WO2023272640A1 - 终端的定位方法、装置、设备及介质 - Google Patents

终端的定位方法、装置、设备及介质 Download PDF

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Publication number
WO2023272640A1
WO2023272640A1 PCT/CN2021/103807 CN2021103807W WO2023272640A1 WO 2023272640 A1 WO2023272640 A1 WO 2023272640A1 CN 2021103807 W CN2021103807 W CN 2021103807W WO 2023272640 A1 WO2023272640 A1 WO 2023272640A1
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WIPO (PCT)
Prior art keywords
reference signal
terminal
measurement report
measurement
positioning
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PCT/CN2021/103807
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English (en)
French (fr)
Inventor
尤心
卢前溪
冷冰雪
Original Assignee
Oppo广东移动通信有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by Oppo广东移动通信有限公司 filed Critical Oppo广东移动通信有限公司
Priority to CN202180096837.9A priority Critical patent/CN117204071A/zh
Priority to EP21947593.6A priority patent/EP4319338A4/en
Priority to PCT/CN2021/103807 priority patent/WO2023272640A1/zh
Publication of WO2023272640A1 publication Critical patent/WO2023272640A1/zh
Priority to US18/386,466 priority patent/US20240064688A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0072—Transmission between mobile stations, e.g. anti-collision systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/318—Received signal strength
    • H04B17/328—Reference signal received power [RSRP]; Reference signal received quality [RSRQ]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/003—Arrangements for allocating sub-channels of the transmission path
    • H04L5/0048—Allocation of pilot signals, i.e. of signals known to the receiver
    • H04L5/0051—Allocation of pilot signals, i.e. of signals known to the receiver of dedicated pilots, i.e. pilots destined for a single user or terminal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/18—Service support devices; Network management devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W92/00—Interfaces specially adapted for wireless communication networks
    • H04W92/16—Interfaces between hierarchically similar devices
    • H04W92/18—Interfaces between hierarchically similar devices between terminal devices

Definitions

  • the present application relates to the communication field, and in particular to a terminal positioning method, device, equipment and system.
  • Location-based services are one of the indispensable services in daily life. Positioning techniques based on radio technology are widely used.
  • a positioning reference signal (Positioning Reference Signal, PRS) is sent by multiple base stations in a mobile communication system.
  • the terminal locates its own position based on the positioning reference signals sent by multiple base stations.
  • Embodiments of the present application provide a terminal positioning method, device, terminal and medium, and provide a positioning service in a sidelink communication scenario.
  • a terminal positioning method includes:
  • the first terminal receives a first reference signal sent by at least one second terminal, where the first reference signal is a positioning reference signal of a sidelink;
  • the first terminal locates the target terminal according to the first reference signal.
  • a positioning device for a terminal includes:
  • the first receiving module is configured to receive a first reference signal sent by at least one second terminal, where the first reference signal is a sidelink positioning reference signal;
  • the first positioning module is configured to locate the target terminal according to the first reference signal.
  • a positioning method for a terminal includes:
  • the second terminal sends a first reference signal to the first terminal, where the first reference signal is used to locate the target terminal, and the first reference signal is a sidelink positioning reference signal.
  • a positioning device for a terminal includes:
  • the second sending module is configured to send a first reference signal to the first terminal, the first reference signal is used to locate the target terminal, and the first reference signal is a sidelink positioning reference signal.
  • a terminal is provided, and the terminal includes:
  • transceiver connected to the processor
  • memory for storing processor-executable instructions
  • the processor is configured to load and execute executable instructions to implement any one of the methods for locating a terminal described above.
  • a chip is provided, and the chip is used to implement any one of the methods for locating a terminal described above.
  • a computer-readable storage medium stores at least one instruction, at least one program, a code set, or an instruction set, and the at least one instruction, all The at least one program, the code set or the instruction set is loaded and executed by the processor to implement any one of the terminal positioning methods described above.
  • the method realizes the positioning of the target terminal through the side link, and the positioning result of the target terminal can be obtained through the interaction between different terminals, which can improve the positioning efficiency and reduce the calculation pressure of the network equipment. Moreover, it also provides a brand new positioning service in the sidelink communication scenario.
  • Fig. 1 is a schematic diagram of a communication system according to an exemplary embodiment
  • Fig. 2 is a flow chart showing a terminal positioning method according to an exemplary embodiment
  • Fig. 3 is a flowchart showing a positioning method for a terminal according to an exemplary embodiment
  • Fig. 4 is a schematic diagram showing a terminal positioning method according to an exemplary embodiment
  • Fig. 5 is a flow chart showing a positioning method for a terminal according to an exemplary embodiment
  • Fig. 6 is a schematic diagram of a terminal positioning method according to an exemplary embodiment
  • Fig. 7 is a flow chart showing a positioning method for a terminal according to an exemplary embodiment
  • Fig. 8 is a schematic diagram of a terminal positioning method according to an exemplary embodiment
  • Fig. 9 is a flow chart showing a positioning method for a terminal according to an exemplary embodiment
  • Fig. 10 is a schematic diagram of a terminal positioning method according to an exemplary embodiment
  • Fig. 11 is a flow chart showing a terminal positioning method according to an exemplary embodiment
  • Fig. 12 is a schematic diagram of a terminal positioning method according to an exemplary embodiment
  • Fig. 13 is a flow chart showing a positioning method for a terminal according to an exemplary embodiment
  • Fig. 14 is a schematic diagram of a terminal positioning method according to an exemplary embodiment
  • Fig. 15 is a flow chart showing a positioning method for a terminal according to an exemplary embodiment
  • Fig. 16 is a schematic diagram of a terminal positioning method according to an exemplary embodiment
  • Fig. 17 is a flow chart showing a positioning method for a terminal according to an exemplary embodiment
  • Fig. 18 is a schematic diagram of a terminal positioning method according to an exemplary embodiment
  • Fig. 19 is a block diagram of a device for positioning a terminal according to an exemplary embodiment
  • Fig. 20 is a block diagram of a device for positioning a terminal according to an exemplary embodiment
  • Fig. 21 is a schematic structural diagram of a network device according to an exemplary embodiment.
  • Fig. 1 shows a schematic structural diagram of a communication system provided by an exemplary embodiment of the present application.
  • the system architecture may include: user equipment (User Equipment, UE), next generation radio access network (Next Generation-Radio Access Network, NG-RAN), location management function (Location Management Function, LMF) , Access and Mobility Management Function (Access and Mobility Management Function, AMF), Enhanced Service Mobile Location Center (Enhanced-Service Mobile Location Center, E-SMLC), Service Location Protocol (Service Location Protocol, SLP).
  • user equipment User Equipment
  • NG-RAN Next Generation-Radio Access Network
  • LMF Location Management Function
  • AMF Access and Mobility Management Function
  • E-SMLC Enhanced Service Mobile Location Center
  • SLP Service Location Protocol
  • the UE It is the entrance for mobile users to interact with the network. It can provide basic computing capabilities and storage capabilities, display service windows to users, and accept user operation inputs.
  • the UE will adopt the next-generation air interface technology to establish a signal connection and a data connection with the NG-RAN, thereby transmitting control signals and service data to the mobile network.
  • the UEs can be linked on the sidelink through the PC5 interface.
  • the connection and communication on the sidelink can be realized between different UEs through the PC5 interface. For example, UE1 and UE2 communicate through a side link based on the PC5 interface.
  • NG-RAN including upgraded 4G base stations (next generation-evolved Node B, ng-eNB) and 5G base stations (next generation-NodeB, gNB).
  • ng-eNB is a network element of NG-RAN, which can provide measurement results for location estimation, perform radio signal measurement for target UE, and transmit these measurement results to LMF.
  • the ng-eNB performs its measurements in response to requests from the LMF (on-demand or periodically).
  • the ng-eNB can serve multiple TPs, including e.g. remote radio heads and only Positioning Reference Signals (PRS) for Evolving-Universal Terrestrial Radio Access (E-UTRA) based PRS ground beacon system positioning.
  • PRS Positioning Reference Signals
  • E-UTRA Evolving-Universal Terrestrial Radio Access
  • the gNB is the network element of the NG-RAN that can provide measurement information for the target UE and transmit this information to the LMF. It should be noted that gNB and ng-eNB may not always exist. When both gNB and ng-eNB exist, only one of them exists in the NG-C interface.
  • the UE and the gNB are connected through the New Radio-User Equipment (NR-Uu) interface, where the NR-Uu interface is a number of LTE positioning protocols for the target UE with NR access to the NG-RAN One of the transmission links.
  • NR-Uu New Radio-User Equipment
  • the UE and the ng-eNB are connected through a Long Term Evolution-User equipment (Long Term Evolution-User equipment, LTE-Uu) interface, wherein the LTE-Uu interface is one of several transmission links of the LTE positioning protocol.
  • LTE-Uu Long Term Evolution-User equipment
  • the LMF used to manage the support of different location services for the target UE, including positioning of the UE and delivery of assistance data to the UE.
  • the LMF may interact with the serving gNB or the serving ng-eNB for the target UE in order to obtain location measurements of the UE, including uplink measurements made by the ng-eNB and downlink measurements provided by the UE to the ng-eNB.
  • the base station evolved Node B, eNB
  • the LMF may interact with the target UE to communicate assistance data when requesting specific location services, or to obtain a location estimate if requested.
  • AMF Used to receive a request from another entity for some location services associated with a specific target UE, or AMF itself decides to initiate some location services on behalf of a specific target UE (for example, for an IMS emergency call from that specific target UE) . Then, the AMF sends a location service request to the LMF.
  • the LMF handles location service requests, which may include communicating assistance data to the target UE to assist UE-based and/or UE-assisted positioning and/or may include positioning of the target UE. Then, the LMF returns the result of the location service to the location service requested by the AMF, and the AMF returns the result of the location service to this entity.
  • E-SMLC used to locate the location of the UE.
  • SLP It is a secure user plane (Secure user plane, SUPL) entity responsible for positioning on the user plane.
  • SUPL Secure user plane
  • FIG. 2 shows a flowchart of a terminal positioning method provided by an exemplary embodiment of the present application. This embodiment is illustrated by taking the application in the communication system shown in Figure 1 as an example, and the method includes:
  • step 201 the second terminal sends a first reference signal to the first terminal.
  • there is one second terminal in the case of measuring the relative position of the first terminal, there is one second terminal; for another example, in the case of measuring the relative distance between the first terminal and the second terminal, there is one second terminal; for another example, In the case of measuring the absolute position of the first terminal, the second terminal is three and so on. This embodiment does not limit the number of second terminals.
  • the first reference signal is a positioning reference signal of the sidelink.
  • the first reference signal is a positioning reference signal or a position reference signal for the sidelink, or in other words, the first reference signal is a reference signal for positioning the target terminal in a sidelink scenario.
  • the first reference signal is used to determine the location information of the target terminal and/or the distance information of the target terminal.
  • the position information includes absolute position or relative position.
  • the target terminal is the first terminal or the second terminal.
  • the first terminal or the second terminal is at least one of a terminal device and a roadside unit (Road Side Unit, RSU).
  • RSU Road Side Unit
  • step 202 the first terminal receives a first reference signal sent by at least one second terminal.
  • the second terminals may be understood as multiple terminal entities, or multiple antenna units of the same terminal entity.
  • a certain terminal entity includes 2 antenna units, and the 2 antenna units transmit different first reference signals. These two antenna units may be understood as two second terminals.
  • step 203 the first terminal locates the target terminal according to the first reference signal.
  • the first terminal uses a time difference-based positioning technology to locate the target terminal according to the first reference signal.
  • the time difference refers to a time difference between reference signals sent by second terminals at different locations, or a time difference between sending and receiving reference signals of second terminals at the same location.
  • the first terminal uses an angle-based positioning technology to locate the target terminal according to the first reference signal.
  • the angle is the transmission angle or reception angle of the first reference signal.
  • the target terminal is the first terminal or the second terminal.
  • the method provided in this embodiment realizes the positioning of the target terminal through the first reference signal sent on the sidelink link, and the positioning result of the target terminal can be obtained through the interaction between the terminals, which can improve the positioning efficiency. Reduce the computing pressure on network devices. Moreover, a brand-new positioning method of a terminal based on a side link is also provided.
  • FIG. 3 shows a flow chart of a terminal positioning method provided by an exemplary embodiment of the present application. This embodiment is illustrated by taking the application in the communication system shown in Figure 1 as an example, and the method includes:
  • step 301 the second terminal sends a first reference signal to the first terminal.
  • there is one second terminal in the case of measuring the relative position of the first terminal, there is one second terminal; for another example, in the case of measuring the relative distance between the first terminal and the second terminal, there is one second terminal; for another example, In the case of measuring the absolute position of the first terminal, the second terminal is three and so on. This embodiment does not limit the number of second terminals.
  • the first reference signal is a positioning reference signal of the sidelink.
  • the first reference signal is a positioning reference signal or a position reference signal for the sidelink, or in other words, the first reference signal is a reference signal for positioning the target terminal in a sidelink scenario.
  • the first reference signal is used to determine the location information of the target terminal and/or the distance information of the target terminal.
  • the position information includes absolute position or relative position.
  • the first reference signal includes: Side Link-Position Reference Signal (Side Link-Position Reference Signal, SL-PRS), Channel State Information Reference Signal (Channel State Information-Reference Signals, CSI-RS), demodulation At least one of a reference signal (Demodulation Reference Signal, DMRS), a phase tracking reference signal (Phase Tracking Reference Signal, PTRS), a system synchronization block (System Synchronization Block, SSB), and a sounding reference signal (Sounding Reference Signal, SRS).
  • Side Link-Position Reference Signal Side Link-Position Reference Signal
  • CSI-RS Channel State Information Reference Signals
  • DMRS Demodulation Reference Signal
  • PTRS Phase Tracking Reference Signal
  • SSB System Synchronization Block
  • SRS Sounding Reference Signal
  • the second terminal 41 , the second terminal 42 and the second terminal 43 respectively send the first reference signal to the first terminal 44 .
  • step 302 the first terminal receives a first reference signal sent by at least one second terminal.
  • the second terminals may be understood as multiple terminal entities, or multiple antenna units of the same terminal entity.
  • a certain terminal entity includes 2 antenna units, and the 2 antenna units transmit different first reference signals. These two antenna units may be understood as two second terminals.
  • step 303 the first terminal calculates the positioning result of the target terminal according to the measurement result of the first reference signal.
  • the measurement result of the first reference signal includes at least one of the following: first reference signal received power (Reference Signal Received Power, RSRP) of the first reference signal; first reference signal received quality (Reference Signal Received Power, RSRP) of the first reference signal Signal Received Quality, RSRQ); the angle of arrival of the first reference signal; the transmission angle of the first reference signal; the time stamp of the measurement result; the time difference between sending and receiving; the propagation delay of the first reference signal; the quality of each measurement result; the time difference of arrival .
  • first reference signal received power Reference Signal Received Power, RSRP
  • first reference signal received quality Reference Signal Received Power, RSRP
  • RSRQ Reference Signal Received Quality
  • the transceiving time difference includes the transceiving time difference related to the sending time of the first reference signal, or the receiving time difference related to the first reference signal.
  • the target terminal is at least one of the first terminal and the second terminal.
  • the method of calculating the positioning result of the target terminal includes but is not limited to Time Difference of Arrival (Time Difference of Arrival, TDOA), Side Link-Time Difference of Arrival (Side Link-Time Difference of Arrival, SL -TDOA), Side Link-Angle of Departure (Side Link-Angle of Departure, SL-AoD), Side Link-Angle of Arrival (Side Link-Angle of Arrival, SL-AOA), Enhanced-Cell Identity Document, E -CID), Angle of Arrival (AoA), Angle of Departure (AoD), Time of Arrival (ToA), Multi Round Trip Time (Multi-RTT), network At least one of Assisted-Global Navigation Satellite System (A-GNSS).
  • TDOA Time Difference of Arrival
  • SL -TDOA Side Link-Time Difference of Arrival
  • SL-AoD Side Link-Angle of Departure
  • Side Link-Angle of Arrival Side Link-Angle of Arrival
  • SL-AOA Enhanced
  • the principle of this method is that the distance difference between two fixed points in the plane is The trajectory of the moving point is a hyperbolic curve.
  • the first terminal 44 When the first terminal 44 receives the first reference signal sent by the second terminal 41 and the second terminal 42, there is a first time difference at the moment when the two first reference signals are received, and the propagation velocity of the first reference signal is known and the first time difference, the first distance difference between the distance from the first terminal 44 to the second terminal 41 and the distance from the first terminal 44 to the second terminal 42 can be calculated, then the first terminal 44 is positioned at Take the second terminal 41 and the second terminal 42 as the focus, and take the first distance difference as the fixed difference hyperbola 401 .
  • the first terminal 44 when the first terminal 44 respectively receives the first reference signals sent by the second terminal 42 and the second terminal 43, there is a second time difference at the moment of receiving the two first reference signals.
  • the second distance difference between the distance from the first terminal 44 to the second terminal 42 and the distance from the first terminal 44 to the second terminal 43 can be calculated, then the first The terminal 44 is located on the hyperbola 402 with the second terminal 42 and the second terminal 43 as the focus and the second distance difference as the fixed difference.
  • the first terminal 44 can locate the position of the first terminal 44 according to the intersection point of the hyperbola 401 and the hyperbola 402 .
  • the measurement result of the first reference signal by the first terminal includes at least one of the measurement results shown in Table 1:
  • the method of calculating the positioning result of the target terminal is based on the time difference as an example for illustration, the second terminal sends the first reference signal to the first terminal, and after the first terminal receives the first reference signal, the first The terminal can determine the relative distance and relative angle between the first terminal and the second terminal according to the measurement result of the first reference signal, and the first terminal can determine the position of the first terminal or the second terminal according to the relative distance and relative angle .
  • the measurement result of the first reference signal by the first terminal includes at least one of the following:
  • the method provided by this embodiment is to calculate the positioning result on the first terminal, without consuming resources of the network equipment, and can reduce the computing pressure of the network equipment.
  • the calculation process does not need to The data reported by the network equipment can save the resources of the uplink channel and the downlink channel, and ensure that the calculation process has better real-time performance.
  • Fig. 5 shows a flowchart of a terminal positioning method provided by an exemplary embodiment of the present application. This embodiment is illustrated by taking the application in the communication system shown in Figure 1 as an example, and the method includes:
  • step 501 the second terminal sends a first reference signal to the first terminal.
