WO2023232074A1

WO2023232074A1 - Positioning method and device, and storage medium

Info

Publication number: WO2023232074A1
Application number: PCT/CN2023/097430
Authority: WO
Inventors: 李健翔
Original assignee: 大唐移动通信设备有限公司
Priority date: 2022-05-31
Filing date: 2023-05-31
Publication date: 2023-12-07
Also published as: CN117202087A

Abstract

Embodiments of the present invention provide a positioning method and device, and a storage medium. The method comprises: under the condition that a position error between a target relative position determined by a first terminal and a target relative position determined by a second terminal is greater than a first threshold, the first terminal determines the target relative position again; and under the condition that the position error between the target relative position determined again by the first terminal and the target relative position determined again by the second terminal is smaller than or equal to the first threshold, the first terminal determines an absolute position of the first terminal on the basis of an absolute position of the second terminal and the target relative position determined again.

Description

Positioning method, device and storage medium

Cross-references to related applications

This application claims priority to the Chinese patent application with application number 202210612763.6 and the invention title "Positioning Method, Device and Storage Medium" submitted on May 31, 2022, which is fully incorporated herein by reference.

Technical field

The present disclosure relates to the field of communication technology, and in particular, to a positioning method, device and storage medium.

Background technique

When there is no cellular network coverage or Global Navigation Satellite System (GNSS) satellite signals, Bluetooth-based positioning is currently commonly used, using the received signal strength indicator (RSSI) to reflect the relative position of the two terminals. distance.

However, the existing positioning technology adopts a "best effort" strategy in the positioning process, which cannot guarantee the accuracy, stability and carrier-level system index requirements of the positioning service.

Contents of the invention

Embodiments of the present disclosure provide a positioning method, device and storage medium to solve the technical problem of inaccurate positioning results in the prior art.

In a first aspect, embodiments of the present disclosure provide a positioning method, applied to a first terminal, including:

When the position error between the target relative position determined by the first terminal and the target relative position determined by the second terminal is greater than the first threshold, the first terminal determines the target relative position again;

In the case where the position error between the relative position of the target determined again by the first terminal and the relative position of the target determined again by the second terminal is less than or equal to the first threshold, the first terminal determines based on the third The absolute position of the two terminals and the target relative position determined again by the first terminal and/or the second terminal determine the absolute position of the first terminal, wherein the target relative position is determined by the first terminal The relative position between the two terminals is determined by the interface between the two terminals.

In some embodiments, before determining the absolute position of the first terminal based on the absolute position of the second terminal and the target relative position determined again by the first terminal and/or the second terminal, include:

The first terminal receives the absolute position of the second terminal sent by the second terminal.

In some embodiments, before determining the relative position of the target again, the method further includes:

The first terminal receives a first message sent by the second terminal; the first message includes one or more of the following information of the second terminal:

Equipment type;

geographical location information;

device ID;

Resource configuration of the sent positioning reference signal;

Antenna information.

The first terminal sends a positioning request message to the second terminal;

The positioning request message contains one or more of the following indicators:

Horizontal position accuracy and its confidence interval;

Vertical position accuracy and its confidence interval;

Positioning response time;

Horizontal velocity accuracy and its confidence interval;

Vertical velocity accuracy and its confidence interval;

Horizontal position accuracy and its confidence interval;

Vertical position accuracy and its confidence interval;

Horizontal position integrity requirements;

Vertical position integrity requirements;

Horizontal speed integrity requirements;

Vertical speed integrity requirements.

The first terminal sends capability information to the second terminal;

The capability information includes one or more of the following information:

Supported frequency bands;

Supported positioning method based on the interface between the first terminal and the second terminal;

Resource configuration of supported positioning reference signals.

The first terminal configures the positioning reference signal again.

In some embodiments, the second terminal is an RSU or anchor terminal.

In some embodiments, the signaling carrying the relative position of the target, the absolute position of the second terminal, the first message, the positioning request message, the positioning response message and/or the capability information includes one or more of the following signaling:

Positioning protocol signaling based on PC5 port;

High-level signaling based on PC5 port;

Wireless resource control signaling based on PC5 port;

Media access control unit signaling based on cut-through links;

Direct link control information signaling.

In a second aspect, embodiments of the present disclosure provide a positioning method applied to a second terminal, including:

When the position error between the relative position of the target determined by the first terminal and the relative position of the target determined by the second terminal is greater than the first threshold, the second terminal determines the relative position of the target again and sends a message to the first terminal. The relative position of the target determined again by the second terminal; the relative position of the target determined again by the second terminal is used to determine the absolute position of the first terminal;

Wherein, the target relative position is a relative position between the first terminal and the second terminal determined through an interface between the two terminals.

In some embodiments, it also includes:

The second terminal sends the absolute position of the second terminal to the first terminal.

The second terminal sends a first message to the first terminal; the first message includes one or more of the following information of the second terminal:

Equipment type;

geographical location information;

device ID;

Resource configuration of the sent positioning reference signal;

Antenna information.

The second terminal configures the positioning reference signal again.

In a third aspect, embodiments of the present disclosure provide a terminal, including a memory, a transceiver, and a 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 relative position of the target determined at the first terminal and the relative position of the target determined at the second terminal If the position error between the positions is greater than the first threshold, determine the relative position of the target again;

When the position error between the target relative position determined again by the first terminal and the target relative position determined again by the second terminal is less than or equal to the first threshold, based on the absolute position of the second terminal and the target relative position determined again by the first terminal and/or the second terminal to determine the absolute position of the first terminal, wherein the target relative position is determined by the first terminal and the second terminal. The interface between terminals determines the relative position between them.

Receive the absolute position of the second terminal sent by the second terminal.

Receive a first message sent by the second terminal; the first message includes one or more of the following information of the second terminal:

Equipment type;

geographical location information;

device ID;

Resource configuration of the sent positioning reference signal;

Antenna information.

Send a positioning request message to the second terminal;

Horizontal position accuracy and its confidence interval;

Vertical position accuracy and its confidence interval;

Positioning response time;

Horizontal velocity accuracy and its confidence interval;

Vertical velocity accuracy and its confidence interval;

Horizontal position accuracy and its confidence interval;

Vertical position accuracy and its confidence interval;

Horizontal position integrity requirements;

Vertical position integrity requirements;

Horizontal speed integrity requirements;

Vertical speed integrity requirements.

Send capability information to the second terminal;

The capability information includes one or more of the following information:

Supported frequency bands;

Resource configuration of supported positioning reference signals.

Configure the positioning reference signal again.

In some embodiments, the second terminal is an RSU or anchor terminal.

Positioning protocol signaling based on PC5 port;

High-level signaling based on PC5 port;

Wireless resource control signaling based on PC5 port;

Media access control unit signaling based on cut-through links;

Direct link control information signaling.

