more of the following:
  • the signaling type information of the third information includes: at least one of positioning reference signal request signaling and positioning request flag;
  • Identification information including: at least one of target identification information, source identification information, and interactive process ID;
  • Positioning reference signal configuration information including: at least one of positioning reference signal configuration parameters, time interval and time domain reference point;
  • Positioning measurement configuration information including: positioning measurement quantity type, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability, positioning type, measurement window indication, positioning solution function indication, measurement auxiliary information, feedback time At least one of extension limit, time domain reference point and positioning priority information.
  • the second information is the same as the above-mentioned first information. At least part of the information content of the second information can be configured or pre-configured through high-level parameters. That is, the second information can only include part of the above-mentioned information content. The rest is configured or pre-configured by high-level parameters.
  • the above positioning measurement quantity types may include: indicating the measurement quantity that needs to be measured, such as SL-PRS RSRP, the device's SL-PRS sending and receiving time difference, relative time of arrival (RTOA), reference signal time difference (ReferenceSignal Time Difference, RSTD) ), angle of arrival (Arrival of Angle, AoA), angle of departure (Angel Of Depature, AOD), etc.;
  • the above positioning assistance information may include at least one of the following: speed, movement direction, acceleration, location coordinate information, identity ID, SL-SSB time-frequency configuration information, identity information related to the first device or the second device, etc.
  • the above-mentioned positioning reference signal search auxiliary information includes at least one of the following: expected reference signal time difference (the time difference and transmission delay difference between the reference first device and other adjacent first devices for sending positioning reference signals), search The window (corresponding to the uncertainty of the transmission delay difference) and the positioning reference signal search auxiliary information can also be configured or pre-configured by high-level parameters.
  • the above positioning method or capability information is used to indicate the method used in the current positioning process, such as Multi-RTT positioning, TDOA positioning, AOA positioning, and AOD positioning;
  • the above positioning type information is used to distinguish whether the current positioning method is used for relative positioning, ranging, or absolute positioning;
  • the above-mentioned measurement window indication information includes the starting position information, period information, etc. of the measurement window;
  • the above positioning solution function indication information is used to display and indicate whether the current device supports the positioning solution function, or can only report measured quantities for auxiliary positioning;
  • Measurement auxiliary information includes at least one of the following: used to indicate the SL-PRS information associated with the target device when measuring device positioning measurement values (such as SL-PRS resource set ID, SL-PRS resource ID, SL-PRS specific time-frequency resource location information, SL-PRS configuration information, sequence initialization ID, etc.), equipment SL-PRS positioning measurement value reporting granularity, etc.
  • device positioning measurement values such as SL-PRS resource set ID, SL-PRS resource ID, SL-PRS specific time-frequency resource location information, SL-PRS configuration information, sequence initialization ID, etc.
  • equipment SL-PRS positioning measurement value reporting granularity etc.
  • the above positioning reference signal configuration parameter set includes at least one of the following: SL-PRS resource type, power control parameter, sequence ID, SL-PRS resource ID, SL-PRS resource set ID, frequency domain comb size, inter-symbol frequency domain offset Shift value, cyclic shift parameter, time domain start position, starting symbol position mapped in the time slot, number of time domain occupied symbols, SL-PRS time domain period, SL-PRS period number or duration, frequency domain start Starting position, frequency domain offset value relative to the frequency domain reference point, frequency domain occupied bandwidth or number of RBs, SL-PRS subcarrier spacing, cyclic prefix type, SL-PRS priority information
  • the above SL-PRS resource type can be used to indicate that the SL-PRS resource is one of the following: periodic, aperiodic, semi-persistent
  • the relative reference point in the time-frequency domain may be the resource time-frequency position where positioning request signaling or positioning indication signaling is mapped, or a reference time-frequency position configured or preconfigured by a higher layer.
  • the above-mentioned SL-PRS configuration parameter set may indicate SL-PRS related configurations sent by the first device and/or the second device.
  • SL-PRS configuration parameter set can also be configured or pre-configured through high-level configuration, and the relevant parameters of high-level configuration or pre-configuration do not need to appear in the first information or the third information.
  • cyclic prefix type is used to indicate whether it is a normal cyclic prefix (Cyclic Prefix, CP) or an extended cyclic prefix (Extended Cyclic Prefix, ECP).
  • the above-mentioned SL-PRS priority may also be determined based on the priority of the physical channel associated with it or the priority value carried in the associated control signaling.
  • the above positioning measurement values include at least one of the following: RSTD reference signal time difference, SL-PRS RSRP, first device sending and receiving time difference, second device sending and receiving time difference, SL-PRS SINR/SNR, RTOA reference signal arrival time, AOA, AOD, and Strong path transmission delay (can help eliminate some erroneous distance estimates), delay difference between multipaths, longitude/latitude/altitude;
  • the quality indication information of the above-mentioned measured values includes at least one of the following: error resolution, error value (combined with error resolution indication) and number of error sampling points;
  • the above-mentioned positioning reference signal search auxiliary information includes at least one of the following: expected reference signal time difference (the time difference between the reference first device and other adjacent first devices for sending SL-PRS and the transmission delay difference), search window (Corresponding to the uncertainty of transmission delay difference), the SL-PRS search auxiliary information can also be configured or pre-configured by high-level parameters.
  • the target information when the target information carries a time interval, or a high-level parameter configuration or a preconfigured time interval, the target information is at least one of the first information and the second information.
  • the time interval satisfies at least one of the following:
  • the time interval is the time interval between the time domain starting transmission position of the positioning reference signal and the target time domain reference point
  • the target time domain reference point is the time slot where the target information is located.
  • the retransmitted target information does not carry a time interval.
  • the target time domain reference point of the time interval is the time slot position of the retransmitted first information
  • the starting position of the positioning reference signal transmission is determined based on the currently transmitted target information
  • the granularity of the time interval includes at least one of the following: time slot, physical time slot, logical time slot, OFDM symbol, subframe;
  • the target information carries a feedback delay limit, or a high-level parameter configuration or a pre-configured feedback delay limit is used, where the target information is at least one of the first information and the second information. one item;
  • the method also includes at least one of the following:
  • the first device receives feedback information corresponding to the target information from the second device within the feedback delay limit
  • the first device receives the second information from the second device within the feedback delay limit
  • the first device completes the overall positioning process within the feedback delay limit
  • the feedback delay limit meets at least one of the following:
  • the feedback delay limit is the upper limit of the target information feedback time
  • the target time domain reference point of the feedback delay limit is the high-level parameter configuration or preconfiguration, or the time domain reference point carried in the target information
  • the retransmitted target information does not carry the feedback delay limit.
  • the target time domain reference point of the feedback delay limit is the time when the target information is sent in the system.
  • the time granularity of the system includes at least one of the following: time slot, physical time slot, logical time slot, OFDM symbol, and subframe;
  • the target time domain reference point of the feedback delay limit is Universal Time Coordinated (UTC) time
  • the target time domain reference point of the feedback delay limit is the time slot position of the retransmitted first information
  • the target time domain reference point of the feedback delay limit is the time domain carried in the currently transmitted target information. reference point;
  • the transmission of the target information satisfies the implementation feedback delay limit.
  • the method further includes at least one of the following:
  • the time parameters include at least one of the following: positioning reference signal transmission period, offset value within the period , cycle reference point;
  • step 201 the first device sends the first information to one or more second devices, including:
  • the first device sends the first information to one or more second devices through the third device;
  • the first device may send the first information to the third device.
  • Methods also include:
  • the first device sends the measurement result of the second positioning reference signal to the third device, and receives the positioning solution result of the first device from the third device.
  • the first device sends the measured value of the positioning reference signal to the third device, and the third device performs positioning. Solve, and then send the positioning solution results to the first device.
  • the first device and the second device are exchanged between devices, and the interaction processing with information and measurement values is handed over to the third device.
  • the above-mentioned third device may specifically be a Location Management Function (LMF), or may be another network element.
  • LMF Location Management Function
  • the embodiment of this application does not limit the specific type of the third device.
  • an embodiment of the present application provides a positioning method for sidelink.
  • the execution subject of this method is a second device.
  • the second device can be a terminal.
  • the other party that communicates and interacts with the second device The end device is a first device, which may also be a terminal.
  • Sidelink communication is used between the first device and the second device, including:
  • Step 301 The second device receives first information from one or more first devices, where the first information includes positioning request signaling;
  • Step 302 The second device receives the first positioning reference signal from the first device, or the second device sends the first positioning reference signal to the first device. Send the second positioning reference signal;
  • Step 303 The first device obtains the positioning solution result of the first device according to the measurement result of the second positioning reference signal, or the second device sends the measurement result of the first positioning reference signal to the first device, or the second The device obtains the positioning solution result of the first device based on the measurement result of the first positioning reference signal, and sends the positioning solution result of the first device to the first device.
  • the second device method flow shown in Figure 3 is the peer device flow corresponding to the first device method shown in Figure 2. Therefore, the information, parameters, information content, etc. involved in the following can refer to the first device method mentioned above. Please understand the corresponding description in the side, and will not repeat them in the second equipment method side.
  • the first information includes one or more of the following:
  • the signaling type information of the first information includes: at least one of positioning reference signal request signaling and positioning request flag bit; positioning reference signal request signaling is used to trigger at least one second device to assist the first device. Positioning or ranging; the positioning request flag is used to distinguish the current information as positioning request signaling.
  • Identification information including: at least one of target identification information, source identification information, and interaction process ID; the interaction process ID represents the ID information of the positioning process, because the first device may request assistance from multiple second devices For positioning, the measured positioning reference signal and the corresponding second device can be determined through the interaction process ID to prevent positioning reference signal mapping errors during the interaction with multiple second devices.
  • Positioning reference signal configuration information including: at least one of positioning reference signal configuration parameters, time interval and time domain reference point;
  • Positioning measurement configuration information including: positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning solution function indication information, measurement At least one of auxiliary information, feedback delay limit, time domain reference point and positioning priority information.
  • the information content of the above-mentioned first information may be configured or pre-configured through high-level parameters, that is, the first information may only include part of the above-mentioned information content, and the remaining part may be configured or pre-configured by high-level parameters.
  • step 302 the second device sends a second positioning reference signal to the first device, including:
  • the second device sends second information and a second positioning reference signal to the first device, and the second information is feedback information of the first information.
  • step 302 the second device receives the first positioning reference signal from the first device, including:
  • the second device receives the first positioning reference signal from the first device
  • the second device sends second information to the first device, and the second information is feedback information of the first information
  • Step 303 The second device sends the measurement result of the first positioning reference signal to the first device, including:
  • the second device performs positioning measurement based on the first information and/or the first positioning reference signal, and obtains the second positioning measurement value
  • the second device sends the second positioning measurement value to the first device through the second information
  • Step 303 The second device obtains the positioning solution result of the first device based on the measurement result of the first positioning reference signal, and sends the positioning solution result of the first device to the first device, including:
  • the second device performs positioning measurement based on the first information and/or the first positioning reference signal, and obtains the second positioning measurement value
  • the second device obtains the positioning solution result of the first device based on the first information and/or the second positioning measurement value
  • the second device sends the positioning solution result of the first device to the first device through the second information.
  • the information content of the second information appearing in the interaction process described above includes one or more of the following: (1) at least part of the third information; (2) positioning measurement value; ( 3) Timestamp of the positioning measurement value; (4) Quality indication of the positioning measurement value; (5) Positioning measurement value identification information; (6) Positioning solution result information;
  • the third information includes one or more of the following:
  • the signaling type information of the third information includes: at least one of positioning reference signal request signaling and positioning request flag;
  • Identification information including: at least one of target identification information, source identification information, and interactive process ID;
  • Positioning reference signal configuration information including: at least one of positioning reference signal configuration parameters, time interval and time domain reference point;
  • Positioning measurement configuration information including: positioning measurement quantity type, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability, positioning type, measurement window indication, positioning solution function indication, measurement auxiliary information, feedback time At least one of extension limit, time domain reference point and positioning priority information.
  • the second information is the same as the above-mentioned first information. At least part of the information content of the second information can be configured or pre-configured through high-level parameters. That is, the second information can only include part of the above-mentioned information content. The rest is configured or pre-configured by high-level parameters.
  • the time interval satisfies at least one of the following:
  • the time interval is the time interval between the time domain starting transmission position of the positioning reference signal and the target time domain reference point
  • the target time domain reference point is the time slot where the target information is located.
  • the retransmitted target information does not carry a time interval.
  • the target time domain reference point of the time interval is the time slot position of the retransmitted first information
  • the starting position of the positioning reference signal transmission is determined based on the currently transmitted target information
  • the granularity of the time interval includes at least one of the following: time slot, physical time slot, logical time slot, OFDM symbol, subframe;
  • the target information is at least one of the first information and the second information.
  • the method when the target information carries the feedback delay limit, or high-level parameter configuration or pre-configuration of the feedback delay limit, the method further includes at least one of the following:
  • the second device sends feedback information corresponding to the target information to the first device within the feedback delay limit
  • the second device sends the second information to the first device within the feedback delay limit
  • the target information is at least one of the first information and the second information
  • the feedback delay limit meets at least one of the following:
  • the feedback delay limit is the upper limit of the target information feedback time
  • the target time domain reference point of the feedback delay limit is the high-level parameter configuration or preconfiguration, or the time domain reference point carried in the target information
  • the retransmitted target information does not carry the feedback delay limit.
  • the target time domain reference point of the feedback delay limit is the time when the target information is sent in the system.
  • the time granularity of the system includes at least one of the following: time slot, physical time slot, logical time slot, OFDM symbol, and subframe;
  • the target time domain reference point of the feedback delay limit is UTC time
  • the target time domain reference point of the feedback delay limit is the time slot position of the retransmitted first information
  • the target time domain reference point of the feedback delay limit is the time domain carried in the currently transmitted target information. reference point;
  • the transmission of the target information satisfies the implementation feedback delay limit.
  • the method further includes at least one of the following:
  • the time parameters include at least one of the following: positioning reference signal transmission period, offset value within the period , cycle reference point;
  • step 201 the second device receives the first information from one or more first devices, including:
  • the second device receives the first information from one or more first devices through the third device;
  • Methods also include:
  • the second device sends the measurement result of the first positioning reference signal to the third device, the third device obtains the positioning solution result of the first device, and the third device sends the positioning solution result of the first device to the first device.
  • the second device sends the measured value of the positioning reference signal to the third device, and the third device performs positioning. Solve, and then send the positioning solution results to the first device.
  • the first device and the second device are exchanged between devices, and the interaction processing with information and measurement values is handed over to the third device.
  • the above-mentioned third device may specifically be an LMF, or may be other network elements.
  • the embodiment of this application does not limit the specific type of the third device.
  • this application implements a positioning method for sidelink.
  • the execution subject of this method is a first device.
  • the first device can be a terminal.
  • a peer device communicates and interacts with the first device.
  • the second device may also be a terminal.
  • Sidelink communication is used between the first device and the second device, including:
  • Step 401 The first device sends first information to one or more second devices, where the first information includes positioning indication signaling;
  • the first information includes positioning indication signaling, which is used to indicate to the second device that the first device assists the second device in positioning (or ranging).
  • One or more first devices may send the first information to the second device. That is to say, one or more first devices may assist the second device in positioning (or ranging).
  • Step 402 The first device sends a first positioning reference signal to the second device, or the first device receives a second positioning reference signal from the second device;
  • positioning reference signals are interacted between the first device and the second device, where the first device sends the first positioning reference signal (which can be abbreviated as the first PRS or the first PRS) to the second device.
  • the first device sends the first positioning reference signal (which can be abbreviated as the first PRS or the first PRS) to the second device.
  • the second device sends the second positioning reference signal to the first device (which can be abbreviated as the second PRS or the second SL-PRS, etc., this application does not limit it);
  • Step 403 The second device obtains the positioning solution result of the second device according to the measurement result of the first positioning reference signal, or the first device sends the measurement result of the second positioning reference signal to the second device, or the first device The device obtains the positioning solution result of the second device based on the measurement result of the second positioning reference signal, and sends the positioning solution result of the second device to the second device.
  • the first device can obtain the positioning solution result of the first device based on the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal. That is, the position solution can be performed on the first device. execution, or the first device may receive the positioning solution result of the first device from the second device, that is, the position solution may be performed on the second device. The device executes it and then the second device sends it to the first device;
  • the measurement result of the above-mentioned first positioning reference signal or the measurement result of the second positioning reference signal may specifically be the time of arrival (TOA) of the first positioning reference signal or the second positioning reference signal, that is, the first device measures the first positioning reference signal.
  • the arrival time of the PRS transmission or the second PRS reception is used to perform the final positioning calculation based on the arrival time to implement the positioning method based on TOA or TDOA.
  • the first information includes one or more of the following:
  • the signaling type information of the first information includes: at least one of positioning reference signal indication signaling and positioning indication flag bit; the positioning reference signal indication signaling is used to notify the second device that the first device can assist It performs positioning or ranging; the positioning indication flag bit is used to distinguish the current information as positioning indication signaling.
  • Identification information including: at least one of target identification information, source identification information, and interaction process ID; the interaction process ID represents the ID information of the positioning process, because the first device may request assistance from multiple second devices For positioning, the measured positioning reference signal and the corresponding second device can be determined through the interaction process ID to prevent positioning reference signal mapping errors during the interaction with multiple second devices.
  • Positioning reference signal configuration information including: at least one of positioning reference signal configuration parameters, time interval and time domain reference point;
  • Positioning measurement configuration information including: positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning solution function indication information, measurement At least one of auxiliary information, feedback delay limit, time domain reference point and positioning priority information.
  • the information content of the above-mentioned first information may be configured or pre-configured through high-level parameters, that is, the first information may only include part of the above-mentioned information content, and the remaining part may be configured or pre-configured by high-level parameters.
  • step 402 the first device sends a first positioning reference signal to the second device, including:
  • the first device receives second information from the second device, and the second information is feedback information of the first information
  • the first device sends fourth information and the first positioning reference signal to the second device, and the fourth information is feedback information of the second information.
  • the information interaction process between the first device and the second device is: the second device first sends the second information to the first device, and then the first device sends the fourth information and the first information to the second device.
  • the positioning reference signal may be sent at the same time or not at the same time. That is, the fourth information and the first positioning reference signal may be sent together in the same time slot, or sent in different slots. It should be noted that the following article also follows this rule when describing other steps for sending multiple messages, that is, they can be sent at the same time or not at the same time, and will not be repeated again.
  • step 402 the first device receives a second positioning reference signal from the second device, including:
  • the first device receives the second information and the second positioning reference signal from the second device, and the second information is the feedback information of the first information;
  • the first device sends fourth information to the second device, and the fourth information is feedback information of the second information;
  • Step 403 The first device sends the measurement result of the second positioning reference signal to the second device, including:
  • the first device performs positioning measurement based on the second information and/or the second positioning reference signal to obtain the first positioning measurement value
  • the first device sends the first positioning measurement value to the second device through the fourth information
  • the first device measures the second positioning reference signal, obtains the first positioning measurement value, and then sends the first positioning measurement value to the second device.
  • the measurement result obtained by the first device measuring the first positioning reference signal and the second positioning reference signal is called the first positioning measurement value
  • the measurement result obtained by the second device measuring the first positioning reference signal and the second positioning reference signal is called the first positioning measurement value.
  • the measurement result obtained by the measurement is called the second positioning measurement value, and this naming method will be followed in the following paragraphs and will not be repeated again.
  • the first device may perform measurement based on the second positioning reference signal, that is, the first device directly measures the second positioning reference signal; or, it may be The first device performs measurements based on the second information and the second positioning reference signal.
  • the second information may carry configuration information or auxiliary information related to the positioning measurement for the first device to perform positioning measurements;
  • Step 403 The first device obtains the positioning solution result of the second device based on the measurement result of the second positioning reference signal, and sends the positioning solution result of the second device to the second device, including:
  • the first device performs positioning measurement based on the second information and/or the second positioning reference signal to obtain the first positioning measurement value
  • the first device obtains the positioning solution result of the second device based on the second information and/or the first positioning measurement value
  • the first device sends the positioning solution result of the second device to the second device through the fourth information.
  • the corresponding positioning solution is executed on the first device, and the first device performs the positioning solution according to the first positioning measurement value.
  • the first device may perform positioning calculation based on the first positioning measurement value, or the first device may perform positioning calculation based on the second information and the first positioning measurement value, and the second information may carry the positioning calculation information. Relevant configuration information or auxiliary information;
  • the information content of the second information and the fourth information includes one or more of the following: (1) at least part of the third information; (2) positioning measurement value ; (3) Timestamp of positioning measurement value; (4) Quality indication of positioning measurement value; (5) Positioning measurement value identification information; (6) Positioning solution result information;
  • the third information includes one or more of the following:
  • the signaling type information of the third information includes: at least one of positioning reference signal indication signaling and positioning indication flag bit;
  • Identification information including: at least one of target identification information, source identification information, and interactive process ID;
  • Positioning reference signal configuration information including: at least one of positioning reference signal configuration parameters, time interval and time domain reference point;
  • Positioning measurement configuration information including: positioning measurement quantity type, positioning auxiliary information, positioning reference signal Search for at least one of auxiliary information, positioning method or capability, positioning type, measurement window indication, positioning solution function indication, measurement auxiliary information, feedback delay limit, time domain reference point and positioning priority information.
  • the second information and the fourth information are the same as the above-mentioned first information. At least part of the information content of the second information and the fourth information can be configured or pre-configured through high-level parameters, that is, the second information and the third information
  • the fourth information may include only part of the above information content, and the remaining part is configured or pre-configured by high-level parameters.
  • the above positioning measurement quantity types may include: indicating the measurement quantity that needs to be measured, such as SL-PRS RSRP, SL-PRS sending and receiving time difference of the device, RTOA, RSTD, angle of arrival (Arrival of Angle, AoA), AOD, etc.;
  • the above positioning assistance information may include at least one of the following: speed, movement direction, acceleration, location coordinate information, identity ID, SL-SSB time-frequency configuration information, identity information related to the first device or the second device, etc.
  • the above-mentioned positioning reference signal search auxiliary information includes at least one of the following: expected reference signal time difference (time difference and transmission delay difference between the first device serving as a reference and other adjacent first devices for sending positioning reference signals), search window (corresponding to Due to the uncertainty of transmission delay difference), the positioning reference signal search auxiliary information can also be configured or pre-configured by high-level parameters.
  • the above positioning method or capability information is used to indicate the method used in the current positioning process, such as Multi-RTT positioning, TDOA positioning, AOA positioning, and AOD positioning;
  • the above positioning type information is used to distinguish whether the current positioning method is used for relative positioning, ranging, or absolute positioning;
  • the above-mentioned measurement window indication information includes the starting position information, period information, etc. of the measurement window;
  • the above positioning solution function indication information is used to display and indicate whether the current device supports the positioning solution function, or can only report measured quantities for auxiliary positioning;
  • Measurement auxiliary information includes at least one of the following: used to indicate the SL-PRS information associated with the target device when measuring device positioning measurement values (such as SL-PRS resource set ID, SL-PRS resource ID, SL-PRS specific time-frequency resource location information, SL-PRS configuration information, sequence initialization ID, etc.), equipment SL-PRS positioning measurement value reporting granularity, etc.
  • device positioning measurement values such as SL-PRS resource set ID, SL-PRS resource ID, SL-PRS specific time-frequency resource location information, SL-PRS configuration information, sequence initialization ID, etc.
  • equipment SL-PRS positioning measurement value reporting granularity etc.
  • the above positioning reference signal configuration parameter set includes at least one of the following: SL-PRS resource type, power control parameter, sequence ID, SL-PRS resource ID, SL-PRS resource set ID, frequency domain comb size, inter-symbol frequency domain offset Shift value, cyclic shift parameter, time domain start position, starting symbol position mapped in the time slot, number of time domain occupied symbols, SL-PRS time domain period, SL-PRS period number or duration, frequency domain start Starting position, frequency domain offset value relative to the frequency domain reference point, frequency domain occupied bandwidth or number of RBs, SL-PRS subcarrier spacing, cyclic prefix type, SL-PRS priority information
  • the above SL-PRS resource type can be used to indicate that the SL-PRS resource is one of the following: periodic, aperiodic, semi-persistent
  • the relative reference point in the time-frequency domain may be the resource time-frequency position where positioning request signaling or positioning indication signaling is mapped, or a reference time-frequency position configured or preconfigured by a higher layer.
  • the above-mentioned SL-PRS configuration parameter set may indicate SL-PRS related configurations sent by the first device and/or the second device.
  • SL-PRS configuration parameter set can also be configured or pre-configured through high-level configuration, and the relevant parameters of high-level configuration or pre-configuration do not need to appear in the first information or the third information.
  • the above cyclic prefix type is used to indicate whether the current CP is a normal CP or an extended CP.
  • the above-mentioned SL-PRS priority may also be determined based on the priority of the physical channel associated with it or the priority value carried in the associated control signaling.
  • the above positioning measurement values include at least one of the following: RSTD reference signal time difference, SL-PRS RSRP, first device sending and receiving time difference, second device sending and receiving time difference, SL-PRS SINR/SNR, RTOA reference signal arrival time, AOA, AOD, and Strong path transmission delay (can help eliminate some erroneous distance estimates), delay difference between multipaths, longitude/latitude/altitude;
  • the quality indication information of the above-mentioned measured values includes at least one of the following: error resolution, error value (combined with error resolution indication) and number of error sampling points;
  • the above-mentioned positioning reference signal search auxiliary information includes at least one of the following: expected reference signal time difference (the time difference between the first device used as a reference and other adjacent first devices to send SL-PRS and the transmission delay difference), search window (corresponding to Due to the uncertainty of transmission delay difference), the SL-PRS search auxiliary information can also be configured or pre-configured by high-layer parameters.
  • the target information when the target information carries a time interval, or a high-level parameter configuration or a preconfigured time interval, the target information is at least one of the first information, the second information, and the fourth information.
  • the time interval satisfies at least one of the following:
  • the time interval is the time interval between the time domain starting transmission position of the positioning reference signal and the target time domain reference point
  • the target time domain reference point is the time slot where the target information is located.
  • the retransmitted target information does not carry a time interval.
  • the target time domain reference point of the time interval is the time slot position of the retransmitted first information
  • the starting position of the positioning reference signal transmission is determined based on the currently transmitted target information
  • the granularity of the time interval includes at least one of the following: time slot, physical time slot, logical time slot, OFDM symbol, subframe;
  • the feedback delay limit is carried in the target information, or the feedback delay limit is configured by high-level parameters or pre-configured, where the target information is the first information, the second information, the fourth information. at least one item of information;
  • the method also includes at least one of the following:
  • the first device receives feedback information corresponding to the target information from the second device within the feedback delay limit
  • the first device receives the second information from the second device within the feedback delay limit
  • the first device sends a message to the second device within the feedback delay limit. Send the fourth message;
  • the first device completes the overall positioning process within the feedback delay limit
  • the feedback delay limit meets at least one of the following:
  • the feedback delay limit is the upper limit of the target information feedback time
  • the target time domain reference point of the feedback delay limit is the high-level parameter configuration or preconfiguration, or the time domain reference point carried in the target information
  • the retransmitted target information does not carry the feedback delay limit.
  • the target time domain reference point of the feedback delay limit is the time when the target information is sent in the system.
  • the time granularity of the system includes at least one of the following: time slot, physical time slot, logical time slot, OFDM symbol, and subframe;
  • the target time domain reference point of the feedback delay limit is UTC time
  • the target time domain reference point of the feedback delay limit is the time slot position of the retransmitted first information
  • the target time domain reference point of the feedback delay limit is the time domain carried in the currently transmitted target information. reference point;
  • the transmission of the target information satisfies the implementation feedback delay limit.
  • the method further includes at least one of the following:
  • the time parameters include at least one of the following: positioning reference signal transmission period, offset value within the period , cycle reference point;
  • step 201 the first device sends the first information to one or more second devices, including:
  • the first device sends the first information to one or more second devices through the third device.
  • the first device may send the first information to the third device.
  • the positioning interaction method between the first device and the second device Compared with the positioning interaction method between the first device and the second device described above, for the scenario where a third device assists the positioning interaction between the first device and the second device, the positioning interaction method between the first device and the second device Interaction of positioning reference signals, and interaction processing with information and measurement values are all completed by a third device.
  • this embodiment of the present application provides a positioning method for sidelink.
  • the execution subject of this method is a second device.
  • the second device can be a terminal.
  • the opposite end communicates and interacts with the second device.
  • the equipment is A device.
  • the first device may also be a terminal.
  • Sidelink communication is used between the first device and the second device, including:
  • Step 501 The second device receives first information from one or more first devices, where the first information includes positioning indication signaling;
  • Step 502 The second device receives the first positioning reference signal from the first device, or the second device sends the second positioning reference signal to the first device;
  • Step 503 The second device obtains the positioning solution of the second device based on the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or the second device receives the positioning of the second device from the first device. Solution results.