  • there is one second terminal in the case of measuring the relative position of the first terminal, there is one second terminal; for another example, in the case of measuring the relative distance between the first terminal and the second terminal, there is one second terminal; for another example, In the case of measuring the absolute position of the first terminal, the second terminal is three and so on. This embodiment does not limit the number of second terminals.
  • the first reference signal is a positioning reference signal of the sidelink.
  • the first reference signal is a positioning reference signal or a position reference signal for the sidelink, or in other words, the first reference signal is a reference signal for positioning the target terminal in a sidelink scenario.
  • the first reference signal is used to determine the location information of the target terminal and/or the distance information of the target terminal.
  • the position information includes absolute position or relative position.
  • the first reference signal includes: at least one of SL-PRS, CSI-RS, DMRS, PTRS, SSB, and SRS.
  • the second terminal 61 , the second terminal 62 and the second terminal 63 respectively send the first reference signal to the first terminal 64 .
  • step 502 the first terminal receives a first reference signal sent by at least one second terminal.
  • the second terminals may be understood as multiple terminal entities, or multiple antenna units of the same terminal entity.
  • a certain terminal entity includes 2 antenna units, and the 2 antenna units transmit different first reference signals. These two antenna units may be understood as two second terminals.
  • step 503 the first terminal sends a first measurement report to the second terminal.
  • the first measurement report includes measurement results of the first reference signal.
  • the first measurement result of the first reference signal includes at least one of the following: RSRP/RSRQ of the first reference signal; angle of arrival of the first reference signal; transmission angle of the first reference signal; time of the first measurement result stamp; time difference between sending and receiving; propagation delay of the first reference signal; quality of each measurement result; time difference of arrival of the first reference signal and sending angle.
  • the transceiving time difference includes the transceiving time difference related to the sending time of the first reference signal, or the receiving time difference related to the first reference signal.
  • the first terminal 64 sends the first measurement report to the second terminal 61 .
  • step 504 the second terminal calculates the positioning result of the target terminal according to the first measurement report.
  • the target terminal is at least one of the first terminal and the second terminal.
  • the manner of calculating the positioning result of the target terminal includes but not limited to at least one of TDOA, SL-TDOA, SL-AOA, E-CID, AoD, ToA, Multi-RTT, and A-GNSS.
  • the first terminal 601 sends a first measurement report to the second terminal 602, and the second terminal 602 can The report calculates the relative distance and relative angle between the first terminal 601 and the second terminal 602 , and then determines the positioning information of the first terminal 601 or the second terminal 602 .
  • the measurement result of the first reference signal by the first terminal includes at least one of the measurement results shown in Table 3:
  • measurement result PCI PCI, GCI and Measured TRP ID/RS ID
  • the name of the target UE, the angle of arrival (azimuth and elevation), and the angle of departure PRS-RSRP Timestamp of the measurement result The quality of each measurement
  • the method of calculating the positioning result of the target terminal is based on the time difference as an example.
  • Multiple second terminals will send the first reference signal to the first terminal, and the first terminal will receive different first reference signals.
  • signal time difference after the first terminal sends the first measurement report to the second terminal, the second terminal can determine the positioning result of the first terminal or the second terminal according to the time difference included in the first measurement report.
  • the measurement result of the first reference signal by the first terminal includes at least one of the measurement results shown in Table 4:
  • the method provided by this embodiment since the calculation process of the positioning result is implemented on the second terminal, does not need to consume resources of the network device, and can reduce the computing pressure of the network device. On the other hand, the calculation process There is no need to report data to network devices, which can save the resources of uplink channel and downlink channel. Moreover, a method for calculating the positioning result is provided for the first terminal with weak computing capability, and the positioning result is calculated by the second terminal to make up for the defect of the weak computing capability of the first terminal.
  • Fig. 7 shows a flowchart of a terminal positioning method provided by an exemplary embodiment of the present application. This embodiment is illustrated by taking the application in the communication system shown in Figure 1 as an example, and the method includes:
  • step 701 the second terminal sends a first reference signal to the first terminal.
  • there is one second terminal in the case of measuring the relative position of the first terminal, there is one second terminal; for another example, in the case of measuring the relative distance between the first terminal and the second terminal, there is one second terminal; for another example, In the case of measuring the absolute position of the first terminal, the second terminal is three and so on. This embodiment does not limit the number of second terminals.
  • the first reference signal is a positioning reference signal of the sidelink.
  • the first reference signal is a positioning reference signal or a position reference signal for the sidelink, or in other words, the first reference signal is a reference signal for positioning the target terminal in a sidelink scenario.
  • the first reference signal is used to determine the location information of the target terminal and/or the distance information of the target terminal.
  • the position information includes absolute position or relative position.
  • the first reference signal includes: at least one of SL-PRS, CSI-RS, DMRS, PTRS, SSB, and SRS.
  • the second terminal 81 , the second terminal 82 and the second terminal 83 respectively send the first reference signal to the first terminal 84 .
  • step 702 the first terminal receives a first reference signal sent by at least one second terminal.
  • the second terminals may be understood as multiple terminal entities, or multiple antenna units of the same terminal entity.
  • a certain terminal entity includes 2 antenna units, and the 2 antenna units transmit different first reference signals. These two antenna units may be understood as two second terminals.
  • step 703 the first terminal reports a first measurement report to the network device.
  • the first terminal generates a first measurement report according to the measurement result of the first reference signal.
  • the first measurement report includes measurement results of the first reference signal.
  • the measurement result of the first reference signal includes at least one of the following: RSRP/RSRQ of the first reference signal; angle of arrival of the first reference signal; transmission angle of the first reference signal; time stamp of the measurement result; ; the propagation delay of the first reference signal; the quality of each measurement result; the time difference of arrival of the first reference signal.
  • the transceiving time difference includes the transceiving time difference related to the sending time of the first reference signal, or the receiving time difference related to the first reference signal.
  • step 704 the network device calculates the positioning result of the target terminal according to the first measurement report.
  • the network device is at least one of a base station and an RSU.
  • the way of calculating the positioning result of the target terminal includes but is not limited to at least one of TDOA, SL-TDOA, SL-AoD, SL-AOA, E-CID, AoD, ToA, Multi-RTT, and A-GNSS .
  • the method of calculating the positioning result of the target terminal is an angle-based method
  • the first terminal 801 receives the first reference signal sent by the second terminal 802
  • the first terminal 801 sends the network
  • the device 803 sends the first measurement report
  • the network device 803 can calculate the relative distance and relative angle between the first terminal 801 and the second terminal 802 according to the first measurement report, and then determine the distance between the first terminal 801 or the second terminal 802. positioning information.
  • the measurement result of the first reference signal by the first terminal includes at least one of the reference signals shown in Table 5:
  • measurement result PCI PCI, GCI and Measured TRP ID/RS ID
  • the name of the target UE, the angle of arrival (azimuth and elevation), and the angle of departure PRS-RSRP Timestamp of the measurement result The quality of each measurement
  • the method of calculating the positioning result of the target terminal is based on the time difference as an example.
  • Multiple second terminals will send the first reference signal to the first terminal, and the first terminal will receive different first reference signals.
  • signal time difference after the first terminal sends the first measurement report to the second terminal, the second terminal can determine the positioning result of the first terminal or the second terminal according to the time difference included in the first measurement report.
  • the measurement result of the first reference signal by the first terminal includes at least one of the measurement results shown in Table 6:
  • the method provided by this embodiment is to calculate the positioning result by the network device, does not require the first terminal or the second terminal to have strong computing capabilities, and has relatively low requirements for the first terminal or the second terminal, and in addition
  • network devices have strong computing capabilities, and can obtain relatively accurate positioning results.
  • Fig. 9 shows a flow chart of a terminal positioning method provided by an exemplary embodiment of the present application. This embodiment is illustrated by taking the application in the communication system shown in Figure 1 as an example, and the method includes:
  • step 901 the second terminal sends a first reference signal to the first terminal.
  • there is one second terminal in the case of measuring the relative position of the first terminal, there is one second terminal; for another example, in the case of measuring the relative distance between the first terminal and the second terminal, there is one second terminal; for another example, In the case of measuring the absolute position of the first terminal, the second terminal is three and so on. This embodiment does not limit the number of second terminals.
  • the first reference signal is a positioning reference signal of the sidelink.
  • the first reference signal is a positioning reference signal or a position reference signal for the sidelink, or in other words, the first reference signal is a reference signal for positioning the target terminal in a sidelink scenario.
  • the first reference signal is used to determine the location information of the target terminal and/or the distance information of the target terminal.
  • the position information includes absolute position or relative position.
  • the first reference signal includes: at least one of SL-PRS, CSI-RS, DMRS, PTRS, SSB, and SRS.
  • the second terminal 1002 sends the first reference signal to the first terminal 1001 .
  • step 902 the first terminal receives a first reference signal sent by at least one second terminal.
  • the second terminals may be understood as multiple terminal entities, or multiple antenna units of the same terminal entity.
  • step 903 the first terminal sends the second reference signal to the second terminal.
  • the second reference signal is a positioning reference signal of the sidelink.
  • the second reference signal is a positioning reference signal or a position reference signal for the sidelink, or in other words, the second reference signal is a reference signal for positioning the target terminal in a sidelink scenario.
  • the second reference signal is used to determine the location information of the target terminal and/or the distance information of the target terminal.
  • the position information includes absolute position or relative position.
  • the second reference signal includes: at least one of SL-PRS, CSI-RS, DMRS, PTRS, SSB, and SRS.
  • the types of the first reference signal and the second reference signal are the same, or the types of the second reference signal and the second reference signal are different.
  • the first terminal 1001 sends the second reference signal to the second terminal 1002 .
  • step 904 the second terminal reports a second measurement report to the network device.
  • the network device is at least one of a base station and an RSU.
  • the second measurement report includes measurement results of the second reference signal.
  • the measurement result of the second reference signal includes at least one of the following: RSRP/RSRQ of the second reference signal; angle of arrival of the second reference signal; transmission angle of the second reference signal; time stamp of the measurement result; ; Propagation delay of the second reference signal; Quality of each measurement; Time difference of arrival.
  • the transceiving time difference includes the transceiving time difference related to the sending time of the first reference signal, or the receiving time difference related to the first reference signal.
  • the second terminal 1002 reports the second measurement report to the network device 1003 .
  • step 905 the first terminal reports a first measurement report to the network device.
  • the first measurement report includes a measurement report of the first reference signal.
  • the measurement result of the first reference signal includes at least one of the following: RSRP/RSRQ of the first reference signal; angle of arrival of the first reference signal; transmission angle of the first reference signal; time stamp of the measurement result; Transceive time difference of the reference signal; propagation delay of the first reference signal; quality of each measurement result; time difference of arrival.
  • the transceiving time difference includes the transceiving time difference related to the sending time of the first reference signal, or the receiving time difference related to the first reference signal.
  • step 904 and step 905 are in no particular order, and in an actual implementation process, step 904 may be implemented first and then 905 may be implemented. Alternatively, step 905 is implemented first, and then step 904 is implemented.
  • the first terminal 1001 reports a first measurement report to the network device 1003
  • the second terminal 1002 reports a second measurement report to the network device 1003 .
  • step 906 the network device calculates a positioning result of the target terminal according to the first measurement report and the second measurement report.
  • the target terminal for sending the angle is at least one of the first terminal and the second terminal.
  • first terminals there are one or more first terminals, and there are also one or more second terminals.
  • technicians may change or deform the embodiment according to the actual number of terminals.
  • the way of calculating the positioning result of the target terminal includes but is not limited to at least one of TDOA, SL-TDOA, SL-AoD, SL-AOA, E-CID, AoD, ToA, Multi-RTT, and A-GNSS .
  • the first reference signal and the second reference signal cannot collide in the time domain.
  • the first terminal 1001 receives the first reference signal sent by the second terminal 1002, and the second terminal 1002 receives the first reference signal sent by the first terminal 1001.
  • the network device 1003 calculates the positioning result of the first terminal 1001 and/or the positioning result of the second terminal 1002 according to the time difference between the sending time of a reference signal and the receiving time of the second reference signal.
  • the first terminal when the first terminal includes multiple terminals and the second terminal includes one terminal, one second terminal sends the first reference signal to multiple first terminals, and multiple first terminals receive the first reference signal sent by the second terminal. After the first reference signal, the multiple first terminals respectively send the second reference signal to the second terminal, and report the first measurement report to the network device. After receiving multiple second reference signals sent by multiple first terminals, the second terminal will report to the network device a second measurement report corresponding to the second reference signal, and the network device will report the second measurement report according to the first measurement report and the second measurement report. Calculate the positioning results of multiple first terminals and/or the positioning results of one second terminal.
  • the multiple second terminals send the first reference signal to the first terminal, and the first terminal receives multiple reference signals sent by the multiple second terminals.
  • the first terminal sends the second reference signal to multiple second terminals respectively, and reports the first measurement report to the network device.
  • the multiple second terminals After receiving the second reference signal sent by the first terminal, the multiple second terminals will report the second measurement report to the network device, and the network device calculates a positioning result and /or positioning results of multiple second terminals.
  • the measurement result of the first terminal on the first reference signal and/or the measurement result of the second terminal on the second reference signal include at least one of the displayed measurement results:
  • Table 7 The measurement results of the first reference signal and/or the measurement results of the second reference signal
  • the method provided by this embodiment is to calculate the positioning result by the network device, does not require the first terminal or the second terminal to have strong computing capabilities, and has relatively low requirements for the first terminal or the second terminal, and in addition
  • network devices have strong computing capabilities, and can obtain relatively accurate positioning results.
  • Fig. 11 shows a flow chart of a terminal positioning method provided by an exemplary embodiment of the present application. This embodiment is illustrated by taking the application in the communication system shown in Figure 1 as an example, and the method includes:
  • step 111 the second terminal sends the first reference signal to the first terminal.
  • the first reference signal is a positioning reference signal of the sidelink.
  • the first reference signal is a positioning reference signal or a position reference signal for the sidelink, or in other words, the first reference signal is a reference signal for positioning the target terminal in a sidelink scenario.
  • the first reference signal is used to determine the location information of the target terminal and/or the distance information of the target terminal.
  • the position information includes absolute position or relative position.
  • the first reference signal includes: at least one of SL-PRS, CSI-RS, DMRS, PTRS, SSB, and SRS.
  • the second terminal 122 sends the first reference signal to the first terminal 121 .
  • step 112 the first terminal receives a first reference signal sent by at least one second terminal.
  • the second terminals may be understood as multiple terminal entities, or multiple antenna units of the same terminal entity.
  • step 113 the first terminal sends the first measurement report and the second reference signal to the second terminal.
  • the first measurement report includes measurement results of the first reference signal.
  • the measurement result of the first reference signal includes at least one of the following: RSRP/RSRQ of the first reference signal; angle of arrival of the first reference signal; transmission angle of the first reference signal; time stamp of the measurement result; ; the propagation delay of the first reference signal; the quality of each measurement result; the time difference of arrival transmission angle.
  • the transceiving time difference includes the transceiving time difference related to the sending time of the first reference signal, or the receiving time difference related to the first reference signal.
  • the second reference signal is a positioning reference signal or position reference signal used for the sidelink, or in other words, the second reference signal is a reference signal used for positioning the target terminal in a sidelink scenario.
  • the second reference signal is used to determine the location information of the target terminal and/or the distance information of the target terminal.
  • the position information includes absolute position or relative position.
  • the second reference signal includes: at least one of SL-PRS, CSI-RS, DMRS, PTRS, SSB, and SRS.
  • the types of the first reference signal and the second reference signal are the same, or the types of the second reference signal and the second reference signal are different.
  • first measurement report and the second reference signal are sent at the same time, or not at the same time.
  • the first terminal 121 sends the first reference signal and the second reference signal to the second terminal 122 .
  • step 114 the second terminal reports the first measurement report and the second measurement report to the network device.
  • the network device is at least one of a base station and an RSU.
  • the second measurement report includes measurement results of the second reference signal.
  • the measurement result of the second reference signal includes at least one of the following: RSRP/RSRQ of the second reference signal; angle of arrival of the second reference signal; transmission angle of the second reference signal; time stamp of the measurement result; ; Propagation delay of the second reference signal; Quality of each measurement; Time difference of arrival.
  • the transceiving time difference includes the transceiving time difference related to the sending time of the first reference signal, or the receiving time difference related to the first reference signal.
  • the second terminal 122 reports the first measurement report and the second measurement report to the network device 123 .
  • step 115 the network device calculates the positioning result of the target terminal according to the first measurement report and the second measurement report.
  • the manner of calculating the positioning result of the target terminal includes but not limited to at least one of TDOA, SL-TDOA, SL-AoD, E-CID, AoD, ToA, Multi-RTT, and A-GNSS.
  • the target terminal is at least one of the first terminal and the second terminal.
  • first terminals there are one or more first terminals, and there are also one or more second terminals.
  • technicians may modify or change the embodiment according to the actual number of terminals.
  • the first reference signal and the second reference signal cannot collide in the time domain.
  • the first terminal when the first terminal includes multiple terminals and the second terminal includes one terminal, one second terminal sends the first reference signal to multiple first terminals, and multiple first terminals receive the first reference signal sent by the second terminal. After the first reference signal, the multiple first terminals respectively send the second reference signal and the first measurement report to the second terminal. After receiving multiple second reference signals and multiple first measurement reports sent by multiple first terminals, the second terminal will report to the network device the second measurement reports corresponding to the second reference signals and the received multiple For the first measurement report, the network device calculates the positioning results of multiple first terminals and/or the positioning result of one second terminal according to the first measurement report and the second measurement report.
  • the multiple second terminals send the first reference signal to the first terminal, and the first terminal receives the first reference signal sent by the multiple second terminals. After referring to the signal, the first terminal sends the second reference signal and the first measurement report to multiple second terminals respectively. After receiving the second reference signal sent by the first terminal, multiple second terminals will report the first measurement report and the second measurement report to the network device, and the network device calculates a first measurement report and the second measurement report according to the first measurement report and the second measurement report. The positioning result of the terminal and/or the positioning results of multiple second terminals.
  • the first terminal 121 receives the first reference signal sent by the second terminal 122
  • the second terminal 122 receives the first reference signal sent by the first terminal 121.
  • the network device 123 calculates the positioning result of the first terminal 121 and/or the second terminal 122 according to the first measurement report and the second measurement report positioning results.
  • the measurement result of the first terminal on the first reference signal and/or the measurement result of the second terminal on the second reference signal include at least one of the displayed measurement results:
  • Table 8 The measurement results of the first reference signal and/or the measurement results of the second reference signal
  • the method provided by this embodiment is to calculate the positioning result by the network device, does not require the first terminal or the second terminal to have strong computing capabilities, and has relatively low requirements for the first terminal or the second terminal, and in addition
  • network devices have strong computing capabilities, and can obtain relatively accurate positioning results.