In a fourth aspect, embodiments of the present disclosure provide a terminal, including a memory, a transceiver, and a processor;

memory for storing computer programs; transceiver for controlling the processor Transmitting and receiving data under control; a processor for reading the computer program in the memory and performing the following operations:

When the position error between the relative position of the target determined by the first terminal and the relative position of the target determined by the second terminal is greater than the first threshold, determine the relative position of the target again, and send the relative position of the target to the first terminal. The target relative position determined again; the target relative position determined again by the second terminal is used to determine the absolute position of the first terminal;

In some embodiments, the operations performed by the processor further include:

The absolute position of the second terminal is sent to the first terminal.

Send a first message to the first terminal; the first message includes one or more of the following information about the second terminal:

Equipment type;

geographical location information;

device ID;

Resource configuration of the sent positioning reference signal;

Antenna information.

Configure the positioning reference signal again.

In a fifth aspect, an embodiment of the present disclosure provides a positioning device, including:

A first determination module configured to determine the relative position of the target again when the position error between the relative position of the target determined by the first terminal and the relative position of the target determined by the second terminal is greater than the first threshold;

A second determination module configured to provide a position error between the relative position of the target determined again by the first terminal and the relative position of the target determined again by the second terminal, which is less than or equal to In the case of the first threshold, the absolute position of the first terminal is determined based on the absolute position of the second terminal and the target relative position determined again by the first terminal and/or the second terminal, wherein , the target relative position is the relative position between the first terminal and the second terminal determined through an interface between the two terminals.

In some embodiments, the device further includes a first receiving module;

The first receiving module is configured to receive the absolute position of the second terminal sent by the second terminal.

In some embodiments, the device further includes a second receiving module;

The second receiving module is configured to receive the first message sent by the second terminal; the first message includes one or more of the following information of the second terminal:

Equipment type;

geographical location information;

device ID;

Resource configuration of the sent positioning reference signal;

Antenna information.

In some embodiments, the device further includes a first sending module;

The first sending module is configured to send a positioning request message to the second terminal;

Horizontal position accuracy and its confidence interval;

Vertical position accuracy and its confidence interval;

Positioning response time;

Horizontal velocity accuracy and its confidence interval;

Vertical velocity accuracy and its confidence interval;

Horizontal position accuracy and its confidence interval;

Vertical position accuracy and its confidence interval;

Horizontal position integrity requirements;

Vertical position integrity requirements;

Horizontal speed integrity requirements;

Vertical speed integrity requirements.

In some embodiments, the device further includes a second sending module;

The second sending module is configured to send capability information to the second terminal;

The capability information includes one or more of the following information:

Supported frequency bands;

Resource configuration of supported positioning reference signals.

In some embodiments, the device further includes a first configuration module;

The first configuration module is used to configure the positioning reference signal again.

In some embodiments, the second terminal is an RSU or anchor terminal.

Positioning protocol signaling based on PC5 port;

High-level signaling based on PC5 port;

Wireless resource control signaling based on PC5 port;

Media access control unit signaling based on cut-through links;

Direct link control information signaling.

In a sixth aspect, an embodiment of the present disclosure provides a positioning device, including:

The third determination module is configured to determine the relative position of the target again when the position error between the relative position of the target determined by the first terminal and the relative position of the target determined by the second terminal is greater than the first threshold, and report the relative position of the target to the first terminal. The terminal sends the target relative position determined again by the second terminal; the target relative position determined again by the second terminal is used to determine the absolute position of the first terminal;

Wherein, the relative position of the target is between the first terminal and the second terminal. The interface between them determines the relative position between them.

In some embodiments, the device further includes a third sending module;

The third sending module is configured to send the absolute position of the second terminal to the first terminal.

In some embodiments, the device further includes a fourth sending module;

The fourth sending module is configured to send a first message to the first terminal; the first message includes one or more of the following information of the second terminal:

Equipment type;

geographical location information;

device ID;

Resource configuration of the sent positioning reference signal;

Antenna information.

In some embodiments, the device further includes a second configuration module;

The second configuration module is used to configure the positioning reference signal again.

In a seventh aspect, embodiments of the present disclosure further provide a processor-readable storage medium that stores a computer program, and the computer program is used to cause the processor to execute the first or third aspect as described above. The positioning method described in the second aspect.

In an eighth aspect, embodiments of the present disclosure further provide a computer-readable storage medium, which stores a computer program, and the computer program is used to cause a computer to execute the first aspect or the second aspect as described above. The positioning method described above.

In a ninth aspect, embodiments of the present disclosure further provide a communication device-readable storage medium that stores a computer program, and the computer program is used to cause the communication device to execute the first or third aspect as described above. The positioning method described in the second aspect.

In a tenth aspect, embodiments of the present disclosure also provide a chip product-readable storage medium. The chip product-readable storage medium stores a computer program. The computer program is used to cause the chip product to execute the first aspect or the third aspect as described above. The positioning method described in the second aspect.

The positioning method, device and storage medium provided by the embodiments of the present disclosure enable the positioning between terminals to If the relative position does not meet the positioning service requirements, measurement and calculation are performed again to determine the relative position between terminals, and then the absolute position of the terminal is obtained, which improves positioning accuracy.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or related technologies, a brief introduction will be made below to the drawings that need to be used in the description of the embodiments or related technologies. Obviously, the drawings in the following description are of the present invention. For some disclosed embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without exerting creative efforts.

Figure 1 is one of the flow diagrams of a positioning method provided by an embodiment of the present disclosure;

Figure 2 is a second schematic flowchart of a positioning method provided by an embodiment of the present disclosure;

Figure 3 is one of the structural schematic diagrams of a terminal provided by an embodiment of the present disclosure;

Figure 4 is a second structural schematic diagram of a terminal provided by an embodiment of the present disclosure;

Figure 5 is one of the structural schematic diagrams of a positioning device provided by an embodiment of the present disclosure;

Figure 6 is a second structural schematic diagram of a positioning device provided by an embodiment of the present disclosure.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments These are only some of the embodiments of the present disclosure, but not all of them. Based on the embodiments in this disclosure, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of this disclosure.

Figure 1 is one of the schematic flow charts of a positioning method provided by an embodiment of the present disclosure. As shown in Figure 1, an embodiment of the present disclosure provides a positioning method, and the execution subject may be a first terminal, such as a mobile phone. The method includes:

Step 101: When the position error between the relative position of the target determined by the first terminal and the relative position of the target determined by the second terminal is greater than the first threshold, the first terminal determines the relative position of the target again.