  • the second device method flow shown in Figure 5 is the counterpart device flow corresponding to the first device method shown in Figure 4. Therefore, the information, parameters, information content, etc. involved in the following can refer to the first device method mentioned above. Please understand the corresponding description in the side, and will not repeat them in the second equipment method side.
  • the first information includes one or more of the following:
  • the signaling type information of the first information includes: at least one of positioning reference signal request signaling and positioning request flag bit; positioning reference signal request signaling is used to trigger at least one second device to assist the first device. Positioning or ranging; the positioning request flag is used to distinguish the current information as positioning request signaling.
  • Identification information including: at least one of target identification information, source identification information, and interaction process ID; the interaction process ID represents the ID information of the positioning process, because the first device may request assistance from multiple second devices For positioning, the measured positioning reference signal and the corresponding second device can be determined through the interaction process ID to prevent positioning reference signal mapping errors during the interaction with multiple second devices.
  • Positioning reference signal configuration information including: at least one of positioning reference signal configuration parameters, time interval and time domain reference point;
  • Positioning measurement configuration information including: positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning solution function indication information, measurement At least one of auxiliary information, feedback delay limit, time domain reference point and positioning priority information.
  • the information content of the above-mentioned first information may be configured or pre-configured through high-level parameters, that is, the first information may only include part of the above-mentioned information content, and the remaining part may be configured or pre-configured by high-level parameters.
  • step 502 the second device receives the first positioning reference signal from the first device, including:
  • the second device sends second information to the first device, and the second information is feedback information of the first information
  • the second device receives the fourth information and the first positioning reference signal from the first device, and the fourth information is the feedback information of the second information;
  • Step 503 The second device obtains the positioning solution result of the second device based on the measurement result of the first positioning reference signal, including:
  • the second device obtains the second positioning measurement value based on the fourth information and/or the first positioning reference signal
  • the second device obtains the positioning solution result of the second device based on the first target information and/or the second positioning measurement value, and the first target information is the first information or the fourth information.
  • step 503 the second device obtains the positioning solution result of the second device based on the measurement result of the first positioning reference signal, including:
  • the second device obtains the second positioning measurement value based on the first information and/or the first positioning reference signal
  • the second device obtains the positioning solution result of the second device based on the first information and/or the second positioning measurement value.
  • step 502 the second device sends a second positioning reference signal to the first device, including:
  • the second device sends the second information and the second positioning reference signal to the first device, and the second information is the feedback information of the first information;
  • the second device receives fourth information from the first device, and the fourth information is feedback information of the second information;
  • Step 503 The second device obtains the positioning solution result of the second device based on the measurement result of the second positioning reference signal, including:
  • the second device receives the first positioning measurement value measured by the first device from the first device through the fourth information
  • the second device obtains the positioning solution result of the second device based on the first target information and/or the first positioning measurement value, and the first target information is the first information or the fourth information;
  • Step 503 The second device receives the positioning solution result of the second device from the first device, including:
  • the second device receives the positioning solution result of the second device from the first device through the fourth information.
  • the positioning solution result of the second device is the first device based on the second information, and/or the first device receives the third device.
  • the first positioning measurement value measured by a device is obtained.
  • the information content of the second information and the fourth information appearing in the interaction process described above includes one or more of the following: (1) at least part of the third information; (2) positioning Measurement value; (3) Timestamp of positioning measurement value; (4) Quality indication of positioning measurement value; (5) Positioning measurement value identification information; (6) Positioning solution result information;
  • the third information includes one or more of the following:
  • the signaling type information of the third information includes: at least one of positioning reference signal indication signaling and positioning indication flag bit;
  • Identification information including: at least one of target identification information, source identification information, and interactive process ID;
  • Positioning reference signal configuration information including: at least one of positioning reference signal configuration parameters, time interval and time domain reference point;
  • Positioning measurement configuration information including: positioning measurement quantity type, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability, positioning type, measurement window indication, positioning solution function indication, measurement auxiliary information, feedback time At least one of extension limit, time domain reference point and positioning priority information.
  • the second information and the fourth information are the same as the above-mentioned first information. At least part of the information content may be configured or pre-configured through high-level parameters, that is, the second information and the fourth information may only include part of the above-mentioned information content, and the remaining parts may be configured or pre-configured through high-level parameters.
  • the time interval satisfies at least one of the following:
  • the time interval is the time interval between the time domain starting transmission position of the positioning reference signal and the target time domain reference point
  • the target time domain reference point is the time slot where the target information is located.
  • the retransmitted target information does not carry a time interval.
  • the target time domain reference point of the time interval is the time slot position of the retransmitted first information
  • the starting position of the positioning reference signal transmission is determined based on the currently transmitted target information
  • the granularity of the time interval includes at least one of the following: time slot, physical time slot, logical time slot, OFDM symbol, subframe;
  • the target information is at least one of first information, second information and fourth information.
  • the time interval is the time interval between the time domain starting transmission position of the positioning reference signal and the target time domain reference point
  • the target time domain reference point is the time slot where the target information is located.
  • the retransmitted target information does not carry a time interval.
  • the target time domain reference point of the time interval is the time slot position of the retransmitted first information
  • the starting position of the positioning reference signal transmission is determined based on the currently transmitted target information
  • the granularity of the time interval includes at least one of the following: time slot, physical time slot, logical time slot, OFDM symbol, subframe;
  • the method also includes at least one of the following:
  • the second device receives feedback information corresponding to the target information from the first device within the feedback delay limit
  • the second device sends the second information to the first device within the feedback delay limit
  • the second device sends the fourth information to the first device within the feedback delay limit
  • the feedback delay limit meets at least one of the following:
  • the feedback delay limit is the upper limit of the target information feedback time
  • the target time domain reference point of the feedback delay limit is the high-level parameter configuration or preconfiguration, or the time domain reference point carried in the target information
  • the retransmitted target information does not carry the feedback delay limit.
  • the target time domain reference point of the feedback delay limit is the time when the target information is sent in the system.
  • the time granularity of the system includes at least one of the following: time slot, physical time slot, logical time slot, OFDM symbol, and subframe;
  • the target time domain reference point of the feedback delay limit is UTC time
  • the target time domain reference point of the feedback delay limit is the time slot position of the retransmitted first information
  • the target time domain reference point of the feedback delay limit is the time domain carried in the currently transmitted target information. reference point;
  • the transmission of the target information satisfies the implementation feedback delay limit.
  • the method further includes at least one of the following:
  • the time parameters include at least one of the following: positioning reference signal transmission period, offset value within the period , cycle reference point;
  • step 501 the second device receives the first information from one or more first devices, including:
  • the second device receives the first information from one or more first devices through the third device;
  • Methods also include:
  • the second device sends the measurement result of the first positioning reference signal to the third device, and receives the positioning solution result of the second device from the third device.
  • the second device sends the measured value of the positioning reference signal to the third device, and the third device performs positioning. Solve, and then send the positioning solution results to the first device.
  • the interaction processing with information and measured values are all handed over to the third device to complete.
  • the above-mentioned third device may specifically be an LMF, or may be other network elements.
  • the embodiment of this application does not limit the specific type of the third device.
  • the first information includes positioning request signaling, that is, the second device assists the first device in positioning, see Figure 6a and Figure 6b, where Figure 6a corresponds to the situation where a second device (UE2) assists the first device (UE1) , Figure 6b corresponds to the situation where multiple second devices (UE2, UE3, UE4) assist the first device (UE1).
  • UE2 a second device
  • UE3 a second device
  • UE4 multiple second devices
  • Step 1 The first device sends positioning request signaling to one or more second devices, requesting the second device to assist itself in positioning.
  • the first information may carry feedback delay limit, positioning method/capability, positioning measurement type, SL-PRS configuration parameters, and interaction process ID;
  • Step 2 After receiving the positioning request signaling, one or more second devices determine the positioning method used in the positioning process based on the content of the positioning request signaling.
  • the second SL-PRS is sent through the SL-PRS resource selection process or based on high-layer parameter configuration/preconfiguration and the first information.
  • the SL-PRS of the second device is sent periodically, no triggering is required; if the SL-PRS of the second device is sent aperiodic or semi-continuously, triggering by the first information or the second information is required.
  • the specific sending starting position depends on the content of the first or second message;
  • the second information should carry positioning auxiliary information and other content.
  • the second information may also include SL-PRS search auxiliary information, measurement window indication information, interactive process ID, etc.
  • Step 3 The first device performs SL-PRS measurement through the first information or the received second information, and performs position calculation based on the positioning auxiliary information to complete ranging or positioning.
  • Example 2 The first information includes positioning request signaling, that is, the second device assists the first device in positioning. See Figure 6c.
  • Figure 6c corresponds to the situation where a second device (UE2) assists the first device (UE1).
  • UE2 a second device
  • UE1 a second device
  • UE1 a second device assists the first device
  • the difference between the process of Figure 6c and the process of Figure 6a is that the first device sends the PRS measurement result to the second device through the fourth information, the second device performs position calculation, and then sends the solution result through the fifth information. to the first device.
  • the information content of the fifth information includes one or more of the following: (1) at least part of the third information; (2) positioning measurement value; (3) timestamp of the positioning measurement value; (4) ) Quality indication of positioning measurement values; (5) Positioning measurement value identification information; (6) Positioning solution result information;
  • the third information includes one or more of the following:
  • the signaling type information of the third information includes: at least one of positioning reference signal indication signaling and positioning indication flag bit;
  • Identification information including: at least one of target identification information, source identification information, and interactive process ID;
  • Positioning reference signal configuration information including: at least one of positioning reference signal configuration parameters, time interval and time domain reference point;
  • Positioning measurement configuration information including: positioning measurement quantity type, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability, positioning type, measurement window indication, positioning solution function indication, measurement auxiliary information, feedback time At least one of extension limit, time domain reference point and positioning priority information.
  • the fifth information is the same as the above-mentioned first information. At least part of the information content of the fifth information can be configured or pre-configured through high-level parameters. That is, the fifth information can only include part of the above-mentioned information content. The rest is configured or pre-configured by high-level parameters.
  • the above positioning measurement quantity types may include: indicating the measurement quantity that needs to be measured, such as SL-PRS RSRP, SL-PRS sending and receiving time difference of the device, RTOA, RSTD, AoA, AOD, etc.;
  • the above positioning assistance information may include at least one of the following: speed, movement direction, acceleration, location coordinate information, identity ID, SL-SSB time-frequency configuration information, identity information related to the first device or the second device, etc.
  • the above-mentioned positioning reference signal search auxiliary information includes at least one of the following: expected reference signal time difference (time difference and transmission delay difference between the first device serving as a reference and other adjacent first devices for sending positioning reference signals), search window (corresponding to Due to the uncertainty of transmission delay difference), the positioning reference signal search auxiliary information can also be configured or pre-configured by high-level parameters.
  • the above positioning method or capability information is used to indicate the method used in the current positioning process, such as Multi-RTT positioning, TDOA positioning, AOA positioning, and AOD positioning;
  • the above positioning type information is used to distinguish whether the current positioning method is used for relative positioning, ranging, or absolute positioning;
  • the above-mentioned measurement window indication information includes the starting position information, period information, etc. of the measurement window;
  • the above positioning solution function indication information is used to display and indicate whether the current device supports the positioning solution function, or can only report measured quantities for auxiliary positioning;
  • Measurement auxiliary information includes at least one of the following: used to indicate the SL-PRS information associated with the target device when measuring device positioning measurement values (such as SL-PRS resource set ID, SL-PRS resource ID, SL-PRS specific time-frequency resource location information, SL-PRS configuration information, sequence initialization ID, etc.), equipment SL-PRS positioning measurement value reporting granularity, etc.
  • device positioning measurement values such as SL-PRS resource set ID, SL-PRS resource ID, SL-PRS specific time-frequency resource location information, SL-PRS configuration information, sequence initialization ID, etc.
  • equipment SL-PRS positioning measurement value reporting granularity etc.
  • the above positioning reference signal configuration parameter set includes at least one of the following: SL-PRS resource type, power control parameter, sequence ID, SL-PRS resource ID, SL-PRS resource set ID, frequency domain comb size, inter-symbol frequency domain offset Shift value, cyclic shift parameter, time domain start position, starting symbol position mapped in the time slot, number of time domain occupied symbols, SL-PRS time domain period, SL-PRS period number or duration, frequency domain start Starting position, frequency domain offset value relative to the frequency domain reference point, frequency domain occupied bandwidth or number of RBs, SL-PRS subcarrier spacing, cyclic prefix type, SL-PRS priority information
  • the above SL-PRS resource type can be used to indicate that the SL-PRS resource is one of the following: periodic, aperiodic, semi-persistent
  • the relative reference point in the time-frequency domain may be the resource time-frequency position where positioning request signaling or positioning indication signaling is mapped, or a reference time-frequency position configured or preconfigured by a higher layer.
  • the above-mentioned SL-PRS configuration parameter set may indicate SL-PRS related configurations sent by the first device and/or the second device.
  • SL-PRS configuration parameter set can also be configured or pre-configured through high-level configuration, and the relevant parameters of high-level configuration or pre-configuration do not need to appear in the first information or the third information.
  • the above cyclic prefix type is used to indicate whether the current CP is a normal CP or an extended CP.
  • the above-mentioned SL-PRS priority may also be determined based on the priority of the physical channel associated with it or the priority value carried in the associated control signaling.
  • the above positioning measurement values include at least one of the following: RSTD reference signal time difference, SL-PRS RSRP, first device sending and receiving time difference, second device sending and receiving time difference, SL-PRS SINR/SNR, RTOA reference signal arrival time, AOA, AOD, and Strong path transmission delay (can help eliminate some erroneous distance estimates), delay difference between multipaths, longitude/latitude/altitude;
  • the quality indication information of the above-mentioned measured values includes at least one of the following: error resolution, error value (combined with error resolution indication) and number of error sampling points;
  • the above-mentioned positioning reference signal search auxiliary information includes at least one of the following: expected reference signal time difference (the time difference between the first device used as a reference and other adjacent first devices to send SL-PRS and the transmission delay difference), search window (corresponding to Due to the uncertainty of transmission delay difference), the SL-PRS search auxiliary information can also be configured or pre-configured by high-layer parameters.
  • Example 3 The first information includes positioning request signaling, that is, the second device assists the first device in positioning. See Figure 6d. Figure 6d corresponds to a situation where a second device (UE2) assists the first device (UE1). As for multiple The situation in which a second device assists the first device can be understood in conjunction with Figure 6b and Figure 6d. The specific process is as follows:
  • Step 1 The first device sends positioning request signaling to one or more second devices, and sends SL-PRS to the second device;
  • the first device may send SL-PRS periodically and continuously, and the corresponding configuration parameters are notified to the second device by the first information, or configured or pre-configured by high-level parameters; or it may be aperiodic and semi-continuously sent, triggered by the first information, and Notify the second device to receive.
  • the first information may also carry feedback delay limit, positioning method/capability, positioning measurement type, SL-PRS search auxiliary information, measurement window indication, time interval, time domain reference point, and interaction process ID;
  • Step 2 The second device receives the first SL-PRS according to the first information and/or high-level parameter configuration or pre-configuration. And perform SL-PRS measurement, and report the measurement results back to the first device;
  • one or more second devices are required to report measurement information and positioning assistance information; for SL-PRS periodic or semi-persistent transmission, each second device may measure the time domain position of SL-PRS are different, or the time domain position distance of the measured SL-PRS is too large, resulting in a decrease in the positioning accuracy of the first device; in order to solve this problem:
  • the first information can be used to define the measurement interval of the second device to ensure that the SL-PRS time domain positions measured by multiple second devices are the same, or the measurement interval is kept within a certain window.
  • the second device can report multiple measurement quantities, and simultaneously report the measurement timestamp + the timestamp corresponding to the SL-PRS (or the time domain location information corresponding to the SL-PRS: subframe number + timeslot number, etc.) to ensure that the first
  • the device can operate on multiple second Select the corresponding measurement result from multiple positioning measurement results reported by the device for position calculation.
  • Step 3 The first device receives positioning assistance information and positioning measurement results from one or more second devices, performs position calculation, and completes ranging or positioning.
  • the first information includes positioning indication signaling, that is, the first device assists the second device in positioning. See Figure 6e.
  • Figure 6e corresponds to the situation where a first device (UE1) assists a second device (UE2).
  • UE1 a first device
  • UE2 a second device
  • the specific process is as follows:
  • Step 1 The first device sends the first information (positioning indication signaling) to inform the second device that it can provide positioning function for the second device;
  • Positioning request/positioning indication flag flag, target identification information, source identification information, SL-PRS configuration parameters, positioning measurement type, positioning auxiliary information, SL-PRS search auxiliary information, positioning method/capability, interactive process ID
  • Step 2 After receiving the positioning indication signaling, the second device sends the second information (positioning request signaling) to the first device, triggering the first device to send SL-PRS;
  • SL-PRS request signaling positioning request/positioning indication flag, target identification information, source identification information, feedback delay limit, SL-PRS configuration parameters, positioning method/capability, time interval, time domain reference point, interactive process ID
  • Step 3 After receiving the second information, the first device sends the first SL-PRS based on the second/fourth information or high-level parameter configuration/preconfiguration.
  • a fourth message also needs to be sent:
  • the fourth information may include: SL-PRS indication signaling, positioning request/positioning indication flag, target identification information, source identification information, SL-PRS configuration parameters, positioning assistance information, SL-PRS search assistance information, positioning method /Capacity, measurement window indication, time interval, time domain reference point, interactive process ID;
  • Step 4 The second device performs positioning measurement based on the received first SL-PRS, combines the fourth/second information to complete the position calculation process, and completes ranging or positioning.
  • the second device measures one or more SL-PRS sent by the first device. It should ensure that the SL-PRS used in the positioning measurement process are in the same time slot, or the SL-PRS in the same time window, so as to Ensure positioning accuracy.
  • the SL-PRS sending configuration of one or more first devices can be configured in the second information to ensure that the SL-PRS sending period of each first device is the same or similar, or to ensure that each first device sends SL-PRS.
  • the starting position of PRS is also the same or similar.
  • the first information includes positioning indication signaling, that is, the first device assists the second device in positioning. See Figure 6f.
  • Figure 6f corresponds to the situation where a first device (UE1) assists a second device (UE2).
  • UE1 a first device
  • UE2 a second device
  • the specific process is as follows:
  • Step 1 The first device sends the first information (positioning indication signaling) to inform the second device that it can provide positioning function for the second device;
  • Positioning request/positioning indication flag flag, target identification information, source identification information, SL-PRS configuration parameters, positioning measurement type, positioning auxiliary information, SL-PRS search auxiliary information, positioning method/capability, interactive process ID;
  • Step 2 After receiving the positioning indication signaling, the second device sends the second information to the first device and Prepare to send the second SL-PRS;
  • SL-PRS indication signaling positioning request/positioning indication flag bit, target identification information, source identification information, feedback delay limit, SL-PRS configuration parameters, positioning method/capability, time interval, time domain reference point, interactive process ID ;
  • Step 3 After receiving the second information, the first device performs the measurement of the second SL-PRS based on the second/fourth information or high-level parameter configuration/preconfiguration.
  • a fourth message also needs to be sent:
  • the fourth information may include: target identification information, source identification information, SL-PRS configuration parameters, positioning assistance information, time interval, time domain reference point, interactive process ID, positioning measurement value, and timestamp of the positioning measurement value. (time information for performing measurement of positioning measurement values), quality indication of the positioning measurement values, positioning measurement value identification information, and positioning solution result information;
  • Step 4 The second device completes ranging or positioning based on receiving the fourth information.
  • the second device when the second device receives the fourth information sent by one or more first devices, it should ensure that the SL-PRS used in the positioning measurement process is in the same time slot, or the SL-PRS is in the same time window, so as to Ensure positioning accuracy.
  • the SL-PRS transmission configuration of one or more first devices can be configured in the second information to ensure that the measured SL-PRS positions of each first device are the same or close;
  • the first information includes positioning indication signaling, that is, the first device assists the second device in positioning. See Figure 6g.
  • Figure 6g corresponds to the situation where a first device (UE1) assists a second device (UE2).
  • UE1 a first device
  • UE2 a second device
  • the specific process is as follows:
  • the difference is that the second device sends the PRS measurement value to the first device through the fifth information, the first device performs position calculation, and then sends the solution result through the sixth information. to the second device.
  • the information content of the fifth information and the sixth information includes one or more of the following: (1) at least part of the third information; (2) positioning measurement value; (3) time of positioning measurement value stamp; (4) Quality indication of positioning measurement values; (5) Positioning measurement value identification information; (6) Positioning solution result information;
  • the third information includes one or more of the following:
  • the signaling type information of the third information includes: at least one of positioning reference signal indication signaling and positioning indication flag bit;
  • Identification information including: at least one of target identification information, source identification information, and interactive process ID;
  • Positioning reference signal configuration information including: at least one of positioning reference signal configuration parameters, time interval and time domain reference point;
  • Positioning measurement configuration information including: positioning measurement quantity type, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability, positioning type, measurement window indication, positioning solution function indication, measurement auxiliary information, feedback time At least one of extension limit, time domain reference point and positioning priority information.
  • the fifth information and the sixth information are the same as the above-mentioned first information. At least part of the information content of the fifth information and the sixth information can be configured or pre-configured through high-level parameters, that is, the fifth information and the sixth information
  • the sixth information may only include part of the above information content, and the rest is configured or pre-configured by high-level parameters.
  • the above positioning measurement quantity types may include: indicating the measurement quantity that needs to be measured, such as SL-PRS RSRP, SL-PRS sending and receiving time difference of the device, RTOA, RSTD, AoA, AOD, etc.;
  • the above positioning assistance information may include at least one of the following: speed, movement direction, acceleration, location coordinate information, identity ID, SL-SSB time-frequency configuration information, identity information related to the first device or the second device, etc.
  • the above-mentioned positioning reference signal search auxiliary information includes at least one of the following: expected reference signal time difference (time difference and transmission delay difference between the first device serving as a reference and other adjacent first devices for sending positioning reference signals), search window (corresponding to Due to the uncertainty of transmission delay difference), the positioning reference signal search auxiliary information can also be configured or pre-configured by high-level parameters.
  • the above positioning method or capability information is used to indicate the method used in the current positioning process, such as Multi-RTT positioning, TDOA positioning, AOA positioning, and AOD positioning;
  • the above positioning type information is used to distinguish whether the current positioning method is used for relative positioning, ranging, or absolute positioning;
  • the above-mentioned measurement window indication information includes the starting position information, period information, etc. of the measurement window;
  • the above positioning solution function indication information is used to display and indicate whether the current device supports the positioning solution function, or can only report measured quantities for auxiliary positioning;
  • Measurement auxiliary information includes at least one of the following: used to indicate the SL-PRS information associated with the target device when measuring device positioning measurement values (such as SL-PRS resource set ID, SL-PRS resource ID, SL-PRS specific time-frequency resource location information, SL-PRS configuration information, sequence initialization ID, etc.), equipment SL-PRS positioning measurement value reporting granularity, etc.
  • device positioning measurement values such as SL-PRS resource set ID, SL-PRS resource ID, SL-PRS specific time-frequency resource location information, SL-PRS configuration information, sequence initialization ID, etc.
  • equipment SL-PRS positioning measurement value reporting granularity etc.
  • the above positioning reference signal configuration parameter set includes at least one of the following: SL-PRS resource type, power control parameter, sequence ID, SL-PRS resource ID, SL-PRS resource set ID, frequency domain comb size, inter-symbol frequency domain offset Shift value, cyclic shift parameter, time domain starting position, starting symbol position mapped in the time slot, number of time domain occupied symbols, SL-PRS time domain period, SL-PRS period number or duration, frequency domain starting Starting position, frequency domain offset value relative to the frequency domain reference point, frequency domain occupied bandwidth or number of RBs, SL-PRS subcarrier spacing, cyclic prefix type, SL-PRS priority information
  • the above SL-PRS resource type can be used to indicate that the SL-PRS resource is one of the following: periodic, aperiodic, semi-persistent
  • the relative reference point in the time-frequency domain may be the resource time-frequency position where positioning request signaling or positioning indication signaling is mapped, or a reference time-frequency position configured or preconfigured by a higher layer.
  • the above-mentioned SL-PRS configuration parameter set may indicate SL-PRS related configurations sent by the first device and/or the second device.
  • SL-PRS configuration parameter set can also be configured or pre-configured through high-level configuration, and the relevant parameters of high-level configuration or pre-configuration do not need to appear in the first information or the third information.
  • the above cyclic prefix type is used to indicate whether the current CP is a normal CP or an extended CP.
  • the above-mentioned SL-PRS priority may also be determined based on the priority of the physical channel associated with it or the priority value carried in the associated control signaling.
  • the above positioning measurement values include at least one of the following: RSTD reference signal time difference, SL-PRS RSRP, first device sending and receiving time difference, second device sending and receiving time difference, SL-PRS SINR/SNR, RTOA reference signal arrival time, AOA, AOD, last Strong path transmission delay (can help eliminate some erroneous distance estimates), delay difference between multipaths, longitude/latitude /high;
  • the quality indication information of the above-mentioned measured values includes at least one of the following: error resolution, error value (combined with error resolution indication) and number of error sampling points;
  • the above-mentioned positioning reference signal search auxiliary information includes at least one of the following: expected reference signal time difference (the time difference between the reference first device and other adjacent first devices for sending SL-PRS and the transmission delay difference), search window (corresponding to Due to the uncertainty of transmission delay difference), the SL-PRS search auxiliary information can also be configured or pre-configured by high-level parameters.
  • the first information includes positioning indication signaling, that is, the first device assists the second device in positioning. See Figure 6h. Figure 6h corresponds to the situation where a first device (UE1) assists a second device (UE2). As for multiple The situation in which a first device assists a second device can be understood in conjunction with Figure 6b and Figure 6h. The specific process is as follows:
  • Step 1 The first device may send the first SL-PRS periodically, or send the first SL-PRS aperiodic/semi-continuously triggered by the first information;
  • the first information is positioning indication signaling, which may include: SL-PRS indication signaling, positioning request/positioning indication flag, target identification information, source identification information, SL-PRS configuration parameters, positioning assistance information, and SL-PRS search assistance.
  • Information positioning method/capability, time interval, time domain reference point, interactive process ID;
  • the SL-PRS periods of multiple first devices may be the same or similar, and the time domain positions of the SL-PRS are relatively close or occupy the same time slot.
  • Step 2 The second device receives the first information, receives and measures the first SL-PRS according to the first information or high-level parameter configuration/preconfiguration, and performs position calculation based on the first information to complete ranging or positioning.
  • Example 8 Referring to Figure 6i, the specific positioning process when there is LMF in SL-Positioning is as follows:
  • the first device requests Location service from LMF and sends the first information.
  • An interaction process is required between the first device and the second device for determining the anchor node.
  • LMF determines the positioning method (TDOA, AOA/AOD, RTT, etc.) used in this positioning process based on the positioning methods/capabilities supported by the first device and the second device, and determines the auxiliary information and positioning required for the corresponding method. Measurement quantity type, positioning type, etc.
  • the first device can send SL-PRS, but since there is no base station scheduling, the resource configuration of SL-PRS is:
  • the first device can make its own decision, such as selecting SL-PRS resources based on sensing results and SL-PRS configuration parameter information.
  • LMF determines the SL-PRS resource configuration information of the first device, similar to LMF scheduling (sending SL-PRS configuration parameters to the first device)
  • the first device can:
  • b.LMF activates SL-PRS transmission
  • LMF notifies the second device to measure SL-PRS, and notifies the second device that the corresponding first device sends SL-PRS configuration information and related measurement information.
  • the first device sends SL-PRS (not necessarily in sequence with step (6)), which can be periodic, aperiodic, or semi-continuous.
  • the second device measures the received SL-PRS: RTOA, RSRP, SNR/SINR, etc.
  • the second device reports the measurement results back to LMF, and LMF performs corresponding position calculations.
  • Example 9 Referring to Figure 6j, the specific positioning process when there is LMF in SL-Positioning is as follows:
  • the first device requests Location service from LMF and sends the first information.
  • An interaction process is required between the first device and the second device for determining the anchor node.
  • LMF determines the positioning method used in this positioning process (TDOA, AOA/AOD, RTT, etc.) based on the positioning method capabilities that the first device and the second device can support, and determines the auxiliary information and measurement information required for the corresponding method. etc. content.
  • the second device can decide by itself, such as selecting SL-PRS resources based on the sensing results.