  • the entire positioning process requires two vehicles to interact on the sidelink, and does not require the access of other vehicles, which can also save resources on the sidelink.
  • Fig. 13 shows a flowchart of a terminal positioning method provided by an exemplary embodiment of the present application. This embodiment is illustrated by taking the application in the communication system shown in Figure 1 as an example, and the method includes:
  • step 131 the second terminal sends the first reference signal to the first terminal.
  • there is one second terminal in the case of measuring the relative position of the first terminal, there is one second terminal; for another example, in the case of measuring the relative distance between the first terminal and the second terminal, there is one second terminal; for another example, In the case of measuring the absolute position of the first terminal, the second terminal is three and so on. This embodiment does not limit the number of second terminals.
  • the first reference signal is a positioning reference signal of the sidelink.
  • the first reference signal is a positioning reference signal or a position reference signal for the sidelink, or in other words, the first reference signal is a reference signal for positioning the target terminal in a sidelink scenario.
  • the first reference signal is used to determine the location information of the target terminal and/or the distance information of the target terminal.
  • the position information includes absolute position or relative position.
  • the first reference signal includes: at least one of SL-PRS, CSI-RS, DMRS, PTRS, SSB, and SRS.
  • the second terminal 142 sends the first reference signal to the first terminal 141 .
  • step 132 the first terminal receives a first reference signal sent by at least one second terminal.
  • the second terminal can be understood as multiple terminal entities, or multiple antenna units of the same terminal entity.
  • step 133 the first terminal sends the first measurement report and the second reference signal to the second terminal.
  • the first measurement report includes measurement results of the first reference signal.
  • the measurement result of the first reference signal includes at least one of the following: RSRP/RSRQ of the first reference signal; angle of arrival of the first reference signal; transmission angle of the first reference signal; time stamp of the measurement result; ; the propagation delay of the first reference signal; the quality of each measurement; the time difference of arrival.
  • the transceiving time difference includes the transceiving time difference related to the sending time of the first reference signal, or the receiving time difference related to the first reference signal.
  • the second reference signal is a positioning reference signal of the sidelink.
  • the second reference signal is used to determine at least one of location information and distance information of the target terminal, where the location information includes an absolute location and/or a relative location.
  • the second reference signal is at least one of SL-PRS, CSI-RS, DMRS, PTRS, SSB, and SRS.
  • the first terminal 141 sends the first measurement report and the second reference signal to the second terminal 142 .
  • step 134 the second terminal calculates the positioning result of the target terminal according to the first measurement report and the second measurement report.
  • the second measurement report includes measurement results of the second reference signal.
  • the measurement result of the second reference signal includes at least one of the following: RSRP/RSRQ of the second reference signal; angle of arrival of the second reference signal; transmission angle of the second reference signal; time stamp of the measurement result; ; Propagation delay of the second reference signal; Quality of each measurement; Time difference of arrival.
  • the transceiving time difference includes the transceiving time difference related to the sending time of the first reference signal, or the receiving time difference related to the first reference signal.
  • the manner of calculating the positioning result of the target terminal includes but is not limited to at least one of TDOA, SL-TDOA, SL-AoD, E-CID, AoA, AoD, ToA, Multi-RTT, and A-GNSS.
  • the target terminal is at least one of the first terminal and the second terminal.
  • first terminals there are one or more first terminals, and there are also one or more second terminals.
  • technicians may change or change the embodiment according to the actual number of terminals.
  • the first reference signal and the second reference signal cannot collide in the time domain.
  • the first terminal 141 receives the first reference signal sent by the second terminal 142
  • the second terminal 142 receives the first reference signal sent by the first terminal 141.
  • Sending the second reference signal and the first measurement report because there is a time difference between the first reference signal and the second reference signal
  • the first measurement report includes the time difference between the sending and receiving of the first reference signal
  • the second measurement report includes the sending and receiving time difference of the second reference signal
  • the second terminal 142 calculates the positioning result of the first terminal 141 and/or the positioning result of the second terminal 142 according to the first measurement report and the second measurement report.
  • the first terminal when the first terminal includes multiple terminals and the second terminal includes one terminal, one second terminal sends the first reference signal to multiple first terminals, and multiple first terminals receive the first reference signal sent by the second terminal. After the first reference signal, the multiple first terminals respectively send the second reference signal and the first measurement report to the second terminal. After the second terminal receives multiple second reference signals and first measurement reports sent by multiple first terminals, the second terminal calculates the positioning results and /or a positioning result of a second terminal.
  • the multiple second terminals send the first reference signal to the first terminal, and the first terminal receives multiple reference signals sent by the multiple second terminals.
  • the first terminal sends the second reference signal to multiple second terminals respectively, and reports the first measurement report to the network device.
  • the second terminal calculates the positioning result of one first terminal and/or the positioning result of multiple second terminals according to the first measurement report and the second measurement report positioning results.
  • the measurement result of the first terminal on the first reference signal and/or the measurement result of the second terminal on the second reference signal include at least one of the displayed measurement results:
  • Measurement results of terminals configured with reference signals Measurement results of PCI, GCI and TRP ID Rx-Tx time difference PRS-RSRP Angle of Arrival (Azimuth and Elevation) Timestamp of the measurement result The quality of each measurement
  • the method provided by this embodiment realizes the positioning of the target terminal through the side link, does not need to consume the resources of the network equipment, and can reduce the computing pressure of the network equipment.
  • the device reports data, which can save uplink channel and downlink channel resources, and can also save sidelink resources.
  • the calculation process of the positioning result is implemented by the second terminal, it is not necessary for the first terminal to have a strong calculation capability, and the requirements for the first terminal are relatively low.
  • Fig. 15 shows a flowchart of a terminal positioning method provided by an exemplary embodiment of the present application. This embodiment is illustrated by taking the application in the communication system shown in Figure 1 as an example, and the method includes:
  • step 151 the second terminal sends the first reference signal to the first terminal.
  • the first reference signal is a positioning reference signal of the sidelink.
  • the first reference signal is a positioning reference signal or a position reference signal for the sidelink, or in other words, the first reference signal is a reference signal for positioning the target terminal in a sidelink scenario.
  • the first reference signal is used to determine the location information of the target terminal and/or the distance information of the target terminal.
  • the position information includes absolute position or relative position.
  • the first reference signal includes: at least one of SL-PRS, CSI-RS, DMRS, PTRS, SSB, and SRS.
  • the second terminal 162 sends the first reference signal to the first terminal 161
  • step 152 the first terminal receives a first reference signal sent by at least one second terminal.
  • the second terminals may be understood as multiple terminal entities, or multiple antenna units of the same terminal entity.
  • step 153 the first terminal sends the second reference signal to the second terminal.
  • the second reference signal is a positioning reference signal of the sidelink.
  • step 154 the second terminal sends a second measurement report to the first terminal.
  • the second measurement report includes measurement results of the second reference signal.
  • the measurement result of the second reference signal includes at least one of the following: RSRP/RSRQ of the second reference signal; angle of arrival of the second reference signal; transmission angle of the second reference signal; time stamp of the measurement result; ; Propagation delay of the second reference signal; Quality of each measurement; Time difference of arrival.
  • the transceiving time difference includes the transceiving time difference related to the sending time of the first reference signal, or the receiving time difference related to the first reference signal.
  • step 155 the first terminal receives the second measurement report sent by the second terminal.
  • step 156 the first terminal calculates the positioning result of the target terminal according to the first measurement report and the second measurement report.
  • the first measurement report includes a measurement report of the first reference signal.
  • the measurement result of the first reference signal includes at least one of the following: RSRP/RSRQ of the first reference signal; angle of arrival of the first reference signal; transmission angle of the first reference signal; time stamp of the measurement result; ; the propagation delay of the first reference signal; the quality of each measurement; the time difference of arrival.
  • the transceiving time difference includes the transceiving time difference related to the sending time of the first reference signal, or the receiving time difference related to the first reference signal.
  • first terminals there are one or more first terminals, and there are also one or more second terminals.
  • technicians may modify or change the embodiment according to the actual number of terminals.
  • the first reference signal and the second reference signal cannot collide in the time domain.
  • the manner of calculating the positioning result of the target terminal includes but not limited to at least one of TDOA, SL-TDOA, SL-AoD, E-CID, AoD, ToA, Multi-RTT, and A-GNSS.
  • the target terminal is at least one of the first terminal and the second terminal.
  • the first terminal 161 receives the first reference signal sent by the second terminal 162, and the second terminal 162 receives the first reference signal sent by the first terminal 161.
  • the first measurement report includes the first reference The time difference between sending and receiving signals
  • the second measurement report includes the time difference between sending and receiving the second reference signal
  • the first terminal 161 calculates the positioning result of the first terminal 161 and/or the positioning result of the second terminal 62 according to the first measurement report and the second measurement report .
  • the first terminal when the first terminal includes multiple terminals and the second terminal includes one terminal, one second terminal sends the first reference signal to multiple first terminals, and multiple first terminals receive the first reference signal sent by the second terminal. After the first reference signal, the multiple first terminals respectively send the second reference signal to the second terminal. After receiving multiple second reference signals sent by multiple first terminals, the second terminal will send a second measurement report to the corresponding first terminal according to the second reference signal, and the first terminal will transmit the second measurement report based on the first measurement report and the second The second measurement report calculates the positioning results of multiple first terminals and/or the positioning result of one second terminal.
  • the multiple second terminals send the first reference signal to the first terminal, and the first terminal receives multiple reference signals sent by the multiple second terminals. After the first reference signal, the first terminal sends the second reference signal to multiple second terminals respectively. After multiple second terminals receive the second reference signal sent by the first terminal, they will send a second measurement report to the first terminal, and the first terminal will calculate a first terminal's A positioning result and/or positioning results of multiple second terminals.
  • the measurement result of the first terminal on the first reference signal and/or the measurement result of the second terminal on the second reference signal include at least one of the displayed measurement results:
  • Measurement results of terminals configured with reference signals Measurement results of PCI, GCI and TRP ID Rx-Tx time difference PRS-RSRP
  • the method provided by this embodiment realizes the positioning of the target terminal through the side link, does not need to consume the resources of the network equipment, and can reduce the computing pressure of the network equipment.
  • the data reported by the device can save the resources of the uplink channel and the downlink channel, and ensure that the calculation process has better real-time performance.
  • the vehicle network scenario only two vehicles are needed to obtain the positioning result, and no access of other vehicles is required, and the resources of the side link can also be saved.
  • the calculation process of the positioning result is implemented by the first terminal, it does not require the second terminal to have a strong calculation capability, and the requirements for the first terminal are relatively low, and better real-time performance can be obtained.
  • FIG. 17 shows a flowchart of a reference signal configuration method provided by an exemplary embodiment of the present application. This embodiment is illustrated by taking the application in the communication system shown in Figure 1 as an example, and the method includes:
  • step 171 the first terminal and/or the second terminal generates configuration information of the first reference signal.
  • the configuration information of the first reference signal includes at least one of the following: the number of receiving/sending terminals of the first reference signal; information of receiving/sending terminals of the first reference signal; the type of the first reference signal; The measurement interval of the reference signal.
  • the measurement interval of the first reference signal is sent by the network device; or, the measurement interval of the first reference signal is configured by the network device when receiving a request from the first terminal and/or the second terminal.
  • the type of the first reference signal includes at least one of a periodic signal, an aperiodic signal and a semi-persistent signal.
  • the information of the receiving terminal is the identifier of the target terminal (which may be UE ID, such as layer 2 ID, or destination ID).
  • the sending terminal information is the identifier of the terminal sending the reference signal (it can be UE ID, such as layer 2 ID, or destination ID).
  • the configuration information of the first reference signal may also include at least one of the following: the start time of transmission of the first reference signal (Start time of PRS transmission); the end time of transmission of the first reference signal (end time of PRS transmission) ; The resource bandwidth (PRS resource bandwidth) of the first reference signal; The resource set identifier (PRS resource set IDs) of the first reference signal; The resource identifier (PRS resource IDs) of the first reference signal; The transmission cycle and the first reference signal Offset (PRS transmission periodicity and offset); the resource repetition parameter (PRS resource repetition factor) of the first reference signal; in the resources of each first reference signal, the number of symbols of the first reference signal (Number of PRS symbols per PRS resource ); PRS muting patterns of the first reference signal; in each resource set of the first reference signal, the number of resources of the first reference signal; the number or indication of the frequency layer; the beam direction; the comb of the first reference signal Shape size, start physical resource block and point A (Comb size, start PRB, Point A
  • the configuration information of the first reference signal may also include beam information associated with the first reference signal, where the beam information is Single Side Band (Single Side Band, SSB), Channel State Information Reference Signal (Channel State Information Reference Signal, CSIRS), at least one of PRS.
  • the beam information is Single Side Band (Single Side Band, SSB), Channel State Information Reference Signal (Channel State Information Reference Signal, CSIRS), at least one of PRS.
  • SSB Single Side Band
  • CSIRS Channel State Information Reference Signal
  • the first terminal and/or the second terminal generates configuration information of the second reference signal.
  • the first terminal and the second terminal generate configuration information of the second reference signal according to the same generation strategy.
  • the configuration information of the second reference signal includes at least one of the following: the number of receiving/sending terminals of the second reference signal; information of receiving/sending terminals of the second reference signal; the type of the second reference signal; The measurement interval of the reference signal.
  • the measurement interval of the second reference signal is sent by the network device; or, the measurement interval of the second reference signal is configured by the network device when receiving a request from the first terminal and/or the second terminal.
  • the type of the second reference signal includes at least one of a periodic signal, an aperiodic signal and a semi-persistent signal.
  • the information of the receiving terminal is the identifier of the target terminal (which may be UE ID, such as layer 2 ID, or destination ID).
  • the sending terminal information is the identifier of the terminal sending the reference signal (it can be UE ID, such as layer 2 ID, or destination ID).
  • the configuration information of the second reference signal may also include at least one of the following: the transmission start time of the second reference signal; the transmission end time of the second reference signal; the resource bandwidth of the second reference signal; Resource set identification; resource identification of the second reference signal; transmission period and offset of the second reference signal; resource repetition parameters of the second reference signal; in each resource of the second reference signal, the number of symbols of the second reference signal ; the silent mode of the second reference signal; in each resource set of the second reference signal, the resource quantity of the second reference signal; the number or indication of the frequency layer; the beam direction; the comb size of the second reference signal, the starting physical Resource block and point A; start indication or end indication of the second reference signal.
  • the configuration information of the second reference signal may further include beam information associated with the second reference signal, where the beam information is at least one of SSB, CSIRS, and PRS.
  • the first terminal configures the reference signal for sidelink positioning.
  • the above solution configures the reference signal for positioning through the first information, which can realize more precise regulation of the reference signal, and further makes the positioning of the target terminal and the terminal based on the reference signal more flexible and controllable.
  • Fig. 18 shows a flowchart of a terminal configuration method provided by an exemplary embodiment of the present application. This embodiment is illustrated by taking the application in the communication system shown in Figure 1 as an example, and the method includes:
  • step 181 the first terminal and/or the second terminal receives first information, where the first information includes configuration information of the first reference signal.
  • the configuration information of the first reference signal includes at least one of the following: the number of receiving/sending terminals of the first reference signal; information of receiving/sending terminals of the first reference signal; the type of the first reference signal; The measurement interval of the reference signal.
  • the measurement interval of the first reference signal is sent by the network device; or, the measurement interval of the first reference signal is configured by the network device when receiving a request from the first terminal and/or the second terminal.
  • the type of the first reference signal includes at least one of a periodic signal, an aperiodic signal and a semi-persistent signal.
  • the information of the receiving terminal is the identifier of the target terminal (which may be UE ID, such as layer 2 ID, or destination ID).
  • the sending terminal information is the identifier of the terminal sending the reference signal (it can be UE ID, such as layer 2 ID, or destination ID).
  • the configuration information of the first reference signal may also include at least one of the following: the transmission start time of the first reference signal; the transmission end time of the first reference signal; the resource bandwidth of the first reference signal; Resource set identification; resource identification of the first reference signal; transmission period and offset of the first reference signal; resource repetition parameters of the first reference signal; in each resource of the first reference signal, the number of symbols of the first reference signal ; the silence pattern of the first reference signal; in each resource set of the first reference signal, the resource quantity of the first reference signal; the number or indication of frequency layers; the beam direction; the comb size of the first reference signal, the starting physical Resource block and point A; start indication or end indication of the first reference signal.
  • the first information is sent by the LMF or the network device or the second terminal.
  • the first information is sent by the LMF or the network device or the first terminal.
  • the configuration information of the first reference signal may further include beam information associated with the first reference signal, where the beam information is at least one of SSB, CSIRS, and PRS.
  • the first terminal/second terminal receives second information, where the second information includes configuration information of the second reference signal.
  • the configuration information of the second reference signal includes at least one of the following: the number of receiving/sending terminals of the second reference signal; information of receiving/sending terminals of the second reference signal; the type of the second reference signal; The measurement interval of the reference signal.
  • the measurement interval of the second reference signal is sent by the network device; or, the measurement interval of the second reference signal is configured by the network device when receiving a request from the first terminal and/or the second terminal.
  • the type of the second reference signal includes at least one of a periodic signal, an aperiodic signal and a semi-persistent signal.
  • the information of the receiving terminal is the identifier of the target terminal (which may be UE ID, such as layer 2 ID, or destination ID).
  • the sending terminal information is the identifier of the terminal sending the reference signal (it can be UE ID, such as layer 2 ID, or destination ID).
  • the configuration information of the second reference signal may also include at least one of the following: the transmission start time of the second reference signal; the transmission end time of the second reference signal; the resource bandwidth of the second reference signal; Resource set identification; resource identification of the second reference signal; transmission period and offset of the second reference signal; resource repetition parameters of the second reference signal; in each resource of the second reference signal, the number of symbols of the second reference signal ; the silence pattern of the second reference signal; in each resource set of the second reference signal, the resource quantity of the second reference signal; the number or indication of the frequency layer; the beam direction; the comb size of the second reference signal, the starting physical Resource block and point A; start indication or end indication of the second reference signal.
  • the configuration information of the second reference signal may further include beam information associated with the second reference signal, where the beam information is at least one of SSB, CSIRS, and PRS.