Specifically, in the embodiments of the present disclosure, it can be applied in a direct communication scenario. Direct communication means that adjacent terminals can conduct data within a short range through a direct communication link (also called a "side link"). method of transmission. The wireless interface corresponding to Sidelink is called the direct communication interface, also known as Sidelink interface or PC5 interface.

The first terminal is a terminal that initiates a location request, which may also be called an application terminal, such as a mobile phone, a vehicle-mounted terminal, etc.

The second terminal is a terminal that assists the first terminal in positioning, and may also be called a peer terminal, such as a mobile phone, a Road Side Unit (RSU), etc.

The target relative position is the relative position between the first terminal and the second terminal determined through the interface between the two terminals. That is, the first terminal needs to determine the relative position between itself and the second terminal through the PC5 interface, and the second terminal also needs to determine the relative position between itself and the first terminal through the PC5 interface.

After the second terminal determines the relative position between itself and the first terminal, it sends the relative position to the first terminal. The first terminal compares the relative position of the target determined by the first terminal with the relative position of the target determined by the second terminal. position error.

If the position error is within the required range of the quality of service (QoS), that is, the position error is less than or equal to the first threshold, it means that the relative position of the target determined by the first terminal is relative to the target determined by the second terminal. The position accuracy is high, and the first terminal can determine the absolute position of the first terminal based on the relative position of the target determined by the first terminal and/or the relative position of the target determined by the second terminal, so as to obtain higher positioning accuracy.

If the position error is outside the required range of positioning QoS, that is, the position error is greater than the first threshold, it indicates that the relative position of the target determined by the first terminal and the relative position of the target determined by the second terminal are less accurate. In this case In this case, the absolute position of the first terminal is determined based on the relative position of the target determined by the first terminal and/or the relative position of the target determined by the second terminal. position, high positioning accuracy will not be guaranteed, therefore, the first terminal determines the relative position of the target again.

The first threshold may be a value predefined by the protocol or a value configured by the network device. The specific method used may depend on the situation.

Step 102: When the position error between the relative position of the target determined again by the first terminal and the relative position of the target determined again by the second terminal is less than or equal to the first threshold, the first terminal determines based on The absolute position of the second terminal and the target relative position determined again by the first terminal and/or the second terminal determine the absolute position of the first terminal.

Specifically, in the embodiment of the present disclosure, when the position error between the target relative position determined by the first terminal and the target relative position determined by the second terminal is greater than the first threshold, both the first terminal and the second terminal need to Determine the relative position of the target again.

After the second terminal determines the relative position between itself and the first terminal again, it sends the determined relative position to the first terminal. The first terminal compares the target relative position determined again by the first terminal and the target relative position determined again by the second terminal. The position error between the relative positions of the target.

If the position error determined again is outside the required range of positioning QoS, that is, the position error is greater than the first threshold, it indicates that the relative position of the target determined again by the first terminal and the relative position of the target determined again by the second terminal are less accurate. , in this case, determining the absolute position of the first terminal based on the target relative position determined again by the first terminal and/or the target relative position determined again by the second terminal will not guarantee higher positioning accuracy. Therefore, the first The terminal needs to continue to determine the relative position of the target again until the position error is within the required range of positioning QoS.

If the position error determined again is within the required range of positioning QoS, that is, the position error is less than or equal to the first threshold, it indicates the accuracy of the target relative position determined again by the first terminal and the target relative position determined again by the second terminal. Higher, the first terminal can determine the absolute position of the first terminal based on the target relative position determined again by the first terminal and/or the target relative position determined again by the second terminal, combined with the absolute position of the second terminal, determine The absolute position of the first terminal is determined, thereby achieving higher positioning accuracy.

The positioning method provided by the embodiments of the present disclosure, when the relative positions between terminals do not meet the positioning QoS requirements, are measured and calculated again to determine the relative positions between terminals, and then obtain the absolute positions of the terminals, improving positioning accuracy. .

Specifically, in the embodiment of the present disclosure, the first terminal needs to use the absolute position of the second terminal in the process of determining its own absolute position.

In an optional solution, after the first terminal establishes a connection with the second terminal, the second terminal sends its absolute position to the first terminal by default.

In another optional solution, after the first terminal establishes a connection with the second terminal, the first terminal sends a request message to the second terminal to request the second terminal to send its absolute position to the first terminal.

For example, the specific steps for a first terminal to send a request message to a second terminal to request the second terminal to send its absolute position to the first terminal are as follows:

1. The first terminal obtains one or more of the following information about the specific terminal by receiving information sent by some specific terminals: the type of the terminal (for example, RSU), the terminal number, and the resource configuration of the positioning reference signal sent by the terminal. , the antenna information of the terminal;

2. The first terminal selects one terminal from these specific terminals as the second terminal, and initiates a positioning request to the second terminal. The type of the positioning request is absolute position, and the request is to obtain the absolute position information of the second terminal;

3. The second terminal receives the positioning request from the first terminal and agrees to the first terminal’s application. Reply a confirmation (ack) message to the first terminal that applied;

4. The second terminal provides its absolute position information to the opposite first terminal to complete this absolute position application.

Equipment type;

geographical location information;

device ID;

Resource configuration of the sent positioning reference signal;

Antenna information.

Specifically, in this embodiment of the present disclosure, before the first terminal establishes a connection with the second terminal, the second terminal sends a first message to the first terminal; the first message includes one or more of the following information of the second terminal: :

Equipment type;

geographical location information;

device ID;

Resource configuration of the sent positioning reference signal;

Antenna information.

The first terminal receives the first message sent by the second terminal, and establishes a connection with the second terminal according to the first message.

The first message can be sent in the form of broadcast or in the form of multicast.

The device type reflects the type of the second terminal, for example, RSU, anchor terminal, etc.

The geographical location information may be longitude and latitude information, and may also include altitude information, etc.

The device number can be a temporary number of the device or a permanent number, etc.

The resource configuration of the transmitted positioning reference signal includes bandwidth, frequency, etc.

Antenna information includes antenna ports, number of antennas, antenna types, etc.

The first terminal may receive the first message sent by one or more specific terminals within a certain period of time, and the first terminal selects the first terminal as the second terminal based on the first message sent by each specific terminal.

In the positioning method provided by the embodiments of the present disclosure, before establishing a connection with the second terminal, the first terminal first obtains the relevant information of the specific terminal and determines the second terminal based on the relevant information of the specific terminal, further improving the positioning accuracy.

The first terminal sends a positioning request message to the second terminal;

The first terminal receives the positioning response message sent by the second terminal;

The first terminal sends capability information to the second terminal;

The first terminal receives the positioning reference signal sent by the second terminal, measures the positioning reference signal, and determines the relative position of the target.

Specifically, in the embodiment of the present disclosure, after the first terminal establishes a connection with the second terminal, the first terminal sends a positioning request message to the second terminal.