  • b.LMF determines the SL-PRS resource configuration information of the second device, similar to LMF scheduling
  • the second device can:
  • b.LMF activates SL-PRS transmission
  • LMF notifies the first device to measure SL-PRS, and notifies the first device that the corresponding second device sends SL-PRS configuration information and related measurement information.
  • the second device sends SL-PRS (not necessarily in sequence with step (16)), which can be periodic, aperiodic, or semi-continuous.
  • the first device measures the received SL-PRS: RTOA, RSRP, SNR/SINR, etc.
  • the first device reports the measurement results back to LMF, and LMF combines the positioning auxiliary information to perform corresponding position calculations.
  • the execution subject may be a positioning device for sidelink.
  • the positioning device used for sidelink to perform the positioning method of sidelink is used as an example to illustrate the application.
  • an embodiment of the present application provides a positioning device 700 for sidelink, including:
  • the first device sends first information to one or more second devices, where the first information includes positioning request signaling;
  • the first sending module 701 is used for the first device to send a first positioning reference signal to the second device, or for the first device to receive a second positioning reference signal from the second device;
  • the first positioning module 703 is used in the first transceiver module 702, and is used by the first device to obtain the first positioning reference signal according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal.
  • the positioning solution result, or the first device receives the positioning solution result of the first device from the second device.
  • the first information includes one or more of the following:
  • the signaling type information of the first information includes: at least one of positioning reference signal request signaling and positioning request flag;
  • Identification information including: at least one of target identification information, source identification information, and interactive process ID;
  • Positioning reference signal configuration information including: at least one of positioning reference signal configuration parameters, time interval and time domain reference point;
  • Positioning measurement configuration information including: positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning solution function indication information, measurement auxiliary information, Feedback at least one of delay limit sum, time domain reference point and positioning priority information.
  • the first transceiver module is used for:
  • the first device receives second information and the second positioning reference signal from the second device;
  • the first positioning module is used for:
  • the first device performs positioning measurement based on the second information and/or the second positioning reference signal to obtain a first positioning measurement value
  • the first device obtains the positioning solution result of the first device based on the second information and/or the first positioning measurement value.
  • the first transceiver module is used for:
  • the first device sends the first positioning reference signal to the second device
  • the first device receives second information from the second device
  • the first positioning module is used for:
  • the first device receives a second positioning measurement value measured by the second device from the second device through the second information
  • the first device obtains the positioning solution result of the first device based on the second information and/or the second positioning measurement value
  • the first positioning module is used for:
  • the first device receives the positioning solution result of the first device from the second device through the second information, and the positioning solution result of the first device is the positioning solution result of the second device according to the first information, and/or, the second device The second positioning measurement value of the measurement is obtained.
  • the information content of the second information includes one or more of the following:
  • the third information includes one or more of the following:
  • the signaling type information of the third information includes: at least one of positioning reference signal request signaling and positioning request flag;
  • Identification information including: at least one of target identification information, source identification information, and interactive process ID;
  • Positioning reference signal configuration information including: at least one of positioning reference signal configuration parameters, time interval and time domain reference point;
  • Positioning measurement configuration information including: positioning measurement quantity type, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability, positioning type, measurement window indication, positioning solution function indication, measurement auxiliary information, feedback delay limit, At least one of time domain reference point and positioning priority information.
  • the time interval satisfies at least one of the following:
  • the time interval is the time interval between the time domain starting transmission position of the positioning reference signal and the target time domain reference point
  • the target time domain reference point is The time slot position where the target information is located, or the time domain reference point in the target information, or the time domain reference point configured by high-level parameters, or the preconfigured time domain reference point;
  • the retransmitted target information does not carry the time interval.
  • the target information is at least one of the first information and the second information.
  • the device further includes: a first processing module, used for at least one of the following when the target information carries a feedback delay limit, or a high-level parameter configuration or a pre-configured feedback delay limit:
  • the first device receives feedback information corresponding to the target information from the second device within the feedback delay limit
  • the first device completes the overall positioning process within the feedback delay limit
  • the target information is at least one of the first information and the second information
  • the feedback delay limit meets at least one of the following:
  • the feedback delay limit is the upper limit of the target information feedback time
  • the target time domain reference point of the feedback delay limit is a high-level parameter configuration or preconfiguration, or a time domain reference point carried in the target information
  • the retransmitted target information does not carry the feedback delay limit.
  • the device further includes: a second processing module, used for at least one of the following:
  • the time parameters for the first device to send the first positioning reference signal and the time parameters for the second device to send the second positioning reference signal are preset, and the time parameters include at least one of the following: positioning reference signal transmission Period, offset value within the period, period reference point;
  • the measurement window indication information indication it is ensured that the first device and the second device measure the first positioning reference signal and the second positioning reference signal in the same measurement window.
  • the first sending module is used for:
  • the first device sends the first information to one or more of the second devices through a third device;
  • the first transceiver module is used for:
  • the first device sends the measurement result of the second positioning reference signal to the third device, and receives the positioning solution result of the first device from the third device.
  • an embodiment of the present application provides a positioning device 800 for sidelink, including:
  • the first receiving module 801 is configured for the second device to receive first information from one or more first devices, where the first information includes positioning request signaling;
  • the second transceiver module 802 is used for the second device to receive a first positioning reference signal from the first device, or for the second device to send a second positioning reference signal to the first device;
  • the second positioning module 803 is configured to obtain the positioning solution result of the first device according to the measurement result of the second positioning reference signal by the first device, or the second device sends a signal to the first device.
  • the device sends the measurement result of the first positioning reference signal, or the second device obtains the positioning solution result of the first device based on the measurement result of the first positioning reference signal, and sends the positioning result to the first device.
  • the device sends the positioning solution result of the first device.
  • the first information includes one or more of the following:
  • the signaling type information of the first information includes: at least one of positioning reference signal request signaling, positioning reference signal indication signaling, positioning request flag bit and positioning indication flag bit;
  • Identification information including: at least one of target identification information, source identification information, and interactive process ID;
  • Positioning reference signal configuration information including: at least one of positioning reference signal configuration parameters, time interval and time domain reference point;
  • Positioning measurement configuration information including: positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning solution function indication information, measurement auxiliary information, Feedback at least one of delay limit, time domain reference point and positioning priority information.
  • the second transceiver module is used for:
  • the second device sends second information and the second positioning reference signal to the first device, where the second information is feedback information of the first information.
  • the second transceiver module is used for:
  • the second device receives the first positioning reference signal from the first device
  • the second device sends second information to the first device, where the second information is feedback information of the first information
  • the second positioning module is used for:
  • the second device performs positioning measurement based on the first information and/or the first positioning reference signal to obtain a second positioning measurement value
  • the second device sends the second positioning measurement value to the first device through the second information
  • the second positioning module is used for:
  • the second device performs positioning measurement based on the first information and/or the first positioning reference signal to obtain a second positioning measurement value
  • the second device obtains the positioning solution result of the first device based on the first information and/or the second positioning measurement value
  • the second device sends the positioning solution result of the first device to the first device through the second information.
  • the information content of the second information includes one or more of the following: at least part of the third information; positioning measurement value; time stamp of the positioning measurement value; quality indication of the positioning measurement value; positioning Measurement value identification information; positioning solution result information;
  • the third information includes one or more of the following:
  • the signaling type information of the third information includes: at least one of positioning reference signal request signaling and positioning request flag;
  • Identification information including: at least one of target identification information, source identification information, and interactive process ID;
  • Positioning reference signal configuration information including: at least one of positioning reference signal configuration parameters, time interval and time domain reference point;
  • Positioning measurement configuration information including: positioning measurement quantity type, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability, positioning type, measurement window indication, positioning solution function indication, measurement auxiliary information, feedback delay limit, At least one of time domain reference point and positioning priority information.
  • the time interval satisfies at least one of the following:
  • the time interval is the time interval between the time domain starting transmission position of the positioning reference signal and the target time domain reference point
  • the target time domain reference point is The time slot position where the target information is located, or the time domain reference point in the target information, or the time domain reference point configured by high-level parameters, or the preconfigured time domain reference point;
  • the retransmitted target information does not carry the time interval.
  • the target information is at least one of the first information and the second information.
  • the device further includes: a third processing module, used for any of the following when the target information carries a feedback delay limit, or when high-level parameter configuration or pre-configured feedback delay limit is used:
  • the second device sends feedback corresponding to the target information to the first device within the feedback delay limit. information
  • the second device completes the overall positioning process within the feedback delay limit
  • the target information is at least one of the first information and the second information
  • the feedback delay limit meets at least one of the following:
  • the feedback delay limit is the upper limit of the target information feedback time
  • the target time domain reference point of the feedback delay limit is a high-level parameter configuration or preconfiguration, or a time domain reference point carried in the target information
  • the retransmitted target information does not carry the feedback delay limit.
  • the device further includes: a fourth processing module, used for any of the following:
  • the time parameters for the first device to send the first positioning reference signal and the time parameters for the second device to send the second positioning reference signal are preset, and the time parameters include at least one of the following: positioning reference signal transmission Period, offset value within the period, period reference point;
  • the measurement window indication information indication it is ensured that the first device and the second device measure the first positioning reference signal and the second positioning reference signal in the same measurement window.
  • the first receiving module is used for:
  • the second device receives first information from one or more first devices, including:
  • the second device receives the first information from one or more of the first devices through a third device;
  • the second transceiver module is used for:
  • the second device sends the measurement result of the first positioning reference signal to the third device, and the third device obtains the positioning solution result of the first device, and the third device sends the measurement result to the first positioning reference signal.
  • the first device sends the positioning solution result of the first device.
  • an embodiment of the present application provides a positioning device 900 for sidelink, including:
  • the second sending module 901 is configured for the first device to send first information to one or more second devices, where the first information includes positioning indication signaling;
  • the third transceiver module 902 is configured for the first device to send a first positioning reference signal to the second device, or for the first device to receive a second positioning reference signal from the second device;
  • the third positioning module 903 is configured to obtain the positioning solution result of the second device according to the measurement result of the first positioning reference signal by the second device, or the first device sends a signal to the second device.
  • the device sends the measurement result of the second positioning reference signal, or the first device obtains the positioning solution result of the second device based on the measurement result of the second positioning reference signal, and sends it to the second device.
  • the device sends the positioning solution result of the second device.
  • the first information includes one or more of the following:
  • the signaling type information of the first information includes: at least one of positioning reference signal indication signaling and positioning indication flag bits;
  • Identification information including: at least one of target identification information, source identification information, and interactive process ID;
  • Positioning reference signal configuration information including: positioning reference signal configuration parameters, time interval and time domain reference point at least one item;
  • Positioning measurement configuration information including: positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning solution function indication information, measurement auxiliary information, Feedback at least one of delay limit sum, time domain reference point and positioning priority information.
  • the third transceiver module is used for:
  • the first device receives second information from the second device, where the second information is feedback information of the first information
  • the first device sends fourth information and the first positioning reference signal to the second device, where the fourth information is feedback information of the second information.
  • the third transceiver module is used for:
  • the first device receives second information and the second positioning reference signal from the second device, where the second information is feedback information of the first information;
  • the first device sends fourth information to the second device, where the fourth information is feedback information of the second information;
  • the third positioning module is used for:
  • the first device performs positioning measurement according to the second information and/or the second positioning reference signal to obtain a first positioning measurement value
  • the first device sends the first positioning measurement value to the second device through the fourth information
  • the third positioning module is used for:
  • the first device performs positioning measurement according to the second information and/or the second positioning reference signal to obtain a first positioning measurement value
  • the first device obtains the positioning solution result of the second device based on the second information and/or the first positioning measurement value
  • the first device sends the positioning solution result of the second device to the second device through the fourth information.
  • the information content of the second information and the fourth information includes one or more of the following: at least part of the third information; a positioning measurement value; a timestamp of the positioning measurement value; the positioning measurement Value quality indication; positioning measurement value identification information; positioning solution result information;
  • the third information includes one or more of the following:
  • the signaling type information of the third information includes: at least one of positioning reference signal indication signaling and positioning indication flag bits;
  • Identification information including: at least one of target identification information, source identification information, and interactive process ID;
  • Positioning reference signal configuration information including: at least one of positioning reference signal configuration parameters, time interval and time domain reference point;
  • Positioning measurement configuration information including: positioning measurement quantity type, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability, positioning type, measurement window indication, positioning solution function indication, measurement auxiliary information, Feedback at least one of delay limit, time domain reference point and positioning priority information.
  • the time interval satisfies at least one of the following:
  • the time interval is the time interval between the time domain starting transmission position of the positioning reference signal and the target time domain reference point
  • the target time domain reference point is The time slot position where the target information is located, or the time domain reference point in the target information, or the time domain reference point configured by high-level parameters, or the preconfigured time domain reference point;
  • the retransmitted target information does not carry the time interval.
  • the target information is at least one of the first information, the second information and the fourth information.
  • the device further includes: a fifth processing module, used for at least one of the following when the target information carries a feedback delay limit, or a high-level parameter configuration or a pre-configured feedback delay limit:
  • the first device receives feedback information corresponding to the target information from the second device within the feedback delay limit
  • the first device completes the overall positioning process within the feedback delay limit
  • the target information is at least one of the first information, the second information and the fourth information
  • the feedback delay limit meets at least one of the following:
  • the feedback delay limit is the upper limit of the target information feedback time
  • the target time domain reference point of the feedback delay limit is a high-level parameter configuration or preconfiguration, or a time domain reference point carried in the target information
  • the retransmitted target information does not carry the feedback delay limit.
  • the device further includes: a sixth processing module, used for at least one of the following:
  • the time parameters for the first device to send the first positioning reference signal and the time parameters for the second device to send the second positioning reference signal are preset, and the time parameters include at least one of the following: positioning reference signal transmission Period, offset value within the period, period reference point;
  • the measurement window indication information indication it is ensured that the first device and the second device measure the first positioning reference signal and the second positioning reference signal in the same measurement window.
  • the second sending module is used for:
  • the first device sends the first information to one or more second devices through a third device.
  • an embodiment of the present application provides a positioning device 1000 for sidelink, including:
  • the second receiving module 1001 is configured for a second device to receive first information from one or more first devices, where the first information includes positioning indication signaling;
  • the fourth transceiver module 1002 is used for the second device to receive a first positioning reference signal from the first device, or for the second device to send a second positioning reference signal to the first device;
  • the fourth positioning module 1003 is used for the second device to obtain the positioning solution result of the second device according to the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or, The second The device receives the positioning solution result of the second device from the first device.
  • the first information includes one or more of the following:
  • the signaling type information of the first information includes: at least one of positioning reference signal indication signaling and positioning indication flag bits;
  • Identification information including: at least one of target identification information, source identification information, and interactive process ID;
  • Positioning reference signal configuration information including: at least one of positioning reference signal configuration parameters, time interval and time domain reference point;
  • Positioning measurement configuration information including: positioning measurement quantity type information, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability information, positioning type information, measurement window indication information, positioning solution function indication information, measurement auxiliary information, Feedback at least one of delay limit, time domain reference point and positioning priority information.
  • the fourth transceiver module is used for:
  • the second device sends second information to the first device, where the second information is feedback information of the first information
  • the second device receives fourth information and the first positioning reference signal from the first device, where the fourth information is feedback information of the second information;
  • the fourth positioning module is used for:
  • the second device obtains a second positioning measurement value based on the fourth information and/or the first positioning reference signal
  • the second device obtains the positioning solution result of the second device based on the first target information and/or the second positioning measurement value, and the first target information is the first information or the second positioning measurement value. Fourth information.
  • the fourth positioning module is used for:
  • the second device obtains a second positioning measurement value based on the first information and/or the first positioning reference signal
  • the second device obtains the positioning solution result of the second device based on the first information and/or the second positioning measurement value.
  • the fourth transceiver module is used for:
  • the second device sends second information and the second positioning reference signal to the first device, where the second information is feedback information of the first information;
  • the second device receives fourth information from the first device, where the fourth information is feedback information of the second information;
  • the fourth positioning module is used for:
  • the second device receives the first positioning measurement value measured by the first device from the first device through the fourth information
  • the second device obtains the positioning solution result of the second device based on the first target information and/or the first positioning measurement value, and the first target information is the first information or the first positioning measurement value. fourth information;
  • the fourth positioning module is used for:
  • the second device receives the positioning solution result of the second device from the first device through the fourth information, and the positioning solution result of the second device is the positioning solution result of the first device according to the second information, and/or obtained by the first device receiving a first positioning measurement value measured by the first device.
  • the information content of the second information and the fourth information includes one or more of the following: at least part of the third information; a positioning measurement value; a timestamp of the positioning measurement value; the positioning measurement Value quality indication; positioning measurement value identification information; positioning solution result information;
  • the third information includes one or more of the following:
  • the signaling type information of the third information includes: at least one of positioning reference signal request signaling, positioning reference signal indication signaling, positioning request flag bit and positioning indication flag bit;
  • Identification information including: at least one of target identification information, source identification information, and interactive process ID;
  • Positioning reference signal configuration information including: at least one of positioning reference signal configuration parameters, time interval and time domain reference point;
  • Positioning measurement configuration information including: positioning measurement quantity type, positioning auxiliary information, positioning reference signal search auxiliary information, positioning method or capability, positioning type, measurement window indication, positioning solution function indication, measurement auxiliary information, feedback delay limit, At least one of time domain reference point and positioning priority information.
  • the time interval satisfies at least one of the following:
  • the time interval is the time interval between the time domain starting transmission position of the positioning reference signal and the target time domain reference point
  • the target time domain reference point is The time slot position where the target information is located, or the time domain reference point in the target information, or the time domain reference point configured by high-level parameters, or the preconfigured time domain reference point;
  • the retransmitted target information does not carry the time interval.
  • the target information is at least one of the first information, the second information and the fourth information.
  • the device further includes: a seventh processing module, used for any of the following when the target information carries a feedback delay limit, or when high-level parameter configuration or pre-configured feedback delay limit is used:
  • the second device sends feedback information corresponding to the target information to the first device within the feedback delay limit
  • the second device completes the overall positioning process within the feedback delay limit
  • the target information is at least one of the first information, the second information and the fourth information
  • the feedback delay limit meets at least one of the following:
  • the feedback delay limit is the upper limit of the target information feedback time
  • the target time domain reference point of the feedback delay limit is a high-level parameter configuration or preconfiguration, or a time domain reference point carried in the target information
  • the retransmitted target information does not carry the feedback delay limit.
  • the device further includes: an eighth processing module, used for any of the following:
  • the time parameters for the first device to send the first positioning reference signal and the time parameters for the second device to send the second positioning reference signal are preset, and the time parameters include at least one of the following: positioning reference signal transmission Period, offset value within the period, period reference point;
  • the measurement window indication information indication it is ensured that the first device and the second device measure the first positioning reference signal and the second positioning reference signal in the same measurement window.
  • the second receiving module is used for:
  • the second device receives the first information from one or more of the first devices through a third device;
  • the fourth transceiver module is used for:
  • the second device sends the measurement result of the first positioning reference signal to the third device, and receives the positioning solution result of the second device from the third device.
  • the positioning device used for sidelink in the embodiment of the present application may be an electronic device, such as an electronic device with an operating system, or may be a component in the electronic device, such as an integrated circuit or chip.
  • the electronic device may be a terminal or other devices other than the terminal.
  • terminals may include but are not limited to the types of terminals 11 listed above, and other devices may be servers, network attached storage (Network Attached Storage, NAS), etc., which are not specifically limited in the embodiment of this application.
  • NAS Network Attached Storage
  • the positioning device for sidelink provided by the embodiment of the present application can implement each process implemented by the method embodiment of Figure 2 to Figure 6j, and achieve the same technical effect. To avoid duplication, it will not be described again here.
  • an embodiment of the present application provides a positioning device for sidelink, including:
  • Transceiver 1110 for receiving and transmitting data under the control of processor 1100.
  • the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 1100 and various circuits of the memory represented by memory 1120 are linked together.
  • the bus architecture can also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are all well known in the art and therefore will not be described further herein.
  • the bus interface provides the interface.
  • the transceiver 1110 may be a plurality of elements, including a transmitter and a receiver, providing a unit for communicating with various other devices over transmission media, including wireless channels, wired channels, optical cables, etc. Transmission medium.
  • the user interface 1130 can also be an interface capable of externally connecting internal and external required equipment.
  • the connected equipment includes but is not limited to a keypad, a display, a speaker, a microphone, a joystick, etc.
  • the processor 1100 is responsible for managing the bus architecture and general processing, and the memory 1120 can store data used by the processor 1100 when performing operations.
  • the processor 1100 can be a central processing unit (Central Processing Unit, CPU), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field-Programmable Gate Array, FPGA) or a complex programmable Logic device (Complex Programmable Logic Device, CPLD), the processor can also adopt a multi-core architecture.
  • CPU Central Processing Unit
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • CPLD Complex Programmable Logic Device
  • the processor is used to execute the implementation of the present application according to the obtained executable instructions by calling the computer program stored in the memory. Any of the methods provided in the Examples.
  • the processor and memory can also be physically separated.
  • the device shown in Figure 11 When the device shown in Figure 11 is used as the first device, it can perform the method steps related to the first device in Figures 2 to 6j;
  • the first device sends first information to one or more second devices, where the first information includes positioning request signaling;
  • the first device sends a first positioning reference signal to the second device, or the first device receives a second positioning reference signal from the second device;
  • the first device obtains the positioning solution result of the first device based on the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or the first device obtains the positioning solution result from the first positioning reference signal.
  • the second device receives the positioning solution result of the first device.
  • a processor to read the computer program in said memory and perform the following operations:
  • the first device sends first information to one or more second devices, where the first information includes positioning indication signaling;
  • the first device sends a first positioning reference signal to the second device, or the first device receives a second positioning reference signal from the second device;
  • the second device obtains the positioning solution result of the second device according to the measurement result of the first positioning reference signal, or the first device sends the second positioning reference to the second device.
  • the measurement result of the signal, or the first device obtains the positioning solution result of the second device based on the measurement result of the second positioning reference signal, and sends the positioning solution of the second device to the second device. Positioning solution results.
  • the device shown in Figure 11 When the device shown in Figure 11 is used as a second device, it can perform the method steps related to the second device in Figures 2 to 6j. For details, please refer to the previous description of the method and will not go into details here.
  • the first device sends first information to one or more second devices, including:
  • the first device sends the first information to one or more of the second devices through a third device;
  • the method also includes:
  • the first device sends the measurement result of the second positioning reference signal to the third device, and receives the positioning solution result of the first device from the third device.
  • a processor to read the computer program in said memory and perform the following operations:
  • a second device receives first information from one or more first devices, the first information including positioning indication signaling;
  • the second device receives a first positioning reference signal from the first device, or the second device sends a second positioning reference signal to the first device;
  • the second device obtains the positioning solution result of the second device based on the measurement result of the first positioning reference signal or the measurement result of the second positioning reference signal, or the second device obtains the positioning solution result from the second positioning reference signal.
  • the first device receives the positioning solution result of the second device.
  • Embodiments of the present application also provide a readable storage medium, the readable storage medium stores a program or instructions, and when the program or instructions are executed by a processor, each process of the above positioning method embodiment for sidelink is implemented, and Able to reach To achieve the same technical effect, to avoid repetition, we will not repeat them here.
  • the processor is the processor in the terminal described in the above embodiment.
  • the readable storage medium includes computer readable storage media, such as computer read-only memory ROM, random access memory RAM, magnetic disk or optical disk, etc.
  • An embodiment of the present application further provides a chip.
  • the chip includes a processor and a communication interface.
  • the communication interface is coupled to the processor.
  • the processor is used to run programs or instructions to implement the above positioning method for sidelink.
  • Each process of the embodiment can achieve the same technical effect, so to avoid repetition, it will not be described again here.
  • 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.
  • Embodiments of the present application further provide a computer program/program product.
  • the computer program/program product is stored in a storage medium.
  • the computer program/program product is executed by at least one processor to implement the above positioning for sidelink.
  • each module above is only a division of logical functions. In actual implementation, it can be fully or partially integrated into a physical entity, or it can also be physically separated.
  • these modules can all be implemented in the form of software calling through processing components; they can also all be implemented in the form of hardware; some modules can also be implemented in the form of software calling through processing components, and some modules can be implemented in the form of hardware.
  • the determination module can be a separate processing element, or can be integrated into a chip of the above device.
  • it can also be stored in the memory of the above device in the form of program code, and can be processed by a certain processing element of the above device. Call and execute the functions of the above identified modules.
  • the implementation of other modules is similar.
  • each step of the above method or each of the above modules can be completed by instructions in the form of hardware integrated logic circuits or software in the processor element.
  • each module, unit, sub-unit or sub-module may be one or more integrated circuits configured to implement the above method, such as: one or more application specific integrated circuits (Application Specific Integrated Circuit, ASIC), or one or Multiple microprocessors (digital signal processor, DSP), or one or more field programmable gate arrays (Field Programmable Gate Array, FPGA), etc.
  • ASIC Application Specific Integrated Circuit
  • DSP digital signal processor
  • FPGA Field Programmable Gate Array
  • the processing element can be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processors that can call the program code.
  • these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).
  • SOC system-on-a-chip
  • the methods of the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is better. implementation.
  • the technical solution of the present application can be embodied in the form of a computer software product that is essentially or contributes to related technologies.
  • the computer software product is stored in a storage medium (such as ROM/RAM, disk, CD), including several instructions to cause a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of this application.