  • the first information is sent through the LTE Positioning Protocol (LTE Positioning Protocol, LPP);
  • the first information is carried in a radio resource control (Radio Resource Control, RRC) message, a media access control control element (Media Access Control Control Element, MAC CE), a downlink At least one of Downlink Control Information (DCI) and pre-configuration information;
  • RRC Radio Resource Control
  • MAC CE Media Access Control Control Element
  • DCI Downlink Control Information
  • the first information is carried in at least one of PC5-S message, PC5-RRC message, MAC CE, and side link control information (Side Link Control Information, SCI).
  • Fig. 19 shows a block diagram of an apparatus for locating a terminal provided by an exemplary embodiment of the present application.
  • the device 190 includes:
  • the first receiving module 191 is configured to receive a first reference signal sent by at least one second terminal, where the first reference signal is a positioning reference signal of a sidelink; the first reference signal is used for positioning a target terminal .
  • the device further includes: a first positioning module 192, further configured to calculate the positioning result of the target terminal according to the measurement result of the first reference signal; wherein, the target The terminal is at least one of the apparatus and the second terminal.
  • the device further includes: a first sending module 193, configured to send a first measurement report to the second terminal, and the second terminal calculates the first measurement report according to the first measurement report.
  • the positioning result of the target terminal or, the first sending module 194, configured to report a first measurement report to the network device, and the network device calculates the positioning result of the target terminal according to the first measurement report; wherein, the The target terminal is at least one of the apparatus and the second terminal, and the first measurement report includes a measurement result of the first reference signal.
  • the first sending module 193 is configured to send a second reference signal to the second terminal, and the second terminal is configured to report a second measurement report to the network device, and the second The measurement report includes the measurement result of the second reference signal; the first sending module 194 is configured to report the first measurement report to the network device; the network device is configured to use the first measurement report and the second The measurement report calculates the positioning result of the target terminal; or, the first sending module 193 is configured to send the first measurement report and the second reference signal to the second terminal, and the second terminal is used to report the target terminal to the network device.
  • the first measurement report and the second measurement report; the network device is configured to calculate the positioning result of the target terminal according to the first measurement report and the second measurement report; or, the first sending module 193 is configured to Sending the first measurement report and the second reference signal to the second terminal, where the second terminal is used to calculate the positioning result of the target terminal according to the first measurement report and the second measurement report; or, the first sending module 193 , configured to send a second reference signal to the second terminal, and the device receives a second measurement report sent by the second terminal; the first positioning module 192 is configured to use the first measurement report and the second The second measurement report calculates the positioning result of the target terminal; wherein, the target terminal is at least one of the device and the second terminal, and the first measurement report includes the measurement result of the first reference signal , the second measurement report includes a measurement result of the second reference signal.
  • the first reference signal is used to determine location information of the target terminal, where the location information includes an absolute location and/or a relative location.
  • the measurement result includes at least one of the following: RSRP/RSRQ of the reference signal; angle of arrival of the reference signal; transmission angle of the reference signal; time stamp of the measurement result; Transceive time difference; propagation delay of reference signal; quality of each measurement result; time difference of arrival.
  • the first reference signal is used to determine location information of the target terminal and/or distance information of the target terminal.
  • the first reference signal is at least one of SL-PRS, CSI-RS, DMRS, PTRS, and SSB.
  • the first generating module 194 is configured to generate configuration information of the first reference signal; or, the first receiving module 192 is also configured to receive first information, and the first The information includes configuration information of the first reference signal.
  • the configuration information includes at least one of the following: the number of receiving/sending terminals of the first reference signal; information of receiving/sending terminals of the first reference signal; the The type of the first reference signal; the measurement interval for receiving/sending the first reference signal.
  • the measurement interval of the first reference signal is sent by a network device; or, the measurement interval of the first reference signal is when the network device receives the request from the device configured.
  • the first information is sent by a network device or the second terminal.
  • the first generating module 194 is configured to generate configuration information of the second reference signal; or, the first receiving module 192 is configured to receive second information, and the second information includes Configuration information of the second reference signal.
  • the configuration information of the second reference signal includes at least one of the following: the number of receiving/sending terminals of the second reference signal; the number of receiving/sending terminals of the second reference signal information; the type of the second reference signal; the measurement interval of the second reference signal.
  • the measurement interval of the second reference signal is sent by the network device; or, the measurement interval of the second reference signal is when the network device receives the request from the device configured.
  • this method realizes the positioning of the target terminal through the side link, and the positioning result of the target terminal can be obtained through the interaction between the terminals, which can improve the positioning efficiency and reduce the calculation pressure of the network equipment. Moreover, a brand-new positioning method of a terminal based on a side link is also provided.
  • Fig. 20 shows a block diagram of an apparatus for locating a terminal provided by an exemplary embodiment of the present application.
  • the device 2000 includes:
  • the second sending module 2001 is configured to send a first reference signal to the first terminal, where the first reference signal is used to locate the target terminal, and the first reference signal is a sidelink positioning reference signal.
  • the second receiving module 2002 is configured to receive the first measurement report sent by the first terminal.
  • the second positioning module 2003 is configured to calculate the positioning result of the target terminal according to the first measurement report; wherein, the target terminal is at least one of the first terminal and the device, and the first The measurement report includes measurement results of the first reference signal.
  • the second receiving module 2002 is configured to receive the second reference signal sent by the first terminal; the second sending module 2004 is configured to report the second measurement report to the network device, the The second measurement report includes the measurement result of the second reference signal; the first terminal is used to report the first measurement report to the network device; the network device is used to report the first measurement report according to the first measurement report and the first measurement report.
  • the second measurement report calculates the positioning result of the target terminal; or, the second receiving module 2002 is used to receive the first measurement report and the second reference signal sent by the first terminal; the second sending module 2004 is used to send to the network The device reports the first measurement report and the second measurement report; the network device is used to calculate the positioning result of the target terminal according to the first measurement report and the second measurement report; or, the second receiving The module 2002 is further configured to receive the first measurement report and the second reference signal sent by the first terminal; the second positioning module 2003 is configured to calculate the positioning result of the target terminal according to the first measurement report and the second measurement report or, the second receiving module 2002 is configured to receive the second reference signal sent by the first terminal; the second sending module is also configured to send a second measurement report to the first terminal, and the first The terminal is used to calculate the positioning result of the target terminal according to the first measurement report and the second measurement report; wherein, the target terminal is at least one of the first terminal and the device, and the first The measurement report includes measurement results of the first reference signal, and the second measurement report includes measurement
  • the first reference signal is used to determine location information of the target terminal, where the location information includes an absolute location and/or a relative location.