The second terminal receives the positioning request message sent by the first terminal.

The positioning request message contains positioning QoS-related indicators, which include horizontal position accuracy and its confidence interval, vertical position accuracy and its confidence interval, positioning response time, horizontal speed accuracy and its confidence interval, vertical direction Speed accuracy and its confidence interval, horizontal position accuracy and its confidence interval, vertical position accuracy and its confidence interval, horizontal position integrity requirements, vertical position integrity requirements, horizontal speed integrity requirements, vertical One or more of directional speed integrity requirements, etc.

After the second terminal receives the positioning request message sent by the first terminal, the second terminal feeds back a positioning response message to the first terminal.

The first terminal receives the positioning response message sent by the second terminal.

After receiving the positioning response message sent by the second terminal, the first terminal sends capability information to the second terminal. The capability information is used to represent the first terminal's ability to perform positioning based on the interface between the first terminal and the second terminal, for example , the frequency band supported by the first terminal, the resource configuration of the supported positioning reference signal, etc.

The second terminal receives the capability information sent by the first terminal, and sends a positioning reference signal to the first terminal according to the capability information.

For example, the specific steps for the first terminal to calculate the relative position of the target are as follows:

1. The first terminal calculates the difference 1 (of the first terminal) between the received signal time of the received reference signal and the nearest transmitted signal time, and adds a system timestamp of 1. The timestamp can be either Universal Coordinated Time (UTC) or the system time of the cellular network, including the system frame number, timeslot number, and symbol number.

2. The first terminal will calculate the time difference 1 and its timestamp 1, the direction angle 1 of the positioning reference signal receiving antenna, the direction angle 1 of the transmitting positioning reference signal antenna, the reference signal receiving power (Reference Signal Receiving Power, RSRP), and more The received power of the path, non-line of sight (NLOS) path, is sent to the second terminal through the PC5 interface.

3. The first terminal receives the measurement report sent from the second terminal, that is, the reception and transmission time difference 2 (of the second terminal) measured by the second terminal and its timestamp 2, as well as the transmitting antenna angle 2 or the receiving antenna angle 2, RSRP, Multipath received power, NLOS path.

4. The first terminal selects a time closest to the received and sent time difference calculated by itself based on the received timestamp 2 measured by the second terminal, and compares the time difference 2 measured by the second terminal with the time difference 1 calculated by itself. After averaging, multiply by the speed of light and divide by two to get the relative positions of the two terminals.

In addition, after receiving the first message sent by the second terminal, the first terminal sends a positioning reference signal to the second terminal according to the first message.

The second terminal receives the positioning reference signal sent by the first terminal, measures the positioning reference signal, and determines the relative position of the target. For the specific calculation method, please refer to the method of calculating the relative position of the target by the first terminal, which will not be described again here.

In some embodiments, the positioning request message contains one or more of the following indicators:

Horizontal position accuracy and its confidence interval;

Vertical position accuracy and its confidence interval;

Positioning response time;

Horizontal velocity accuracy and its confidence interval;

Vertical velocity accuracy and its confidence interval;

Horizontal position accuracy and its confidence interval;

Vertical position accuracy and its confidence interval;

Horizontal position integrity requirements;

Vertical position integrity requirements;

Horizontal speed integrity requirements;

Vertical speed integrity requirements.

Specifically, in this embodiment of the present disclosure, the positioning request message sent by the first terminal to the second terminal includes horizontal position accuracy and its confidence interval, vertical position accuracy and its confidence interval, positioning response time, horizontal position Speed accuracy and its confidence interval, vertical speed accuracy and its confidence interval, horizontal position accuracy and its confidence interval, vertical position accuracy and its confidence interval, horizontal position integrity requirements, vertical position integrity One or more of the requirements, horizontal speed integrity requirements, vertical speed integrity requirements, etc.

In the positioning method provided by the embodiments of the present disclosure, the positioning request sent by the first terminal includes positioning QoS-related indicators, which further improves positioning accuracy.

In some embodiments, the capability information includes one or more of the following information:

Supported frequency bands;

Resource configuration of supported positioning reference signals.

Specifically, in the embodiment of the present disclosure, the capability information sent by the first terminal to the second terminal is used to represent the first terminal's ability to perform positioning based on the interface between the first terminal and the second terminal.

The capability information includes one or more of supported frequency bands, supported positioning methods based on the interface between the first terminal and the second terminal, supported resource configuration of positioning reference signals, and the like.

The positioning method supported by the first terminal based on the interface between the first terminal and the second terminal includes two methods: UE-based and UE-Assisted.

In the positioning method provided by the embodiments of the present disclosure, the first terminal reports its own capability information to facilitate the second terminal to send a positioning reference signal to the first terminal based on the capability information, further improving positioning accuracy.

The first terminal configures the positioning reference signal again.

Specifically, in this embodiment of the present disclosure, before the second terminal determines the relative position of the target again, the first terminal can configure the positioning reference signal again, and the second terminal once again determines its relationship with the positioning reference signal based on the positioning reference signal reconfigured by the first terminal. The first terminal compares the relative position of the target determined again by the first terminal with the relative position of the target determined again by the second terminal. error.

If the position error determined again is within the required range of positioning QoS, that is, the position error is less than or equal to the first threshold, it indicates the accuracy of the target relative position determined again by the first terminal and the target relative position determined again by the second terminal. higher. The first terminal may be based on the relative position of the target determined again by the first terminal and/or the target determined again by the second terminal. The relative position of the target is used to determine the absolute position of the first terminal, and combined with the absolute position of the second terminal, the absolute position of the first terminal is determined, thereby achieving higher positioning accuracy.

In the positioning method provided by the embodiments of the present disclosure, before determining the relative position of the target again, the first terminal configures the positioning reference signal again, which improves positioning accuracy.

Positioning protocol signaling based on PC5 port;

High-level signaling based on PC5 port;

Wireless resource control signaling based on PC5 port;

Media access control unit signaling based on cut-through links;

Direct link control information signaling.

Specifically, in the embodiment of the present disclosure, the signaling carrying the relative position of the target, the absolute position of the second terminal, the first message, the positioning request message, the positioning response message and/or the capability information includes PC5 port-based positioning protocol signaling. , PC5 port-based high-level signaling, PC5 port-based wireless resource control signaling, direct link-based media access control control unit signaling, direct link control information (Sidelink Control Information, SCI) direct communication signaling Kind or variety.

The positioning method provided by the embodiments of the present disclosure carries positioning-related information through interface signaling between terminals. When the relative positions between terminals do not meet the positioning service quality requirements, measurements and calculations are performed again to determine the distance between terminals. Relative position, and then obtain the absolute position of the terminal, improving positioning accuracy.