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Abstract

本申请公开了一种用于sidelink的定位方法、装置及可读存储介质,属于通信技术领域,该方法包括:第一设备向一个或多个第二设备发送第一信息,所述第一信息包括定位请求信令;所述第一设备向所述第二设备发送第一定位参考信号,或者所述第一设备从所述第二设备接收第二定位参考信号;所述第一设备根据所述第一定位参考信号的测量结果或者所述第二定位参考信号的测量结果,得到所述第一设备的定位解算结果,或者,所述第一设备从所述第二设备接收所述第一设备的定位解算结果。

Description

用于sidelink的定位方法、装置及可读存储介质
相关申请的交叉引用
本申请主张在2022年04月29日在中国提交的中国专利申请号No.202210473551.4的优先权,其全部内容通过引用包含于此。
技术领域
本申请属于通信技术领域,具体涉及一种用于sidelink的定位方法、装置及可读存储介质。
背景技术
在蜂窝网覆盖内,基站发送小区特定(cell-specific)的下行定位参考信号(Positioning Reference Signal,PRS),终端(User Equipment,UE)发送上行用于定位的探测参考信号(sounding reference signal,SRS),相应的,终端可以测量参考信号时间差(Reference signal time difference,RSTD),或者测量下行链路定位参考信号(Downlink Positioning Reference Signal,DL PRS)的参考信号接收功率(Reference Signal Receiving Power,RSRP),或者测量终端接收到DL PRS和发送出SRS的时间差;基站可以测量上行的参考信号到达时间(Relative Time of Arrival,RTOA),SRS的RSRP,下一代基站(the next Generation Node B,gNB)收到SRS和gNB发送DL PRS的时间差,以及角度测量值等。通过对测量值进行处理,计算出UE的位置。
对于直通链路定位(sidelink Positioning)的研究和标准化相关工作正在积极开展,sidelink不同于新空口(New Radio,NR)Downlink以及上行链路(Uplink),主要应用场景包括室内、室外、隧道区域等,同时室外和隧道区域场景还需要支持移动速度高达250km/h的定位服务等等,因此需要重新设计UE间相应的定位测量流程,以适应于sidelink Positioning技术。
发明内容
本申请实施例提供一种用于sidelink的定位方法、装置及可读存储介质,能够解决需要重新设计UE间相应的定位测量流程,以适应于sidelink Positioning技术的问题。
第一方面,提供了一种用于直通链路sidelink的定位方法,包括:
第一设备向一个或多个第二设备发送第一信息,所述第一信息包括定位请求信令;
所述第一设备向所述第二设备发送第一定位参考信号,或者所述第一设备从所述第二设备接收第二定位参考信号;
所述第一设备根据所述第一定位参考信号的测量结果或者所述第二定位参考信号的测量结果,得到所述第一设备的定位解算结果,或者,所述第一设备从所述第二设备接收所述第一设备的定位解算结果。
第二方面,提供了一种用于sidelink的定位方法,包括:
第二设备从一个或多个第一设备接收第一信息,所述第一信息包括定位请求信令;
所述第二设备从所述第一设备接收第一定位参考信号,或者所述第二设备向所述第一设备发送第二定位参考信号;
由所述第一设备根据所述第二定位参考信号的测量结果,得到所述第一设备的定位解算结果,或者,所述第二设备向所述第一设备发送所述第一定位参考信号的测量结果,或者,所述第二设备根据所述第一定位参考信号的测量结果,得到所述第一设备的定位解算结果,并向所述第一设备发送所述第一设备的定位解算结果。
第三方面,提供一种用于sidelink的定位方法,包括:
第一设备向一个或多个第二设备发送第一信息,所述第一信息包括定位指示信令;
所述第一设备向所述第二设备发送第一定位参考信号,或者所述第一设备从所述第二设备接收第二定位参考信号;
由所述第二设备根据所述第一定位参考信号的测量结果,得到所述第二设备的定位解算结果,或者,所述第一设备向所述第二设备发送所述第二定位参考信号的测量结果,或者,所述第一设备根据所述第二定位参考信号的测量结果,得到所述第二设备的定位解算结果,并向所述第二设备发送所述第二设备的定位解算结果。
第四方面,提供一种用于sidelink的定位方法,包括:
第二设备从一个或多个第一设备接收第一信息,所述第一信息包括定位指示信令;
所述第二设备从所述第一设备接收第一定位参考信号,或者所述第二设备向所述第一设备发送第二定位参考信号;
所述第二设备根据所述第一定位参考信号的测量结果或者所述第二定位参考信号的测量结果,得到所述第二设备的定位解算结果,或者,所述第二设备从所述第一设备接收所述第二设备的定位解算结果。
第五方面,提供了一种用于sidelink的定位装置,包括:
第一发送模块,用于第一设备向一个或多个第二设备发送第一信息,所述第一信息包括定位请求信令;
第一收发模块,用于所述第一设备向所述第二设备发送第一定位参考信号,或者所述第一设备从所述第二设备接收第二定位参考信号;
第一定位模块,用于所述第一设备根据所述第一定位参考信号的测量结果或者所述第二定位参考信号的测量结果,得到所述第一设备的定位解算结果,或者,所述第一设备从所述第二设备接收所述第一设备的定位解算结果。
第六方面,提供了一种用于sidelink的定位装置,包括:
第一接收模块,用于第二设备从一个或多个第一设备接收第一信息,所述第一信息包括定位请求信令;
第二收发模块,用于所述第二设备从所述第一设备接收第一定位参考信号,或者所述第二设备向所述第一设备发送第二定位参考信号;
第二定位模块,用于由所述第一设备根据所述第二定位参考信号的测量结果,得到所述第一设备的定位解算结果,或者,所述第二设备向所述第一设备发送所述第一定位参考信号的测量结果,或者,所述第二设备根据所述第一定位参考信号的测量结果,得到所述第一设备的定位解算结果,并向所述第一设备发送所述第一设备的定位解算结果。
第七方面,提供了一种用于sidelink的定位装置,包括:
第二发送模块,用于第一设备向一个或多个第二设备发送第一信息,所述第一信息包括定位指示信令;
第三收发模块,用于所述第一设备向所述第二设备发送第一定位参考信号,或者所述第一设备从所述第二设备接收第二定位参考信号;
第三定位模块,用于由所述第二设备根据所述第一定位参考信号的测量结果,得到所述第二设备的定位解算结果,或者,所述第一设备向所述第二设备发送所述第二定位参考信号的测量结果,或者,所述第一设备根据所述第二定位参考信号的测量结果,得到所述第二设备的定位解算结果,并向所述第二设备发送所述第二设备的定位解算结果。
第八方面,提供了一种用于sidelink的定位装置,包括:
第二接收模块,用于第二设备从一个或多个第一设备接收第一信息,所述第一信息包括定位指示信令;
第四收发模块,用于所述第二设备从所述第一设备接收第一定位参考信号,或者所述第二设备向所述第一设备发送第二定位参考信号;
第四定位模块,用于所述第二设备根据所述第一定位参考信号的测量结果或者所述第二定位参考信号的测量结果,得到所述第二设备的定位解算结果,或者,所述第二设备从所述第一设备接收所述第二设备的定位解算结果。
第九方面,提供了一种用于sidelink的定位装置,包括:存储器,收发机,处理器:
存储器,用于存储计算机程序;收发机,用于在所述处理器的控制下收发数据;处理器,用于读取所述存储器中的计算机程序并执行以下操作:
第一设备向一个或多个第二设备发送第一信息,所述第一信息包括定位请求信令;
所述第一设备向所述第二设备发送第一定位参考信号,或者所述第一设备从所述第二设备接收第二定位参考信号;
所述第一设备根据所述第一定位参考信号的测量结果或者所述第二定位参考信号的测量结果,得到所述第一设备的定位解算结果,或者,所述第一设备从所述第二设备接收所述第一设备的定位解算结果。
第十方面,提供了一种用于sidelink的定位装置,包括:存储器,收发机,处理器:
第二设备从一个或多个第一设备接收第一信息,所述第一信息包括定位请求信令;
所述第二设备从所述第一设备接收第一定位参考信号,或者所述第二设备向所述第一设备发送第二定位参考信号;
由所述第一设备根据所述第二定位参考信号的测量结果,得到所述第一设备的定位解算结果,或者,所述第二设备向所述第一设备发送所述第一定位参考信号的测量结果,或者,所述第二设备根据所述第一定位参考信号的测量结果,得到所述第一设备的定位解算结果,并向所述第一设备发送所述第一设备的定位解算结果。
第十一方面,提供了一种用于sidelink的定位装置,包括:存储器,收发机,处理器:
第一设备向一个或多个第二设备发送第一信息,所述第一信息包括定位指示信令;
所述第一设备向所述第二设备发送第一定位参考信号,或者所述第一设备从所述第二设备接收第二定位参考信号;
由所述第二设备根据所述第一定位参考信号的测量结果,得到所述第二设备的定位解算结果,或者,所述第一设备向所述第二设备发送所述第二定位参考信号的测量结果,或者,所述第一设备根据所述第二定位参考信号的测量结果,得到所述第二设备的定位解算结果,并向所述第二设备发送所述第二设备的定位解算结果。
第十二方面,提供了一种用于sidelink的定位装置,包括:存储器,收发机,处理器:
第二设备从一个或多个第一设备接收第一信息,所述第一信息包括定位指示信令;
所述第二设备从所述第一设备接收第一定位参考信号,或者所述第二设备向所述第一设备发送第二定位参考信号;
所述第二设备根据所述第一定位参考信号的测量结果或者所述第二定位参考信号的测量结果,得到所述第二设备的定位解算结果,或者,所述第二设备从所述第一设备接收所述第二设备的定位解算结果。
第十三方面,提供了一种可读存储介质,所述可读存储介质上存储程序或指令,所述程序或指令被处理器执行时实现如第一方面所述的用于sidelink的定位方法的步骤,或者实现如第二方面所述的用于sidelink的定位方法的步骤,或者实现如第三方面所述的用于sidelink的定位方法的步骤,或者实现如第四方面所述的用于sidelink的定位方法的步骤。
第十四方面,提供了一种芯片,所述芯片包括处理器和通信接口,所述通信接口和所述处理器耦合,所述处理器用于运行程序或指令,实现如第一方面所述的用于sidelink的定位方法的步骤,或者实现如第二方面所述的用于sidelink的定位方法的步骤,或者实现如第三方面所述的用于sidelink的定位方法的步骤,或者实现如第四方面所述的用于sidelink的定位方法的步骤。
第十五方面,提供了一种计算机程序/程序产品,所述计算机程序/程序产品被存储在存储介质中,所述计算机程序/程序产品被至少一个处理器执行以实现如第一方面所述的用于sidelink的定位方法的步骤,或者实现如第二方面所述的用于sidelink的定位方法的步骤,或者实现如第三方面所述的用于sidelink的定位方法的步骤,或者实现如第四方面 所述的用于sidelink的定位方法的步骤。
在本申请实施例中,第一设备向第二设备发送第一信息以触发定位流程,第一设备与第二设备之间进行第一定位参考信号或者第二定位参考信号的交互,并根据第一定位参考信号的测量结果或者第二定位参考信号的测量结果得到定位解算结果,实现了sidelink场景下UE间的定位测量。
附图说明
图1是本申请实施例提供的无线通信系统的框图;
图2是本申请实施例提供的用于sidelink的定位方法的流程示意图之一;
图3是本申请实施例提供的用于sidelink的定位方法的流程示意图之二;
图4是本申请实施例提供的用于sidelink的定位方法的流程示意图之三;
图5是本申请实施例提供的用于sidelink的定位方法的流程示意图之四;
图6a是本申请实施例提供的实施示例的流程示意图之一;
图6b是本申请实施例提供的实施示例的流程示意图之二;
图6c是本申请实施例提供的实施示例的流程示意图之三;
图6d是本申请实施例提供的实施示例的流程示意图之四;
图6e是本申请实施例提供的实施示例的流程示意图之五;
图6f是本申请实施例提供的实施示例的流程示意图之六;
图6g是本申请实施例提供的实施示例的流程示意图之七;
图6h是本申请实施例提供的实施示例的流程示意图之八;
图6i是本申请实施例提供的实施示例的流程示意图之九;
图6j是本申请实施例提供的实施示例的流程示意图之九;
图7是本申请实施例提供的用于sidelink的定位装置的结构示意图之一;
图8是本申请实施例提供的用于sidelink的定位装置的结构示意图之二;
图9是本申请实施例提供的用于sidelink的定位装置的结构示意图之三;
图10是本申请实施例提供的用于sidelink的定位装置的结构示意图之四;
图11是本申请实施例提供的用于sidelink的定位装置的结构示意图之五。
具体实施方式
下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚描述,显然,所描述的实施例是本申请一部分实施例,而不是全部的实施例。基于本申请中的实施例,本领域普通技术人员所获得的所有其他实施例,都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象,而不用于描述特定的顺序或先后次序。应该理解这样使用的术语在适当情况下可以互换, 以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施,且“第一”、“第二”所区别的对象通常为一类,并不限定对象的个数,例如第一对象可以是一个,也可以是多个。此外,说明书以及权利要求中“和/或”表示所连接对象的至少其中之一,字符“/”一般表示前后关联对象是一种“或”的关系。
值得指出的是,本申请实施例所描述的技术不限于长期演进型(Long Term Evolution,LTE)/LTE的演进(LTE-Advanced,LTE-A)系统,还可用于其他无线通信系统,诸如码分多址(Code Division Multiple Access,CDMA)、时分多址(Time Division Multiple Access,TDMA)、频分多址(Frequency Division Multiple Access,FDMA)、正交频分多址(Orthogonal Frequency Division Multiple Access,OFDMA)、单载波频分多址(Single-carrier Frequency Division Multiple Access,SC-FDMA)和其他系统。本申请实施例中的术语“系统”和“网络”常被可互换地使用,所描述的技术既可用于以上提及的系统和无线电技术,也可用于其他系统和无线电技术。以下描述出于示例目的描述了新空口(New Radio,NR)系统,并且在以下大部分描述中使用NR术语,但是这些技术也可应用于NR系统应用以外的应用,如第6代(6th Generation,6G)通信系统。
图1示出本申请实施例可应用的一种无线通信系统的框图。无线通信系统包括终端11和网络侧设备12。其中,终端11可以是手机、平板电脑(Tablet Personal Computer)、膝上型电脑(Laptop Computer)或称为笔记本电脑、个人数字助理(Personal Digital Assistant,PDA)、掌上电脑、上网本、超级移动个人计算机(ultra-mobile personal computer,UMPC)、移动上网装置(Mobile Internet Device,MID)、增强现实(augmented reality,AR)/虚拟现实(virtual reality,VR)设备、机器人、可穿戴式设备(Wearable Device)、车载设备(Vehicle User Equipment,VUE)、行人终端(Pedestrian User Equipment,PUE)、智能家居(具有无线通信功能的家居设备,如冰箱、电视、洗衣机或者家具等)、游戏机、个人计算机(personal computer,PC)、柜员机或者自助机等终端侧设备,可穿戴式设备包括:智能手表、智能手环、智能耳机、智能眼镜、智能首饰(智能手镯、智能手链、智能戒指、智能项链、智能脚镯、智能脚链等)、智能腕带、智能服装等。需要说明的是,在本申请实施例并不限定终端11的具体类型。网络侧设备可以包括接入网设备或核心网设备,其中,接入网设备12也可以称为无线接入网设备、无线接入网(Radio Access Network,RAN)、无线接入网功能或无线接入网单元。接入网设备可以包括基站、无线局域网(Wireless Local Area Networks,WLAN)接入点或WiFi节点等,基站可被称为节点B、演进节点B(eNB)、接入点、基收发机站(Base Transceiver Station,BTS)、无线电基站、无线电收发机、基本服务集(Basic Service Set,BSS)、扩展服务集(Extended Service Set,ESS)、家用B节点、家用演进型B节点、发送接收点(Transmitting Receiving Point,TRP)或所述领域中其他某个合适的术语,只要达到相同的技术效果,所述基站不限于特定技术词汇,需要说明的是,在本申请实施例中仅以NR系统中的基站为例进行介绍,并不限定基站的具体类型。核心网设备可以包含但不限于如下至少一项:核心网节点、核心网功能、移动管理实体 (Mobility Management Entity,MME)、接入移动管理功能(Access and Mobility Management Function,AMF)、会话管理功能(Session Management Function,SMF)、用户平面功能(User Plane Function,UPF)、策略控制功能(Policy Control Function,PCF)、策略与计费规则功能单元(Policy and Charging Rules Function,PCRF)、边缘应用服务发现功能(Edge Application Server Discovery Function,EASDF)、统一数据管理(Unified Data Management,UDM),统一数据仓储(Unified Data Repository,UDR)、归属用户服务器(Home Subscriber Server,HSS)、集中式网络配置(Centralized network configuration,CNC)、网络存储功能(Network Repository Function,NRF),网络开放功能(Network Exposure Function,NEF)、本地NEF(Local NEF,或L-NEF)、绑定支持功能(Binding Support Function,BSF)、应用功能(Application Function,AF)等。需要说明的是,在本申请实施例中仅以NR系统中的核心网设备为例进行介绍,并不限定核心网设备的具体类型。
为更好理解本申请的技术方案,首先对以下内容进行介绍:
NR sidelink中,物理直通链路控制信道(Physical sidelink control channel,PSCCH)与,物理直通链路共享信道(Physical sidelink shared channel,PSSCH)采用时分复用(time division multiplexing,TDM)和频分复用(frequency division multiplexing,FDM)的方式,引入了第二级系统控制信息(2nd-stage Sidelink Control Information,2nd-stage SCI),其与data由PSSCH承载;1st-stage SCI由PSCCH承载,用于指示当前传输块TB占用的时频资源位置,优先级,周期以及对应的调制编码方案(Modulation and coding scheme,MCS)等信息,并没有引入相应的sidelink PRS。
对于NR positioning,主要引入两种用于定位的参考信号:下行定位参考信号PRS与用于定位的上行探测参考信号SRS for positioning。
下行定位参考信号PRS采用Gold序列,引入了PRS资源,PRS资源集,PRS定位频率层等设计。PRS资源频域可以采用梳齿结构,时域可以占用连续多个OFDM符号。采用单端口,最大带宽不能超过272PRBs,最小带宽不能低于24PRBs。PRS仅支持周期性发送。
用于定位的上行探测参考信号SRS for positioning采用ZC序列,在时域上可以连续占用多个OFDM符号,频域上也是采用梳齿结构,便于支持多个探测参考信号(Sounding Reference Signal,SRS)-定位(Position,POS)在同一个正交频分复用(orthogonal frequency division multiplexing,OFDM)符号上频分复用。采用单端口,相比两端口发送,单端口的优势在于可以提高SRS-POS信号在基站接收机侧的功率谱密度,从而可以提高SRS-POS信号的覆盖范围和质量。频域上支持的最大带宽为272RBs,最小带宽为4RBs。SRS-POS支持周期性、半持续、非周期三种资源类型配置。
NR定位支持“无线接入技术无关(RAT-independent)”的定位技术,包括全球导航卫星系统(Global Navigation Satellite System,GNSS)定位、大气压力传感器定位、WLAN定位、惯导定位、蓝牙定位、地面信标系统定位。
NR定位研究了“RAT-dependent”以及混合定位技术以提高定位精度。主要方案为:gNB周期性发送下行PRS(Positioning Reference Signal),支持DL(Downlink)-TDOA、DL-AoD(Angle of Departure)测量、E-CID(Enhanced Cell Identification)检测;终端发送用于定位的上行SRS(Sounding Reference Symbol),支持UL(Uplink)-TDOA、UL-AoA(Angle of Arrival)测量;支持上下行组合进行RTT(Round Trip Time)测量,可基于多个基站测得多进程RTT(Multi-RTT)进行位置定位。
NR/LTE positioning的整体定位流程均受到基站和LMF的管控和调度。
相关技术的缺点:
相关技术中的蜂窝网络定位方案,需要gNB和定位管理功能(Location Management Function,LMF)交互,对于蜂窝覆盖外场景不支持。而SL定位进行分布式定位处理,可能工作在蜂窝覆盖外场景,无gNB和LMF进行交互,相关技术中的机制无法支持。
下面结合附图,通过一些实施例及其应用场景对本申请实施例提供的用于sidelink的定位方法进行详细地说明。
参见图2,本申请实施例提供一种用于sidelink的定位方法,该方法的执行主体为第一设备,该第一设备具体可以是终端,相应的,与第一设备进行通信交互的对端设备为第二设备,该第二设备也可以是终端,第一设备与第二设备之间采用sidelink通信,包括:
步骤201:第一设备向一个或多个第二设备发送第一信息,第一信息包括定位请求信令;
在本申请实施例中,第一信息包括定位请求信令,用于请求第二设备来协助第一设备进行定位(或者测距)。第一设备可以向一个或多个第二设备发送第一信息,也就是说,第一设备可以请求一个或多个第二设备来协助第一设备进行定位(或者测距)。
步骤202:第一设备向第二设备发送第一定位参考信号,或者第一设备从第二设备接收第二定位参考信号;
在本申请实施例中,第一设备与第二设备之间进行定位参考信号的交互,其中第一设备向第二设备发送的是第一定位参考信号(可简记为第一PRS或者第一SL-PRS等,本申请不做限定),第二设备向第一设备发送的是第二定位参考信号(可简记为第二PRS或者第二SL-PRS等,本申请不做限定);
需要说明的是,第一设备与第二设备之间进行定位参考信号的交互的具体信息发送顺序流程可以有多种实施方式,在后文会进行具体描述。
步骤203:第一设备根据第一定位参考信号的测量结果或者第二定位参考信号的测量结果,得到第一设备的定位解算结果,或者,第一设备从第二设备接收第一设备的定位解算结果;
在本申请实施例中,第一设备可以根据第一定位参考信号的测量结果或者第二定位参考信号的测量结果,得到第一设备的定位解算结果,即位置解算可以是在第一设备执行,或者,第一设备可以从第二设备接收第一设备的定位解算结果,即位置解算可以是在第二 设备执行,然后由第二设备发送给第一设备;
上述第一定位参考信号的测量结果或者第二定位参考信号的测量结果具体可以是第一定位参考信号或者第二定位参考信号的到达时间(time of arrival,TOA),即第一设备测量第一PRS发送或者第二PRS接收的到达时间,根据到达时间进行最终的定位解算,实现基于TOA或者TDOA的定位方法。
在本申请实施例中,第一设备向第二设备发送第一信息以触发定位流程,第一设备与第二设备之间进行第一定位参考信号或者第二定位参考信号的交互,并根据第一定位参考信号的测量结果或者第二定位参考信号的测量结果得到定位解算结果,实现了sidelink场景下UE间的定位测量。
在一种可能的实施方式中,第一信息包括以下一项或者多项:
(1)第一信息的信令类型信息,包括:定位参考信号请求信令、定位请求标志位中的至少一项;定位参考信号请求信令用于触发至少一个第二设备协助第一设备进行定位或测距;定位请求标志位用于区分当前信息为定位请求信令。
(2)标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;交互进程ID表示该次定位流程的ID信息,因为第一设备可能会请求多个第二设备协助定位,可以通过交互进程ID来确定测量的定位参考信号以及对应的第二设备,防止在与多个第二设备交互过程中,出现定位参考信号对应错误的情况。
(3)定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
(4)定位测量配置信息:包括:定位测量量类型信息、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力信息、定位类型信息、测量窗口指示信息、定位解算功能指示信息、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
需要说明的是,上述第一信息的信息内容的至少部分可以通过高层参数配置或者预配置,也即第一信息中可以只包括上述信息内容的一部分,其余部分由高层参数配置或者预配置。
在一种可能的实施方式中,步骤202:第一设备从第二设备接收第二定位参考信号,包括:
第一设备从第二设备接收第二信息和第二定位参考信号;
在本申请实施例中,第一设备与第二设备之间的信息交互流程为:第二设备向第一设备发送第二信息和第二定位参照信号,需要说明的是,第二设备向第一设备发送第二信息和第二定位参考信号时,二者可以是同时发送的,也可以是不同时发送的,即第二信息和第二定位参考信号可以在同一时隙slot内一起发送,或者分别在不同slot发送。需要说明的是,后文在描述其他发送多个信息的步骤时同样遵循该规则,即可以同时发送,也可以不同时发送,不再复述。
步骤203:第一设备根据第二定位参考信号的测量结果,得到第一设备的定位解算结 果,包括:
(1)第一设备根据第二信息,和/或,第二定位参考信号,进行定位测量,得到第一定位测量值;
(2)第一设备根据第二信息,和/或,第一定位测量值,得到第一设备的定位解算结果。
在本申请实施例中,对应上述交互流程,第一设备根据第二定位参考信号的测量结果进行定位解算,得到第一设备的定位解算结果;需要说明的是,将第一设备对第二定位参考信号测量所得的测量结果称为第一定位测量值,将第二设备对第一定位参考信号测量所得的测量结果称为第二定位测量值,后文也将遵循该命名方式,不再复述。
上述第一设备进行定位测量得到第一定位测量值的过程中,可以是第一设备根据第二定位参考信号进行测量,即第一设备直接对第二定位参考信号进行测量;或者,也可以是第一设备根据第二信息和第二定位参考信号进行测量,该第二信息中可以携带与定位测量相关的配置信息或者辅助信息,用于第一设备进行定位测量;同理上述第一设备进行定位解算的过程中,可以是第一设备根据第一定位测量值进行定位解算,或者,也可以第一设备根据第二信息和第一定位测量值进行定位解算,该第二信息中可以携带与定位解算相关的配置信息或者辅助信息,用于第一设备进行定位测量,或者该第二信息中可以携带第二设备的坐标信息、位置信息等,用于绝对定位场景下第一设备进行定位解算;
在一种可能的实施方式中,步骤202:第一设备向第二设备发送第一定位参考信号,包括:
(1)第一设备向第二设备发送第一定位参考信号;
(2)第一设备从第二设备接收第二信息;
在本申请实施例中,第一设备与第二设备之间的信息交互流程为:第一设备先向第二设备发送第一定位参考信号,该第一定位参考信号可以是与第一信息同时发送或者不与第一信息同时发送,然后第二设备向第一设备发送第二信息,第二信息为第一信息的反馈信息;
步骤203:第一设备根据第一定位参考信号的测量结果,得到第一设备的定位解算结果,包括:
(1)第一设备通过第二信息从第二设备接收第二设备测量的第二定位测量值;
(2)第一设备根据第二信息,和/或,第二定位测量值,得到第一设备的定位解算结果;
在本申请实施例中,对应的是定位解算在第一设备执行,在第一设备与第二设备按照上述交互流程进行交互,并得到了第二定位测量值之后,由于第一设备进行定位解算,具体可以是第一设备根据第二定位测量值进行定位解算,或者,也可以是第一设备根据第二信息和第二定位测量值进行定位解算。
步骤203:第一设备从第二设备接收第一设备的定位解算结果,包括:
(1)第一设备通过第二信息从第二设备接收第一设备的定位解算结果,第一设备的定位解算结果是第二设备根据第一信息,和/或,第二设备测量的第二定位测量值得到的。
在本申请实施例中,对应的是定位解算在第二设备执行,在第一设备与第二设备按照上述交互流程进行交互,并得到了第二定位测量值之后,由于第二设备进行定位解算,具体可以是第二设备根据第二定位测量值进行定位解算,或者,也可以是第二设备根据第一信息和第二定位测量值进行定位解算。
需要说明的是,第一设备发送所述第一SL-PRS时:
1)用于发送所述第一SL-PRS的资源位置和/或所述第一SL-PRS的序列生成可以与第一信息/第二信息/第四信息的内容和/或其占用的资源位置具有一定的关联关系,可以在相同的BWP内,也可以在不同的部分带宽(Band width Part,BWP)上。
2)或者,第一设备将第一信息或第四信息与第一SL-PRS复用在同一时隙上的一个或多个物理信道内进行发送;如第一或第四信息由PSCCH(1st stage SCI)或PSSCH(2nd stage SCI或MAC控制元素(MAC Control Element,MAC CE))或者定位专用信道承载,SL-PRS与PSSCH复用相同的时频位置,PSSCH与SL-PRS重叠位置采用速率匹配(rate matching)或者打孔(punctured)的映射方式。
3)或者,第一设备也可以依据SL-PRS配置参数并结合特定的SL-PRS资源选择过程发送相应的第一SL-PRS,所述SL-PRS配置参数由所述第一信息/第二信息/第四信息和/或高层参数配置或预配置获得,或者第一信息/第四信息中的SL-PRS配置参数用于指示所述第一SL-PRS具体占用时频资源位置情况。