  • the measurement result includes at least one of the following: RSRP of the reference signal; RSRQ of the reference signal; angle of arrival of the reference signal; transmission angle of the reference signal; Transceive time difference of reference signal; propagation delay of reference signal; quality of each measurement result; time difference of arrival.
  • the first reference signal is used to determine location information of the target terminal and/or distance information of the target terminal.
  • the location information includes an absolute location or a relative location.
  • the first reference signal is at least one of SL-PRS, CSI-RS, DMRS, PTRS, SSB, and SRS.
  • the second reference signal is at least one of SL-PRS, CSI-RS, DMRS, PTRS, SSB, and SRS.
  • the types of the first reference signal and the second reference signal are the same or different.
  • the second generating module 2004 is configured to generate the configuration information of the first reference signal; or, the second receiving module 2002 is configured to receive the first information, and the first The information includes configuration information of the first reference signal.
  • the first information includes at least one of the following information: the number of receiving/sending terminals of the first reference signal; the number of receiving/sending terminals of the first reference signal information; the type of the first reference signal; the measurement interval of the first reference signal.
  • the measurement interval of the first reference signal is sent by a network device; or, the measurement interval of the first reference signal is when the network device receives the request from the device configured.
  • the first information is sent by a network device or the first terminal.
  • the second generating module 2004 is configured to generate configuration information of the second reference signal; or, the second receiving module 2002 is configured to receive second information, and the second The information includes configuration information of the second reference signal.
  • the configuration information of the second reference signal includes at least one of the following: the number of receiving/sending terminals of the second reference signal; the number of receiving/sending terminals of the second reference signal information; the type of the second reference signal; the measurement interval of the second reference signal.
  • the measurement interval of the second reference signal is sent by the network device; or, the measurement interval of the second reference signal is when the network device receives the request from the device configured.
  • the second information is sent by a location management function LMF or a network device or the first terminal.
  • this method realizes the positioning of the target terminal through the side link, and the positioning result of the target terminal can be obtained through the interaction between the terminals, which can improve the positioning efficiency and reduce the calculation pressure of the network equipment. Moreover, a brand-new positioning method of a terminal based on a side link is also provided.
  • FIG. 21 shows a schematic structural diagram of a communication device (a first terminal or a second terminal or a network device) provided by an embodiment of the present application.
  • the communication device may be used to implement the above terminal positioning method.
  • the communication device 2100 may include: a processor 2101 , a receiver 2102 , a transmitter 2103 , a memory 2104 and a bus 2105 .
  • the processor 2101 includes one or more processing cores, and the processor 2101 executes various functional applications and information processing by running software programs and modules.
  • the receiver 2102 and the transmitter 2103 can be realized as a transceiver 2106, and the transceiver 2106 can be a communication chip.
  • the memory 2104 is connected to the processor 2101 through the bus 2105 .
  • the memory 2104 can be used to store a computer program, and the processor 2101 is used to execute the computer program, so as to implement various steps performed by the terminal or network device (access network entity, core network element or core network entity) in the above method embodiments.
  • the transmitter 2103 is used to perform the steps related to sending in the above-mentioned various method embodiments; the receiver 2102 is used to perform the steps related to receiving in the above-mentioned various method embodiments; the processor 2101 is used to perform the steps in the above-mentioned various embodiments except Steps other than the send and receive steps.
  • the memory 1304 can be realized by any type of volatile or nonvolatile storage device or their combination, and the volatile or nonvolatile storage device includes but not limited to: RAM (Random-Access Memory, Random Access Memory) And ROM (Read-Only Memory, read-only memory), EPROM (Erasable Programmable Read-Only Memory, erasable programmable read-only memory), EEPROM (Electrically Erasable Programmable Read-Only Memory, electrically erasable programmable read-only memory memory), flash memory or other solid-state storage technology, CD-ROM (Compact Disc Read-Only Memory, CD-ROM), DVD (Digital Video Disc, high-density digital video disc) or other optical storage, tape cartridges, tapes, disks storage or other magnetic storage devices.
  • RAM Random-Access Memory
  • ROM Read-Only Memory
  • EPROM Erasable Programmable Read-Only Memory, erasable programmable read-only memory
  • EEPROM Electrically Erasable Programmable Read-Only
  • the embodiment of the present application also provides a non-volatile computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor of the terminal, the foregoing method for locating the terminal is implemented.
  • the embodiment of the present application also provides a chip, the chip includes a programmable logic circuit and/or program instructions, and when the chip is run on a terminal device, it is used to implement the above terminal positioning method.
  • the embodiment of the present application also provides a computer program product or computer program, the computer program product or computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium, and the processor of the terminal device reads from the computer The readable storage medium reads and executes the computer instructions, so as to realize the above terminal positioning method.

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Abstract

本申请公开了一种终端的定位方法、装置、终端及介质，属于通信技术领域。所述方法包括：第一终端接收至少一个第二终端发送的第一参考信号，所述第一参考信号是侧行链路的定位参考信号；所述第一终端根据所述第一参考信号对目标终端进行定位。本申请提供了一种全新的在侧行链路的通信场景下的定位服务，可由不同终端之间的交互来得到目标终端的定位结果，以及降低网络设备的计算压力。

Description

终端的定位方法、装置、设备及介质 技术领域
本申请涉及通信领域，特别涉及一种终端的定位方法、装置、设备及系统。
背景技术
定位服务是日常生活中不可或缺的服务之一。基于无线电技术的定位技术得到了广泛使用。
相关技术中通过移动通信系统中的多个基站来发送定位参考信号(Positioning Reference Signal，PRS)。终端基于多个基站发送的定位参考信号来定位自身的位置。
在基于侧行链路(Side Link，SL)的通信场景中不一定具有基站，如何基于侧行链路进行定位是亟待研究的技术问题。
发明内容
本申请实施例提供了一种终端的定位方法、装置、终端及介质，提供了一种在侧行链路的通信场景下的定位服务。
根据本申请实施例的一方面，提供了一种终端的定位方法，该方法包括：
第一终端接收至少一个第二终端发送的第一参考信号，所述第一参考信号是侧行链路的定位参考信号；
所述第一终端根据所述第一参考信号对目标终端进行定位。
根据本申请实施例的另一方面，提供了一种终端的定位装置，该装置包括：
第一接收模块，用于接收至少一个第二终端发送的第一参考信号，所述第一参考信号是侧行链路的定位参考信号；
第一定位模块，用于根据所述第一参考信号对目标终端进行定位。
发送角度根据本申请实施例的另一方面，提供了一种终端的定位方法，该方法包括：
第二终端向第一终端发送第一参考信号，所述第一参考信号用于对目标终端进行定位，所述第一参考信号是侧行链路的定位参考信号。
根据本申请实施例的另一方面，提供了一种终端的定位装置，该装置包括：
第二发送模块，用于向第一终端发送第一参考信号，所述第一参考信号用于对目标终端进行定位，所述第一参考信号是侧行链路的定位参考信号。
发送角度根据本申请实施例的另一方面，提供了一种终端，该终端包括：
处理器；
与处理器相连的收发器；
用于存储处理器可执行指令的存储器；
其中，处理器被配置为加载并执行可执行指令以实现上述任一所述的终端的定位方法。
根据本申请实施例的另一方面，提供了一种芯片，该芯片用于实现上述任一所述的终端的定位方法。
根据本申请实施例的另一方面，提供了一种计算机可读存储介质，该计算机可读存储介质中存储有至少一条指令、至少一段程序、代码集或指令集，所述至少一条指令、所述至少一段程序、所述代码集 或指令集由所述处理器加载并执行以实现上述任一所述的终端的定位方法。
本申请实施例提供的技术方案包括以下有益效果：
该方法通过侧行链路来实现目标终端的定位，可由不同终端之间的交互来得到目标终端的定位结果，可以提高定位效率，降低网络设备的计算压力。而且还提供了一种全新的在侧行链路的通信场景下的定位服务。
附图说明
图1是根据一示例性实施例示出的一种通信系统的示意图；
图2是根据一示例性实施例示出的一种终端的定位方法的流程图；
图3是根据一示例性实施例示出的一种终端的定位方法的流程图；
图4是根据一示例性实施例示出的一种终端的定位方法的示意图；
图5是根据一示例性实施例示出的一种终端的定位方法的流程图；
图6是根据一示例性实施例示出的一种终端的定位方法的示意图；
图7是根据一示例性实施例示出的一种终端的定位方法的流程图；
图8是根据一示例性实施例示出的一种终端的定位方法的示意图；
图9是根据一示例性实施例示出的一种终端的定位方法的流程图；
图10是根据一示例性实施例示出的一种终端的定位方法的示意图；
图11是根据一示例性实施例示出的一种终端的定位方法的流程图；
图12是根据一示例性实施例示出的一种终端的定位方法的示意图；
图13是根据一示例性实施例示出的一种终端的定位方法的流程图；
图14是根据一示例性实施例示出的一种终端的定位方法的示意图；
图15是根据一示例性实施例示出的一种终端的定位方法的流程图；
图16是根据一示例性实施例示出的一种终端的定位方法的示意图；
图17是根据一示例性实施例示出的一种终端的定位方法的流程图；
图18是根据一示例性实施例示出的一种终端的定位方法的示意图；
图19是根据一示例性实施例示出的一种终端的定位装置的框图；
图20是根据一示例性实施例示出的一种终端的定位装置的框图；
图21是根据一示例性实施例示出的一种网络设备的结构示意图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。
图1示出了本申请一个示意性实施例提供的通信系统的架构示意图。如图1所示，该系统架构可以包括：用户设备(User Equipment，UE)、下一代无线接入网(Next Generation-Radio Access Network，NG-RAN)、位置管理功能(Location Management Function，LMF)、接入和移动性管理功能(Access and Mobility Management Function，AMF)、增强的服务移动位置中心(Enhanced-Service Mobile Location  Center，E-SMLC)、服务定位协议(Service Location Protocol，SLP)。
UE：是移动用户与网络交互的入口，能够提供基本的计算能力、存储能力，向用户显示业务窗口，接受用户操作输入。UE会采用下一代空口技术，与NG-RAN建立信号连接、数据连接，从而传输控制信号和业务数据到移动网络。UE之间可以通过PC5接口实现侧行链路上的链接。不同UE之间可以通过PC5接口实现侧行链路上的链接和通信。比如，UE1和UE2之间通过基于PC5接口的侧行链路进行通信。
NG-RAN：包括升级后的4G基站(next generation-evolved Node B，ng-eNB)和5G基站(next generation-NodeB，gNB)。其中，ng-eNB是NG-RAN的网络元件，其可以提供用于位置估计的测量结果，并且针对目标UE进行无线信号的测量，并将这些测量结果传送给LMF。ng-eNB响应于来自LMF的请求(按需或定期)进行其测量。ng-eNB可以服务多个TP，包括例如远程无线头和仅定位参考信号(Positioning Reference Signal，PRS)用于演进的通用地面无线接入网(Evolving-Universal Terrestrial Radio Access，E-UTRA)的基于PRS的地面信标系统定位。gNB是NG-RAN的网络元件，其可以为目标UE提供测量信息并将该信息传送给LMF。需要说明的是，gNB和ng-eNB可能不总是都存在。当gNB和ng-eNB都存在时，NG-C接口仅存在其中一个。UE与gNB之间通过新空口-用户设备(New Radio-User equipment，NR-Uu)接口连接，其中，NR-Uu接口是具有对NG-RAN的NR接入的目标UE的LTE定位协议的若干传输链路之一。UE与ng-eNB之间通过长期演进-用户设备(Long Term Evolution-User equipment，LTE-Uu)接口连接，其中，LTE-Uu接口是LTE定位协议的若干传输链路之一。
LMF：用于管理针对目标UE的不同位置服务的支持，包括UE的定位和向UE的辅助数据的递送。LMF可以与服务gNB或服务ng-eNB交互以用于目标UE，以便获得UE的位置测量，包括由ng-eNB进行的上行链路测量和由UE提供给ng-eNB的下行链路测量。基站(evolved Node B，eNB)作为其他功能的一部分，例如用于支持切换。LMF可以与目标UE交互，以便在请求特定位置服务时传送辅助数据，或者如果请求则获得位置估计。
AMF：用于从另一实体接收对与特定目标UE相关联的一些位置服务的请求，或者AMF本身决定代表特定目标UE发起一些位置服务(例如，用于来自该特定目标UE的IMS紧急呼叫)。然后，AMF向LMF发送位置服务请求。LMF处理位置服务请求，其可以包括将辅助数据传送到目标UE以辅助基于UE和/或UE辅助的定位和/或可以包括目标UE的定位。然后，LMF将位置服务的结果返回给AMF请求的位置服务的情况下，AMF返回位置服务结果到此实体。
E-SMLC：用于定位UE的位置。
SLP：是负责在用户平面上定位的安全用户平面(Secure user plane，SUPL)实体。
图2示出了本申请一个示例性实施例提供的终端的定位方法的流程图。该实施例以应用在如图1所示的通信系统中进行举例说明，该方法包括：
在步骤201中：第二终端向第一终端发送第一参考信号。
第二终端为一个或多个。比如，在测量第一终端的相对位置的情况下，第二终端为一个；又比如，在测量第一终端和第二终端之间的相对距离的情况下，第二终端为一个；再比如，在测量第一终端的绝对位置的情况下，第二终端为三个等等。本实施例不限定第二终端的数量。
第一参考信号是侧行链路的定位参考信号。第一参考信号是用于侧行链路的定位参考信号或位置参考信号，或者说，第一参考信号是用于在侧行链路场景下对目标终端进行定位的参考信号。第一参考信号用于确定目标终端的位置信息和/或目标终端的距离信息。该位置信息包括绝对位置或相对位置。