Figure 2 is a second schematic flowchart of a positioning method provided by an embodiment of the disclosure. As shown in Figure 2, an embodiment of the disclosure provides a positioning method, the execution subject of which can be a second terminal, for example, an RSU, an anchor terminal, etc. . The method includes:

Step 201: When the position error between the relative position of the target determined by the first terminal and the relative position of the target determined by the second terminal is greater than the first threshold, the second terminal then Determine the relative position of the target for the first time, and send the relative position of the target determined again by the second terminal to the first terminal; the relative position of the target determined again by the second terminal is used to determine the absolute position of the first terminal;

In some embodiments, it also includes:

Equipment type;

geographical location information;

device ID;

Resource configuration of the transmitted positioning reference signal;

Antenna information.

The second terminal receives the positioning request message sent by the first terminal;

The second terminal feeds back a positioning response message to the first terminal;

The second terminal receives the capability information sent by the first terminal;

The second terminal receives the positioning reference signal sent by the first terminal, measures the positioning reference signal, and determines the relative position of the target.

The second terminal configures the positioning reference signal again.

Specifically, the positioning method provided by the embodiments of the present disclosure can refer to the above-mentioned positioning method embodiment in which the execution subject is the first terminal, and can achieve the same technical effect. The same as the above-mentioned corresponding method embodiments in this embodiment will no longer be used. The parts and beneficial effects will be described in detail.

Figure 3 is a schematic structural diagram of a terminal provided by an embodiment of the present disclosure. As shown in Figure 3, the terminal includes a memory 320, a transceiver 300, and a processor 310, where:

Memory 320 is used to store computer programs; transceiver 300 is used to send and receive data under the control of the processor 310; processor 310 is used to read the computer program in the memory 320 and perform the following operations:

When the position error between the target relative position determined by the first terminal and the target relative position determined by the second terminal is greater than the first threshold, determine the target relative position again;

Specifically, the transceiver 300 is used to receive and send data under the control of the processor 310.

In FIG. 3 , the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 310 and various circuits of the memory represented by memory 320 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 300 may be a plurality of components, 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, and other transmission media. For different user equipment, the user interface 330 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 310 is responsible for managing the bus architecture and general processing, and the memory 320 can store data used by the processor 310 when performing operations.

In some embodiments, the processor 310 may be a CPU (Central Processing Unit), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array, Field Programmable Gate Array) or CPLD (Complex Programmable Logic). Device, complex programmable logic device), the processor can also adopt a multi-core architecture.

The processor is configured to execute any of the methods provided by the embodiments of the present disclosure according to the obtained executable instructions by calling the computer program stored in the memory. The processor and memory can also be physically separated.

Receive a first message sent by the second terminal; the first message includes one or more of the following information about the second terminal:

Equipment type;

geographical location information;

device ID;

Resource configuration of the transmitted positioning reference signal;

Antenna information.

Send a positioning request message to the second terminal;

Receive a positioning response message sent by the second terminal;

Send capability information to the second terminal;

Receive the positioning reference signal sent by the second terminal, measure the positioning reference signal, and determine the relative position of the target.

In some embodiments, the positioning request message contains one of the following indicators or Various:

Horizontal position accuracy and its confidence interval;

Vertical position accuracy and its confidence interval;

Positioning response time;

Horizontal velocity accuracy and its confidence interval;

Vertical velocity accuracy and its confidence interval;

Horizontal position accuracy and its confidence interval;

Vertical position accuracy and its confidence interval;

Horizontal position integrity requirements;

Vertical position integrity requirements;

Horizontal speed integrity requirements;

Vertical speed integrity requirements.

Supported frequency bands;

Resource configuration of supported positioning reference signals.

Configure the positioning reference signal again.

In some embodiments, the second terminal is an RSU or anchor terminal.

Positioning protocol signaling based on PC5 port;

High-level signaling based on PC5 port;

Wireless resource control signaling based on PC5 port;

Media access control unit signaling based on cut-through links;

Direct link control information signaling.

It should be noted here that the above-mentioned terminal provided by the embodiment of the present disclosure can implement all the method steps implemented by the above-mentioned method embodiment in which the execution subject is the first terminal, and can achieve the same technical effect. This implementation will no longer be discussed here. The parts and beneficial effects in the examples that are the same as those in the method embodiments will be described in detail.

Figure 4 is a schematic structural diagram of a terminal provided by an embodiment of the present disclosure. As shown in Figure 4, the terminal includes a memory 420, a transceiver 400, and a processor 410, where:

Memory 420 is used to store computer programs; transceiver 400 is used to send and receive data under the control of the processor 410; processor 410 is used to read the computer program in the memory 420 and perform the following operations:

Specifically, the transceiver 400 is used to receive and send data under the control of the processor 410.

In FIG. 4 , the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 410 and various circuits of the memory represented by memory 420 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 400 may be a plurality of components, 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, and other transmission media. For different user equipment, the user interface 430 also It can be an interface that can connect external and internal devices as needed. The connected devices include but are not limited to keypads, monitors, speakers, microphones, joysticks, etc.

The processor 410 is responsible for managing the bus architecture and general processing, and the memory 420 can store data used by the processor 410 when performing operations.

In some embodiments, the processor 410 may be a CPU (Central Processing Unit), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array, Field Programmable Gate Array) or CPLD (Complex Programmable Logic). Device, complex programmable logic device), the processor can also adopt a multi-core architecture.

In some embodiments, the operations performed by the processor further include:

The absolute position of the second terminal is sent to the first terminal.

Equipment type;

geographical location information;

device ID;

Resource configuration of the sent positioning reference signal;

Antenna information.

Receive a positioning request message sent by the first terminal;

Feed back a positioning response message to the first terminal;

Receive capability information sent by the first terminal;

Receive the positioning reference signal sent by the first terminal, and compare the positioning reference signal Make measurements to determine the relative position of the target.

Configure the positioning reference signal again.

It should be noted here that the above-mentioned terminal provided by the embodiment of the present disclosure can implement all the method steps implemented by the above-mentioned method embodiment in which the execution subject is the second terminal, and can achieve the same technical effect. This implementation will no longer be discussed here. The parts and beneficial effects in the examples that are the same as those in the method embodiments will be described in detail.

Figure 5 is one of the structural schematic diagrams of a positioning device provided by an embodiment of the present disclosure. As shown in Figure 5, an embodiment of the present disclosure provides a positioning device, including a first determination module 501 and a second determination module 502, wherein:

A second determination module configured to determine based on the position error between the target relative position determined again by the first terminal and the target relative position determined again by the second terminal if the position error is less than or equal to the first threshold. The absolute position of the second terminal and the target relative position determined again by the first terminal and/or the second terminal are used to determine the absolute position of the first terminal, wherein the target relative position is determined by the third The interface between a terminal and the second terminal determines the relative position between them.