4)还可以限定所述SL-PRS至少需要占用N(>=3)个连续的OFDM符号进行发送,SL-PRS在前两个符号上是重复映射,第一个符号上的SL-PRS既可以用于AGC处理,又可以用于定位测量,最后一个符号作为GP。
5)如果SL-PRS为周期性传输,则无需信令触发;对于非周期或者半持续传输的SL-PRS则需要第一/第二/第四信息触发。
6)第一/第二/第三/第四信息与第一SL-PRS可以是分开传输的,也可以绑定的方式传输
需要说明的是,第二设备发送所述第二SL-PRS时:
1)用于发送所述第二SL-PRS的资源位置和/或所述第二SL-PRS的序列生成可以与第二信息/第一信息的内容和/或其占用的资源位置具有一定的关联关系1),可以在相同的BWP内,也可以在不同的BWP上
2)或者,第二设备将第二信息与第二SL-PRS复用在同一时隙上的一个或多个物理信道内进行发送。如第二信息由PSCCH(1st stage SCI)或PSSCH(2nd stage SCI或MAC CE)或者定位专用信道承载,SL-PRS与PSSCH复用相同的时频位置,PSSCH与SL-PRS重叠位置采用rate matching或者punctured的映射方式。
3)或者,第二设备也可以依据SL-PRS配置参数并结合特定的SL-PRS资源选择过程 发送相应的第二SL-PRS,所述SL-PRS配置参数由所述第二信息/第一信息和/或高层参数配置或预配置获得,或者第二信息中的SL-PRS配置参数用于指示所述第二SL-PRS具体占用时频资源位置情况。
4)还可以限定所述SL-PRS至少需要占用N(>=3)个连续的OFDM符号进行发送,SL-PRS在前两个符号上是重复映射,第一个符号上的SL-PRS既可以用于AGC处理,又可以用于定位测量,最后一个符号作为GP。
5)如果SL-PRS为周期性传输,则无需信令触发;对于非周期或者半持续传输的SL-PRS则需要第一信息或第二信息触发。
6)第一/第二/第三/第四信息与第二SL-PRS可以是分开传输的,也可以绑定的方式传输。
后续有关第一设备发送第一SL-PRS和第二设备发送第二SL-PRS的相关描述可以参照上文,不再赘述。
在一种可能的实施方式中,在上述描述的交互流程中出现的第二信息的信息内容包括以下一项或者多项:(1)第三信息的至少部分;(2)定位测量值;(3)定位测量值的时间戳;(4)定位测量值的质量指示;(5)定位测量值识别信息;(6)定位解算结果信息;
第三信息包括以下一项或者多项:
(1.1)第三信息的信令类型信息,包括:定位参考信号请求信令、定位请求标志位中的至少一项;
(1.2)标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;
(1.3)定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
(1.4)定位测量配置信息:包括:定位测量量类型、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力、定位类型、测量窗口指示、定位解算功能指示、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
需要说明的是,第二信息与上述第一信息同理,该第二信息的信息内容的至少部分可以通过高层参数配置或者预配置,也即第二信息中可以只包括上述信息内容的一部分,其余部分由高层参数配置或者预配置。
上述定位测量量类型可以包括:指示需要测量的测量量,如SL-PRS RSRP、设备的SL-PRS收发时间差、相对到达时间(relative time of arrival,RTOA)、参考信号时间差(ReferenceSignal Time Difference,RSTD)、到达角(Arrival of Angle,AoA)、离开角(Angel Of Depature,AOD)等等;
上述定位辅助信息可以包括以下至少一项:速度、运动方向、加速度、位置坐标信息、身份ID、SL-SSB时频配置信息、第一设备或第二设备相关身份信息等。
上述定位参考信号搜索辅助信息包括以下至少一项:预期的参考信号时间差(作为参考的第一设备与其他相邻第一设备间发送定位参考信号的时间差以及传输时延差)、搜索 窗口(对应于传输时延差的不确定性),定位参考信号搜索辅助信息也可以由高层参数配置或预配置。
上述定位方法或能力信息用于指示当前定位流程使用的方法,如Multi-RTT positioning、TDOA positioning、AOA positioning、AOD positioning;
上述定位类型信息用于区分当前定位方法是用于相对定位、测距、绝对定位;
上述测量窗口指示信息包括测量窗口的起始位置信息、周期信息等;
上述定位解算功能指示信息用于显示指示当前设备是否支持进行定位解算功能,还是仅能上报测量量进行辅助定位;
测量辅助信息包括以下至少一项:用于指示目标设备在测量设备定位测量值时关联的SL-PRS信息(如SL-PRS resource set ID、SL-PRS resource ID、SL-PRS具体时频资源位置信息、SL-PRS的配置信息、序列初始化ID等)、设备SL-PRS定位测量值上报粒度等。
上述定位参考信号配置参数集包括以下至少一项:SL-PRS资源类型、功控参数、序列ID、SL-PRS资源ID、SL-PRS资源集ID、频域梳状尺寸、符号间频域偏移值、循环移位参数、时域起始位置、时隙中映射的起始符号位置、时域占用符号数、SL-PRS时域周期、SL-PRS周期个数或者持续时间、频域起始位置、相对于频域参考点的频域偏移值、频域占用的带宽或RB个数、SL-PRS的子载波间隔、循环前缀类型、SL-PRS优先级信息
上述SL-PRS资源类型可以用于指示SL-PRS的资源为下述中一种:周期、非周期、半持续
其中时频域的相对参考点可以为映射定位请求信令或定位指示信令的资源时频位置,或者为高层配置或预配置的参考时频位置。
上述SL-PRS配置参数集可以指示第一设备和/或第二设备所发送的SL-PRS相关配置。
上述SL-PRS配置参数集中的部分或全部参数,也可以通过高层配置或预配置,高层配置或预配置的相关参数,不用出现在第一信息或第三信息中。
上述循环前缀类型用于指示当前为正常循环前缀(Cyclic Prefix,CP)还是扩展循环前缀(Extended Cyclic Prefix,ECP)。
上述SL-PRS优先级还可以基于与其关联的物理信道的优先级或者相关联的控制信令中携带的优先级值来确定。
上述定位测量值包括以下至少一项:RSTD参考信号时间差、SL-PRS RSRP、第一设备收发时间差、第二设备收发时间差、SL-PRS SINR/SNR、RTOA参考信号到达时间、AOA、AOD、最强径传输时延(可以辅助剔除一些错误的距离估计)、多径间的时延差、经/纬度/高度;
上述测量值的质量指示信息包括以下至少一项:误差分辨率,误差取值(结合误差分辨率指示)和误差采样点个数;
上述定位参考信号搜索辅助信息包括以下至少一项:预期的参考信号时间差(作为参考的第一设备与其他相邻第一设备间发送SL-PRS的时间差以及传输时延差)、搜索窗口 (对应于传输时延差的不确定性),所述SL-PRS搜索辅助信息也可以由高层参数配置或预配置。
在一种可能的实施方式中,在目标信息中携带时间间隔,或者,高层参数配置或预配置时间间隔的情况下,其中,目标信息为第一信息和第二信息中的至少一项。时间间隔满足以下至少一项:
(1)在由目标信息激活或调度定位参考信号传输时,时间间隔为定位参考信号的时域起始发送位置与目标时域参考点的时间间隔,目标时域参考点为目标信息所在时隙位置,或者,目标信息中的时域参考点,或者,高层参数配置的时域参考点,或者,预配置的时域参考点;
(2)在目标信息支持重传的情况下,重传的目标信息中不携带时间间隔
(3)在目标信息支持重传,且重传的目标信息中携带时间间隔的情况下,时间间隔的目标时域参考点为重传第一信息的时隙位置;
(4)在目标信息支持重传,且重传的目标信息中携带时间间隔和时域参考点的情况下,定位参考信号传输的起始位置基于当前传输的目标信息确定;
(5)时间间隔的粒度包括以下至少一项:时隙、物理时隙、逻辑时隙、OFDM符号、子帧;
在一种可能的实施方式中,在目标信息中携带反馈时延界限,或者,高层参数配置或预配置反馈时延界限的情况下,其中,目标信息为第一信息和第二信息中的至少一项;
方法还包括以下至少一项:
(1)第一设备在反馈时延界限内从第二设备接收目标信息对应的反馈信息;
具体地:
在第一信息中包括反馈时延界限的情况下,第一设备在反馈时延界限内从第二设备接收第二信息;
(2)第一设备在反馈时延界限内完成整体定位流程;
反馈时延界限满足以下至少一项:
(1)反馈时延界限是目标信息反馈时间的上限;
(2)反馈时延界限的目标时域参考点为高层参数配置或预配置,或者,目标信息中携带的时域参考点;
(3)在目标信息支持重传的情况下,重传的目标信息中不携带反馈时延界限。
(4)反馈时延界限的目标时域参考点为发送目标信息在系统中的时间,系统的时间粒度包括以下至少一项:时隙、物理时隙、逻辑时隙、OFDM符号、子帧;
(5)反馈时延界限的目标时域参考点为协调世界时(Universal Time Coordinated,UTC)时间;
(6)在目标信息支持重传,且重传的目标信息中携带反馈时延界限的情况下,反馈时延界限的目标时域参考点为重传第一信息的时隙位置;
(7)在目标信息支持重传,且重传的目标信息中携带时间间隔和时域参考点的情况下,反馈时延界限的目标时域参考点为当前传输的目标信息中携带的时域参考点;
(8)在目标信息支持重传、周期性传输、非周期性传输和半持续传输中的至少一项的情况下,目标信息的传输满足实施反馈时延界限。
在一种可能的实施方式中,方法还包括以下至少一项:
(1)预先设置第一设备发送第一定位参考信号的时间参数与第二设备发送第二定位参考信号的时间参数,时间参数包括以下至少一项:定位参考信号传输周期,周期内偏移值,周期参考点;
(2)根据测量窗口指示信息指示,保证第一设备与第二设备在相同的测量窗口对第一定位参考信号与第二定位参考信号进行测量。
考虑到如果是多个第二设备协助第一设备进行定位测量,需要发送与第二设备相应的定位测量值,可以通过上述(1)-(2)的方法来保证位置解算时使用第一和第二设备的定位测量值是互相匹配的。
在一种可能的实施方式中,步骤201:第一设备向一个或多个第二设备发送第一信息,包括:
第一设备通过第三设备向一个或多个第二设备发送第一信息;
在本申请实施例中,针对存在第三设备辅助第一设备与第二设备之间的定位交互的场景,第一设备可以将第一信息发送给第三设备。
方法还包括:
第一设备向第三设备发送第二定位参考信号的测量结果,并从第三设备接收第一设备的定位解算结果。
在本申请实施例中,针对存在第三设备辅助第一设备与第二设备之间的定位交互的场景,第一设备将定位参考信号的测量值发送给第三设备,由第三设备进行定位解算,然后再将定位解算结果发送给第一设备。
也即,与前文描述的第一设备与第二设备之间的定位交互方法相比,针对存在第三设备辅助第一设备与第二设备之间的定位交互的场景,第一设备与第二设备之间进行定位参考信号的交互,其与信息以及测量值的交互处理均交给第三设备来完成。
上述第三设备具体可以是定位管理功能(Location Management Function,LMF),或者也可以是其他网元,本申请实施例对第三设备具体类型不做限定。
参见图3,本申请实施例中提供一种用于sidelink的定位方法,该方法的执行主体为第二设备,该第二设备具体可以是终端,相应的,与第二设备进行通信交互的对端设备为第一设备,该第一设备也可以是终端,第一设备与第二设备之间采用sidelink通信,包括:
步骤301:第二设备从一个或多个第一设备接收第一信息,第一信息包括定位请求信令;
步骤302:第二设备从第一设备接收第一定位参考信号,或者第二设备向第一设备发 送第二定位参考信号;
步骤303:由第一设备根据第二定位参考信号的测量结果,得到第一设备的定位解算结果,或者,第二设备向第一设备发送第一定位参考信号的测量结果,或者,第二设备根据第一定位参考信号的测量结果,得到第一设备的定位解算结果,并向第一设备发送第一设备的定位解算结果。
图3所示的第二设备方法流程是与图2所示的第一设备方法相对应的对端设备流程,因此,后文中涉及到的信息、参数、信息内容等可以参照前文第一设备方法侧中的相应描述进行理解,在第二设备方法侧中不再赘述。
在一种可能的实施方式中,第一信息包括以下一项或者多项:
(1)第一信息的信令类型信息,包括:定位参考信号请求信令、定位请求标志位中的至少一项;定位参考信号请求信令用于触发至少一个第二设备协助第一设备进行定位或测距;定位请求标志位用于区分当前信息为定位请求信令。
(2)标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;交互进程ID表示该次定位流程的ID信息,因为第一设备可能会请求多个第二设备协助定位,可以通过交互进程ID来确定测量的定位参考信号以及对应的第二设备,防止在与多个第二设备交互过程中,出现定位参考信号对应错误的情况。
(3)定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
(4)定位测量配置信息:包括:定位测量量类型信息、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力信息、定位类型信息、测量窗口指示信息、定位解算功能指示信息、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
需要说明的是,上述第一信息的信息内容的至少部分可以通过高层参数配置或者预配置,也即第一信息中可以只包括上述信息内容的一部分,其余部分由高层参数配置或者预配置。
在一种可能的实施方式中,步骤302:第二设备向第一设备发送第二定位参考信号,包括:
(1)第二设备向第一设备发送第二信息和第二定位参考信号,第二信息是第一信息的反馈信息。
在一种可能的实施方式中,步骤302:第二设备从第一设备接收第一定位参考信号,包括:
(1)第二设备从第一设备接收第一定位参考信号;
(2)第二设备向第一设备发送第二信息,第二信息是第一信息的反馈信息;
步骤303:第二设备向第一设备发送第一定位参考信号的测量结果,包括:
(1)第二设备根据第一信息,和/或,第一定位参考信号,进行定位测量,得到第二定位测量值;
(2)第二设备通过第二信息向第一设备发送第二定位测量值;
步骤303:第二设备根据第一定位参考信号的测量结果,得到第一设备的定位解算结果,并向第一设备发送第一设备的定位解算结果,包括:
(1)第二设备根据第一信息,和/或,第一定位参考信号,进行定位测量,得到第二定位测量值;
(2)第二设备根据第一信息,和/或,第二定位测量值,得到第一设备的定位解算结果;
(3)第二设备通过第二信息向第一设备发送第一设备的定位解算结果。
在一种可能的实施方式中,在上述描述的交互流程中出现的第二信息的信息内容包括以下一项或者多项:(1)第三信息的至少部分;(2)定位测量值;(3)定位测量值的时间戳;(4)定位测量值的质量指示;(5)定位测量值识别信息;(6)定位解算结果信息;
第三信息包括以下一项或者多项:
(1.1)第三信息的信令类型信息,包括:定位参考信号请求信令、定位请求标志位中的至少一项;
(1.2)标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;
(1.3)定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
(1.4)定位测量配置信息:包括:定位测量量类型、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力、定位类型、测量窗口指示、定位解算功能指示、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
需要说明的是,第二信息与上述第一信息同理,该第二信息的信息内容的至少部分可以通过高层参数配置或者预配置,也即第二信息中可以只包括上述信息内容的一部分,其余部分由高层参数配置或者预配置。
在一种可能的实施方式中,在目标信息中携带时间间隔,或者,高层参数配置或预配置时间间隔的情况下,时间间隔满足以下至少一项:
(1)在由目标信息激活或调度定位参考信号传输时,时间间隔为定位参考信号的时域起始发送位置与目标时域参考点的时间间隔,目标时域参考点为目标信息所在时隙位置,或者,目标信息中的时域参考点,或者,高层参数配置的时域参考点,或者,预配置的时域参考点;
(2)在目标信息支持重传的情况下,重传的目标信息中不携带时间间隔
(3)在目标信息支持重传,且重传的目标信息中携带时间间隔的情况下,时间间隔的目标时域参考点为重传第一信息的时隙位置;
(4)在目标信息支持重传,且重传的目标信息中携带时间间隔和时域参考点的情况下,定位参考信号传输的起始位置基于当前传输的目标信息确定;
(5)时间间隔的粒度包括以下至少一项:时隙、物理时隙、逻辑时隙、OFDM符号、 子帧;
其中,目标信息为第一信息和第二信息中的至少一项。
在一种可能的实施方式中,在目标信息中携带反馈时延界限,或者,高层参数配置或预配置反馈时延界限的情况下,方法还包括以下至少一项:
(1)第二设备在反馈时延界限内向第一设备发送目标信息对应的反馈信息;
具体地:
在第一信息中包括反馈时延界限的情况下,第二设备在反馈时延界限内向第一设备发送第二信息;
(2)第二设备在反馈时延界限内完成整体定位流程;
其中,目标信息为第一信息和第二信息中的至少一项;
反馈时延界限满足以下至少一项:
(1)反馈时延界限是目标信息反馈时间的上限;
(2)反馈时延界限的目标时域参考点为高层参数配置或预配置,或者,目标信息中携带的时域参考点;
(3)在目标信息支持重传的情况下,重传的目标信息中不携带反馈时延界限。
(4)反馈时延界限的目标时域参考点为发送目标信息在系统中的时间,系统的时间粒度包括以下至少一项:时隙、物理时隙、逻辑时隙、OFDM符号、子帧;
(5)反馈时延界限的目标时域参考点为UTC时间;
(6)在目标信息支持重传,且重传的目标信息中携带反馈时延界限的情况下,反馈时延界限的目标时域参考点为重传第一信息的时隙位置;
(7)在目标信息支持重传,且重传的目标信息中携带时间间隔和时域参考点的情况下,反馈时延界限的目标时域参考点为当前传输的目标信息中携带的时域参考点;
(8)在目标信息支持重传、周期性传输、非周期性传输和半持续传输中的至少一项的情况下,目标信息的传输满足实施反馈时延界限。
在一种可能的实施方式中,方法还包括以下至少一项:
(1)预先设置第一设备发送第一定位参考信号的时间参数与第二设备发送第二定位参考信号的时间参数,时间参数包括以下至少一项:定位参考信号传输周期,周期内偏移值,周期参考点;
(2)根据测量窗口指示信息指示,保证第一设备与第二设备在相同的测量窗口对第一定位参考信号与第二定位参考信号进行测量。
考虑到如果是多个第二设备协助第一设备进行定位测量,需要发送与第二设备相应的定位测量值,可以通过上述(1)-(2)的方法来保证位置解算时使用第一和第二设备的定位测量值是互相匹配的。
在一种可能的实施方式中,步骤201:第二设备从一个或多个第一设备接收第一信息,包括:
第二设备通过第三设备从一个或多个第一设备接收第一信息;
方法还包括:
第二设备向第三设备发送第一定位参考信号的测量结果,由第三设备得到第一设备的定位解算结果,并由第三设备向第一设备发送第一设备的定位解算结果。
在本申请实施例中,针对存在第三设备辅助第一设备与第二设备之间的定位交互的场景,第二设备将定位参考信号的测量值发送给第三设备,由第三设备进行定位解算,然后再将定位解算结果发送给第一设备。
也即,与前文描述的第一设备与第二设备之间的定位交互方法相比,针对存在第三设备辅助第一设备与第二设备之间的定位交互的场景,第一设备与第二设备之间进行定位参考信号的交互,其与信息以及测量值的交互处理均交给第三设备来完成。
上述第三设备具体可以是LMF,或者也可以是其他网元,本申请实施例对第三设备具体类型不做限定。
参见图4,本申请实施提供一种用于sidelink的定位方法,该方法的执行主体为第一设备,该第一设备具体可以是终端,相应的,与第一设备进行通信交互的对端设备为第二设备,该第二设备也可以是终端,第一设备与第二设备之间采用sidelink通信,包括:
步骤401:第一设备向一个或多个第二设备发送第一信息,第一信息包括定位指示信令;
在本申请实施例中,第一信息包括定位指示信令,用于向第二设备指示由第一设备协助该第二设备进行定位(或者测距)。可以是一个或多个第一设备第二设备发送第一信息,也就是说,可以是一个或多个第一设备协助第二设备进行定位(或者测距)。
步骤402:第一设备向第二设备发送第一定位参考信号,或者第一设备从第二设备接收第二定位参考信号;
在本申请实施例中,第一设备与第二设备之间进行定位参考信号的交互,其中第一设备向第二设备发送的是第一定位参考信号(可简记为第一PRS或者第一SL-PRS等,本申请不做限定),第二设备向第一设备发送的是第二定位参考信号(可简记为第二PRS或者第二SL-PRS等,本申请不做限定);
需要说明的是,第一设备与第二设备之间进行定位参考信号的交互的具体信息发送顺序流程可以有多种实施方式,在后文会进行具体描述。
步骤403:由第二设备根据第一定位参考信号的测量结果,得到第二设备的定位解算结果,或者,第一设备向第二设备发送第二定位参考信号的测量结果,或者,第一设备根据第二定位参考信号的测量结果,得到第二设备的定位解算结果,并向第二设备发送第二设备的定位解算结果。
在本申请实施例中,第一设备可以根据第一定位参考信号的测量结果或者第二定位参考信号的测量结果,得到第一设备的定位解算结果,即位置解算可以是在第一设备执行,或者,第一设备可以从第二设备接收第一设备的定位解算结果,即位置解算可以是在第二 设备执行,然后由第二设备发送给第一设备;
上述第一定位参考信号的测量结果或者第二定位参考信号的测量结果具体可以是第一定位参考信号或者第二定位参考信号的到达时间(time of arrival,TOA),即第一设备测量第一PRS发送或者第二PRS接收的到达时间,根据到达时间进行最终的定位解算,实现基于TOA或者TDOA的定位方法。
在一种可能的实施方式中,第一信息包括以下一项或者多项:
(1)第一信息的信令类型信息,包括:定位参考信号指示信令、定位指示标志位中的至少一项;定位参考信号指示信令用于通知第二设备,该第一设备可以协助其进行定位或测距;定位指示标志位用于区分当前信息为定位指示信令。
(2)标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;交互进程ID表示该次定位流程的ID信息,因为第一设备可能会请求多个第二设备协助定位,可以通过交互进程ID来确定测量的定位参考信号以及对应的第二设备,防止在与多个第二设备交互过程中,出现定位参考信号对应错误的情况。
(3)定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
(4)定位测量配置信息:包括:定位测量量类型信息、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力信息、定位类型信息、测量窗口指示信息、定位解算功能指示信息、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
需要说明的是,上述第一信息的信息内容的至少部分可以通过高层参数配置或者预配置,也即第一信息中可以只包括上述信息内容的一部分,其余部分由高层参数配置或者预配置。
在一种可能的实施方式中,步骤402:第一设备向第二设备发送第一定位参考信号,包括:
(1)第一设备从第二设备接收第二信息,第二信息是第一信息的反馈信息;
(2)第一设备向第二设备发送第四信息和第一定位参考信号,第四信息是第二信息的反馈信息。
在本申请实施例中,第一设备与第二设备之间的信息交互流程为:第二设备先向第一设备发送第二信息,然后第一设备向第二设备发送第四信息和第一定位参考信号,二者可以是同时发送的,也可以是不同时发送的,即第四信息和第一定位参考信号可以在同一时隙slot内一起发送,或者分别在不同slot发送。需要说明的是,后文在描述其他发送多个信息的步骤时同样遵循该规则,即可以同时发送,也可以不同时发送,不再复述。
在一种可能的实施方式中,步骤402:第一设备从第二设备接收第二定位参考信号,包括:
(1)第一设备从第二设备接收第二信息和第二定位参考信号,第二信息是第一信息的反馈信息;
(2)第一设备向第二设备发送第四信息,第四信息是第二信息的反馈信息;
步骤403:第一设备向第二设备发送第二定位参考信号的测量结果,包括:
(1)第一设备根据第二信息,和/或,第二定位参考信号,进行定位测量,得到第一定位测量值;
(2)第一设备通过第四信息向第二设备发送第一定位测量值;
在本申请实施例中,对应上述交互流程,第一设备对第二定位参考信号进行测量,得到第一定位测量值,然后将该第一定位测量值发送给第二设备。需要说明的是,将第一设备对第一定位参考信号和第二定位参考信号测量所得的测量结果称为第一定位测量值,将第二设备对第一定位参考信号和第二定位参考信号测量所得的测量结果称为第二定位测量值,后文也将遵循该命名方式,不再复述。
上述第一设备进行定位测量得到第一定位测量值的过程中,可以是第一设备根据第二定位参考信号进行测量,即第一设备直接对第二定位参考信号进行测量;或者,也可以是第一设备根据第二信息和第二定位参考信号进行测量,该第二信息中可以携带与定位测量相关的配置信息或者辅助信息,用于第一设备进行定位测量;
步骤403:第一设备根据第二定位参考信号的测量结果,得到第二设备的定位解算结果,并向第二设备发送第二设备的定位解算结果,包括:
(1)第一设备根据第二信息,和/或,第二定位参考信号,进行定位测量,得到第一定位测量值;
(2)第一设备根据第二信息,和/或,第一定位测量值,得到第二设备的定位解算结果;
(3)第一设备通过第四信息向第二设备发送第二设备的定位解算结果。
本申请实施例中,对应的是定位解算在第一设备执行,第一设备根据第一定位测量值进行定位解算。可以是第一设备根据第一定位测量值进行定位解算,或者,也可以第一设备根据第二信息,以及第一定位测量值进行定位解算,该第二信息中可以携带与定位解算相关的配置信息或者辅助信息;
在一种可能的实施方式中,在上述描述的交互流程中第二信息和第四信息的信息内容包括以下一项或者多项:(1)第三信息的至少部分;(2)定位测量值;(3)定位测量值的时间戳;(4)定位测量值的质量指示;(5)定位测量值识别信息;(6)定位解算结果信息;
第三信息包括以下一项或者多项:
(1.1)第三信息的信令类型信息,包括:定位参考信号指示信令、定位指示标志位中的至少一项;
(1.2)标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;
(1.3)定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
(1.4)定位测量配置信息:包括:定位测量量类型、定位辅助信息、定位参考信号 搜索辅助信息、定位方法或能力、定位类型、测量窗口指示、定位解算功能指示、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
需要说明的是,第二信息和第四信息与上述第一信息同理,该第二信息和第四信息的信息内容的至少部分可以通过高层参数配置或者预配置,也即第二信息和第四信息中可以只包括上述信息内容的一部分,其余部分由高层参数配置或者预配置。
上述定位测量量类型可以包括:指示需要测量的测量量,如SL-PRS RSRP、设备的SL-PRS收发时间差、RTOA、RSTD、到达角(Arrival of Angle,AoA)、AOD等等;
上述定位辅助信息可以包括以下至少一项:速度、运动方向、加速度、位置坐标信息、身份ID、SL-SSB时频配置信息、第一设备或第二设备相关身份信息等。
上述定位参考信号搜索辅助信息包括以下至少一项:预期的参考信号时间差(作为参考的第一设备与其他相邻第一设备间发送定位参考信号的时间差以及传输时延差)、搜索窗口(对应于传输时延差的不确定性),定位参考信号搜索辅助信息也可以由高层参数配置或预配置。
上述定位方法或能力信息用于指示当前定位流程使用的方法,如Multi-RTT positioning、TDOA positioning、AOA positioning、AOD positioning;
上述定位类型信息用于区分当前定位方法是用于相对定位、测距、绝对定位;
上述测量窗口指示信息包括测量窗口的起始位置信息、周期信息等;
上述定位解算功能指示信息用于显示指示当前设备是否支持进行定位解算功能,还是仅能上报测量量进行辅助定位;
测量辅助信息包括以下至少一项:用于指示目标设备在测量设备定位测量值时关联的SL-PRS信息(如SL-PRS resource set ID、SL-PRS resource ID、SL-PRS具体时频资源位置信息、SL-PRS的配置信息、序列初始化ID等)、设备SL-PRS定位测量值上报粒度等。
上述定位参考信号配置参数集包括以下至少一项:SL-PRS资源类型、功控参数、序列ID、SL-PRS资源ID、SL-PRS资源集ID、频域梳状尺寸、符号间频域偏移值、循环移位参数、时域起始位置、时隙中映射的起始符号位置、时域占用符号数、SL-PRS时域周期、SL-PRS周期个数或者持续时间、频域起始位置、相对于频域参考点的频域偏移值、频域占用的带宽或RB个数、SL-PRS的子载波间隔、循环前缀类型、SL-PRS优先级信息
上述SL-PRS资源类型可以用于指示SL-PRS的资源为下述中一种:周期、非周期、半持续
其中时频域的相对参考点可以为映射定位请求信令或定位指示信令的资源时频位置,或者为高层配置或预配置的参考时频位置。
上述SL-PRS配置参数集可以指示第一设备和/或第二设备所发送的SL-PRS相关配置。
上述SL-PRS配置参数集中的部分或全部参数,也可以通过高层配置或预配置,高层配置或预配置的相关参数,不用出现在第一信息或第三信息中。
上述循环前缀类型用于指示当前为正常CP还是扩展CP
上述SL-PRS优先级还可以基于与其关联的物理信道的优先级或者相关联的控制信令中携带的优先级值来确定。
上述定位测量值包括以下至少一项:RSTD参考信号时间差、SL-PRS RSRP、第一设备收发时间差、第二设备收发时间差、SL-PRS SINR/SNR、RTOA参考信号到达时间、AOA、AOD、最强径传输时延(可以辅助剔除一些错误的距离估计)、多径间的时延差、经/纬度/高度;
上述测量值的质量指示信息包括以下至少一项:误差分辨率,误差取值(结合误差分辨率指示)和误差采样点个数;
上述定位参考信号搜索辅助信息包括以下至少一项:预期的参考信号时间差(作为参考的第一设备与其他相邻第一设备间发送SL-PRS的时间差以及传输时延差)、搜索窗口(对应于传输时延差的不确定性),所述SL-PRS搜索辅助信息也可以由高层参数配置或预配置。
在一种可能的实施方式中,在目标信息中携带时间间隔,或者,高层参数配置或预配置时间间隔的情况下,其中,目标信息为第一信息、第二信息、第四信息中的至少一项。时间间隔满足以下至少一项:
(1)在由目标信息激活或调度定位参考信号传输时,时间间隔为定位参考信号的时域起始发送位置与目标时域参考点的时间间隔,目标时域参考点为目标信息所在时隙位置,或者,目标信息中的时域参考点,或者,高层参数配置的时域参考点,或者,预配置的时域参考点;
(2)在目标信息支持重传的情况下,重传的目标信息中不携带时间间隔
(3)在目标信息支持重传,且重传的目标信息中携带时间间隔的情况下,时间间隔的目标时域参考点为重传第一信息的时隙位置;
(4)在目标信息支持重传,且重传的目标信息中携带时间间隔和时域参考点的情况下,定位参考信号传输的起始位置基于当前传输的目标信息确定;