可选地，目标终端是第一终端或第二终端。
可选地，第一终端或第二终端是终端设备和路边单元(Road Side Unit，RSU)中的至少一种。
在步骤202中：第一终端接收至少一个第二终端发送的第一参考信号。
在第二终端为多个的情况下，第二终端可以理解为多个终端实体，或者是同一个终端实体的多个天线单元。
比如，某一个终端实体包括2个天线单元，2个天线单元发射不同的第一参考信号。这2个天线单元可理解为2个第二终端。
在步骤203中：第一终端根据第一参考信号对目标终端进行定位。
可选地，第一终端采用基于时间差进行定位的定位技术，根据第一参考信号对目标终端进行定位。示例性的，时间差是指不同位置的第二终端发送的参考信号的时间差，或者，同一位置的第二终端的参考信号的收发时间差。
可选地，第一终端采用基于角度进行定位的定位技术，根据第一参考信号对目标终端进行定位。该角度是第一参考信号的发送角度或接收角度。
示意性的，目标终端是第一终端或第二终端。
综上所述，本实施例提供的方法，通过侧行链路上发送的第一参考信号来实现目标终端的定位，可由终端之间的交互来得到目标终端的定位结果，可以提高定位效率，降低网络设备的计算压力。而且还提供了一种全新的基于侧行链路的终端的定位方法。
图3示出了本申请一个示例性实施例提供的终端的定位方法的流程图。该实施例以应用在如图1所示的通信系统中进行举例说明，该方法包括：
在步骤301中：第二终端向第一终端发送第一参考信号。
第二终端为一个或多个。比如，在测量第一终端的相对位置的情况下，第二终端为一个；又比如，在测量第一终端和第二终端之间的相对距离的情况下，第二终端为一个；再比如，在测量第一终端的绝对位置的情况下，第二终端为三个等等。本实施例不限定第二终端的数量。
第一参考信号是侧行链路的定位参考信号。第一参考信号是用于侧行链路的定位参考信号或位置参考信号，或者说，第一参考信号是用于在侧行链路场景下对目标终端进行定位的参考信号。第一参考信号用于确定目标终端的位置信息和/或目标终端的距离信息。该位置信息包括绝对位置或相对位置。
示例性的，第一参考信号包括：侧行链路定位参考信号(Side Link-Position Reference Signal，SL-PRS)、信道状态信息参考信号(Channel State Information-Reference Signals，CSI-RS)、解调参考信号(Demodulation Reference Signal，DMRS)、相位跟踪参考信号(Phase Tracking Reference Signal，PTRS)、系统同步块(System Synchronization Block，SSB)、探测参考信号(Sounding Reference Signal，SRS)中的至少一种。
示例性的，如图4所示，第二终端41、第二终端42和第二终端43分别向第一终端44发送第一参考信号。
在步骤302中：第一终端接收至少一个第二终端发送的第一参考信号。
在第二终端为多个的情况下，第二终端可以理解为多个终端实体，或者是同一个终端实体的多个天线单元。
比如，某一个终端实体包括2个天线单元，2个天线单元发射不同的第一参考信号。这2个天线单元可理解为2个第二终端。
在步骤303中：第一终端根据第一参考信号的测量结果，计算目标终端的定位结果。
可选地，第一参考信号的测量结果包括如下至少之一：第一参考信号的第一参考信号接收功率(Reference Signal Received Power，RSRP)；第一参考信号的第一参考信号接收质量(Reference Signal Received Quality，RSRQ)；第一参考信号的到达角度；第一参考信号的发送角度；测量结果的时间戳；收发时间差；第一参考信号的传播时延；每个测量结果的质量；到达时间差。
其中，收发时间差包括与第一参考信号的发送时间有关的收发时间差，或与第一参考信号的接收时间有关的收发时间差。
目标终端是第一终端和第二终端中的至少一种。
可选地，根据第一参考信号的测量结果，计算目标终端的定位结果的方式包括但不限于到达时间差(Time Difference of Arrival，TDOA)、侧行到达时间差(Side Link-Time Difference of Arrival，SL-TDOA)、侧行偏离角(Side Link-Angle of Departure，SL-AoD)、侧行到达角(Side Link-Angle of Arrival，SL-AOA)、增强型小区识别(Enhanced-Cell Identity Document，E-CID)、到达角(Angle of Arrival，AoA)、偏离角(Angle of Departure，AoD)、到达时间(Time of Arrival，ToA)、多次往返时间(Multi Round Trip Time，Multi-RTT)、网络辅助的卫星定位系统(Assisted-Global Navigation Satellite System，A-GNSS)中的至少一种。
示例性的，如图4所示，以计算目标终端的定位结果的方式是基于时间差的方法为例，目标终端是第一终端为例进行说明，该方法的原理是平面内到两定点距离差为定值的动点轨迹为双曲线。
在第一终端44在接收到第二终端41和第二终端42发送的第一参考信号时，接收到两个第一参考信号的时刻存在第一时间差，在已知第一参考信号的传播速度和第一时间差的情况下，可以计算出第一终端44到第二终端41的距离与第一终端44到第二终端42的距离之间的第一距离差值，则第一终端44定位于以第二终端41和第二终端42为焦点，以其第一距离差值为定差的双曲线401上。
同理，在第一终端44在分别接收到第二终端42和第二终端43发送的第一参考信号时，接收到两个第一参考信号的时刻存在第二时间差，在已知第一参考信号的传播速度和第二时间差的情况下，可以计算出第一终端44到第二终端42的距离与第一终端44到第二终端43的距离之间的第二距离差值，则第一终端44定位于以第二终端42和第二终端43为焦点，以其第二距离差值为定差的双曲线402上。第一终端44可以根据双曲线401和双曲线402的交点可以定位出第一终端44的位置。
可选地，在计算目标终端的定位结果的方式是基于时间差的方法时，第一终端对第一参考信号的测量结果包括如表1所示的测量结果中的至少一种：
表1 第一参考信号的测量结果
Figure PCTCN2021103807-appb-000001
Figure PCTCN2021103807-appb-000002
示例性的，以计算目标终端的定位结果的方式是基于时间差的方法为例进行说明，第二终端向第一终端发送第一参考信号，第一终端在接收到第一参考信号后，第一终端根据第一参考信号的测量结果，可以确定出第一终端与第二终端之间的相对距离和相对角度，第一终端根据相对距离和相对角度可以确定出第一终端或第二终端的位置。
可选地，在计算目标终端的定位结果的方式是基于时间差的方法时，第一终端对第一参考信号测量结果包括如下中的至少一种：
表2 第一参考信号的测量结果
Figure PCTCN2021103807-appb-000003
综上所述，本实施例提供的方法，是在第一终端上进行定位结果的计算，不需要耗用网络设备的资源，可以降低网络设备的运算压力，另一方面，计算过程不需要向网络设备上报数据，可以节约上行信道和下行信道的资源，保证计算过程具有较好的实时性。
图5示出了本申请一个示例性实施例提供的终端的定位方法的流程图。该实施例以应用在如图1所示的通信系统中进行举例说明，该方法包括：
在步骤501中：第二终端向第一终端发送第一参考信号。
第二终端为一个或多个。比如，在测量第一终端的相对位置的情况下，第二终端为一个；又比如，在测量第一终端和第二终端之间的相对距离的情况下，第二终端为一个；再比如，在测量第一终端的绝对位置的情况下，第二终端为三个等等。本实施例不限定第二终端的数量。
第一参考信号是侧行链路的定位参考信号。第一参考信号是用于侧行链路的定位参考信号或位置参考信号，或者说，第一参考信号是用于在侧行链路场景下对目标终端进行定位的参考信号。第一参考信号用于确定目标终端的位置信息和/或目标终端的距离信息。该位置信息包括绝对位置或相对位置。
示例性的，第一参考信号包括：SL-PRS、CSI-RS、DMRS、PTRS、SSB、SRS中的至少一种。
示例性的，如图6所示，第二终端61、第二终端62和第二终端63分别向第一终端64发送第一参考信号。
在步骤502中：第一终端接收至少一个第二终端发送的第一参考信号。
在第二终端为多个的情况下，第二终端可以理解为多个终端实体，或者是同一个终端实体的多个天线单元。
比如，某一个终端实体包括2个天线单元，2个天线单元发射不同的第一参考信号。这2个天线单元可理解为2个第二终端。
在步骤503中：第一终端向第二终端发送第一测量报告。
第一测量报告包括第一参考信号的测量结果。
示例性的，第一参考信号的第一测量结果包括如下至少之一：第一参考信号的RSRP/RSRQ；第一参考信号的到达角度；第一参考信号的发送角度；第一测量结果的时间戳；收发时间差；第一参考信号的传播时延；每个测量结果的质量；第一参考信号的到达时间差发送角度。
其中，收发时间差包括与第一参考信号的发送时间有关的收发时间差，或与第一参考信号的接收时间有关的收发时间差。
示例性的，如图6所示，第一终端64向第二终端61发送第一测量报告。
在步骤504中：第二终端根据第一测量报告计算目标终端的定位结果。
目标终端是第一终端和第二终端中的至少一种。
可选地，计算目标终端的定位结果的方式包括但不限于TDOA、SL-TDOA、SL-AOA、E-CID、AoD、ToA、Multi-RTT、A-GNSS中的至少一种。
示例性的，如图6所示，在计算目标终端的定位结果的方式是基于角度的方法时，第一终端601向第二终端602发送第一测量报告，第二终端602可以根据第一测量报告计算出第一终端601和第二终端602之间的相对距离和相对角度，进而确定出第一终端601或第二终端602的定位信息。
可选地，在计算目标终端的定位结果的方式是基于角度的方法时，第一终端对第一参考信号的测量结果包括如表3所示的测量结果中的至少一种：
表3 第一参考信号的测量结果
测量结果
PCI、GCI和测量的TRP ID/RS ID
目的UE的名称、到达角(方位角和仰角)、偏离角
PRS-RSRP
测量结果的时间戳
每个测量结果的质量
示例性的，以计算目标终端的定位结果的方式是基于时间差的方法为例进行说明，多个第二终端会向第一终端发送第一参考信号，第一终端会得到接收到不同第一参考信号的时间差，第一终端向第二终端发送第一测量报告后，第二终端可以根据第一测量报告包括的时间差来确定出第一终端或第二终端的定位结果。
可选地，在计算目标终端的定位结果的方式是基于时间差的方法时，第一终端对第一参考信号的测量结果包括如表4所示的测量结果中的至少一种：
表4 第一参考信号的测量结果
测量结果
纬度/经度/高度，以及不确定性形状
PCI、GCI、TRP ID/RS ID、目的地名称
SL RSTD
SL-PRS-RSRP
测量结果的时间戳
位置估计时间戳
每个测量结果的质量
到达时间差
综上所述，本实施例提供的方法，由于定位结果的计算过程是在第二终端上实现的，不需要耗用网络设备的资源，可以降低网络设备的运算压力，另一方面，计算过程不需要向网络设备上报数据，可以节约上行信道和下行信道的资源。而且，为运算能力较弱的第一终端提供了一种计算定位结果的方法，由第二终端来计算定位结果，弥补第一终端运算能力不强的缺陷。
图7示出了本申请一个示例性实施例提供的终端的定位方法的流程图。该实施例以应用在如图1所示的通信系统中进行举例说明，该方法包括：
在步骤701中：第二终端向第一终端发送第一参考信号。
第二终端为一个或多个。比如，在测量第一终端的相对位置的情况下，第二终端为一个；又比如，在测量第一终端和第二终端之间的相对距离的情况下，第二终端为一个；再比如，在测量第一终端的绝对位置的情况下，第二终端为三个等等。本实施例不限定第二终端的数量。
第一参考信号是侧行链路的定位参考信号。第一参考信号是用于侧行链路的定位参考信号或位置参考信号，或者说，第一参考信号是用于在侧行链路场景下对目标终端进行定位的参考信号。第一参考信号用于确定目标终端的位置信息和/或目标终端的距离信息。该位置信息包括绝对位置或相对位置。
示例性的，第一参考信号包括：SL-PRS、CSI-RS、DMRS、PTRS、SSB、SRS中的至少一种。
示例性的，如图8所示，第二终端81、第二终端82和第二终端83分别向第一终端84发送第一参考信号。
在步骤702中：第一终端接收至少一个第二终端发送的第一参考信号。
在第二终端为多个的情况下，第二终端可以理解为多个终端实体，或者是同一个终端实体的多个天线单元。
比如，某一个终端实体包括2个天线单元，2个天线单元发射不同的第一参考信号。这2个天线单元可理解为2个第二终端。
在步骤703中：第一终端向网络设备上报第一测量报告。
第一终端根据第一参考信号的测量结果生成第一测量报告。
第一测量报告包括第一参考信号的测量结果。可选地，第一参考信号的测量结果包括如下至少之一：第一参考信号的RSRP/RSRQ；第一参考信号的到达角度；第一参考信号的发送角度；测量结果的时间戳；收发时间差；第一参考信号的传播时延；每个测量结果的质量；第一参考信号的到达时间差。
其中，收发时间差包括与第一参考信号的发送时间有关的收发时间差，或与第一参考信号的接收时间有关的收发时间差。
在步骤704中：网络设备根据第一测量报告计算目标终端的定位结果。
可选地，网络设备是基站、RSU中的至少一种。
可选地，计算目标终端的定位结果的方式包括但不限于TDOA、SL-TDOA、SL-AoD、SL-AOA、E-CID、AoD、ToA、Multi-RTT、A-GNSS中的至少一种。
示例性的，如图8所示，在计算目标终端的定位结果的方式是基于角度的方法时，第一终端801接收到第二终端802发送的第一参考信号后，第一终端801向网络设备803发送第一测量报告，网络设备803可以根据第一测量报告计算出第一终端801和第二终端802之间的相对距离和相对角度，进而确定出第一终端801或第二终端802的定位信息。
可选地，在计算目标终端的定位结果的方式是基于角度的方法时，第一终端对第一参考信号的测量结果包括如表5所示的参考信号中的至少一种：
表5 第一参考信号的测量结果
测量结果
PCI、GCI和测量的TRP ID/RS ID
目的UE的名称、到达角(方位角和仰角)、偏离角
PRS-RSRP
测量结果的时间戳
每个测量结果的质量
示例性的，以计算目标终端的定位结果的方式是基于时间差的方法为例进行说明，多个第二终端会向第一终端发送第一参考信号，第一终端会得到接收到不同第一参考信号的时间差，第一终端向第二终端发送第一测量报告后，第二终端可以根据第一测量报告包括的时间差来确定出第一终端或第二终端的定位结果。
可选地，在计算目标终端的定位结果的方式是基于时间差的方法时，第一终端对第一参考信号的测量结果包括如表6所示的测量结果中的至少一种：
表6 第一参考信号的测量结果
测量结果
纬度/经度/高度，以及不确定性形状
PCI、GCI、TRP ID/RS ID、目的UE的名称
SL RSTD
SL-PRS-RSRP
测量结果的时间戳
位置估计时间戳
每个测量结果的质量
到达时间差
综上所述，本实施例提供的方法，是由网络设备来计算定位结果，不需要第一终端或第二终端具有较强的计算能力，对第一终端或第二终端要求较低，另一方面，网络设备具有较强的运算能力，可以得到较为准确的定位结果。
图9示出了本申请一个示例性实施例提供的终端的定位方法的流程图。该实施例以应用在如图1所示的通信系统中进行举例说明，该方法包括：
在步骤901中：第二终端向第一终端发送第一参考信号。
第二终端为一个或多个。比如，在测量第一终端的相对位置的情况下，第二终端为一个；又比如，在测量第一终端和第二终端之间的相对距离的情况下，第二终端为一个；再比如，在测量第一终端的绝对位置的情况下，第二终端为三个等等。本实施例不限定第二终端的数量。
第一参考信号是侧行链路的定位参考信号。第一参考信号是用于侧行链路的定位参考信号或位置参考信号，或者说，第一参考信号是用于在侧行链路场景下对目标终端进行定位的参考信号。第一参考信号用于确定目标终端的位置信息和/或目标终端的距离信息。该位置信息包括绝对位置或相对位置。
示例性的，第一参考信号包括：SL-PRS、CSI-RS、DMRS、PTRS、SSB、SRS中的至少一种。
示例性的，如图10所示，第二终端1002向第一终端1001发送第一参考信号。
在步骤902中：第一终端接收至少一个第二终端发送的第一参考信号。
在第二终端为多个的情况下，第二终端可以理解为多个终端实体，或者是同一个终端实体的多个天线单元。
在步骤903中：第一终端向第二终端发送第二参考信号。
第二参考信号是侧行链路的定位参考信号。第二参考信号是用于侧行链路的定位参考信号或位置参考信号，或者说，第二参考信号是用于在侧行链路场景下对目标终端进行定位的参考信号。第二参考信号用于确定目标终端的位置信息和/或目标终端的距离信息。该位置信息包括绝对位置或相对位置。
示例性的，第二参考信号包括：SL-PRS、CSI-RS、DMRS、PTRS、SSB、SRS中的至少一种。
第一参考信号和第二参考信号的类型相同，或者，第二参考信号和第二参考信号的类型不同。
示例性的，如图10所示，第一终端1001向第二终端1002发送第二参考信号。
在步骤904中：第二终端向网络设备上报第二测量报告。
可选地，网络设备是基站和RSU中的至少一种。
第二测量报告包括第二参考信号的测量结果。可选地，第二参考信号的测量结果包括如下至少之一：第二参考信号的RSRP/RSRQ；第二参考信号的到达角度；第二参考信号的发送角度；测量结果的时间戳；收发时间差；第二参考信号的传播时延；每个测量结果的质量；到达时间差。
其中，收发时间差包括与第一参考信号的发送时间有关的收发时间差，或与第一参考信号的接收时间有关的收发时间差。
示例性的，如图10所示，第二终端1002向网络设备1003上报第二测量报告。
在步骤905中：第一终端向网络设备上报第一测量报告。
第一测量报告包括第一参考信号的测量报告。可选地，第一参考信号的测量结果包括如下至少之一：第一参考信号的RSRP/RSRQ；第一参考信号的到达角度；第一参考信号的发送角度；测量结果的时间戳；第一参考信号的收发时间差；第一参考信号的传播时延；每个测量结果的质量；到达时间差。
其中，收发时间差包括与第一参考信号的发送时间有关的收发时间差，或与第一参考信号的接收时间有关的收发时间差。
需要说明的是，步骤904和步骤905不分先后，在实际实施过程中，可以先实现步骤904，后实现905。或者，先实现步骤905，后实现步骤904。
示例性的，如图10所示，第一终端1001向网络设备1003上报第一测量报告，第二终端1002向网络设备1003上报第二测量报告。
在步骤906中：网络设备根据第一测量报告和第二测量报告计算目标终端的定位结果。
发送角度目标终端是第一终端和第二终端中的至少一种。
需要说明的是，第一终端为一个或多个，第二终端也为一个或多个。在具体的实现方式中，可以是第一终端为一个，第二终端为多个；或者，也可以是第一终端为多个，第二终端为一个；或者，也可以是第一终端为多个，第二终端为多个；或者，也可以是第一终端为一个，第二终端为一个。以上情况不用于对本申请的限制，在具体的实现方式中，技术人员可以根据实际的终端数量对实施例进行改变或变形。
可选地，计算目标终端的定位结果的方式包括但不限于TDOA、SL-TDOA、SL-AoD、SL-AOA、E-CID、AoD、ToA、Multi-RTT、A-GNSS中的至少一种。
可选地，为确保第一参考信号和/或第二参考信号的收发成功，第一参考信号和第二参考信号在时域不能冲突。
示例性的，如图10所示，以计算目标终端的定位结果的方式是收发时间差为例，第一终端1001接收第二终端1002发送的第一参考信号，第二终端1002接收第一终端1001发送第二参考信号，由于第一参考信号和第二参考信号存在收发时间差，而第一测量报告包括第二参考信号的发送时间与第一参考信号的接收时间的时间差，第二测量报告包括第一参考信号的发送时间与第二参考信号的接收时间的时间差，网络设备1003根据第一测量报告和第二测量报告计算第一终端1001的定位结果和/或第二终端1002的定位结果。
示例性的，当第一终端包括多个终端，第二终端包括一个终端时，由一个第二终端向多个第一终端发送第一参考信号，多个第一终端接收这个第二终端发送的第一参考信号后，多个第一终端分别向第二终端发送第二参考信号，以及向网络设备上报第一测量报告。第二终端在接收到多个第一终端发送的多个第二参考信号后，会向网络设备上报与第二参考信号对应的第二测量报告，网络设备根据第一测量报告和第二测量报告计算多个第一终端的定位结果和/或一个第二终端的定位结果。
示例性的，当第一终端包括一个终端，第二终端包括多个终端时，由多个第二终端向第一终端发送第一参考信号，第一终端接收多个第二终端发送的多个第一参考信号后，第一终端分别向多个第二终端发送第二参考信号，以及向网络设备上报第一测量报告。多个第二终端在接收到第一终端发送的第二参考信号后，会向网络设备上报第二测量报告，网络设备根据第一测量报告和第二测量报告计算一个第一终端的定位结果和/或多个第二终端的定位结果。
可选地，在计算目标终端的定位结果的方式是基于时间差的方法时，第一终端对第一参考信号的测量结果和/或第二终端对第二参考信号的测量结果包括如表7所示的测量结果中的至少一种：
表7 第一参考信号的测量结果和/或第二参考信号的测量结果
测量结果
PCI、GCI和TRP ID的测量结果
接收-发送(Receive-Transport，Rx-Tx)时间差
PRS-RSRP
到达角(方位角和仰角)
测量结果的时间戳
每个测量结果的质量
综上所述，本实施例提供的方法，是由网络设备来计算定位结果，不需要第一终端或第二终端具有较强的计算能力，对第一终端或第二终端要求较低，另一方面，网络设备具有较强的运算能力，可以得到较为准确的定位结果。
图11示出了本申请一个示例性实施例提供的终端的定位方法的流程图。该实施例以应用在如图1所示的通信系统中进行举例说明，该方法包括：
在步骤111中：第二终端向第一终端发送第一参考信号。
第一参考信号是侧行链路的定位参考信号。第一参考信号是用于侧行链路的定位参考信号或位置参考信号，或者说，第一参考信号是用于在侧行链路场景下对目标终端进行定位的参考信号。第一参考信号用于确定目标终端的位置信息和/或目标终端的距离信息。该位置信息包括绝对位置或相对位置。
示例性的，第一参考信号包括：SL-PRS、CSI-RS、DMRS、PTRS、SSB、SRS中的至少一种。
示例性的，如图12所示，第二终端122向第一终端121发送第一参考信号。
在步骤112中：第一终端接收至少一个第二终端发送的第一参考信号。
在第二终端为多个的情况下，第二终端可以理解为多个终端实体，或者是同一个终端实体的多个天线单元。
在步骤113中：第一终端向第二终端发送第一测量报告和第二参考信号。
第一测量报告包括第一参考信号的测量结果。可选地，第一参考信号的测量结果包括如下至少之一：第一参考信号的RSRP/RSRQ；第一参考信号的到达角度；第一参考信号的发送角度；测量结果的时间戳；收发时间差；第一参考信号的传播时延；每个测量结果的质量；到达时间差发送角度。
其中，收发时间差包括与第一参考信号的发送时间有关的收发时间差，或与第一参考信号的接收时间有关的收发时间差。
示意性的，第二参考信号是用于侧行链路的定位参考信号或位置参考信号，或者说，第二参考信号是用于在侧行链路场景下对目标终端进行定位的参考信号。第二参考信号用于确定目标终端的位置信息和/或目标终端的距离信息。该位置信息包括绝对位置或相对位置。
示例性的，第二参考信号包括：SL-PRS、CSI-RS、DMRS、PTRS、SSB、SRS中的至少一种。
第一参考信号和第二参考信号的类型相同，或者，第二参考信号和第二参考信号的类型不同。
需要说明的是，第一测量报告和第二参考信号是同时发送的，或者不同时发送的。
示例性的，如图12所示，第一终端121向第二终端122发送第一参考信号和第二参考信号。