In some embodiments, the device further includes a first receiving module;

In some embodiments, the device further includes a second receiving module;

Equipment type;

geographical location information;

device ID;

Resource configuration of the sent positioning reference signal;

Antenna information.

In some embodiments, the device further includes a first sending module;

Horizontal position accuracy and its confidence interval;

Vertical position accuracy and its confidence interval;

Positioning response time;

Horizontal velocity accuracy and its confidence interval;

Vertical velocity accuracy and its confidence interval;

Horizontal position accuracy and its confidence interval;

Vertical position accuracy and its confidence interval;

Horizontal position integrity requirements;

Vertical position integrity requirements;

Horizontal speed integrity requirements;

Vertical speed integrity requirements.

In some embodiments, the device further includes a second sending module;

The capability information includes one or more of the following information:

Supported frequency bands;

Resource configuration of supported positioning reference signals.

In some embodiments, the device further includes a first configuration module;

In some embodiments, the second terminal is an RSU or anchor terminal.

Positioning protocol signaling based on PC5 port;

High-level signaling based on PC5 port;

Wireless resource control signaling based on PC5 port;

Media access control unit signaling based on cut-through links;

Direct link control information signaling.

Specifically, the above-mentioned positioning device provided by the embodiment of the present disclosure can implement all the method steps implemented by the above-mentioned method embodiment in which the execution subject is the first terminal, and can achieve the same technical effect. No further explanation will be given here. The same parts and beneficial effects of the method embodiments will be described in detail.

FIG. 6 is a second structural schematic diagram of a positioning device provided by an embodiment of the present disclosure. As shown in FIG. 6 , an embodiment of the present disclosure provides a positioning device including a third determination module 601 .

In some embodiments, the device further includes a third sending module;

In some embodiments, the device further includes a fourth sending module;

Equipment type;

geographical location information;

device ID;

Resource configuration of the transmitted positioning reference signal;

Antenna information.

In some embodiments, the device further includes a second configuration module;

Specifically, the above-mentioned positioning device provided by the embodiment of the present disclosure can implement all the method steps implemented by the above-mentioned method embodiment in which the execution subject is the second terminal, and can achieve the same technical effect. No further explanation will be given here. The same parts and beneficial effects of the method embodiments will be described in detail.

It should be noted that the division of units/modules in the above-mentioned embodiments of the present disclosure is schematic and is only a logical function division. In actual implementation, there may be other division methods. In addition, each functional unit in various embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above integrated units can be implemented in the form of hardware or software functional units.

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

In some embodiments, a computer-readable storage medium is also provided, and the computer-readable storage medium stores a computer program. The computer program is used to cause the computer to execute the positioning method provided by the above method embodiments.

Specifically, the above-mentioned computer-readable storage medium provided by the embodiments of the present disclosure can implement all the method steps implemented by the above-mentioned method embodiments, and can achieve the same technical effect. No further reference will be made here to the method embodiments in this embodiment. The same parts and beneficial effects will be described in detail.

It should be noted that the computer-readable storage medium may be any available medium or data storage device that the processor can access, including but not limited to magnetic memory (such as floppy disk, hard disk, magnetic tape, magneto-optical disk (MO), etc.), Optical memory (such as CD, DVD, BD, HVD, etc.), and semiconductor memory (such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid state drive (SSD)), etc.

In addition, it should be noted that in the embodiments of the present disclosure, the terms "first", "second", etc. are used to distinguish similar objects and are not used to describe a specific order or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances so that embodiments of the present disclosure can be practiced in sequences other than those illustrated or described herein, and that "first" and "second" are distinguished objects It is usually one type, and the number of objects is not limited. For example, the first object can be one or multiple.

In the embodiment of the present disclosure, the term "and/or" describes the association relationship of associated objects, indicating that there can be three relationships, for example, A and/or B, which can mean: A exists alone, A and B exist simultaneously, and B exists alone. these three situations. The character "/" generally indicates that the related objects are in an "or" relationship.

In the embodiment of this disclosure, the term "plurality" refers to two or more than two, and other quantifiers are similar to it.

The technical solutions provided by the embodiments of the present disclosure can be applied to a variety of systems, especially 5G systems. For example, applicable systems may be global system of mobile communication (GSM) system, code division multiple access (code division multiple access, CDMA) system, Wideband Code Division Multiple Access (WCDMA) general packet radio service (GPRS) system, long term evolution (LTE) system, LTE frequency division duplex (frequency division duplex (FDD) system, LTE time division duplex (TDD) system, long term evolution advanced (LTE-A) system, universal mobile telecommunication system (UMTS), global interconnection microwave Access (worldwide interoperability for microwave access, WiMAX) system, 5G New Radio (NR) system, etc. These various systems include terminal equipment and network equipment. The system may also include a core network part, such as the Evolved Packet System (EPS), 5G System (5GS), etc.

The terminal device involved in the embodiments of the present disclosure may be a device that provides voice and/or data connectivity to users, a handheld device with a wireless connection function, or other processing devices connected to a wireless modem, etc. In different systems, the names of terminal equipment may also be different. For example, in a 5G system, the terminal equipment may be called User Equipment (UE). Wireless terminal equipment can communicate with one or more core networks (Core Network, CN) via a Radio Access Network (RAN). The wireless terminal equipment can be a mobile terminal equipment, such as a mobile phone (also known as a "cellular phone"). "Telephone) and computers with mobile terminal devices, which may be, for example, portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile devices, which exchange speech and/or data with the radio access network. For example, Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants, PDA) and other equipment. Wireless terminal equipment may also be called a system, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, or an access point. , remote terminal equipment (remote terminal), access terminal Equipment (access terminal), user terminal equipment (user terminal), user agent (user agent), and user device (user device) are not limited in the embodiments of the present disclosure.

The network device involved in the embodiment of the present disclosure may be a base station, and the base station may include multiple cells that provide services for terminals. Depending on the specific application, a base station can also be called an access point, or it can be a device in the access network that communicates with wireless terminal equipment through one or more sectors on the air interface, or it can be named by another name. Network equipment can be used to exchange received air frames with Internet Protocol (IP) packets and act as a router between the wireless terminal equipment and the rest of the access network, which can include the Internet. Protocol (IP) communication network. Network devices also coordinate attribute management of the air interface. For example, the network equipment involved in the embodiments of the present disclosure may be a network equipment (Base Transceiver Station, BTS) in the Global System for Mobile communications (GSM) or Code Division Multiple Access (CDMA). ), or it can be a network device (NodeB) in a Wide-band Code Division Multiple Access (WCDMA), or an evolutionary network device in a long term evolution (LTE) system (evolutional Node B, eNB or e-NodeB), 5G base station (gNB) in the 5G network architecture (next generation system), or home evolved base station (Home evolved Node B, HeNB), relay node (relay node) , home base station (femto), pico base station (pico), etc., are not limited in the embodiments of the present disclosure. In some network structures, network equipment may include centralized unit (CU) nodes and distributed unit (DU) nodes. The centralized unit and distributed unit may also be arranged geographically separately.