(5)时间间隔的粒度包括以下至少一项:时隙、物理时隙、逻辑时隙、OFDM符号、子帧;
在一种可能的实施方式中,在目标信息中携带反馈时延界限,或者,高层参数配置或预配置反馈时延界限的情况下,其中,目标信息为第一信息、第二信息、第四信息中的至少一项;
方法还包括以下至少一项:
(1)第一设备在反馈时延界限内从第二设备接收目标信息对应的反馈信息;
具体地:
在第一信息中包括反馈时延界限的情况下,第一设备在反馈时延界限内从第二设备接收第二信息;
在第二信息中包括反馈时延界限的情况下,第一设备在反馈时延界限内向第二设备发 送第四信息;
(2)第一设备在反馈时延界限内完成整体定位流程;
反馈时延界限满足以下至少一项:
(1)反馈时延界限是目标信息反馈时间的上限;
(2)反馈时延界限的目标时域参考点为高层参数配置或预配置,或者,目标信息中携带的时域参考点;
(3)在目标信息支持重传的情况下,重传的目标信息中不携带反馈时延界限。
(4)反馈时延界限的目标时域参考点为发送目标信息在系统中的时间,系统的时间粒度包括以下至少一项:时隙、物理时隙、逻辑时隙、OFDM符号、子帧;
(5)反馈时延界限的目标时域参考点为UTC时间;
(6)在目标信息支持重传,且重传的目标信息中携带反馈时延界限的情况下,反馈时延界限的目标时域参考点为重传第一信息的时隙位置;
(7)在目标信息支持重传,且重传的目标信息中携带时间间隔和时域参考点的情况下,反馈时延界限的目标时域参考点为当前传输的目标信息中携带的时域参考点;
(8)在目标信息支持重传、周期性传输、非周期性传输和半持续传输中的至少一项的情况下,目标信息的传输满足实施反馈时延界限。
在一种可能的实施方式中,方法还包括以下至少一项:
(1)预先设置第一设备发送第一定位参考信号的时间参数与第二设备发送第二定位参考信号的时间参数,时间参数包括以下至少一项:定位参考信号传输周期,周期内偏移值,周期参考点;
(2)根据测量窗口指示信息指示,保证第一设备与第二设备在相同的测量窗口对第一定位参考信号与第二定位参考信号进行测量。
考虑到如果是多个第二设备协助第一设备进行定位测量,需要发送与第二设备相应的定位测量值,可以通过上述(1)-(2)的方法来保证位置解算时使用第一和第二设备的定位测量值是互相匹配的。
在一种可能的实施方式中,步骤201:第一设备向一个或多个第二设备发送第一信息,包括:
第一设备通过第三设备向一个或多个第二设备发送第一信息。
在本申请实施例中,针对存在第三设备辅助第一设备与第二设备之间的定位交互的场景,第一设备可以将第一信息发送给第三设备。
与前文描述的第一设备与第二设备之间的定位交互方法相比,针对存在第三设备辅助第一设备与第二设备之间的定位交互的场景,第一设备与第二设备之间进行定位参考信号的交互,其与信息以及测量值的交互处理均交给第三设备来完成。
参见图5,本申请实施例提供一种用于sidelink的定位方法,该方法的执行主体为第二设备,该第二设备具体可以是终端,相应的,与第二设备进行通信交互的对端设备为第 一设备,该第一设备也可以是终端,第一设备与第二设备之间采用sidelink通信,包括:
步骤501:第二设备从一个或多个第一设备接收第一信息,第一信息包括定位指示信令;
步骤502:第二设备从第一设备接收第一定位参考信号,或者第二设备向第一设备发送第二定位参考信号;
步骤503:第二设备根据第一定位参考信号的测量结果或者第二定位参考信号的测量结果,得到第二设备的定位解算结果,或者,第二设备从第一设备接收第二设备的定位解算结果。
图5所示的第二设备方法流程是与图4所示的第一设备方法相对应的对端设备流程,因此,后文中涉及到的信息、参数、信息内容等可以参照前文第一设备方法侧中的相应描述进行理解,在第二设备方法侧中不再赘述。
在一种可能的实施方式中,第一信息包括以下一项或者多项:
(1)第一信息的信令类型信息,包括:定位参考信号请求信令、定位请求标志位中的至少一项;定位参考信号请求信令用于触发至少一个第二设备协助第一设备进行定位或测距;定位请求标志位用于区分当前信息为定位请求信令。
(2)标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;交互进程ID表示该次定位流程的ID信息,因为第一设备可能会请求多个第二设备协助定位,可以通过交互进程ID来确定测量的定位参考信号以及对应的第二设备,防止在与多个第二设备交互过程中,出现定位参考信号对应错误的情况。
(3)定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
(4)定位测量配置信息:包括:定位测量量类型信息、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力信息、定位类型信息、测量窗口指示信息、定位解算功能指示信息、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
需要说明的是,上述第一信息的信息内容的至少部分可以通过高层参数配置或者预配置,也即第一信息中可以只包括上述信息内容的一部分,其余部分由高层参数配置或者预配置。
在一种可能的实施方式中,步骤502:第二设备从第一设备接收第一定位参考信号,包括:
(1)第二设备向第一设备发送第二信息,第二信息是第一信息的反馈信息;
(2)第二设备从第一设备接收第四信息和第一定位参考信号,第四信息是第二信息的反馈信息;
步骤503:第二设备根据第一定位参考信号的测量结果,得到第二设备的定位解算结果,包括:
(1)第二设备根据第四信息,和/或,第一定位参考信号,得到第二定位测量值;
(2)第二设备根据第一目标信息,和/或,第二定位测量值,得到第二设备的定位解算结果,第一目标信息为第一信息或第四信息。
在一种可能的实施方式中,步骤503:第二设备根据第一定位参考信号的测量结果,得到第二设备的定位解算结果,包括:
(1)第二设备根据第一信息,和/或,第一定位参考信号,得到第二定位测量值;
(2)第二设备根据第一信息,和/或,第二定位测量值,得到第二设备的定位解算结果。
在一种可能的实施方式中,步骤502:第二设备向第一设备发送第二定位参考信号,包括:
(1)第二设备向第一设备发送第二信息和第二定位参考信号,第二信息是第一信息的反馈信息;
(2)第二设备从第一设备接收第四信息,第四信息是第二信息的反馈信息;
步骤503:第二设备根据第二定位参考信号的测量结果,得到第二设备的定位解算结果,包括:
(1)第二设备通过第四信息从第一设备接收第一设备测量的第一定位测量值;
(2)第二设备根据第一目标信息,和/或,第一定位测量值,得到第二设备的定位解算结果,第一目标信息为第一信息或第四信息;
步骤503:第二设备从第一设备接收第二设备的定位解算结果,包括:
(1)第二设备通过第四信息从第一设备接收第二设备的定位解算结果,第二设备的定位解算结果是第一设备根据第二信息,和/或,第一设备接收第一设备测量的第一定位测量值得到的。
在一种可能的实施方式中,在上述描述的交互流程中出现的第二信息和第四信息的信息内容包括以下一项或者多项:(1)第三信息的至少部分;(2)定位测量值;(3)定位测量值的时间戳;(4)定位测量值的质量指示;(5)定位测量值识别信息;(6)定位解算结果信息;
第三信息包括以下一项或者多项:
(1.1)第三信息的信令类型信息,包括:定位参考信号指示信令、定位指示标志位中的至少一项;
(1.2)标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;
(1.3)定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
(1.4)定位测量配置信息:包括:定位测量量类型、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力、定位类型、测量窗口指示、定位解算功能指示、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
需要说明的是,第二信息和第四信息与上述第一信息同理,该第二信息和第四信息的 信息内容的至少部分可以通过高层参数配置或者预配置,也即第二信息和第四信息中可以只包括上述信息内容的一部分,其余部分由高层参数配置或者预配置。
在一种可能的实施方式中,在目标信息中携带时间间隔,或者,高层参数配置或预配置时间间隔的情况下,时间间隔满足以下至少一项:
(1)在由目标信息激活或调度定位参考信号传输时,时间间隔为定位参考信号的时域起始发送位置与目标时域参考点的时间间隔,目标时域参考点为目标信息所在时隙位置,或者,目标信息中的时域参考点,或者,高层参数配置的时域参考点,或者,预配置的时域参考点;
(2)在目标信息支持重传的情况下,重传的目标信息中不携带时间间隔
(3)在目标信息支持重传,且重传的目标信息中携带时间间隔的情况下,时间间隔的目标时域参考点为重传第一信息的时隙位置;
(4)在目标信息支持重传,且重传的目标信息中携带时间间隔和时域参考点的情况下,定位参考信号传输的起始位置基于当前传输的目标信息确定;
(5)时间间隔的粒度包括以下至少一项:时隙、物理时隙、逻辑时隙、OFDM符号、子帧;
其中,目标信息为第一信息、第二信息和第四信息中的至少一项。
(1)在由目标信息激活或调度定位参考信号传输时,时间间隔为定位参考信号的时域起始发送位置与目标时域参考点的时间间隔,目标时域参考点为目标信息所在时隙位置,或者,目标信息中的时域参考点,或者,高层参数配置的时域参考点,或者,预配置的时域参考点;
(2)在目标信息支持重传的情况下,重传的目标信息中不携带时间间隔
(3)在目标信息支持重传,且重传的目标信息中携带时间间隔的情况下,时间间隔的目标时域参考点为重传第一信息的时隙位置;
(4)在目标信息支持重传,且重传的目标信息中携带时间间隔和时域参考点的情况下,定位参考信号传输的起始位置基于当前传输的目标信息确定;
(5)时间间隔的粒度包括以下至少一项:时隙、物理时隙、逻辑时隙、OFDM符号、子帧;
在目标信息中携带反馈时延界限,或者,高层参数配置或预配置反馈时延界限的情况下,方法还包括以下至少一项:
(1)第二设备在反馈时延界限内从第一设备接收目标信息对应的反馈信息;
具体地:
在第一信息中包括反馈时延界限的情况下,第二设备在反馈时延界限内向第一设备发送第二信息;
在第二信息中包括反馈时延界限的情况下,第二设备在反馈时延界限内向第一设备发送第四信息;
(2)第二设备在反馈时延界限内完成整体定位流程;
反馈时延界限满足以下至少一项:
(1)反馈时延界限是目标信息反馈时间的上限;
(2)反馈时延界限的目标时域参考点为高层参数配置或预配置,或者,目标信息中携带的时域参考点;
(3)在目标信息支持重传的情况下,重传的目标信息中不携带反馈时延界限。
(4)反馈时延界限的目标时域参考点为发送目标信息在系统中的时间,系统的时间粒度包括以下至少一项:时隙、物理时隙、逻辑时隙、OFDM符号、子帧;
(5)反馈时延界限的目标时域参考点为UTC时间;
(6)在目标信息支持重传,且重传的目标信息中携带反馈时延界限的情况下,反馈时延界限的目标时域参考点为重传第一信息的时隙位置;
(7)在目标信息支持重传,且重传的目标信息中携带时间间隔和时域参考点的情况下,反馈时延界限的目标时域参考点为当前传输的目标信息中携带的时域参考点;
(8)在目标信息支持重传、周期性传输、非周期性传输和半持续传输中的至少一项的情况下,目标信息的传输满足实施反馈时延界限。
在一种可能的实施方式中,方法还包括以下至少一项:
(1)预先设置第一设备发送第一定位参考信号的时间参数与第二设备发送第二定位参考信号的时间参数,时间参数包括以下至少一项:定位参考信号传输周期,周期内偏移值,周期参考点;
(2)根据测量窗口指示信息指示,保证第一设备与第二设备在相同的测量窗口对第一定位参考信号与第二定位参考信号进行测量。
考虑到如果是多个第一设备协助第二设备进行定位测量,需要发送与第二设备相应的定位测量值,可以通过上述(1)-(2)的方法来保证位置解算时使用第一和第二设备的定位测量值是互相匹配的。
在一种可能的实施方式中,步骤501:第二设备从一个或多个第一设备接收第一信息,包括:
第二设备通过第三设备从一个或多个第一设备接收第一信息;
方法还包括:
第二设备向第三设备发送第一定位参考信号的测量结果,并从第三设备接收第二设备的定位解算结果。
在本申请实施例中,针对存在第三设备辅助第一设备与第二设备之间的定位交互的场景,第二设备将定位参考信号的测量值发送给第三设备,由第三设备进行定位解算,然后再将定位解算结果发送给第一设备。
也即,与前文描述的第一设备与第二设备之间的定位交互方法相比,针对存在第三设备辅助第一设备与第二设备之间的定位交互的场景,第一设备与第二设备之间进行定位参 考信号的交互,其与信息以及测量值的交互处理均交给第三设备来完成。
上述第三设备具体可以是LMF,或者也可以是其他网元,本申请实施例对第三设备具体类型不做限定。
下面结合具体实施示例对本申请的技术方案进行描述:
示例1:第一信息包括定位请求信令,即第二设备协助第一设备进行定位,参见图6a和图6b,其中图6a对应一个第二设备(UE2)协助第一设备(UE1)的情况,图6b对应多个第二设备(UE2、UE3、UE4)协助第一设备(UE1)的情况,具体流程如下:
步骤1(Step 1):第一设备向一个或多个第二设备发送定位请求信令,请求第二设备辅助自身进行定位。
此场景下,第一信息中可能携带反馈时延界限、定位方法/能力、定位测量量类型、SL-PRS配置参数、交互进程ID;
Step 2:一个或多个第二设备收到该定位请求信令后,根据所述定位请求信令内容,确定定位过程使用的定位方法。通过SL-PRS资源选择过程,或者基于高层参数配置/预配置以及第一信息,进行第二SL-PRS的发送。
如果第二设备的SL-PRS为周期发送,则无需触发;如果第二设备的SL-PRS为非周期或半持续发送,则需要第一信息或第二信息触发。具体的发送起始位置取决于第一或第二信息的内容;
如果定位过程用于绝对定位,则第二信息应该携带定位辅助信息等内容。此外,还可以限定多个第二设备发送的SL-PRS在时域上的位置是位于限定的窗口内,或者复用相同的时域资源。
第二信息还可以包括SL-PRS搜索辅助信息、测量窗口指示信息、交互进程ID等内容
Step 3:第一设备通过第一信息或接收到的第二信息,进行SL-PRS测量,结合定位辅助信息进行位置解算,完成测距或定位。
示例2:第一信息包括定位请求信令,即第二设备协助第一设备进行定位,参见图6c,其中图6c对应一个第二设备(UE2)协助第一设备(UE1)的情况,至于多个第二设备协助第一设备的情况,可以结合图6b与图6c理解,具体流程如下:
图6c的流程与图6a的流程相比,差别在于,第一设备通过第四信息将PRS测量结果发送给第二设备,第二设备进行位置解算,然后通过第五信息将解算结果发送给第一设备。在上述描述的交互流程中第五信息的信息内容包括以下一项或者多项:(1)第三信息的至少部分;(2)定位测量值;(3)定位测量值的时间戳;(4)定位测量值的质量指示;(5)定位测量值识别信息;(6)定位解算结果信息;
第三信息包括以下一项或者多项:
(1.1)第三信息的信令类型信息,包括:定位参考信号指示信令、定位指示标志位中的至少一项;
(1.2)标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;
(1.3)定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
(1.4)定位测量配置信息:包括:定位测量量类型、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力、定位类型、测量窗口指示、定位解算功能指示、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
需要说明的是,第五信息与上述第一信息同理,该第五信息的信息内容的至少部分可以通过高层参数配置或者预配置,也即第五信息中可以只包括上述信息内容的一部分,其余部分由高层参数配置或者预配置。
上述定位测量量类型可以包括:指示需要测量的测量量,如SL-PRS RSRP、设备的SL-PRS收发时间差、RTOA、RSTD、AoA、AOD等等;
上述定位辅助信息可以包括以下至少一项:速度、运动方向、加速度、位置坐标信息、身份ID、SL-SSB时频配置信息、第一设备或第二设备相关身份信息等。
上述定位参考信号搜索辅助信息包括以下至少一项:预期的参考信号时间差(作为参考的第一设备与其他相邻第一设备间发送定位参考信号的时间差以及传输时延差)、搜索窗口(对应于传输时延差的不确定性),定位参考信号搜索辅助信息也可以由高层参数配置或预配置。
上述定位方法或能力信息用于指示当前定位流程使用的方法,如Multi-RTT positioning、TDOA positioning、AOA positioning、AOD positioning;
上述定位类型信息用于区分当前定位方法是用于相对定位、测距、绝对定位;
上述测量窗口指示信息包括测量窗口的起始位置信息、周期信息等;
上述定位解算功能指示信息用于显示指示当前设备是否支持进行定位解算功能,还是仅能上报测量量进行辅助定位;
测量辅助信息包括以下至少一项:用于指示目标设备在测量设备定位测量值时关联的SL-PRS信息(如SL-PRS resource set ID、SL-PRS resource ID、SL-PRS具体时频资源位置信息、SL-PRS的配置信息、序列初始化ID等)、设备SL-PRS定位测量值上报粒度等。
上述定位参考信号配置参数集包括以下至少一项:SL-PRS资源类型、功控参数、序列ID、SL-PRS资源ID、SL-PRS资源集ID、频域梳状尺寸、符号间频域偏移值、循环移位参数、时域起始位置、时隙中映射的起始符号位置、时域占用符号数、SL-PRS时域周期、SL-PRS周期个数或者持续时间、频域起始位置、相对于频域参考点的频域偏移值、频域占用的带宽或RB个数、SL-PRS的子载波间隔、循环前缀类型、SL-PRS优先级信息
上述SL-PRS资源类型可以用于指示SL-PRS的资源为下述中一种:周期、非周期、半持续
其中时频域的相对参考点可以为映射定位请求信令或定位指示信令的资源时频位置,或者为高层配置或预配置的参考时频位置。
上述SL-PRS配置参数集可以指示第一设备和/或第二设备所发送的SL-PRS相关配置。
上述SL-PRS配置参数集中的部分或全部参数,也可以通过高层配置或预配置,高层配置或预配置的相关参数,不用出现在第一信息或第三信息中。
上述循环前缀类型用于指示当前为正常CP还是扩展CP
上述SL-PRS优先级还可以基于与其关联的物理信道的优先级或者相关联的控制信令中携带的优先级值来确定。
上述定位测量值包括以下至少一项:RSTD参考信号时间差、SL-PRS RSRP、第一设备收发时间差、第二设备收发时间差、SL-PRS SINR/SNR、RTOA参考信号到达时间、AOA、AOD、最强径传输时延(可以辅助剔除一些错误的距离估计)、多径间的时延差、经/纬度/高度;
上述测量值的质量指示信息包括以下至少一项:误差分辨率,误差取值(结合误差分辨率指示)和误差采样点个数;
上述定位参考信号搜索辅助信息包括以下至少一项:预期的参考信号时间差(作为参考的第一设备与其他相邻第一设备间发送SL-PRS的时间差以及传输时延差)、搜索窗口(对应于传输时延差的不确定性),所述SL-PRS搜索辅助信息也可以由高层参数配置或预配置。示例3:第一信息包括定位请求信令,即第二设备协助第一设备进行定位,参见图6d,其中图6d对应一个第二设备(UE2)协助第一设备(UE1)的情况,至于多个第二设备协助第一设备的情况,可以结合图6b与图6d理解,具体流程如下:
Step 1:第一设备向一个或多个第二设备发送定位请求信令,并向第二设备发送SL-PRS;
第一设备发送SL-PRS可以是周期持续发送,相应配置参数由第一信息通知第二设备,或由高层参数配置或预配置;或者非周期、半持续的发送,由第一信息触发,并通知第二设备进行接收。
第一信息中还可能携带反馈时延界限、定位方法/能力、定位测量量类型、SL-PRS搜索辅助信息、测量窗口指示、时间间隔、时域参考点、交互进程ID;
Step 2:第二设备根据第一信息和/或高层参数配置或预配置,进行第一SL-PRS的接收。并进行SL-PRS的测量,将测量结果上报回第一设备;
对于绝对定位场景,由于需要一个或多个第二设备上报测量信息以及定位辅助信息;对于SL-PRS周期性或半持续性发送时,每个第二设备可能测量的SL-PRS的时域位置不同,或者测量SL-PRS的时域位置距离过大,导致第一设备定位精度下降;为了解决这个问题:
可以通过第一信息限定第二设备的测量区间,保证多个第二设备测量的SL-PRS时域位置相同,或测量间隔保持在一定的窗口内。
或者,第二设备可以上报多个测量量,同时上报测量时间戳+对应SL-PRS的时间戳(或者对应SL-PRS的时域位置信息:子帧号+时隙号等),保证第一设备可以在多个第二 设备上报的多个定位测量结果中选择对应的测量结果进行位置解算。
Step 3:第一设备接收来自一个或多个第二设备的定位辅助信息和定位测量结果,进行位置解算,完成测距或定位。
示例4:第一信息包括定位指示信令,即第一设备协助第二设备进行定位,参见图6e,其中图6e对应一个第一设备(UE1)协助第二设备(UE2)的情况,至于多个第一设备协助第二设备的情况,可以结合图6b与图6e理解,具体流程如下:
Step 1:第一设备发送第一信息(定位指示信令),用于告知第二设备,自身可以为第二设备提供定位功能;
定位请求/定位指示标志位、目标标识信息、源标识信息、SL-PRS配置参数、定位测量量类型、定位辅助信息、SL-PRS搜索辅助信息、定位方法/能力、交互进程ID
Step 2:第二设备接收到该定位指示信令后,向第一设备发送第二信息(定位请求信令),触发第一设备SL-PRS的发送;
SL-PRS请求信令、定位请求/定位指示标志位、目标标识信息、源标识信息、反馈时延界限、SL-PRS配置参数、定位方法/能力、时间间隔、时域参考点、交互进程ID
Step 3:第一设备接收第二信息后,依据第二/四信息或高层参数配置/预配置,进行第一SL-PRS的发送。还需要发送第四信息:
所述第四信息可以包括:SL-PRS指示信令、定位请求/定位指示标志位、目标标识信息、源标识信息、SL-PRS配置参数、定位辅助信息、SL-PRS搜索辅助信息、定位方法/能力、测量窗口指示、时间间隔、时域参考点、交互进程ID;
Step 4:第二设备基于接收到的第一SL-PRS进行定位测量,结合第四/二信息完成位置解算过程,完成测距或定位。
绝对定位场景下,第二设备测量一个或多个第一设备发送的SL-PRS,应该保证定位测量过程使用的SL-PRS处于相同时隙,或者处于相同的时间窗口内的SL-PRS,以保证定位的精度。
为了解决上述问题,可以在第二信息中配置一个或多个第一设备的SL-PRS的发送配置,保证各个第一设备发送SL-PRS周期相同或相近,或者保证各个第一设备发送SL-PRS的起始位置也相同或相近。
示例5:第一信息包括定位指示信令,即第一设备协助第二设备进行定位,参见图6f,其中图6f对应一个第一设备(UE1)协助第二设备(UE2)的情况,至于多个第一设备协助第二设备的情况,可以结合图6b与图6f理解,具体流程如下:
Step 1:第一设备发送第一信息(定位指示信令),用于告知第二设备,自身可以为第二设备提供定位功能;
定位请求/定位指示标志位、目标标识信息、源标识信息、SL-PRS配置参数、定位测量量类型、定位辅助信息、SL-PRS搜索辅助信息、定位方法/能力、交互进程ID;
Step 2:第二设备接收到该定位指示信令后,向第一设备发送第二信息,并向第一设 备发送第二SL-PRS;
SL-PRS指示信令、定位请求/定位指示标志位、目标标识信息、源标识信息、反馈时延界限、SL-PRS配置参数、定位方法/能力、时间间隔、时域参考点、交互进程ID;
Step 3:第一设备接收第二信息后,依据第二/四信息或高层参数配置/预配置,进行第二SL-PRS的测量。还需要发送第四信息:
所述第四信息可以包括:目标标识信息、源标识信息、SL-PRS配置参数、定位辅助信息、时间间隔、时域参考点、交互进程ID、定位测量值、所述定位测量值的时间戳(执行测量定位测量值的时间信息)、所述定位测量值的质量指示、定位测量值识别信息、定位解算结果信息;
Step 4:第二设备基于接收到第四信息,完成测距或定位。
绝对定位场景下,第二设备接收一个或多个第一设备发送的第四信息,应该保证定位测量过程使用的SL-PRS处于相同时隙,或者处于相同的时间窗口内的SL-PRS,以保证定位的精度。
为了解决上述问题,可以在第二信息中配置一个或多个第一设备的SL-PRS的发送配置,保证各个第一设备测量SL-PRS位置相同或相近;
示例6:第一信息包括定位指示信令,即第一设备协助第二设备进行定位,参见图6g,其中图6g对应一个第一设备(UE1)协助第二设备(UE2)的情况,至于多个第一设备协助第二设备的情况,可以结合图6b与图6g理解,具体流程如下:
图6g的流程与图6e的流程相比,差别在于,第二设备通过第五信息将PRS测量值发送给第一设备,第一设备进行位置解算,然后通过第六信息将解算结果发送给第二设备。
在上述描述的交互流程中第五信息和第六信息的信息内容包括以下一项或者多项:(1)第三信息的至少部分;(2)定位测量值;(3)定位测量值的时间戳;(4)定位测量值的质量指示;(5)定位测量值识别信息;(6)定位解算结果信息;
第三信息包括以下一项或者多项:
(1.1)第三信息的信令类型信息,包括:定位参考信号指示信令、定位指示标志位中的至少一项;
(1.2)标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;
(1.3)定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
(1.4)定位测量配置信息:包括:定位测量量类型、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力、定位类型、测量窗口指示、定位解算功能指示、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
需要说明的是,第五信息和第六信息与上述第一信息同理,该第五信息和第六信息的信息内容的至少部分可以通过高层参数配置或者预配置,也即第五信息和第六信息中可以只包括上述信息内容的一部分,其余部分由高层参数配置或者预配置。
上述定位测量量类型可以包括:指示需要测量的测量量,如SL-PRS RSRP、设备的SL-PRS收发时间差、RTOA、RSTD、AoA、AOD等等;
上述定位辅助信息可以包括以下至少一项:速度、运动方向、加速度、位置坐标信息、身份ID、SL-SSB时频配置信息、第一设备或第二设备相关身份信息等。
上述定位参考信号搜索辅助信息包括以下至少一项:预期的参考信号时间差(作为参考的第一设备与其他相邻第一设备间发送定位参考信号的时间差以及传输时延差)、搜索窗口(对应于传输时延差的不确定性),定位参考信号搜索辅助信息也可以由高层参数配置或预配置。
上述定位方法或能力信息用于指示当前定位流程使用的方法,如Multi-RTT positioning、TDOA positioning、AOA positioning、AOD positioning;
上述定位类型信息用于区分当前定位方法是用于相对定位、测距、绝对定位;
上述测量窗口指示信息包括测量窗口的起始位置信息、周期信息等;
上述定位解算功能指示信息用于显示指示当前设备是否支持进行定位解算功能,还是仅能上报测量量进行辅助定位;
测量辅助信息包括以下至少一项:用于指示目标设备在测量设备定位测量值时关联的SL-PRS信息(如SL-PRS resource set ID、SL-PRS resource ID、SL-PRS具体时频资源位置信息、SL-PRS的配置信息、序列初始化ID等)、设备SL-PRS定位测量值上报粒度等。
上述定位参考信号配置参数集包括以下至少一项:SL-PRS资源类型、功控参数、序列ID、SL-PRS资源ID、SL-PRS资源集ID、频域梳状尺寸、符号间频域偏移值、循环移位参数、时域起始位置、时隙中映射的起始符号位置、时域占用符号数、SL-PRS时域周期、SL-PRS周期个数或者持续时间、频域起始位置、相对于频域参考点的频域偏移值、频域占用的带宽或RB个数、SL-PRS的子载波间隔、循环前缀类型、SL-PRS优先级信息
上述SL-PRS资源类型可以用于指示SL-PRS的资源为下述中一种:周期、非周期、半持续
其中时频域的相对参考点可以为映射定位请求信令或定位指示信令的资源时频位置,或者为高层配置或预配置的参考时频位置。
上述SL-PRS配置参数集可以指示第一设备和/或第二设备所发送的SL-PRS相关配置。
上述SL-PRS配置参数集中的部分或全部参数,也可以通过高层配置或预配置,高层配置或预配置的相关参数,不用出现在第一信息或第三信息中。
上述循环前缀类型用于指示当前为正常CP还是扩展CP
上述SL-PRS优先级还可以基于与其关联的物理信道的优先级或者相关联的控制信令中携带的优先级值来确定。
上述定位测量值包括以下至少一项:RSTD参考信号时间差、SL-PRS RSRP、第一设备收发时间差、第二设备收发时间差、SL-PRS SINR/SNR、RTOA参考信号到达时间、AOA、AOD、最强径传输时延(可以辅助剔除一些错误的距离估计)、多径间的时延差、经/纬度 /高度;
上述测量值的质量指示信息包括以下至少一项:误差分辨率,误差取值(结合误差分辨率指示)和误差采样点个数;
上述定位参考信号搜索辅助信息包括以下至少一项:预期的参考信号时间差(作为参考的第一设备与其他相邻第一设备间发送SL-PRS的时间差以及传输时延差)、搜索窗口(对应于传输时延差的不确定性),所述SL-PRS搜索辅助信息也可以由高层参数配置或预配置。示例7:第一信息包括定位指示信令,即第一设备协助第二设备进行定位,参见图6h,其中图6h对应一个第一设备(UE1)协助第二设备(UE2)的情况,至于多个第一设备协助第二设备的情况,可以结合图6b与图6h理解,具体流程如下:
Step 1:第一设备可以是周期性的发送第一SL-PRS,或者由第一信息触发非周期/半持续的发送第一SL-PRS;
第一信息为定位指示信令,可以包括:SL-PRS指示信令、定位请求/定位指示标志位、目标标识信息、源标识信息、SL-PRS配置参数、定位辅助信息、SL-PRS搜索辅助信息、定位方法/能力、时间间隔、时域参考点、交互进程ID;
多个第一设备的SL-PRS周期可以相同或相近,并且SL-PRS的时域位置比较临近或占用相同的时隙。
Step 2:第二设备接收到第一信息,根据第一信息或高层参数配置/预配置,对第一SL-PRS进行接收并测量,结合第一信息进行位置解算,完成测距或定位。
示例8:参见图6i,当SL-Positioning中存在LMF时的定位流程具体流程如下:
(1)第一设备向LMF请求Location service,发送第一信息。
(2)一个或多个第二设备与LMF交互positioning需要的信息:如定位辅助信息、SL-PRS配置参数集等
需要第一设备与第二设备之间需要一个交互流程,用于锚节点的确定。
(3)LMF基于第一设备与第二设备可以支持的定位方法/能力,确定本次定位流程使用的定位方法(TDOA,AOA/AOD,RTT等),确定相应方法所需的辅助信息、定位测量量类型、定位类型等内容。
(4)此时第一设备可以发送SL-PRS,但是由于并没有基站调度,因此SL-PRS的资源配置:
a.可以是第一设备自己决定,如基于感知(sensing)结果以及SL-PRS配置参数信息,进行SL-PRS资源选择