在步骤114中：第二终端向网络设备上报第一测量报告和第二测量报告。
可选地，网络设备是基站和RSU中的至少一种。
第二测量报告包括第二参考信号的测量结果。可选地，第二参考信号的测量结果包括如下至少之一：第二参考信号的RSRP/RSRQ；第二参考信号的到达角度；第二参考信号的发送角度；测量结果的时间戳；收发时间差；第二参考信号的传播时延；每个测量结果的质量；到达时间差。
其中，收发时间差包括与第一参考信号的发送时间有关的收发时间差，或与第一参考信号的接收时间有关的收发时间差。示例性的，第二终端122向网络设备123上报第一测量报告和第二测量报告。
在步骤115中：网络设备根据第一测量报告和第二测量报告计算目标终端的定位结果。
可选地，计算目标终端的定位结果的方式包括但不限于TDOA、SL-TDOA、SL-AoD、E-CID、AoD、ToA、Multi-RTT、A-GNSS中的至少一种。
目标终端是第一终端和第二终端中的至少一种。
需要说明的是，第一终端为一个或多个，第二终端也为一个或多个。在具体的实现方式中，可以是第一终端为一个，第二终端为多个；或者，也可以是第一终端为多个，第二终端为一个；或者，也可以是第一终端为多个，第二终端为多个；或者，也可以是第一终端为一个，第二终端为一个。以上情况不用于对本申请的限制，在具体的实现方式中，技术人员可以根据实际的终端数量对实施例进行变形或改变。
可选地，为确保第一参考信号和/或第二参考信号的收发成功，第一参考信号和第二参考信号在时域不能冲突。
示例性的，当第一终端包括多个终端，第二终端包括一个终端时，由一个第二终端向多个第一终端发送第一参考信号，多个第一终端接收这个第二终端发送的第一参考信号后，多个第一终端分别向第二终端发送第二参考信号和第一测量报告。第二终端在接收到多个第一终端发送的多个第二参考信号和多个第一测量报告后，会向网络设备上报与第二参考信号对应的第二测量报告以及接收到的多个第一测量报告，网络设备根据第一测量报告和第二测量报告计算多个第一终端的定位结果和/或一个第二终端的定位结果。
示例性的，当第一终端包括一个终端，第二终端包括多个终端时，由多个第二终端向第一终端发送第一参考信号，第一终端接收多个第二终端发送的第一参考信号后，第一终端分别向多个第二终端发送第二参考信号和第一测量报告。多个第二终端在接收到第一终端发送的第二参考信号后，会向网络设备上报第一测量报告和第二测量报告，网络设备根据第一测量报告和第二测量报告计算一个第一终端的定位结果和/或多个第二终端的定位结果。
示例性的，如图12所示，以计算目标终端的定位结果的方式是收发时间差为例，第一终端121接收第二终端122发送的第一参考信号，第二终端122接收第一终端121发送第二参考信号和第一测量报告，由于第一参考信号和第二参考信号存在收发时间差，而第一测量报告包括第二参考信号的发送时间与第一参考信号的接收时间的时间差，第二测量报告包括第一参考信号的发送时间与第二参考信号的接收时间的时间差，网络设备123根据第一测量报告和第二测量报告计算第一终端121的定位结果和/或第二终端122的定位结果。
可选地，在计算目标终端的定位结果的方式是基于时间差的方法时，第一终端对第一参考信号的测量结果和/或第二终端对第二参考信号的测量结果包括如表8所示的测量结果中的至少一种：
表8 第一参考信号的测量结果和/或第二参考信号的测量结果
测量结果
PCI、GCI和TRP ID的测量结果
Rx-Tx时间差
PRS-RSRP
到达角(方位角和仰角)
测量结果的时间戳
每个测量结果的质量
综上所述，本实施例提供的方法，是由网络设备来计算定位结果，不需要第一终端或第二终端具有较强的计算能力，对第一终端或第二终端要求较低，另一方面，网络设备具有较强的运算能力，可以得到较为准确的定位结果。而且，在车联网场景中，整个定位过程需要两辆车辆在侧行链路上进行交互，不需要其他车辆的接入，也能节约侧行信道的资源。
图13示出了本申请一个示例性实施例提供的终端的定位方法的流程图。该实施例以应用在如图1所示的通信系统中进行举例说明，该方法包括：
在步骤131中：第二终端向第一终端发送第一参考信号。
第二终端为一个或多个。比如，在测量第一终端的相对位置的情况下，第二终端为一个；又比如，在测量第一终端和第二终端之间的相对距离的情况下，第二终端为一个；再比如，在测量第一终端的绝对位置的情况下，第二终端为三个等等。本实施例不限定第二终端的数量。
第一参考信号是侧行链路的定位参考信号。第一参考信号是用于侧行链路的定位参考信号或位置参考信号，或者说，第一参考信号是用于在侧行链路场景下对目标终端进行定位的参考信号。第一参考信号用于确定目标终端的位置信息和/或目标终端的距离信息。该位置信息包括绝对位置或相对位置。
示例性的，第一参考信号包括：SL-PRS、CSI-RS、DMRS、PTRS、SSB、SRS中的至少一种。
示例性的，如图14所示，第二终端142向第一终端141发送第一参考信号。
在步骤132中：第一终端接收至少一个第二终端发送的第一参考信号。
在第二终端为多个的情况下，第二终端可以理解为多个终端实体，或者是同一个终端实体的多个天 线单元。
在步骤133中：第一终端向第二终端发送第一测量报告和第二参考信号。
第一测量报告包括第一参考信号的测量结果。可选地，第一参考信号的测量结果包括如下至少之一：第一参考信号的RSRP/RSRQ；第一参考信号的到达角度；第一参考信号的发送角度；测量结果的时间戳；收发时间差；第一参考信号的传播时延；每个测量结果的质量；到达时间差。
其中，收发时间差包括与第一参考信号的发送时间有关的收发时间差，或与第一参考信号的接收时间有关的收发时间差。
第二参考信号是侧行链路的定位参考信号。可选地，第二参考信号用于确定目标终端的位置信息和距离信息中的至少一种，位置信息包括绝对位置和/或相对位置。可选地，第二参考信号是SL-PRS、CSI-RS、DMRS、PTRS、SSB、SRS中的至少一种。
示例性的，如图14所示，第一终端141向第二终端142发送第一测量报告和第二参考信号。
在步骤134中：第二终端根据第一测量报告和第二测量报告计算目标终端的定位结果。
第二测量报告包括第二参考信号的测量结果。可选地，第二参考信号的测量结果包括如下至少之一：第二参考信号的RSRP/RSRQ；第二参考信号的到达角度；第二参考信号的发送角度；测量结果的时间戳；收发时间差；第二参考信号的传播时延；每个测量结果的质量；到达时间差。
其中，收发时间差包括与第一参考信号的发送时间有关的收发时间差，或与第一参考信号的接收时间有关的收发时间差。
可选地，计算目标终端的定位结果的方式包括但不限于TDOA、SL-TDOA、SL-AoD、E-CID、AoA、AoD、ToA、Multi-RTT、A-GNSS中的至少一种。
目标终端是第一终端和第二终端中的至少一种。
需要说明的是，第一终端为一个或多个，第二终端也为一个或多个。在具体的实现方式中，可以是第一终端为一个，第二终端为多个；或者，也可以是第一终端为多个，第二终端为一个；或者，也可以是第一终端为多个，第二终端为多个；或者，也可以是第一终端为一个，第二终端为一个。以上情况不用于对本申请的限制，在具体的实现方式中，技术人员可以根据实际的终端数量对实施例进行改变或变化。
可选地，为确保第一参考信号和/或第二参考信号的收发成功，第一参考信号和第二参考信号在时域不能冲突。
示例性的，如图14所示，以计算目标终端的定位结果的方式是收发时间差为例，第一终端141接收第二终端142发送的第一参考信号，第二终端142接收第一终端141发送第二参考信号和第一测量报告，由于第一参考信号和第二参考信号存在收发时间差，而第一测量报告包括第一参考信号的收发时间差，第二测量报告包括第二参考信号的收发时间差，第二终端142根据第一测量报告和第二测量报告计算第一终端141的定位结果和/或第二终端142的定位结果。
示例性的，当第一终端包括多个终端，第二终端包括一个终端时，由一个第二终端向多个第一终端发送第一参考信号，多个第一终端接收这个第二终端发送的第一参考信号后，多个第一终端分别向第二终端发送第二参考信号和第一测量报告。第二终端在接收到多个第一终端发送的多个第二参考信号和第一测量报告后，第二终端会根据第一测量报告和第二测量报告计算多个第一终端的定位结果和/或一个第二终端的定位结果。
示例性的，当第一终端包括一个终端，第二终端包括多个终端时，由多个第二终端向第一终端发送第一参考信号，第一终端接收多个第二终端发送的多个第一参考信号后，第一终端分别向多个第二终端 发送第二参考信号，以及向网络设备上报第一测量报告。多个第二终端在接收到第一终端分别发送的第二参考信号后，第二终端会根据第一测量报告和第二测量报告计算一个第一终端的定位结果和/或多个第二终端的定位结果。
可选地，在计算目标终端的定位结果的方式是基于时间差的方法时，第一终端对第一参考信号的测量结果和/或第二终端对第二参考信号的测量结果包括如表9所示的测量结果中的至少一种：
表9 第一参考信号的测量结果和/或第二参考信号的测量结果
配置参考信号的终端的测量结果
PCI、GCI和TRP ID的测量结果
Rx-Tx时间差
PRS-RSRP
到达角(方位角和仰角)
测量结果的时间戳
每个测量结果的质量
综上所述，本实施例提供的方法通过侧行链路来实现目标终端的定位，不需要耗用网络设备的资源，可以降低网络设备的运算压力，另一方面，计算过程不需要向网络设备上报数据，可以节约上行信道和下行信道的资源，也可以节约侧行链路的资源。此外，由于定位结果的计算过程交由第二终端实现，不需要第一终端具有较强的计算能力，对第一终端的要求较低。
图15示出了本申请一个示例性实施例提供的终端的定位方法的流程图。该实施例以应用在如图1所示的通信系统中进行举例说明，该方法包括：
在步骤151中：第二终端向第一终端发送第一参考信号。
第二终端为一个或多个。
第一参考信号是侧行链路的定位参考信号。第一参考信号是用于侧行链路的定位参考信号或位置参考信号，或者说，第一参考信号是用于在侧行链路场景下对目标终端进行定位的参考信号。第一参考信号用于确定目标终端的位置信息和/或目标终端的距离信息。该位置信息包括绝对位置或相对位置。
示例性的，第一参考信号包括：SL-PRS、CSI-RS、DMRS、PTRS、SSB、SRS中的至少一种。
示例性的，如图16所示，第二终端162向第一终端161发送第一参考信号
在步骤152中：第一终端接收至少一个第二终端发送的第一参考信号。
在第二终端为多个的情况下，第二终端可以理解为多个终端实体，或者是同一个终端实体的多个天线单元。
在步骤153中：第一终端向第二终端发送第二参考信号。
第二参考信号是侧行链路的定位参考信号。
在步骤154中：第二终端向第一终端发送第二测量报告。
第二测量报告包括第二参考信号的测量结果。可选地，第二参考信号的测量结果包括如下至少之一：第二参考信号的RSRP/RSRQ；第二参考信号的到达角度；第二参考信号的发送角度；测量结果的时间戳；收发时间差；第二参考信号的传播时延；每个测量结果的质量；到达时间差。
其中，收发时间差包括与第一参考信号的发送时间有关的收发时间差，或与第一参考信号的接收时间有关的收发时间差。
在步骤155中：第一终端接收第二终端发送的第二测量报告。
在步骤156中：第一终端根据第一测量报告和第二测量报告计算目标终端的定位结果。
第一测量报告包括第一参考信号的测量报告。可选地，第一参考信号的测量结果包括如下至少之一：第一参考信号的RSRP/RSRQ；第一参考信号的到达角度；第一参考信号的发送角度；测量结果的时间戳；收发时间差；第一参考信号的传播时延；每个测量结果的质量；到达时间差。
其中，收发时间差包括与第一参考信号的发送时间有关的收发时间差，或与第一参考信号的接收时间有关的收发时间差。
需要说明的是，第一终端为一个或多个，第二终端也为一个或多个。在具体的实现方式中，可以是第一终端为一个，第二终端为多个；或者，也可以是第一终端为多个，第二终端为一个；或者，也可以是第一终端为多个，第二终端为多个；或者，也可以是第一终端为一个，第二终端为一个。以上情况不用于对本申请的限制，在具体的实现方式中，技术人员可以根据实际的终端数量对实施例进行变形或改变。
可选地，为确保第一参考信号和/或第二参考信号的收发成功，第一参考信号和第二参考信号在时域不能冲突。
可选地，计算目标终端的定位结果的方式包括但不限于TDOA、SL-TDOA、SL-AoD、E-CID、AoD、ToA、Multi-RTT、A-GNSS中的至少一种。
目标终端是第一终端和第二终端中的至少一种。
示例性的，如图16所示，以计算目标终端的定位结果的方式是收发时间差为例，第一终端161接收第二终端162发送的第一参考信号，第二终端162接收第一终端161发送第二参考信号和第一测量报告，而后第二终端162向第一终端161返回第二测量报告，由于第一参考信号和第二参考信号存在收发时间差，而第一测量报告包括第一参考信号的收发时间差，第二测量报告包括第二参考信号的收发时间差，第一终端161根据第一测量报告和第二测量报告计算第一终端161的定位结果和/或第二终端62的定位结果。
示例性的，当第一终端包括多个终端，第二终端包括一个终端时，由一个第二终端向多个第一终端发送第一参考信号，多个第一终端接收这个第二终端发送的第一参考信号后，多个第一终端分别向第二终端发送第二参考信号。第二终端在接收到多个第一终端发送的多个第二参考信号后，会根据第二参考信号向对应的第一终端发送第二测量报告，第一终端会根据第一测量报告和第二测量报告计算多个第一终端的定位结果和/或一个第二终端的定位结果。
示例性的，当第一终端包括一个终端，第二终端包括多个终端时，由多个第二终端向第一终端发送第一参考信号，第一终端接收多个第二终端发送的多个第一参考信号后，第一终端分别向多个第二终端发送第二参考信号。多个第二终端在接收到第一终端发送的第二参考信号后，会向第一终端发送第二测量报告，第一终端会根据第一测量报告和第二测量报告计算一个第一终端的定位结果和/或多个第二终端的定位结果。
可选地，在计算目标终端的定位结果的方式是基于时间差的方法时，第一终端对第一参考信号的测量结果和/或第二终端对第二参考信号的测量结果包括如表10所示的测量结果中的至少一种：
表10 第一参考信号的测量结果和/或第二参考信号的测量结果
配置参考信号的终端的测量结果
PCI、GCI和TRP ID的测量结果
Rx-Tx时间差
PRS-RSRP
到达角(方位角和仰角)
测量结果的时间戳
每个测量结果的质量
综上所述，本实施例提供的方法通过侧行链路来实现目标终端的定位，不需要耗用网络设备的资源，可以降低网络设备的运算压力，另一方面，计算过程不需要向网络设备上报数据，可以节约上行信道和下行信道的资源，保证计算过程具有较好的实时性。而且，在车辆网场景中，只需要用到两辆车辆即可得到定位结果，不需要其他车辆的接入，也可以节约侧行链路的资源。此外，由于定位结果的计算过程交由第一终端实现，不需要第二终端具有较强的计算能力，对第一终端的要求较低，还可以得到较好的实时性。
上述实施例可与下述的图17和图18所示的实施例结合，图17示出了本申请一个示例性实施例提供的参考信号的配置方法的流程图。该实施例以应用在如图1所示的通信系统中进行举例说明，该方法包括：
在步骤171中：第一终端和/或第二终端生成第一参考信号的配置信息。
可选地，第一参考信号的配置信息包括如下至少之一：第一参考信号的接收/发送终端的数量；第一参考信号的接收/发送终端的信息；第一参考信号的类型；第一参考信号的测量间隔。
其中，第一参考信号的测量间隔是网络设备发送的；或，第一参考信号的测量间隔是网络设备在接收到第一终端和/或第二终端的请求时配置的。
可选地，第一参考信号的类型包括周期信号、非周期信号和半持续信号中的至少一种。
比如，接收终端的信息是目标终端的标识(可以是UE ID，比如层二ID，或者destination ID)。发送终端信息是发送参考信号的终端的标识(可以是UE ID，比如层二ID，或者destination ID)。
可选地，第一参考信号的配置信息还可以包括如下至少之一：第一参考信号的传输开始时间(Start time of PRS transmission)；第一参考信号的传输结束时间(end time of PRS transmission)；第一参考信号的资源带宽(PRS resource bandwidth)；第一参考信号的资源集标识(PRS resource set IDs)；第一参考信号的资源标识(PRS resource IDs)；第一参考信号的传输周期和偏移(PRS transmission periodicity and offset)；第一参考信号的资源重复参数(PRS resource repetition factor)；每个第一参考信号的资源中，第一参考信号的符号数量(Number of PRS symbols per PRS resource)；第一参考信号的静默模式(PRS muting patterns)；在每个第一参考信号的资源集中，第一参考信号的资源数量；频率层的数量或指示；波束方向；第一参考信号的梳状尺寸、起始物理资源块和A点(Comb size,start PRB,Point A of PRS)；第一参考信号的开始指示或结束指示。
可选地，第一参考信号的配置信息还可以包括第一参考信号关联的波束信息，该波束信息是单边带(Single Side Band，SSB)、信道状态信息参考信号(Channel State Information Reference Signal，CSIRS)、PRS中的至少一种。
同理，第一终端和/或第二终端生成第二参考信号的配置信息。比如，第一终端和第二终端按照相同的生成策略生成第二参考信号的配置信息。
可选地，第二参考信号的配置信息包括如下至少之一：第二参考信号的接收/发送终端的数量；第二参考信号的接收/发送终端的信息；第二参考信号的类型；第二参考信号的测量间隔。
其中，第二参考信号的测量间隔是网络设备发送的；或，第二参考信号的测量间隔是网络设备在接收到第一终端和/或第二终端的请求时配置的。
可选地，第二参考信号的类型包括周期信号、非周期信号和半持续信号中的至少一种。
比如，接收终端的信息是目标终端的标识(可以是UE ID，比如层二ID，或者destination ID)。发送终端信息是发送参考信号的终端的标识(可以是UE ID，比如层二ID，或者destination ID)。
可选地，第二参考信号的配置信息还可以包括如下至少之一：第二参考信号的传输开始时间；第二参考信号的传输结束时间；第二参考信号的资源带宽；第二参考信号的资源集标识；第二参考信号的资源标识；第二参考信号的传输周期和偏移；第二参考信号的资源重复参数；在每个第二参考信号的资源中，第二参考信号的符号数量；第二参考信号的静默模式；在每个第二参考信号的资源集中，第二参考信号的资源数量；频率层的数量或指示；波束方向；第二参考信号的梳状尺寸、起始物理资源块和A点；第二参考信号的开始指示或结束指示。
可选地，第二参考信号的配置信息还可以包括第二参考信号关联的波束信息，该波束信息是SSB、CSIRS、PRS中的至少一种。
综上所述，第一终端通过接收第一信息，实现对侧行链路定位的参考信号进行配置。上述方案通过第一信息对定位的参考信号进行配置，可以实现对参考信号更为精准的调控，进一步使得基于参考信号对目标终端与终端进行定位更为灵活可控。
图18示出了本申请一个示例性实施例提供的终端的配置方法的流程图。该实施例以应用在如图1所示的通信系统中进行举例说明，该方法包括：
在步骤181中：第一终端和/或第二终端接收第一信息，第一信息包括第一参考信号的配置信息。
可选地，第一参考信号的配置信息包括如下至少之一：第一参考信号的接收/发送终端的数量；第一参考信号的接收/发送终端的信息；第一参考信号的类型；第一参考信号的测量间隔。
其中，第一参考信号的测量间隔是网络设备发送的；或，第一参考信号的测量间隔是网络设备在接收到第一终端和/或第二终端的请求时配置的。
可选地，第一参考信号的类型包括周期信号、非周期信号和半持续信号中的至少一种。
比如，接收终端的信息是目标终端的标识(可以是UE ID，比如层二ID，或者destination ID)。发送终端信息是发送参考信号的终端的标识(可以是UE ID，比如层二ID，或者destination ID)。
可选地，第一参考信号的配置信息还可以包括如下至少之一：第一参考信号的传输开始时间；第一参考信号的传输结束时间；第一参考信号的资源带宽；第一参考信号的资源集标识；第一参考信号的资源标识；第一参考信号的传输周期和偏移；第一参考信号的资源重复参数；在每个第一参考信号的资源中，第一参考信号的符号数量；第一参考信号的静默模式；在每个第一参考信号的资源集中，第一参考信号的资源数量；频率层的数量或指示；波束方向；第一参考信号的梳状尺寸、起始物理资源块和A点；第一参考信号的开始指示或结束指示。
在第一终端接收第一信息的情况下，第一信息是LMF或网络设备或第二终端发送的。在第二终端接收第一信息的情况下，第一信息是LMF或网络设备或第一终端发送的。
可选地，第一参考信号的配置信息还可以包括第一参考信号关联的波束信息，该波束信息是SSB、CSIRS、PRS中的至少一种。
同理，第一终端/第二终端接收第二信息，第二信息包括第二参考信号的配置信息。
可选地，第二参考信号的配置信息包括如下至少之一：第二参考信号的接收/发送终端的数量；第二参考信号的接收/发送终端的信息；第二参考信号的类型；第二参考信号的测量间隔。
其中，第二参考信号的测量间隔是网络设备发送的；或，第二参考信号的测量间隔是网络设备在接 收到第一终端和/或第二终端的请求时配置的。
可选地，第二参考信号的类型包括周期信号、非周期信号和半持续信号中的至少一种。
比如，接收终端的信息是目标终端的标识(可以是UE ID，比如层二ID，或者destination ID)。发送终端信息是发送参考信号的终端的标识(可以是UE ID，比如层二ID，或者destination ID)。
可选地，第二参考信号的配置信息还可以包括如下至少之一：第二参考信号的传输开始时间；第二参考信号的传输结束时间；第二参考信号的资源带宽；第二参考信号的资源集标识；第二参考信号的资源标识；第二参考信号的传输周期和偏移；第二参考信号的资源重复参数；在每个第二参考信号的资源中，第二参考信号的符号数量；第二参考信号的静默图案；在每个第二参考信号的资源集中，第二参考信号的资源数量；频率层的数量或指示；波束方向；第二参考信号的梳状尺寸、起始物理资源块和A点；第二参考信号的开始指示或结束指示。
可选地，第二参考信号的配置信息还可以包括第二参考信号关联的波束信息，该波束信息是SSB、CSIRS、PRS中的至少一种。
在上述配置信息是由LMF发送的情况下，第一信息通过LTE定位协议(LTE Positioning Protocol，LPP)发送；
在上述配置信息是由网络设备发送的情况下，第一信息承载在无线资源控制(Radio Resource Control，RRC)消息、媒体接入控制控制单元(Media Access Control Control Element，MAC CE)、下行链路控制信息(Downlink Control Information，DCI)、预配置信息中的至少一种；
在上述配置信息是由终端发送的情况下，第一信息承载在PC5-S消息、PC5-RRC消息、MAC CE、侧行链路控制信息(Side Link Control Information，SCI)中的至少一种。
图19示出了本申请一个示例性实施例提供的一种终端的定位装置的框图。该装置190包括：
第一接收模块191，用于接收至少一个第二终端发送的第一参考信号，所述第一参考信号是侧行链路的定位参考信号；所述第一参考信号用于对目标终端进行定位。
在本申请的一个可选设计中，所述装置还包括：第一定位模块192，还用于根据所述第一参考信号的测量结果，计算所述目标终端的定位结果；其中，所述目标终端是所述装置和所述第二终端中的至少一种。
在本申请的一个可选设计中，所述装置还包括：第一发送模块193，用于向所述第二终端发送第一测量报告，所述第二终端根据所述第一测量报告计算所述目标终端的定位结果；或，第一发送模块194，用于向网络设备上报第一测量报告，所述网络设备根据所述第一测量报告计算所述目标终端的定位结果；其中，所述目标终端是所述装置和所述第二终端中的至少一种，所述第一测量报告包括所述第一参考信号的测量结果。