“Determining B based on A” in this disclosure means that the factor A should be considered when determining B. It is not limited to "B can be determined based on A alone", but also includes: "B is determined based on A and C", "B is determined based on A, C and E", "C is determined based on A, and B is further determined based on C" wait. In addition, it can also include A as a condition for determining B, for example, "When A meets the first condition, use the first method to determine B"; another example, "When A meets the second condition, Determine B" and so on; another example, "When A satisfies the third condition, determine B based on the first parameter", etc. Of course, it can also be a condition that uses A as a factor to determine B, for example, "When A satisfies the first condition , use the first method to determine C, and further determine B" based on C, etc.

Network equipment and terminal equipment can each use one or more antennas for multi-input multi-output (MIMO) transmission. MIMO transmission can be single-user MIMO (Single User MIMO, SU-MIMO) or multi-user MIMO. (Multiple User MIMO,MU-MIMO). Depending on the shape and number of root antenna combinations, MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO or massive-MIMO, or it can be diversity transmission, precoding transmission or beamforming transmission, etc.

Those skilled in the art will appreciate that embodiments of the present disclosure may be provided as methods, systems, or computer program products. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) embodying computer-usable program code therein.

The disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions may be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a process or processes of a flowchart and/or a block or blocks of a block diagram.

These processor-executable instructions may also be stored in a processor-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the generation of instructions stored in the processor-readable memory includes the manufacture of the instruction means product, the instruction device implements one process or multiple processes in the flow chart and/or one block or multiple aspects in the block diagram function specified in the box.

These processor-executable instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby causing the computer or other programmable device to The instructions that are executed provide steps for implementing the functions specified in a process or processes of the flowchart diagrams and/or a block or blocks of the block diagrams.

Obviously, those skilled in the art can make various changes and modifications to the present disclosure without departing from the spirit and scope of the disclosure. In this way, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and equivalent technologies, the present disclosure is also intended to include these modifications and variations.

Claims

A positioning method, applied to the first terminal, including:

When the position error between the target relative position determined by the first terminal and the target relative position determined by the second terminal is greater than the first threshold, the first terminal determines the target relative position again;

In the case where the position error between the relative position of the target determined again by the first terminal and the relative position of the target determined again by the second terminal is less than or equal to the first threshold, the first terminal determines based on the third The absolute position of the two terminals and the target relative position determined again by the first terminal and/or the second terminal determine the absolute position of the first terminal, wherein the target relative position is determined by the first terminal The relative position between the two terminals is determined by the interface between the two terminals.
The positioning method according to claim 1, wherein the determination of the first terminal is based on the absolute position of the second terminal and the target relative position determined again by the first terminal and/or the second terminal. Before the absolute position, also include:

The first terminal receives the absolute position of the second terminal sent by the second terminal.
The positioning method according to claim 1, wherein before determining the relative position of the target again, it further includes:

The first terminal receives a first message sent by the second terminal; the first message includes one or more of the following information of the second terminal:

Equipment type;

geographical location information;

device ID;

Resource configuration of the sent positioning reference signal;

Antenna information.
The positioning method according to claim 1, wherein before determining the relative position of the target again, it further includes:

The first terminal sends a positioning request message to the second terminal;

The positioning request message contains one or more of the following indicators:

Horizontal position accuracy and its confidence interval;

Vertical position accuracy and its confidence interval;

Positioning response time;

Horizontal velocity accuracy and its confidence interval;

Vertical velocity accuracy and its confidence interval;

Horizontal position accuracy and its confidence interval;

Vertical position accuracy and its confidence interval;

Horizontal position integrity requirements;

Vertical position integrity requirements;

Horizontal speed integrity requirements;

Vertical speed integrity requirements.
The positioning method according to claim 1, wherein before determining the relative position of the target again, it further includes:

The first terminal sends capability information to the second terminal;

The capability information includes one or more of the following information:

Supported frequency bands;

Supported positioning method based on the interface between the first terminal and the second terminal;

Resource configuration of supported positioning reference signals.
The positioning method according to claim 1, wherein before determining the relative position of the target again, it further includes:

The first terminal configures the positioning reference signal again.
The positioning method according to claim 1, wherein the second terminal is an RSU or an anchor terminal.
The positioning method according to any one of claims 1 to 7, wherein the signaling carrying the relative position of the target, the absolute position of the second terminal, the first message, the positioning request message, the positioning response message and/or the capability information includes the following One or more of signaling:

Positioning protocol signaling based on PC5 port;

High-level signaling based on PC5 port;

Wireless resource control signaling based on PC5 port;

Media access control unit signaling based on cut-through links;

Direct link control information signaling.
A positioning method, applied to the second terminal, including:

When the position error between the relative position of the target determined by the first terminal and the relative position of the target determined by the second terminal is greater than the first threshold, the second terminal determines the relative position of the target again and sends a message to the first terminal. The relative position of the target determined again by the second terminal; the relative position of the target determined again by the second terminal is used to determine the absolute position of the first terminal;

Wherein, the target relative position is a relative position between the first terminal and the second terminal determined through an interface between the two terminals.
The positioning method according to claim 9, further comprising:

The second terminal sends the absolute position of the second terminal to the first terminal.
The positioning method according to claim 9, wherein before determining the relative position of the target again, it further includes:

The second terminal sends a first message to the first terminal; the first message includes one or more of the following information of the second terminal:

Equipment type;

geographical location information;

device ID;

Resource configuration of the transmitted positioning reference signal;

Antenna information.
The positioning method according to claim 9, wherein before determining the relative position of the target again, it further includes:

The second terminal configures the positioning reference signal again.
A terminal includes a memory, a transceiver, and a 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:

When the position error between the target relative position determined by the first terminal and the target relative position determined by the second terminal is greater than the first threshold, determine the target relative position again;

When the position error between the target relative position determined again by the first terminal and the target relative position determined again by the second terminal is less than or equal to the first threshold, based on the absolute position of the second terminal and the target relative position determined again by the first terminal and/or the second terminal to determine the absolute position of the first terminal, wherein the target relative position is determined by the first terminal and the second terminal. The interface between terminals determines the relative position between them.
The terminal according to claim 13, wherein the determination of the first terminal is based on the absolute position of the second terminal and the target relative position determined again by the first terminal and/or the second terminal. Before absolute position, also include:

Receive the absolute position of the second terminal sent by the second terminal.
The terminal according to claim 13, wherein before determining the relative position of the target again, it further includes:

Receive a first message sent by the second terminal; the first message includes one or more of the following information of the second terminal:

Equipment type;

geographical location information;

device ID;

Resource configuration of the transmitted positioning reference signal;

Antenna information.
The terminal according to claim 13, wherein before determining the relative position of the target again, it further includes:

Send a positioning request message to the second terminal;

The positioning request message contains one or more of the following indicators:

Horizontal position accuracy and its confidence interval;

Vertical position accuracy and its confidence interval;

Positioning response time;

Horizontal velocity accuracy and its confidence interval;

Vertical velocity accuracy and its confidence interval;

Horizontal position accuracy and its confidence interval;

Vertical position accuracy and its confidence interval;

Horizontal position integrity requirements;

Vertical position integrity requirements;

Horizontal speed integrity requirements;

Vertical speed integrity requirements.
The terminal according to claim 13, wherein before determining the relative position of the target again, it further includes:

Send capability information to the second terminal;

The capability information includes one or more of the following information:

Supported frequency bands;

Supported positioning method based on the interface between the first terminal and the second terminal;

Resource configuration of supported positioning reference signals.
The terminal according to claim 13, wherein before determining the relative position of the target again, it further includes:

Configure the positioning reference signal again.
The terminal according to claim 13, wherein the second terminal is an RSU or an anchor terminal.
The terminal according to any one of claims 13 to 19, wherein the signaling carrying the relative position of the target, the absolute position of the second terminal, the first message, the positioning request message, the positioning response message and/or the capability information includes the following signaling One or more of the following orders:

Positioning protocol signaling based on PC5 port;

High-level signaling based on PC5 port;

Wireless resource control signaling based on PC5 port;

Media access control unit signaling based on cut-through links;

Direct link control information signaling.
A terminal includes a memory, a transceiver, and a 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:

When the position error between the relative position of the target determined by the first terminal and the relative position of the target determined by the second terminal is greater than the first threshold, determine the relative position of the target again, and send the relative position of the target to the first terminal. The target relative position determined again; the target relative position determined again by the second terminal is used to determine the absolute position of the first terminal;

Wherein, the target relative position is a relative position between the first terminal and the second terminal determined through an interface between the two terminals.
The terminal according to claim 21, wherein the operations performed by the processor further include:

The absolute position of the second terminal is sent to the first terminal.
The terminal according to claim 21, wherein before determining the relative position of the target again, it further includes:

Send a first message to the first terminal; the first message includes the second terminal One or more of the following information:

Equipment type;

geographical location information;

device ID;

Resource configuration of the transmitted positioning reference signal;

Antenna information.
The terminal according to claim 21, wherein before determining the relative position of the target again, it further includes:

Configure the positioning reference signal again.
A positioning device including:

A first determination module configured to determine the relative position of the target again when the position error between the relative position of the target determined by the first terminal and the relative position of the target determined by the second terminal is greater than the first threshold;

A second determination module configured to determine based on the position error between the target relative position determined again by the first terminal and the target relative position determined again by the second terminal if the position error is less than or equal to the first threshold. The absolute position of the second terminal and the target relative position determined again by the first terminal and/or the second terminal are used to determine the absolute position of the first terminal, wherein the target relative position is determined by the third The interface between a terminal and the second terminal determines the relative position between them.
The positioning device according to claim 25, wherein the device further includes a first receiving module;

The first receiving module is configured to receive the absolute position of the second terminal sent by the second terminal.
The positioning device according to claim 25, wherein the device further includes a second receiving module;

The second receiving module is configured to receive the first message sent by the second terminal; the first message includes one or more of the following information of the second terminal:

Equipment type;

geographical location information;

device ID;

Resource configuration of the transmitted positioning reference signal;

Antenna information.
The positioning device according to claim 25, wherein the device further includes a first sending module;

The first sending module is configured to send a positioning request message to the second terminal;

The positioning request message contains one or more of the following indicators:

Horizontal position accuracy and its confidence interval;

Vertical position accuracy and its confidence interval;

Positioning response time;

Horizontal velocity accuracy and its confidence interval;

Vertical velocity accuracy and its confidence interval;

Horizontal position accuracy and its confidence interval;

Vertical position accuracy and its confidence interval;

Horizontal position integrity requirements;

Vertical position integrity requirements;

Horizontal speed integrity requirements;

Vertical speed integrity requirements.
The positioning device according to claim 25, wherein the device further includes a second sending module;

The second sending module is configured to send capability information to the second terminal;

The capability information includes one or more of the following information:

Supported frequency bands;

Supported positioning method based on the interface between the first terminal and the second terminal;

Resource configuration of supported positioning reference signals.
The positioning device according to claim 25, wherein the device further comprises a first configuration module;

The first configuration module is used to configure the positioning reference signal again.
The positioning device according to claim 25, wherein the second terminal is an RSU or an anchor terminal.
The positioning device according to any one of claims 25 to 31, wherein signaling carrying the relative position of the target, the absolute position of the second terminal, the first message, the positioning request message, the positioning response message and/or the capability information Including one or more of the following signaling:

Positioning protocol signaling based on PC5 port;

High-level signaling based on PC5 port;

Wireless resource control signaling based on PC5 port;

Media access control unit signaling based on cut-through links;

Direct link control information signaling.
A positioning device including:

The third determination module is configured to determine the relative position of the target again when the position error between the relative position of the target determined by the first terminal and the relative position of the target determined by the second terminal is greater than the first threshold, and report the relative position of the target to the first terminal. The terminal sends the target relative position determined again by the second terminal; the target relative position determined again by the second terminal is used to determine the absolute position of the first terminal;

Wherein, the target relative position is a relative position between the first terminal and the second terminal determined through an interface between the two terminals.
The positioning device according to claim 33, wherein the device further includes a third sending module;

The third sending module is configured to send the absolute position of the second terminal to the first terminal.
The positioning device of claim 33, wherein said device further comprises The fourth sending module;

The fourth sending module is configured to send a first message to the first terminal; the first message includes one or more of the following information of the second terminal:

Equipment type;

geographical location information;

device ID;

Resource configuration of the sent positioning reference signal;

Antenna information.
The positioning device according to claim 33, wherein the device further includes a second configuration module;

The second configuration module is used to configure the positioning reference signal again.
A computer-readable storage medium stores a computer program, and the computer program is used to cause a computer to execute the positioning method described in any one of claims 1 to 8.
A computer-readable storage medium stores a computer program, and the computer program is used to cause a computer to execute the positioning method according to any one of claims 9 to 12.