b.LMF确定第一设备的SL-PRS资源配置信息,类似LMF调度(向第一设备发送SL-PRS配置参数)
(5)第一设备可以:
a.自行决定SL-PRS的激活时间,然后将配置信息与激活时间通知LMF
b.LMF激活SL-PRS的传输
(6)LMF通知第二设备进行测量SL-PRS,并且通知第二设备相应第一设备发送SL-PRS的配置信息,以及相关的测量信息
或者,不需通知第二设备具体的SL-PRS配置信息,SL-PRS的收发类似R16阶段的资源分配过程。
(7)第一设备发送SL-PRS(与step(6)不一定有时序上的先后),可以是周期、非周期、半持续的发送
(8)第二设备对接收到的SL-PRS进行测量:RTOA,RSRP,SNR/SINR等
(9)第二设备将测量结果上报回LMF,LMF进行相应的位置解算
(10)LMF将位置解算结果反馈回第一设备,完成定位流程。
示例9:参见图6j,当SL-Positioning中存在LMF时的定位流程具体流程如下:
(1)第一设备向LMF请求Location service,发送第一信息。
(2)一个或多个第二设备与LMF交互positioning需要的信息:如定位辅助信息、SL-PRS配置参数集等
第一设备与第二设备之间需要一个交互流程,用于锚节点的确定。
(3)LMF基于第一设备与第二设备可以支持的positioning method capabilities,确定本次定位流程使用的定位方法(TDOA,AOA/AOD,RTT等),确定相应方法所需的辅助信息以及测量信息等内容。
(4)此时多个第二设备可以发送SL-PRS,但是由于并没有基站调度,因此SL-PRS的资源配置:
a.可以是第二设备自己决定,如基于sensing结果,进行SL-PRS资源选择
b.LMF确定第二设备的SL-PRS资源配置信息,类似LMF调度
(5)第二设备可以:
a.自行决定SL-PRS的激活时间,然后将配置信息与激活时间通知LMF
b.LMF激活SL-PRS的传输
(6)LMF通知第一设备进行测量SL-PRS,并且通知第一设备相应第二设备发送SL-PRS的配置信息,以及相关的测量信息
或者,不需通知第一设备具体的SL-PRS配置信息,SL-PRS的收发类似R16阶段的资源分配过程。
(7)第二设备发送SL-PRS(与step(16)不一定有时序上的先后),可以是周期、非周期、半持续的发送
(8)第一设备对接收到的SL-PRS进行测量:RTOA,RSRP,SNR/SINR等
(9)第一设备将测量结果上报回LMF,LMF结合定位辅助信息进行相应的位置解算
(10)LMF将位置解算结果反馈回第一设备,完成定位流程。
本申请实施例提供的用于sidelink的定位方法,执行主体可以为用于sidelink的定位装置。本申请实施例中以用于sidelink的定位装置执行sidelink的定位方法为例,说明本 申请实施例提供的用于sidelink的定位装置。
参见图7,本申请实施例提供一种用于sidelink的定位装置700,包括:
第一设备向一个或多个第二设备发送第一信息,所述第一信息包括定位请求信令;
第一发送模块701,用于所述第一设备向所述第二设备发送第一定位参考信号,或者所述第一设备从所述第二设备接收第二定位参考信号;
第一定位模块703,用于第一收发模块702,用于所述第一设备根据所述第一定位参考信号的测量结果或者所述第二定位参考信号的测量结果,得到所述第一设备的定位解算结果,或者,所述第一设备从所述第二设备接收所述第一设备的定位解算结果。
可选地,所述第一信息包括以下一项或者多项:
所述第一信息的信令类型信息,包括:定位参考信号请求信令、定位请求标志位中的至少一项;
标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;
定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
定位测量配置信息:包括:定位测量量类型信息、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力信息、定位类型信息、测量窗口指示信息、定位解算功能指示信息、测量辅助信息、反馈时延界限和、时域参考点和定位优先级信息中的至少一项。
可选地,所述第一收发模块,用于:
所述第一设备从所述第二设备接收第二信息和所述第二定位参考信号;
所述第一定位模块,用于:
所述第一设备根据所述第二信息,和/或,所述第二定位参考信号,进行定位测量,得到第一定位测量值;
所述第一设备根据所述第二信息,和/或,所述第一定位测量值,得到所述第一设备的定位解算结果。
可选地,所述第一收发模块,用于:
所述第一设备向所述第二设备发送所述第一定位参考信号;
所述第一设备从所述第二设备接收第二信息;
所述第一定位模块,用于:
所述第一设备通过所述第二信息从所述第二设备接收所述第二设备测量的第二定位测量值;
所述第一设备根据所述第二信息,和/或,所述第二定位测量值,得到所述第一设备的定位解算结果;
所述第一定位模块,用于:
所述第一设备通过所述第二信息从所述第二设备接收所述第一设备的定位解算结果,所述第一设备的定位解算结果是所述第二设备根据所述第一信息,和/或,所述第二设备 测量的第二定位测量值得到的。
可选地,所述第二信息的信息内容包括以下一项或者多项:
第三信息的至少部分;
定位测量值;
所述定位测量值的时间戳;
所述定位测量值的质量指示;
定位测量值识别信息;
定位解算结果信息;
所述第三信息包括以下一项或者多项:
所述第三信息的信令类型信息,包括:定位参考信号请求信令、定位请求标志位中的至少一项;
标识信息:包括:目标标识信息、源标识信息、交互进程ID中至少一项;
定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
定位测量配置信息:包括:定位测量量类型、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力、定位类型、测量窗口指示、定位解算功能指示、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
可选地,在目标信息中携带时间间隔,或者,高层参数配置或预配置时间间隔的情况下,所述时间间隔满足以下至少一项:
在由所述目标信息激活或调度定位参考信号传输时,所述时间间隔为所述定位参考信号的时域起始发送位置与目标时域参考点的时间间隔,所述目标时域参考点为所述目标信息所在时隙位置,或者,所述目标信息中的时域参考点,或者,高层参数配置的时域参考点,或者,预配置的时域参考点;
在所述目标信息支持重传的情况下,重传的所述目标信息中不携带所述时间间隔
其中,所述目标信息为所述第一信息和所述第二信息中的至少一项。
可选地,所述装置还包括:第一处理模块,在目标信息中携带反馈时延界限,或者,高层参数配置或预配置反馈时延界限的情况下,用于以下至少一项:
所述第一设备在所述反馈时延界限内从所述第二设备接收所述目标信息对应的反馈信息;
所述第一设备在所述反馈时延界限内完成整体定位流程;
其中,所述目标信息为所述第一信息和所述第二信息中的至少一项;
所述反馈时延界限满足以下至少一项:
所述反馈时延界限是所述目标信息反馈时间的上限;
所述反馈时延界限的目标时域参考点为高层参数配置或预配置,或者,所述目标信息中携带的时域参考点;
在所述目标信息支持重传的情况下,重传的所述目标信息中不携带所述反馈时延界限。
可选地,所述装置还包括:第二处理模块,用于以下至少一项:
预先设置所述第一设备发送所述第一定位参考信号的时间参数与所述第二设备发送所述第二定位参考信号的时间参数,所述时间参数包括以下至少一项:定位参考信号传输周期,周期内偏移值,周期参考点;
根据所述测量窗口指示信息指示,保证所述第一设备与所述第二设备在相同的测量窗口对第一定位参考信号与第二定位参考信号进行测量。
可选地,所述第一发送模块,用于:
所述第一设备通过第三设备向一个或多个所述第二设备发送所述第一信息;
所述第一收发模块,用于:
所述第一设备向所述第三设备发送所述第二定位参考信号的测量结果,并从所述第三设备接收所述第一设备的定位解算结果。
参见图8,本申请实施例提供一种用于sidelink的定位装置800,包括:
第一接收模块801,用于第二设备从一个或多个第一设备接收第一信息,所述第一信息包括定位请求信令;
第二收发模块802,用于所述第二设备从所述第一设备接收第一定位参考信号,或者所述第二设备向所述第一设备发送第二定位参考信号;
第二定位模块803,用于由所述第一设备根据所述第二定位参考信号的测量结果,得到所述第一设备的定位解算结果,或者,所述第二设备向所述第一设备发送所述第一定位参考信号的测量结果,或者,所述第二设备根据所述第一定位参考信号的测量结果,得到所述第一设备的定位解算结果,并向所述第一设备发送所述第一设备的定位解算结果。
可选地,所述第一信息包括以下一项或者多项:
所述第一信息的信令类型信息,包括:定位参考信号请求信令、定位参考信号指示信令、定位请求标志位和定位指示标志位中的至少一项;
标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;
定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
定位测量配置信息:包括:定位测量量类型信息、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力信息、定位类型信息、测量窗口指示信息、定位解算功能指示信息、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
可选地,所述第二收发模块,用于:
所述第二设备向所述第一设备发送第二信息和所述第二定位参考信号,所述第二信息是所述第一信息的反馈信息。
可选地,所述第二收发模块,用于:
所述第二设备从所述第一设备接收所述第一定位参考信号;
所述第二设备向所述第一设备发送第二信息,所述第二信息是所述第一信息的反馈信息;
所述第二定位模块,用于:
所述第二设备根据所述第一信息,和/或,所述第一定位参考信号,进行定位测量,得到第二定位测量值;
所述第二设备通过所述第二信息向所述第一设备发送所述第二定位测量值;
所述第二定位模块,用于:
所述第二设备根据所述第一信息,和/或,所述第一定位参考信号,进行定位测量,得到第二定位测量值;
所述第二设备根据所述第一信息,和/或,所述第二定位测量值,得到所述第一设备的定位解算结果;
所述第二设备通过所述第二信息向所述第一设备发送所述第一设备的定位解算结果。可选地,所述第二信息的信息内容包括以下一项或者多项:第三信息的至少部分;定位测量值;所述定位测量值的时间戳;所述定位测量值的质量指示;定位测量值识别信息;定位解算结果信息;
所述第三信息包括以下一项或者多项:
所述第三信息的信令类型信息,包括:定位参考信号请求信令、定位请求标志位中的至少一项;
标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;
定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
定位测量配置信息:包括:定位测量量类型、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力、定位类型、测量窗口指示、定位解算功能指示、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
可选地,在目标信息中携带时间间隔,或者,高层参数配置或预配置时间间隔的情况下,所述时间间隔满足以下至少一项:
在由所述目标信息激活或调度定位参考信号传输时,所述时间间隔为所述定位参考信号的时域起始发送位置与目标时域参考点的时间间隔,所述目标时域参考点为所述目标信息所在时隙位置,或者,所述目标信息中的时域参考点,或者,高层参数配置的时域参考点,或者,预配置的时域参考点;
在所述目标信息支持重传的情况下,重传的所述目标信息中不携带所述时间间隔
其中,所述目标信息为所述第一信息和所述第二信息中的至少一项。
可选地,所述装置还包括:第三处理模块,在目标信息中携带反馈时延界限,或者,高层参数配置或预配置反馈时延界限的情况下,用于以下任意一项:
所述第二设备在所述反馈时延界限内向所述第一设备发送所述目标信息对应的反馈 信息;
所述第二设备在所述反馈时延界限内完成整体定位流程;
其中,所述目标信息为所述第一信息和所述第二信息中的至少一项;
所述反馈时延界限满足以下至少一项:
所述反馈时延界限是所述目标信息反馈时间的上限;
所述反馈时延界限的目标时域参考点为高层参数配置或预配置,或者,所述目标信息中携带的时域参考点;
在所述目标信息支持重传的情况下,重传的所述目标信息中不携带所述反馈时延界限。
可选地,所述装置还包括:第四处理模块,用于以下任意一项:
预先设置所述第一设备发送所述第一定位参考信号的时间参数与所述第二设备发送所述第二定位参考信号的时间参数,所述时间参数包括以下至少一项:定位参考信号传输周期,周期内偏移值,周期参考点;
根据所述测量窗口指示信息指示,保证所述第一设备与所述第二设备在相同的测量窗口对第一定位参考信号与第二定位参考信号进行测量。
可选地,所述第一接收模块,用于:
所述第二设备从一个或多个第一设备接收第一信息,包括:
所述第二设备通过第三设备从一个或多个所述第一设备接收所述第一信息;
所述第二收发模块,用于:
所述第二设备向所述第三设备发送所述第一定位参考信号的测量结果,由所述第三设备得到所述第一设备的定位解算结果,并由所述第三设备向所述第一设备发送所述第一设备的定位解算结果。
参见图9,本申请实施例提供一种用于sidelink的定位装置900,包括:
第二发送模块901,用于第一设备向一个或多个第二设备发送第一信息,所述第一信息包括定位指示信令;
第三收发模块902,用于所述第一设备向所述第二设备发送第一定位参考信号,或者所述第一设备从所述第二设备接收第二定位参考信号;
第三定位模块903,用于由所述第二设备根据所述第一定位参考信号的测量结果,得到所述第二设备的定位解算结果,或者,所述第一设备向所述第二设备发送所述第二定位参考信号的测量结果,或者,所述第一设备根据所述第二定位参考信号的测量结果,得到所述第二设备的定位解算结果,并向所述第二设备发送所述第二设备的定位解算结果。
可选地,所述第一信息包括以下一项或者多项:
所述第一信息的信令类型信息,包括:定位参考信号指示信令、定位指示标志位中的至少一项;
标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;
定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的 至少一项;
定位测量配置信息:包括:定位测量量类型信息、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力信息、定位类型信息、测量窗口指示信息、定位解算功能指示信息、测量辅助信息、反馈时延界限和、时域参考点和定位优先级信息中的至少一项。
可选地,所述第三收发模块,用于:
所述第一设备从所述第二设备接收第二信息,所述第二信息是所述第一信息的反馈信息;
所述第一设备向所述第二设备发送第四信息和所述第一定位参考信号,所述第四信息是所述第二信息的反馈信息。
可选地,所述第三收发模块,用于:
所述第一设备从所述第二设备接收第二信息和所述第二定位参考信号,所述第二信息是所述第一信息的反馈信息;
所述第一设备向所述第二设备发送第四信息,所述第四信息是所述第二信息的反馈信息;
所述第三定位模块,用于:
所述第一设备根据所述第二信息,和/或,所述第二定位参考信号,进行定位测量,得到第一定位测量值;
所述第一设备通过所述第四信息向所述第二设备发送所述第一定位测量值;
所述第三定位模块,用于:
所述第一设备根据所述第二信息,和/或,所述第二定位参考信号,进行定位测量,得到第一定位测量值;
所述第一设备根据所述第二信息,和/或,所述第一定位测量值,得到所述第二设备的定位解算结果;
所述第一设备通过所述第四信息向所述第二设备发送所述第二设备的定位解算结果。
可选地,所述第二信息和所述第四信息的信息内容包括以下一项或者多项:第三信息的至少部分;定位测量值;所述定位测量值的时间戳;所述定位测量值的质量指示;定位测量值识别信息;定位解算结果信息;
所述第三信息包括以下一项或者多项:
所述第三信息的信令类型信息,包括:定位参考信号指示信令、定位指示标志位中的至少一项;
标识信息:包括:目标标识信息、源标识信息、交互进程ID中至少一项;
定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
定位测量配置信息:包括:定位测量量类型、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力、定位类型、测量窗口指示、定位解算功能指示、测量辅助信息、 反馈时延界限、时域参考点和定位优先级信息中的至少一项。
可选地,在目标信息中携带时间间隔,或者,高层参数配置或预配置时间间隔的情况下,所述时间间隔满足以下至少一项:
在由所述目标信息激活或调度定位参考信号传输时,所述时间间隔为所述定位参考信号的时域起始发送位置与目标时域参考点的时间间隔,所述目标时域参考点为所述目标信息所在时隙位置,或者,所述目标信息中的时域参考点,或者,高层参数配置的时域参考点,或者,预配置的时域参考点;
在所述目标信息支持重传的情况下,重传的所述目标信息中不携带所述时间间隔
其中,所述目标信息为所述第一信息、所述第二信息和所述第四信息中的至少一项。
可选地,所述装置还包括:第五处理模块,在目标信息中携带反馈时延界限,或者,高层参数配置或预配置反馈时延界限的情况下,用于以下至少一项:
所述第一设备在所述反馈时延界限内从所述第二设备接收所述目标信息对应的反馈信息;
所述第一设备在所述反馈时延界限内完成整体定位流程;
其中,所述目标信息为所述第一信息、所述第二信息和所述第四信息中的至少一项;
所述反馈时延界限满足以下至少一项:
所述反馈时延界限是所述目标信息反馈时间的上限;
所述反馈时延界限的目标时域参考点为高层参数配置或预配置,或者,所述目标信息中携带的时域参考点;
在所述目标信息支持重传的情况下,重传的所述目标信息中不携带所述反馈时延界限。
可选地,所述装置还包括:第六处理模块,用于以下至少一项:
预先设置所述第一设备发送所述第一定位参考信号的时间参数与所述第二设备发送所述第二定位参考信号的时间参数,所述时间参数包括以下至少一项:定位参考信号传输周期,周期内偏移值,周期参考点;
根据所述测量窗口指示信息指示,保证所述第一设备与所述第二设备在相同的测量窗口对第一定位参考信号与第二定位参考信号进行测量。
可选地,所述第二发送模块,用于:
所述第一设备通过第三设备向一个或多个所述第二设备发送所述第一信息。
参见图10,本申请实施例提供一种用于sidelink的定位装置1000,包括:
第二接收模块1001,用于第二设备从一个或多个第一设备接收第一信息,所述第一信息包括定位指示信令;
第四收发模块1002,用于所述第二设备从所述第一设备接收第一定位参考信号,或者所述第二设备向所述第一设备发送第二定位参考信号;
第四定位模块1003,用于所述第二设备根据所述第一定位参考信号的测量结果或者所述第二定位参考信号的测量结果,得到所述第二设备的定位解算结果,或者,所述第二 设备从所述第一设备接收所述第二设备的定位解算结果。
可选地,所述第一信息包括以下一项或者多项:
所述第一信息的信令类型信息,包括:定位参考信号指示信令、定位指示标志位中的至少一项;
标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;
定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
定位测量配置信息:包括:定位测量量类型信息、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力信息、定位类型信息、测量窗口指示信息、定位解算功能指示信息、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
可选地,所述第四收发模块,用于:
所述第二设备向所述第一设备发送第二信息,所述第二信息是所述第一信息的反馈信息;
所述第二设备从所述第一设备接收第四信息和所述第一定位参考信号,所述第四信息是所述第二信息的反馈信息;
所述第四定位模块,用于:
所述第二设备根据所述第四信息,和/或,所述第一定位参考信号,得到第二定位测量值;
所述第二设备根据第一目标信息,和/或,所述第二定位测量值,得到所述第二设备的定位解算结果,所述第一目标信息为所述第一信息或所述第四信息。
可选地,所述第四定位模块,用于:
所述第二设备根据所述第一信息,和/或,所述第一定位参考信号,得到第二定位测量值;
所述第二设备根据所述第一信息,和/或,所述第二定位测量值,得到所述第二设备的定位解算结果。
可选地,所述第四收发模块,用于:
所述第二设备向所述第一设备发送第二信息和所述第二定位参考信号,所述第二信息是所述第一信息的反馈信息;
所述第二设备从所述第一设备接收第四信息,所述第四信息是所述第二信息的反馈信息;
所述第四定位模块,用于:
所述第二设备通过所述第四信息从所述第一设备接收所述第一设备测量的第一定位测量值;
所述第二设备根据第一目标信息,和/或,所述第一定位测量值,得到所述第二设备的定位解算结果,所述第一目标信息为所述第一信息或所述第四信息;
所述第四定位模块,用于:
所述第二设备通过所述第四信息从所述第一设备接收所述第二设备的定位解算结果,所述第二设备的定位解算结果是所述第一设备根据所述第二信息,和/或,所述第一设备接收所述第一设备测量的第一定位测量值得到的。
可选地,所述第二信息和所述第四信息的信息内容包括以下一项或者多项:第三信息的至少部分;定位测量值;所述定位测量值的时间戳;所述定位测量值的质量指示;定位测量值识别信息;定位解算结果信息;
所述第三信息包括以下一项或者多项:
所述第三信息的信令类型信息,包括:定位参考信号请求信令、定位参考信号指示信令、定位请求标志位和定位指示标志位中的至少一项;
标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;
定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
定位测量配置信息:包括:定位测量量类型、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力、定位类型、测量窗口指示、定位解算功能指示、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
可选地,在目标信息中携带时间间隔,或者,高层参数配置或预配置时间间隔的情况下,所述时间间隔满足以下至少一项:
在由所述目标信息激活或调度定位参考信号传输时,所述时间间隔为所述定位参考信号的时域起始发送位置与目标时域参考点的时间间隔,所述目标时域参考点为所述目标信息所在时隙位置,或者,所述目标信息中的时域参考点,或者,高层参数配置的时域参考点,或者,预配置的时域参考点;
在所述目标信息支持重传的情况下,重传的所述目标信息中不携带所述时间间隔
其中,所述目标信息为所述第一信息、所述第二信息和所述第四信息中的至少一项。
可选地,所述装置还包括:第七处理模块,在目标信息中携带反馈时延界限,或者,高层参数配置或预配置反馈时延界限的情况下,用于以下任意一项:
所述第二设备在所述反馈时延界限内向所述第一设备发送所述目标信息对应的反馈信息;
所述第二设备在所述反馈时延界限内完成整体定位流程;
其中,所述目标信息为所述第一信息、所述第二信息和所述第四信息中的至少一项;
所述反馈时延界限满足以下至少一项:
所述反馈时延界限是所述目标信息反馈时间的上限;
所述反馈时延界限的目标时域参考点为高层参数配置或预配置,或者,所述目标信息中携带的时域参考点;
在所述目标信息支持重传的情况下,重传的所述目标信息中不携带所述反馈时延界限。
可选地,所述装置还包括:第八处理模块,用于以下任意一项:
预先设置所述第一设备发送所述第一定位参考信号的时间参数与所述第二设备发送所述第二定位参考信号的时间参数,所述时间参数包括以下至少一项:定位参考信号传输周期,周期内偏移值,周期参考点;
根据所述测量窗口指示信息指示,保证所述第一设备与所述第二设备在相同的测量窗口对第一定位参考信号与第二定位参考信号进行测量。
可选地,所述第二接收模块,用于:
所述第二设备通过第三设备从一个或多个所述第一设备接收所述第一信息;
所述第四收发模块,用于:
所述第二设备向所述第三设备发送所述第一定位参考信号的测量结果,并从所述第三设备接收所述第二设备的定位解算结果。
本申请实施例中的用于sidelink的定位装置可以是电子设备,例如具有操作系统的电子设备,也可以是电子设备中的部件,例如集成电路或芯片。该电子设备可以是终端,也可以为除终端之外的其他设备。示例性的,终端可以包括但不限于上述所列举的终端11的类型,其他设备可以为服务器、网络附属存储器(Network Attached Storage,NAS)等,本申请实施例不作具体限定。
本申请实施例提供的用于sidelink的定位装置能够实现图2至图6j的方法实施例实现的各个过程,并达到相同的技术效果,为避免重复,这里不再赘述。
参见图11,本申请实施例提供一种用于sidelink的定位装置,包括:
收发机1110,用于在处理器1100的控制下接收和发送数据。
其中,在图11中,总线架构可以包括任意数量的互联的总线和桥,具体由处理器1100代表的一个或多个处理器和存储器1120代表的存储器的各种电路链接在一起。总线架构还可以将诸如外围设备、稳压器和功率管理电路等之类的各种其他电路链接在一起,这些都是本领域所公知的,因此,本文不再对其进行进一步描述。总线接口提供接口。收发机1110可以是多个元件,即包括发送机和接收机,提供用于在传输介质上与各种其他装置通信的单元,这些传输介质包括,这些传输介质包括无线信道、有线信道、光缆等传输介质。针对不同的用户设备,用户接口1130还可以是能够外接内接需要设备的接口,连接的设备包括但不限于小键盘、显示器、扬声器、麦克风、操纵杆等。
处理器1100负责管理总线架构和通常的处理,存储器1120可以存储处理器1100在执行操作时所使用的数据。
可选的,处理器1100可以是中央处理器(Central Processing Unit,CPU)、专用集成电路(Application Specific Integrated Circuit,ASIC)、现场可编程门阵列(Field-Programmable Gate Array,FPGA)或复杂可编程逻辑器件(Complex Programmable Logic Device,CPLD),处理器也可以采用多核架构。
处理器通过调用存储器存储的计算机程序,用于按照获得的可执行指令执行本申请实 施例提供的任一所述方法。处理器与存储器也可以物理上分开布置。
图11所示的装置在作为第一设备时,能够执行如图2至图6j中与第一设备相关的方法步骤;
处理器,用于读取所述存储器中的计算机程序并执行以下操作:
第一设备向一个或多个第二设备发送第一信息,所述第一信息包括定位请求信令;
所述第一设备向所述第二设备发送第一定位参考信号,或者所述第一设备从所述第二设备接收第二定位参考信号;
所述第一设备根据所述第一定位参考信号的测量结果或者所述第二定位参考信号的测量结果,得到所述第一设备的定位解算结果,或者,所述第一设备从所述第二设备接收所述第一设备的定位解算结果。
或者,处理器,用于读取所述存储器中的计算机程序并执行以下操作:
第一设备向一个或多个第二设备发送第一信息,所述第一信息包括定位指示信令;
所述第一设备向所述第二设备发送第一定位参考信号,或者所述第一设备从所述第二设备接收第二定位参考信号;
由所述第二设备根据所述第一定位参考信号的测量结果,得到所述第二设备的定位解算结果,或者,所述第一设备向所述第二设备发送所述第二定位参考信号的测量结果,或者,所述第一设备根据所述第二定位参考信号的测量结果,得到所述第二设备的定位解算结果,并向所述第二设备发送所述第二设备的定位解算结果。
图11所示的装置在作为第二设备时,能够执行如图2至图6j中与第二设备相关的方法步骤。具体参见前文方法相关描述,在此不再赘述。
处理器,用于读取所述存储器中的计算机程序并执行以下操作:
所述第一设备向一个或多个第二设备发送第一信息,包括:
所述第一设备通过第三设备向一个或多个所述第二设备发送所述第一信息;
所述方法还包括:
所述第一设备向所述第三设备发送所述第二定位参考信号的测量结果,并从所述第三设备接收所述第一设备的定位解算结果。
或者,处理器,用于读取所述存储器中的计算机程序并执行以下操作:
第二设备从一个或多个第一设备接收第一信息,所述第一信息包括定位指示信令;
所述第二设备从所述第一设备接收第一定位参考信号,或者所述第二设备向所述第一设备发送第二定位参考信号;
所述第二设备根据所述第一定位参考信号的测量结果或者所述第二定位参考信号的测量结果,得到所述第二设备的定位解算结果,或者,所述第二设备从所述第一设备接收所述第二设备的定位解算结果。
本申请实施例还提供一种可读存储介质,所述可读存储介质上存储有程序或指令,该程序或指令被处理器执行时实现上述用于sidelink的定位方法实施例的各个过程,且能达 到相同的技术效果,为避免重复,这里不再赘述。
其中,所述处理器为上述实施例中所述的终端中的处理器。所述可读存储介质,包括计算机可读存储介质,如计算机只读存储器ROM、随机存取存储器RAM、磁碟或者光盘等。
本申请实施例另提供了一种芯片,所述芯片包括处理器和通信接口,所述通信接口和所述处理器耦合,所述处理器用于运行程序或指令,实现上述用于sidelink的定位方法实施例的各个过程,且能达到相同的技术效果,为避免重复,这里不再赘述。
应理解,本申请实施例提到的芯片还可以称为系统级芯片,系统芯片,芯片系统或片上系统芯片等。
本申请实施例另提供了一种计算机程序/程序产品,所述计算机程序/程序产品被存储在存储介质中,所述计算机程序/程序产品被至少一个处理器执行以实现上述用于sidelink的定位方法实施例的各个过程,且能达到相同的技术效果,为避免重复,这里不再赘述。
需要说明的是,应理解以上各个模块的划分仅仅是一种逻辑功能的划分,实际实现时可以全部或部分集成到一个物理实体上,也可以物理上分开。且这些模块可以全部以软件通过处理元件调用的形式实现;也可以全部以硬件的形式实现;还可以部分模块通过处理元件调用软件的形式实现,部分模块通过硬件的形式实现。例如,确定模块可以为单独设立的处理元件,也可以集成在上述装置的某一个芯片中实现,此外,也可以以程序代码的形式存储于上述装置的存储器中,由上述装置的某一个处理元件调用并执行以上确定模块的功能。其它模块的实现与之类似。此外这些模块全部或部分可以集成在一起,也可以独立实现。这里所述的处理元件可以是一种集成电路,具有信号的处理能力。在实现过程中,上述方法的各步骤或以上各个模块可以通过处理器元件中的硬件的集成逻辑电路或者软件形式的指令完成。
例如,各个模块、单元、子单元或子模块可以是被配置成实施以上方法的一个或多个集成电路,例如:一个或多个特定集成电路(Application Specific Integrated Circuit,ASIC),或,一个或多个微处理器(digital signal processor,DSP),或,一个或者多个现场可编程门阵列(Field Programmable Gate Array,FPGA)等。再如,当以上某个模块通过处理元件调度程序代码的形式实现时,该处理元件可以是通用处理器,例如中央处理器(Central Processing Unit,CPU)或其它可以调用程序代码的处理器。再如,这些模块可以集成在一起,以片上系统(system-on-a-chip,SOC)的形式实现。
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象,而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换,以便这里描述的本申请的实施例,例如除了在这里图示或描述的那些以外的顺序实施。此外,术语“包括”和“具有”以及他们的任何变形,意图在于覆盖不排他的包含,例如,包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元,而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它 步骤或单元。此外,说明书以及权利要求中使用“和/或”表示所连接对象的至少其中之一,例如A和/或B和/或C,表示包含单独A,单独B,单独C,以及A和B都存在,B和C都存在,A和C都存在,以及A、B和C都存在的7种情况。类似地,本说明书以及权利要求中使用“A和B中的至少一个”应理解为“单独A,单独B,或A和B都存在”。
需要说明的是,在本文中,术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下,由语句“包括一个……”限定的要素,并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外,需要指出的是,本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能,还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能,例如,可以按不同于所描述的次序来执行所描述的方法,并且还可以添加、省去、或组合各种步骤。另外,参照某些示例所描述的特征可在其他示例中被组合。
通过以上的实施方式的描述,本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现,当然也可以通过硬件,但很多情况下前者是更佳的实施方式。基于这样的理解,本申请的技术方案本质上或者说对相关技术做出贡献的部分可以以计算机软件产品的形式体现出来,该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中,包括若干指令用以使得一台终端(可以是手机,计算机,服务器,空调器,或者网络设备等)执行本申请各个实施例所述的方法。
上面结合附图对本申请的实施例进行了描述,但是本申请并不局限于上述的具体实施方式,上述的具体实施方式仅仅是示意性的,而不是限制性的,本领域的普通技术人员在本申请的启示下,在不脱离本申请宗旨和权利要求所保护的范围情况下,还可做出很多形式,均属于本申请的保护之内。

Claims (42)

  1. 一种用于直通链路sidelink的定位方法,包括:
    第一设备向一个或多个第二设备发送第一信息,所述第一信息包括定位请求信令;
    所述第一设备向所述第二设备发送第一定位参考信号,或者所述第一设备从所述第二设备接收第二定位参考信号;
    所述第一设备根据所述第一定位参考信号的测量结果或者所述第二定位参考信号的测量结果,得到所述第一设备的定位解算结果,或者,所述第一设备从所述第二设备接收所述第一设备的定位解算结果。
  2. 根据权利要求1所述的方法,其中,所述第一信息包括以下一项或者多项:
    所述第一信息的信令类型信息,包括:定位参考信号请求信令、定位请求标志位中的至少一项;
    标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;
    定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
    定位测量配置信息:包括:定位测量量类型信息、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力信息、定位类型信息、测量窗口指示信息、定位解算功能指示信息、测量辅助信息、反馈时延界限和、时域参考点和定位优先级信息中的至少一项。
  3. 根据权利要求1所述的方法,其中,
    所述第一设备从所述第二设备接收第二定位参考信号,包括:
    所述第一设备从所述第二设备接收第二信息和所述第二定位参考信号;
    所述第一设备根据所述第二定位参考信号的测量结果,得到所述第一设备的定位解算结果,包括:
    所述第一设备根据所述第二信息,和/或,所述第二定位参考信号,进行定位测量,得到第一定位测量值;
    所述第一设备根据所述第二信息,和/或,所述第一定位测量值,得到所述第一设备的定位解算结果。
  4. 根据权利要求1所述的方法,其中,
    所述第一设备向所述第二设备发送第一定位参考信号,包括:
    所述第一设备向所述第二设备发送所述第一定位参考信号;
    所述第一设备从所述第二设备接收第二信息;
    所述第一设备根据所述第一定位参考信号的测量结果,得到所述第一设备的定位解算结果,包括:
    所述第一设备通过所述第二信息从所述第二设备接收所述第二设备测量的第二定位测量值;
    所述第一设备根据所述第二信息,和/或,所述第二定位测量值,得到所述第一设备的定位解算结果;
    所述第一设备从所述第二设备接收所述第一设备的定位解算结果,包括:
    所述第一设备通过所述第二信息从所述第二设备接收所述第一设备的定位解算结果,所述第一设备的定位解算结果是所述第二设备根据所述第一信息,和/或,所述第二设备测量的第二定位测量值得到的。
  5. 根据权利要求3或4所述的方法,其中,所述第二信息的信息内容包括以下一项或者多项:
    第三信息的至少部分;
    定位测量值;
    所述定位测量值的时间戳;
    所述定位测量值的质量指示;
    定位测量值识别信息;
    定位解算结果信息;
    所述第三信息包括以下一项或者多项:
    所述第三信息的信令类型信息,包括:定位参考信号请求信令、定位请求标志位中的至少一项;
    标识信息:包括:目标标识信息、源标识信息、交互进程ID中至少一项;
    定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
    定位测量配置信息:包括:定位测量量类型、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力、定位类型、测量窗口指示、定位解算功能指示、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
  6. 根据权利要求2或5所述的方法,其中,在目标信息中携带时间间隔,或者,高层参数配置或预配置时间间隔的情况下,所述时间间隔满足以下至少一项:
    在由所述目标信息激活或调度定位参考信号传输时,所述时间间隔为所述定位参考信号的时域起始发送位置与目标时域参考点的时间间隔,所述目标时域参考点为所述目标信息所在时隙位置,或者,所述目标信息中的时域参考点,或者,高层参数配置的时域参考点,或者,预配置的时域参考点;
    在所述目标信息支持重传的情况下,重传的所述目标信息中不携带所述时间间隔
    其中,所述目标信息为所述第一信息和第二信息中的至少一项。
  7. 根据权利要求5所述的方法,其中,在目标信息中携带反馈时延界限,或者,高层参数配置或预配置反馈时延界限的情况下,所述方法还包括以下至少一项:
    所述第一设备在所述反馈时延界限内从所述第二设备接收所述目标信息对应的反馈信息;
    所述第一设备在所述反馈时延界限内完成整体定位流程;
    其中,所述目标信息为所述第一信息和所述第二信息中的至少一项;
    所述反馈时延界限满足以下至少一项:
    所述反馈时延界限是所述目标信息反馈时间的上限;
    所述反馈时延界限的目标时域参考点为高层参数配置或预配置,或者,所述目标信息中携带的时域参考点;
    在所述目标信息支持重传的情况下,重传的所述目标信息中不携带所述反馈时延界限。
  8. 根据权利要求5所述的方法,其中,所述方法还包括以下至少一项:
    预先设置所述第一设备发送所述第一定位参考信号的时间参数与所述第二设备发送所述第二定位参考信号的时间参数,所述时间参数包括以下至少一项:定位参考信号传输周期,周期内偏移值,周期参考点;
    根据所述测量窗口指示信息指示,保证所述第一设备与所述第二设备在相同的测量窗口对第一定位参考信号与第二定位参考信号进行测量。
  9. 根据权利要求1所述的方法,其中,
    所述第一设备向一个或多个第二设备发送第一信息,包括:
    所述第一设备通过第三设备向一个或多个所述第二设备发送所述第一信息;
    所述方法还包括:
    所述第一设备向所述第三设备发送所述第二定位参考信号的测量结果,并从所述第三设备接收所述第一设备的定位解算结果。
  10. 一种用于sidelink的定位方法,包括:
    第二设备从一个或多个第一设备接收第一信息,所述第一信息包括定位请求信令;
    所述第二设备从所述第一设备接收第一定位参考信号,或者所述第二设备向所述第一设备发送第二定位参考信号;
    由所述第一设备根据所述第二定位参考信号的测量结果,得到所述第一设备的定位解算结果,或者,所述第二设备向所述第一设备发送所述第一定位参考信号的测量结果,或者,所述第二设备根据所述第一定位参考信号的测量结果,得到所述第一设备的定位解算结果,并向所述第一设备发送所述第一设备的定位解算结果。
  11. 根据权利要求10所述的方法,其中,所述第一信息包括以下一项或者多项:
    所述第一信息的信令类型信息,包括:定位参考信号请求信令、定位参考信号指示信令、定位请求标志位和定位指示标志位中的至少一项;
    标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;
    定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
    定位测量配置信息:包括:定位测量量类型信息、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力信息、定位类型信息、测量窗口指示信息、定位解算功能指示 信息、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
  12. 根据权利要求10所述的方法,其中,
    所述第二设备向所述第一设备发送第二定位参考信号,包括:
    所述第二设备向所述第一设备发送第二信息和所述第二定位参考信号,所述第二信息是所述第一信息的反馈信息。
  13. 根据权利要求10所述的方法,其中,
    所述第二设备从所述第一设备接收第一定位参考信号,包括:
    所述第二设备从所述第一设备接收所述第一定位参考信号;
    所述第二设备向所述第一设备发送第二信息,所述第二信息是所述第一信息的反馈信息;
    所述第二设备向所述第一设备发送所述第一定位参考信号的测量结果,包括:
    所述第二设备根据所述第一信息,和/或,所述第一定位参考信号,进行定位测量,得到第二定位测量值;
    所述第二设备通过所述第二信息向所述第一设备发送所述第二定位测量值;
    所述第二设备根据所述第一定位参考信号的测量结果,得到所述第一设备的定位解算结果,并向所述第一设备发送所述第一设备的定位解算结果,包括:
    所述第二设备根据所述第一信息,和/或,所述第一定位参考信号,进行定位测量,得到第二定位测量值;
    所述第二设备根据所述第一信息,和/或,所述第二定位测量值,得到所述第一设备的定位解算结果;
    所述第二设备通过所述第二信息向所述第一设备发送所述第一设备的定位解算结果。
  14. 根据权利要求12或13所述的方法,其中,所述第二信息的信息内容包括以下一项或者多项:
    第三信息的至少部分;
    定位测量值;
    所述定位测量值的时间戳;
    所述定位测量值的质量指示;
    定位测量值识别信息;
    定位解算结果信息;
    所述第三信息包括以下一项或者多项:
    所述第三信息的信令类型信息,包括:定位参考信号请求信令、定位请求标志位中的至少一项;
    标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;
    定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
    定位测量配置信息:包括:定位测量量类型、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力、定位类型、测量窗口指示、定位解算功能指示、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
  15. 根据权利要求11或14所述的方法,其中,在目标信息中携带时间间隔,或者,高层参数配置或预配置时间间隔的情况下,所述时间间隔满足以下至少一项:
    在由所述目标信息激活或调度定位参考信号传输时,所述时间间隔为所述定位参考信号的时域起始发送位置与目标时域参考点的时间间隔,所述目标时域参考点为所述目标信息所在时隙位置,或者,所述目标信息中的时域参考点,或者,高层参数配置的时域参考点,或者,预配置的时域参考点;
    在所述目标信息支持重传的情况下,重传的所述目标信息中不携带所述时间间隔
    其中,所述目标信息为所述第一信息和第二信息中的至少一项。
  16. 根据权利要求14所述的方法,其中,在目标信息中携带反馈时延界限,或者,高层参数配置或预配置反馈时延界限的情况下,所述方法还包括以下至少一项:
    所述第二设备在所述反馈时延界限内向所述第一设备发送所述目标信息对应的反馈信息;
    所述第二设备在所述反馈时延界限内完成整体定位流程;
    其中,所述目标信息为所述第一信息和所述第二信息中的至少一项;
    所述反馈时延界限满足以下至少一项:
    所述反馈时延界限是所述目标信息反馈时间的上限;
    所述反馈时延界限的目标时域参考点为高层参数配置或预配置,或者,所述目标信息中携带的时域参考点;
    在所述目标信息支持重传的情况下,重传的所述目标信息中不携带所述反馈时延界限。
  17. 根据权利要求14所述的方法,其中,所述方法还包括以下至少一项:
    预先设置所述第一设备发送所述第一定位参考信号的时间参数与所述第二设备发送所述第二定位参考信号的时间参数,所述时间参数包括以下至少一项:定位参考信号传输周期,周期内偏移值,周期参考点;
    根据所述测量窗口指示信息指示,保证所述第一设备与所述第二设备在相同的测量窗口对第一定位参考信号与第二定位参考信号进行测量。
  18. 根据权利要求10所述的方法,其中,
    所述第二设备从一个或多个第一设备接收第一信息,包括:
    所述第二设备通过第三设备从一个或多个所述第一设备接收所述第一信息;
    所述方法还包括:
    所述第二设备向所述第三设备发送所述第一定位参考信号的测量结果,由所述第三设备得到所述第一设备的定位解算结果,并由所述第三设备向所述第一设备发送所述第一设备的定位解算结果。
  19. 一种用于sidelink的定位方法,包括:
    第一设备向一个或多个第二设备发送第一信息,所述第一信息包括定位指示信令;
    所述第一设备向所述第二设备发送第一定位参考信号,或者所述第一设备从所述第二设备接收第二定位参考信号;
    由所述第二设备根据所述第一定位参考信号的测量结果,得到所述第二设备的定位解算结果,或者,所述第一设备向所述第二设备发送所述第二定位参考信号的测量结果,或者,所述第一设备根据所述第二定位参考信号的测量结果,得到所述第二设备的定位解算结果,并向所述第二设备发送所述第二设备的定位解算结果。
  20. 根据权利要求19所述的方法,其中,所述第一信息包括以下一项或者多项:
    所述第一信息的信令类型信息,包括:定位参考信号指示信令、定位指示标志位中的至少一项;
    标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;
    定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
    定位测量配置信息:包括:定位测量量类型信息、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力信息、定位类型信息、测量窗口指示信息、定位解算功能指示信息、测量辅助信息、反馈时延界限和、时域参考点和定位优先级信息中的至少一项。
  21. 根据权利要求19所述的方法,其中,
    所述第一设备向所述第二设备发送第一定位参考信号,包括:
    所述第一设备从所述第二设备接收第二信息,所述第二信息是所述第一信息的反馈信息;
    所述第一设备向所述第二设备发送第四信息和所述第一定位参考信号,所述第四信息是所述第二信息的反馈信息。
  22. 根据权利要求19所述的方法,其中,
    所述第一设备从所述第二设备接收第二定位参考信号,包括:
    所述第一设备从所述第二设备接收第二信息和所述第二定位参考信号,所述第二信息是所述第一信息的反馈信息;
    所述第一设备向所述第二设备发送第四信息,所述第四信息是所述第二信息的反馈信息;
    所述第一设备向所述第二设备发送所述第二定位参考信号的测量结果,包括:
    所述第一设备根据所述第二信息,和/或,所述第二定位参考信号,进行定位测量,得到第一定位测量值;
    所述第一设备通过所述第四信息向所述第二设备发送所述第一定位测量值;
    所述第一设备根据所述第二定位参考信号的测量结果,得到所述第二设备的定位解算结果,并向所述第二设备发送所述第二设备的定位解算结果,包括:
    所述第一设备根据所述第二信息,和/或,所述第二定位参考信号,进行定位测量,得到第一定位测量值;
    所述第一设备根据所述第二信息,和/或,所述第一定位测量值,得到所述第二设备的定位解算结果;
    所述第一设备通过所述第四信息向所述第二设备发送所述第二设备的定位解算结果。
  23. 根据权利要求21或22所述的方法,其中,所述第二信息和所述第四信息的信息内容包括以下一项或者多项:
    第三信息的至少部分;
    定位测量值;
    所述定位测量值的时间戳;
    所述定位测量值的质量指示;
    定位测量值识别信息;
    定位解算结果信息;
    所述第三信息包括以下一项或者多项:
    所述第三信息的信令类型信息,包括:定位参考信号指示信令、定位指示标志位中的至少一项;
    标识信息:包括:目标标识信息、源标识信息、交互进程ID中至少一项;
    定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
    定位测量配置信息:包括:定位测量量类型、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力、定位类型、测量窗口指示、定位解算功能指示、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
  24. 根据权利要求20或23所述的方法,其中,在目标信息中携带时间间隔,或者,高层参数配置或预配置时间间隔的情况下,所述时间间隔满足以下至少一项:
    在由所述目标信息激活或调度定位参考信号传输时,所述时间间隔为所述定位参考信号的时域起始发送位置与目标时域参考点的时间间隔,所述目标时域参考点为所述目标信息所在时隙位置,或者,所述目标信息中的时域参考点,或者,高层参数配置的时域参考点,或者,预配置的时域参考点;
    在所述目标信息支持重传的情况下,重传的所述目标信息中不携带所述时间间隔
    其中,所述目标信息为所述第一信息、第二信息和第四信息中的至少一项。
  25. 根据权利要求23所述的方法,其中,在目标信息中携带反馈时延界限,或者,高层参数配置或预配置反馈时延界限的情况下,所述方法还包括以下至少一项:
    所述第一设备在所述反馈时延界限内从所述第二设备接收所述目标信息对应的反馈信息;
    所述第一设备在所述反馈时延界限内完成整体定位流程;
    其中,所述目标信息为所述第一信息、所述第二信息和所述第四信息中的至少一项;
    所述反馈时延界限满足以下至少一项:
    所述反馈时延界限是所述目标信息反馈时间的上限;
    所述反馈时延界限的目标时域参考点为高层参数配置或预配置,或者,所述目标信息中携带的时域参考点;
    在所述目标信息支持重传的情况下,重传的所述目标信息中不携带所述反馈时延界限。
  26. 根据权利要求23所述的方法,其中,所述方法还包括以下至少一项:
    预先设置所述第一设备发送所述第一定位参考信号的时间参数与所述第二设备发送所述第二定位参考信号的时间参数,所述时间参数包括以下至少一项:定位参考信号传输周期,周期内偏移值,周期参考点;
    根据所述测量窗口指示信息指示,保证所述第一设备与所述第二设备在相同的测量窗口对第一定位参考信号与第二定位参考信号进行测量。
  27. 根据权利要求19所述的方法,其中,
    所述第一设备向一个或多个第二设备发送第一信息,包括:
    所述第一设备通过第三设备向一个或多个所述第二设备发送所述第一信息。
  28. 一种用于sidelink的定位方法,包括:
    第二设备从一个或多个第一设备接收第一信息,所述第一信息包括定位指示信令;
    所述第二设备从所述第一设备接收第一定位参考信号,或者所述第二设备向所述第一设备发送第二定位参考信号;
    所述第二设备根据所述第一定位参考信号的测量结果或者所述第二定位参考信号的测量结果,得到所述第二设备的定位解算结果,或者,所述第二设备从所述第一设备接收所述第二设备的定位解算结果。
  29. 根据权利要求28所述的方法,其中,所述第一信息包括以下一项或者多项:
    所述第一信息的信令类型信息,包括:定位参考信号指示信令、定位指示标志位中的至少一项;
    标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;
    定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
    定位测量配置信息:包括:定位测量量类型信息、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力信息、定位类型信息、测量窗口指示信息、定位解算功能指示信息、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
  30. 根据权利要求28所述的方法,其中,
    所述第二设备从所述第一设备接收第一定位参考信号,包括:
    所述第二设备向所述第一设备发送第二信息,所述第二信息是所述第一信息的反馈信息;
    所述第二设备从所述第一设备接收第四信息和所述第一定位参考信号,所述第四信息是所述第二信息的反馈信息;
    所述第二设备根据所述第一定位参考信号的测量结果,得到所述第二设备的定位解算结果,包括:
    所述第二设备根据所述第四信息,和/或,所述第一定位参考信号,得到第二定位测量值;
    所述第二设备根据第一目标信息,和/或,所述第二定位测量值,得到所述第二设备的定位解算结果,所述第一目标信息为所述第一信息或所述第四信息。
  31. 根据权利要求28所述的方法,其中,
    所述第二设备根据所述第一定位参考信号的测量结果,得到所述第二设备的定位解算结果,包括:
    所述第二设备根据所述第一信息,和/或,所述第一定位参考信号,得到第二定位测量值;
    所述第二设备根据所述第一信息,和/或,所述第二定位测量值,得到所述第二设备的定位解算结果。
  32. 根据权利要求28所述的方法,其中,
    所述第二设备向所述第一设备发送第二定位参考信号,包括:
    所述第二设备向所述第一设备发送第二信息和所述第二定位参考信号,所述第二信息是所述第一信息的反馈信息;
    所述第二设备从所述第一设备接收第四信息,所述第四信息是所述第二信息的反馈信息;
    所述第二设备根据所述第二定位参考信号的测量结果,得到所述第二设备的定位解算结果,包括:
    所述第二设备通过所述第四信息从所述第一设备接收所述第一设备测量的第一定位测量值;
    所述第二设备根据第一目标信息,和/或,所述第一定位测量值,得到所述第二设备的定位解算结果,所述第一目标信息为所述第一信息或所述第四信息;
    所述第二设备从所述第一设备接收所述第二设备的定位解算结果,包括:
    所述第二设备通过所述第四信息从所述第一设备接收所述第二设备的定位解算结果,所述第二设备的定位解算结果是所述第一设备根据所述第二信息,和/或,所述第一设备接收所述第一设备测量的第一定位测量值得到的。
  33. 根据权利要求30至32任一项所述的方法,其中,第二信息和第四信息的信息内容包括以下一项或者多项:
    第三信息的至少部分;
    定位测量值;
    所述定位测量值的时间戳;
    所述定位测量值的质量指示;
    定位测量值识别信息;
    定位解算结果信息;
    所述第三信息包括以下一项或者多项:
    所述第三信息的信令类型信息,包括:定位参考信号请求信令、定位参考信号指示信令、定位请求标志位和定位指示标志位中的至少一项;
    标识信息:包括:目标标识信息、源标识信息、交互进程ID中的至少一项;
    定位参考信号配置信息:包括:定位参考信号配置参数、时间间隔和时域参考点中的至少一项;
    定位测量配置信息:包括:定位测量量类型、定位辅助信息、定位参考信号搜索辅助信息、定位方法或能力、定位类型、测量窗口指示、定位解算功能指示、测量辅助信息、反馈时延界限、时域参考点和定位优先级信息中的至少一项。
  34. 根据权利要求29或33所述的方法,其中,在目标信息中携带时间间隔,或者,高层参数配置或预配置时间间隔的情况下,所述时间间隔满足以下至少一项:
    在由所述目标信息激活或调度定位参考信号传输时,所述时间间隔为所述定位参考信号的时域起始发送位置与目标时域参考点的时间间隔,所述目标时域参考点为所述目标信息所在时隙位置,或者,所述目标信息中的时域参考点,或者,高层参数配置的时域参考点,或者,预配置的时域参考点;
    在所述目标信息支持重传的情况下,重传的所述目标信息中不携带所述时间间隔
    其中,所述目标信息为所述第一信息、第二信息和第四信息中的至少一项。
  35. 根据权利要求33所述的方法,其中,在目标信息中携带反馈时延界限,或者,高层参数配置或预配置反馈时延界限的情况下,所述方法还包括以下至少一项:
    所述第二设备在所述反馈时延界限内向所述第一设备发送所述目标信息对应的反馈信息;
    所述第二设备在所述反馈时延界限内完成整体定位流程;
    其中,所述目标信息为所述第一信息、所述第二信息和所述第四信息中的至少一项;
    所述反馈时延界限满足以下至少一项:
    所述反馈时延界限是所述目标信息反馈时间的上限;
    所述反馈时延界限的目标时域参考点为高层参数配置或预配置,或者,所述目标信息中携带的时域参考点;
    在所述目标信息支持重传的情况下,重传的所述目标信息中不携带所述反馈时延界限。
  36. 根据权利要求33所述的方法,其中,所述方法还包括以下至少一项:
    预先设置所述第一设备发送所述第一定位参考信号的时间参数与所述第二设备发送所述第二定位参考信号的时间参数,所述时间参数包括以下至少一项:定位参考信号传输 周期,周期内偏移值,周期参考点;
    根据所述测量窗口指示信息指示,保证所述第一设备与所述第二设备在相同的测量窗口对第一定位参考信号与第二定位参考信号进行测量。
  37. 根据权利要求28所述的方法,其中,
    所述第二设备从一个或多个第一设备接收第一信息,包括:
    所述第二设备通过第三设备从一个或多个所述第一设备接收所述第一信息;
    所述方法还包括:
    所述第二设备向所述第三设备发送所述第一定位参考信号的测量结果,并从所述第三设备接收所述第二设备的定位解算结果。
  38. 一种用于sidelink的定位装置,包括:
    第一发送模块,用于第一设备向一个或多个第二设备发送第一信息,所述第一信息包括定位请求信令;
    第一收发模块,用于所述第一设备向所述第二设备发送第一定位参考信号,或者所述第一设备从所述第二设备接收第二定位参考信号;
    第一定位模块,用于所述第一设备根据所述第一定位参考信号的测量结果或者所述第二定位参考信号的测量结果,得到所述第一设备的定位解算结果,或者,所述第一设备从所述第二设备接收所述第一设备的定位解算结果。
  39. 一种用于sidelink的定位装置,包括:
    第一接收模块,用于第二设备从一个或多个第一设备接收第一信息,所述第一信息包括定位请求信令;
    第二收发模块,用于所述第二设备从所述第一设备接收第一定位参考信号,或者所述第二设备向所述第一设备发送第二定位参考信号;
    第二定位模块,用于由所述第一设备根据所述第二定位参考信号的测量结果,得到所述第一设备的定位解算结果,或者,所述第二设备向所述第一设备发送所述第一定位参考信号的测量结果,或者,所述第二设备根据所述第一定位参考信号的测量结果,得到所述第一设备的定位解算结果,并向所述第一设备发送所述第一设备的定位解算结果。
  40. 一种用于sidelink的定位装置,包括:
    第二发送模块,用于第一设备向一个或多个第二设备发送第一信息,所述第一信息包括定位指示信令;
    第三收发模块,用于所述第一设备向所述第二设备发送第一定位参考信号,或者所述第一设备从所述第二设备接收第二定位参考信号;
    第三定位模块,用于由所述第二设备根据所述第一定位参考信号的测量结果,得到所述第二设备的定位解算结果,或者,所述第一设备向所述第二设备发送所述第二定位参考信号的测量结果,或者,所述第一设备根据所述第二定位参考信号的测量结果,得到所述第二设备的定位解算结果,并向所述第二设备发送所述第二设备的定位解算结果。
  41. 一种用于sidelink的定位装置,包括:
    第二接收模块,用于第二设备从一个或多个第一设备接收第一信息,所述第一信息包括定位指示信令;
    第四收发模块,用于所述第二设备从所述第一设备接收第一定位参考信号,或者所述第二设备向所述第一设备发送第二定位参考信号;
    第四定位模块,用于所述第二设备根据所述第一定位参考信号的测量结果或者所述第二定位参考信号的测量结果,得到所述第二设备的定位解算结果,或者,所述第二设备从所述第一设备接收所述第二设备的定位解算结果。
  42. 一种可读存储介质,所述可读存储介质上存储程序或指令,所述程序或指令被处理器执行时实现如权利要求1至9任一项所述的用于sidelink的定位方法的步骤,或者实现如权利要求10至18任一项所述的用于sidelink的定位方法的步骤,或者实现如权利要求19至27任一项所述的用于sidelink的定位方法的步骤,或者实现如权利要求28至37任一项所述的用于sidelink的定位方法的步骤。
PCT/CN2023/085365 2022-04-29 2023-03-31 用于sidelink的定位方法、装置及可读存储介质 WO2023207510A1 (zh)

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