在本申请的一个可选设计中，第一发送模块193，用于向所述第二终端发送第二参考信号，所述第二终端用于向网络设备上报第二测量报告，所述第二测量报告包括所述第二参考信号的测量结果；第一发送模块194，用于向所述网络设备上报第一测量报告；所述网络设备用于根据所述第一测量报告和所述第二测量报告计算所述目标终端的定位结果；或，第一发送模块193，用于向所述第二终端发送第一测量报告和第二参考信号，所述第二终端用于向网络设备上报所述第一测量报告和第二测量报告；所述网络设备用于根据所述第一测量报告和所述第二测量报告计算所述目标终端的定位结果；或，第一发送模块193，用于向所述第二终端发送第一测量报告和第二参考信号，所述第二终端用于根据第一测量报告和第二测量报告计算所述目标终端的定位结果；或，第一发送模块193，用于向所述第二终端发送第 二参考信号，所述装置接收所述第二终端发送的第二测量报告；所述第一定位模块192，用于根据第一测量报告和所述第二测量报告计算所述目标终端的定位结果；其中，所述目标终端是所述装置和所述第二终端中的至少一种，所述第一测量报告包括所述第一参考信号的测量结果，所述第二测量报告包括所述第二参考信号的测量结果。
在本申请的一个可选设计中，所述第一参考信号用于确定所述目标终端的位置信息，所述位置信息包括绝对位置和/或相对位置。
在本申请的一个可选设计中，所述测量结果包括如下至少之一：参考信号的RSRP/RSRQ；参考信号的到达角度；参考信号的发送角度；所述测量结果的时间戳；参考信号的收发时间差；参考信号的传播时延；每个测量结果的质量；到达时间差。
在本申请的一个可选设计中，所述第一参考信号用于确定目标终端的位置信息和/或所述目标终端的距离信息。
在本申请的一个可选设计中，所述第一参考信号是SL-PRS，CSI-RS、DMRS、PTRS、SSB中的至少一种。
在本申请的一个可选设计中，第一生成模块194，用于生成所述第一参考信号的配置信息；或，所述第一接收模块192，还用于接收第一信息，所述第一信息包括所述第一参考信号的配置信息。
在本申请的一个可选设计中，所述配置信息包括如下至少之一：所述第一参考信号的接收/发送终端的数量；所述第一参考信号的接收/发送终端的信息；所述第一参考信号的类型；所述第一参考信号用于接收/发送的测量间隔。
在本申请的一个可选设计中，所述第一参考信号的测量间隔是网络设备发送的；或，所述第一参考信号的测量间隔是所述网络设备在接收到所述装置的请求时配置的。
在本申请的一个可选设计中，所述第一信息是网络设备或所述第二终端发送的。
在本申请的一个可选设计中，第一生成模块194，用于生成所述第二参考信号的配置信息；或，第一接收模块192，用于接收第二信息，所述第二信息包括所述第二参考信号的配置信息。
在本申请的一个可选设计中，所述第二参考信号的配置信息包括如下至少之一：所述第二参考信号的接收/发送终端的数量；所述第二参考信号的接收/发送终端的信息；所述第二参考信号的类型；所述第二参考信号的测量间隔。
在本申请的一个可选设计中，所述第二参考信号的测量间隔是网络设备发送的；或，所述第二参考信号的测量间隔是所述网络设备在接收到所述装置的请求时配置的。
综上所述，该方法通过侧行链路来实现目标终端的定位，可由终端之间的交互来得到目标终端的定位结果，可以提高定位效率，降低网络设备的计算压力。而且还提供了一种全新的基于侧行链路的终端的定位方法。
图20示出了本申请一个示例性实施例提供的一种终端的定位装置的框图。该装置2000包括：
第二发送模块2001，用于向第一终端发送第一参考信号，所述第一参考信号用于对目标终端进行定位，所述第一参考信号是侧行链路的定位参考信号。
在本申请的一个可选设计中，第二接收模块2002，用于接收所述第一终端发送的第一测量报告。
第二定位模块2003，用于根据所述第一测量报告计算所述目标终端的定位结果；其中，所述目标终端是所述第一终端和所述装置中的至少一种，所述第一测量报告包括所述第一参考信号的测量结果。
在本申请的一个可选设计中，第二接收模块2002，用于接收所述第一终端发送的第二参考信号； 第二发送模块2004，用于向网络设备上报第二测量报告，所述第二测量报告包括所述第二参考信号的测量结果；所述第一终端用于向所述网络设备上报第一测量报告；所述网络设备用于根据所述第一测量报告和所述第二测量报告计算所述目标终端的定位结果；或，第二接收模块2002，用于接收所述第一终端发送的第一测量报告和第二参考信号；第二发送模块2004，用于向网络设备上报所述第一测量报告和第二测量报告；所述网络设备用于根据所述第一测量报告和所述第二测量报告计算所述目标终端的定位结果；或，所述第二接收模块2002，还用于接收所述第一终端发送的第一测量报告和第二参考信号；第二定位模块2003，用于根据第一测量报告和第二测量报告计算所述目标终端的定位结果；或，第二接收模块2002，用于接收所述第一终端发送的第二参考信号；所述第二发送模块，还用于向所述第一终端发送第二测量报告，所述第一终端用于根据第一测量报告和所述第二测量报告计算所述目标终端的定位结果；其中，所述目标终端是所述第一终端和所述装置中的至少一种，所述第一测量报告包括所述第一参考信号的测量结果，所述第二测量报告包括所述第二参考信号的测量结果。
在本申请的一个可选设计中，所述第一参考信号用于确定所述目标终端的位置信息，所述位置信息包括绝对位置和/或相对位置。
在本申请的一个可选设计中，所述测量结果包括如下至少之一：参考信号的RSRP；参考信号的RSRQ；参考信号的到达角度；参考信号的发送角度；所述测量结果的时间戳；参考信号的收发时间差；参考信号的传播时延；每个测量结果的质量；到达时间差。
在本申请的一个可选设计中，所述第一参考信号用于确定目标终端的位置信息和/或所述目标终端的距离信息。位置信息包括绝对位置或相对位置。
在本申请的一个可选设计中，所述第一参考信号是SL-PRS，CSI-RS、DMRS、PTRS、SSB、SRS中的至少一种。所述第二参考信号是SL-PRS，CSI-RS、DMRS、PTRS、SSB、SRS中的至少一种。第一参考信号和第二参考信号的类型相同或不同。
在本申请的一个可选设计中，第二生成模块2004，用于生成所述第一参考信号的配置信息；或，所述第二接收模块2002，用于接收第一信息，所述第一信息包括所述第一参考信号的配置信息。
在本申请的一个可选设计中，所述第一信息包括如下信息中的至少一种：所述第一参考信号的接收/发送终端的数量；所述第一参考信号的接收/发送终端的信息；所述第一参考信号的类型；所述第一参考信号的测量间隔。
在本申请的一个可选设计中，所述第一参考信号的测量间隔是网络设备发送的；或，所述第一参考信号的测量间隔是所述网络设备在接收到所述装置的请求时配置的。
在本申请的一个可选设计中，所述第一信息是网络设备或所述第一终端发送的。
在本申请的一个可选设计中，第二生成模块2004，用于生成所述第二参考信号的配置信息；或，所述第二接收模块2002，用于接收第二信息，所述第二信息包括所述第二参考信号的配置信息。
在本申请的一个可选设计中，所述第二参考信号的配置信息包括如下至少之一：所述第二参考信号的接收/发送终端的数量；所述第二参考信号的接收/发送终端的信息；所述第二参考信号的类型；所述第二参考信号的测量间隔。
在本申请的一个可选设计中，所述第二参考信号的测量间隔是网络设备发送的；或，所述第二参考信号的测量间隔是所述网络设备在接收到所述装置的请求时配置的。
在本申请的一个可选设计中，所述第二信息是位置管理功能LMF或网络设备或所述第一终端发送的。
综上所述，该方法通过侧行链路来实现目标终端的定位，可由终端之间的交互来得到目标终端的定 位结果，可以提高定位效率，降低网络设备的计算压力。而且还提供了一种全新的基于侧行链路的终端的定位方法。
图21示出了本申请一个实施例提供的通信设备(第一终端或第二终端或网络设备)的结构示意图，例如，该通信设备可以用于执行上述终端的定位方法。具体来讲：该通信设备2100可以包括：处理器2101、接收器2102、发射器2103、存储器2104和总线2105。
处理器2101包括一个或者一个以上处理核心，处理器2101通过运行软件程序以及模块，从而执行各种功能应用以及信息处理。
接收器2102和发射器2103可以实现为一个收发器2106，该收发器2106可以是一块通信芯片。
存储器2104通过总线2105与处理器2101相连。
存储器2104可用于存储计算机程序，处理器2101用于执行该计算机程序，以实现上述方法实施例中的终端或网络设备(接入网实体、核心网网元或核心网实体)执行的各个步骤。
其中，发射器2103用于执行上述各个方法实施例中与发送相关的步骤；接收器2102用于执行上述各个方法实施例中与接收相关的步骤；处理器2101用于执行上述各个实施例中除发送和接收步骤之外的其它步骤。
此外，存储器1304可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，易失性或非易失性存储设备包括但不限于：RAM(Random-Access Memory，随机存储器)和ROM(Read-Only Memory，只读存储器)、EPROM(Erasable Programmable Read-Only Memory，可擦写可编程只读存储器)、EEPROM(Electrically Erasable Programmable Read-Only Memory，电可擦写可编程只读存储器)、闪存或其他固态存储其技术，CD-ROM(Compact Disc Read-Only Memory，只读光盘)、DVD(Digital Video Disc，高密度数字视频光盘)或其他光学存储、磁带盒、磁带、磁盘存储或其他磁性存储设备。
本申请实施例还提供了一种非易失性计算机可读存储介质，其上存储有计算机程序，所述计算机程序被终端的处理器执行时实现上述终端的定位方法。
本申请实施例还提供了一种芯片，所述芯片包括可编程逻辑电路和/或程序指令，当所述芯片在终端设备上运行时，用于实现上述终端的定位方法。
本申请实施例还提供了一种计算机程序产品或计算机程序，所述计算机程序产品或计算机程序包括计算机指令，所述计算机指令存储在计算机可读存储介质中，终端设备的处理器从所述计算机可读存储介质读取并执行所述计算机指令，以实现上述终端的定位方法。
应当理解的是，在本文中提及的“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本申请的其它实施方案。本申请旨在涵盖本申请的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本申请的一般性原理并包括本申请未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本申请的真正范围和精神由下面的权利要求指出。
应当理解的是，本申请并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本申请的范围仅由所附的权利要求来限制。

Claims (64)

  1. 一种终端的定位方法，其特征在于，所述方法包括：
    第一终端接收至少一个第二终端发送的第一参考信号，所述第一参考信号是侧行链路的定位参考信号；
    所述第一终端根据所述第一参考信号对目标终端进行定位。
  2. 根据权利要求1所述的方法，其特征在于，所述第一终端根据所述第一参考信号对目标终端进行定位，包括：
    所述第一终端根据所述第一参考信号的测量结果，计算所述目标终端的定位结果；
    其中，所述目标终端是所述第一终端和所述第二终端中的至少一种。
  3. 根据权利要求1所述的方法，其特征在于，所述第一终端根据所述第一参考信号对目标终端进行定位，包括：
    所述第一终端向所述第二终端发送第一测量报告，所述第二终端用于根据所述第一测量报告计算所述目标终端的定位结果；或，所述第一终端向网络设备上报所述第一测量报告，所述网络设备用于根据所述第一测量报告计算所述目标终端的定位结果；其中，所述目标终端是所述第一终端和所述第二终端中的至少一种，所述第一测量报告包括所述第一参考信号的测量结果。
  4. 根据权利要求1所述的方法，其特征在于，所述第一终端根据所述第一参考信号对目标终端进行定位，包括：
    所述第一终端向所述第二终端发送第二参考信号，所述第二终端用于向网络设备上报第二测量报告，所述第二测量报告包括所述第二参考信号的测量结果；所述第一终端向所述网络设备上报第一测量报告；所述网络设备用于根据所述第一测量报告和所述第二测量报告计算所述目标终端的定位结果；或，所述第一终端向所述第二终端发送所述第一测量报告和所述第二参考信号，所述第二终端用于向所述网络设备上报所述第一测量报告和所述第二测量报告；所述网络设备用于根据所述第一测量报告和所述第二测量报告计算所述目标终端的定位结果；或，所述第一终端向所述第二终端发送是第一测量报告和所述第二参考信号，所述第二终端用于根据所述第一测量报告和所述第二测量报告计算所述目标终端的定位结果；或，所述第一终端向所述第二终端发送所述第二参考信号，所述第一终端接收所述第二终端发送的所述第二测量报告；所述第一终端根据所述第一测量报告和所述第二测量报告计算所述目标终端的定位结果；其中，所述目标终端是所述第一终端和所述第二终端中的至少一种，所述第一测量报告包括所述第一参考信号的测量结果，所述第二测量报告包括所述第二参考信号的测量结果，所述第二参考信号是所述侧行链路的定位参考信号。
  5. 根据权利要求1至4任一所述的方法，其特征在于，所述第一参考信号用于确定所述目标终端的位置信息和距离信息中的至少一种，所述位置信息包括绝对位置和/或相对位置。
  6. 根据权利要求2至4任一所述的方法，其特征在于，所述测量结果包括如下至少之一：参考信号的参考信号接收功率RSRP；参考信号的参考信号接收质量RSRQ；参考信号的到达角度；参考信号的发送角度；所述测量结果的时间戳；参考信号的收发时间差；参考信号的传播时延；每个测量结果的质量；到达时间差。
  7. 根据权利要求4所述的方法，其特征在于，所述第二参考信号的信号类型与所述第一参考信号的信号类型相同或不同。
  8. 根据权利要求1至4任一所述的方法，其特征在于，所述第一参考信号是侧行定位参考信号 SL-PRS，信道状态信息参考信号CSI-RS、解调参考信号DMRS、相位跟踪参考信号PTRS、同步信号块SSB、探测参考信号SRS中的至少一种。
  9. 根据权利要求1至4任一所述的方法，其特征在于，所述方法还包括：
    所述第一终端生成所述第一参考信号的配置信息；或，所述第一终端接收第一信息，所述第一信息包括所述第一参考信号的配置信息。
  10. 根据权利要求9所述的方法，其特征在于，所述第一参考信号的配置信息包括如下至少之一：所述第一参考信号的接收/发送终端的数量；所述第一参考信号的接收/发送终端的信息；所述第一参考信号的类型；所述第一参考信号的测量间隔。
  11. 根据权利要求10所述的方法，其特征在于，所述第一参考信号的测量间隔是网络设备发送的；或，所述第一参考信号的测量间隔是所述网络设备在接收到所述第一终端的请求时配置的。
  12. 根据权利要求9所述的方法，其特征在于，所述第一信息是位置管理功能LMF或网络设备或所述第二终端发送的。
  13. 根据权利要求1至4任一所述的方法，其特征在于，所述方法还包括：所述第一终端生成所述第二参考信号的配置信息；或，所述第一终端接收第二信息，所述第二信息包括所述第二参考信号的配置信息。
  14. 根据权利要求13所述的方法，其特征在于，所述第二参考信号的配置信息包括如下至少之一：所述第二参考信号的接收/发送终端的数量；所述第二参考信号的接收/发送终端的信息；所述第二参考信号的类型；所述第二参考信号的测量间隔。
  15. 根据权利要求14所述的方法，其特征在于，所述第二参考信号的测量间隔是网络设备发送的；或，所述第二参考信号的测量间隔是所述网络设备在接收到所述第一终端的请求时配置的。
  16. 根据权利要求13所述的方法，其特征在于，所述第二信息是位置管理功能LMF或网络设备或所述第二终端发送的。
  17. 一种终端的定位方法，其特征在于，所述方法包括：
    第二终端向第一终端发送第一参考信号，所述第一参考信号用于对目标终端进行定位，所述第一参考信号是侧行链路的定位参考信号。
  18. 根据权利要求17所述的方法，其特征在于，所述方法还包括：
    所述第二终端接收所述第一终端发送的第一测量报告；所述第二终端根据所述第一测量报告计算所述目标终端的定位结果；其中，所述目标终端是所述第一终端和所述第二终端中的至少一种，所述第一测量报告包括所述第一参考信号的测量结果。
  19. 根据权利要求17所述的方法，其特征在于，所述方法还包括：
    所述第二终端接收所述第一终端发送的第二参考信号；所述第二终端向网络设备上报第二测量报告，所述第二测量报告包括所述第二参考信号的测量结果；所述第一终端用于向所述网络设备上报第一测量报告；所述网络设备用于根据所述第一测量报告和所述第二测量报告计算所述目标终端的定位结果；或，所述第二终端接收所述第一终端发送的所述第一测量报告和所述第二参考信号；所述第二终端向所述网络设备上报所述第一测量报告和所述第二测量报告；所述网络设备用于根据所述第一测量报告和所述第二测量报告计算所述目标终端的定位结果；或，所述第二终端接收所述第一终端发送的所述第一测量报告和所述第二参考信号；所述第二终端用于根据所述第一测量报告和所述第二测量报告计算所述目标终端的定位结果；或，所述第二终端接收所述第一终端发送的所述第二参考信号；所述第二终端向所述第一终端发送所述第二测量报告，所述第一终端用于根据所述第一测量报告和所述第二测量报告 计算所述目标终端的定位结果；其中，所述目标终端是所述第一终端和所述第二终端中的至少一种，所述第一测量报告包括所述第一参考信号的测量结果，所述第二测量报告包括所述第二参考信号的测量结果。
  20. 根据权利要求17至19任一所述的方法，其特征在于，所述第一参考信号用于确定所述目标终端的位置信息和距离信息中的至少一种，所述位置信息包括绝对位置和/或相对位置。
  21. 根据权利要求17至19任一所述的方法，其特征在于，所述测量结果包括如下至少之一：参考信号的参考信号接收功率RSRP/参考信号接收质量RSRQ；参考信号的到达角度；参考信号的发送角度；所述测量结果的时间戳；参考信号的收发时间差；参考信号的传播时延；每个测量结果的质量；到达时间差。
  22. 根据权利要求17至19任一所述的方法，其特征在于，所述第二参考信号的信号类型与所述第一参考信号的信号类型相同或不同。
  23. 根据权利要求17至19任一所述的方法，其特征在于，所述第一参考信号是侧行定位参考信号SL-PRS，信道状态信息参考信号CSI-RS、解调参考信号DMRS、相位跟踪参考信号PTRS、SSB中的至少一种。
  24. 根据权利要求17至19任一所述的方法，其特征在于，所述第二终端生成所述第一参考信号的配置信息；或，所述第二终端接收第一信息，所述第一信息包括所述第一参考信号的配置信息。
  25. 根据权利要求24所述的方法，其特征在于，所述第一参考信号的配置信息包括如下至少之一：所述第一参考信号的接收/发送终端的数量；所述第一参考信号的接收/发送终端的信息；所述第一参考信号的类型；所述第一参考信号的测量间隔。
  26. 根据权利要求25所述的方法，其特征在于，所述第一参考信号的测量间隔是网络设备发送的；或，所述第一参考信号的测量间隔是所述网络设备在接收到所述第二终端的请求时配置的。
  27. 根据权利要求24所述的方法，其特征在于，所述第一信息是位置管理功能LMF或网络设备或所述第一终端发送的。
  28. 根据权利要求17至19任一所述的方法，其特征在于，所述第二终端生成所述第二参考信号的配置信息；或，所述第二终端接收第二信息，所述第二信息包括所述第二参考信号的配置信息。
  29. 根据权利要求28所述的方法，其特征在于，所述第二参考信号的配置信息包括如下至少之一：所述第二参考信号的接收/发送终端的数量；所述第二参考信号的接收/发送终端的信息；所述第二参考信号的类型；所述第二参考信号的测量间隔。
  30. 根据权利要求29所述的方法，其特征在于，所述第二参考信号的测量间隔是网络设备发送的；或，所述第二参考信号的测量间隔是所述网络设备在接收到所述第二终端的请求时配置的。
  31. 根据权利要求28所述的方法，其特征在于，所述第二信息是位置管理功能LMF或网络设备或所述第一终端发送的。
  32. 一种终端的定位装置，其特征在于，所述装置包括：
    第一接收模块，用于接收至少一个第二终端发送的第一参考信号，所述第一参考信号是侧行链路的定位参考信号，所述第一参考信号用于对目标终端进行定位。
  33. 根据权利要求32所述的装置，其特征在于，所述装置还包括：
    第一定位模块，用于根据所述第一参考信号的测量结果，计算所述目标终端的定位结果；其中，所述目标终端是所述装置和所述第二终端中的至少一种。
  34. 根据权利要求32所述的装置，其特征在于，所述装置还包括：
    第一发送模块，用于向所述第二终端发送第一测量报告，所述第二终端用于根据所述第一测量报告计算所述目标终端的定位结果；或，所述第一发送模块，还用于向网络设备上报所述第一测量报告，所述网络设备根据所述第一测量报告计算所述目标终端的定位结果；其中，所述目标终端是所述装置和所述第二终端中的至少一种，所述第一测量报告包括所述第一参考信号的测量结果。
  35. 根据权利要求32所述的装置，其特征在于，所述装置包括：
    第一发送模块，用于向所述第二终端发送第二参考信号，所述第二终端用于向网络设备上报第二测量报告，所述第二测量报告包括所述第二参考信号的测量结果；所述第一发送模块，还用于向所述网络设备上报第一测量报告；所述网络设备用于根据所述第一测量报告和所述第二测量报告计算所述目标终端的定位结果；或，所述第一发送模块，用于向所述第二终端发送所述第一测量报告和所述第二参考信号，所述第二终端，还用于向所述网络设备上报所述第一测量报告和所述第二测量报告；所述网络设备用于根据所述第一测量报告和所述第二测量报告计算所述目标终端的定位结果；或，所述第一发送模块，还用于向所述第二终端发送所述第一测量报告和所述第二参考信号，所述第二终端用于根据所述第一测量报告和所述第二测量报告计算所述目标终端的定位结果；或，所述第一发送模块，还用于向所述第二终端发送所述第二参考信号；所述第一接收模块，还用于接收所述第二终端发送的所述第二测量报告；第一定位模块，用于根据所述第一测量报告和所述第二测量报告计算所述目标终端的定位结果；其中，所述目标终端是所述装置和所述第二终端中的至少一种，所述第一测量报告包括所述第一参考信号的测量结果，所述第二测量报告包括所述第二参考信号的测量结果，所述第二参考信号是所述侧行链路的定位参考信号。
  36. 根据权利要求32至35任一所述的装置，其特征在于，所述第一参考信号用于确定所述目标终端的位置信息，所述位置信息包括绝对位置和/或相对位置。
  37. 根据权利要求32至35任一所述的装置，其特征在于，所述测量结果包括如下至少之一：参考信号的参考信号接收功率RSRP或参考信号接收质量RSRQ；参考信号的到达角度；参考信号的发送角度；所述测量结果的时间戳；参考信号的收发时间差；参考信号的传播时延；每个测量结果的质量；到达时间差。
  38. 根据权利要求35所述的装置，其特征在于，所述第二参考信号的信号类型与所述第一参考信号的信号类型相同或不同。
  39. 根据权利要求32至35任一所述的装置，其特征在于，所述第一参考信号是侧行定位参考信号SL-PRS，信道状态信息参考信号CSI-RS、解调参考信号DMRS、相位跟踪参考信号PTRS、同步信号块SSB、探测参考信号SRS中的至少一种。
  40. 根据权利要求32至31任一所述的装置，其特征在于，所述装置还包括：
    第一生成模块，用于生成所述第一参考信号的配置信息；或，所述第一接收模块，还用于接收第一信息，所述第一信息包括所述第一参考信号的配置信息。
  41. 根据权利要求40所述的装置，其特征在于，所述第一参考信号的配置信息包括如下至少之一：所述第一参考信号的接收/发送终端的数量；所述第一参考信号的接收/发送终端的信息；所述第一参考信号的类型；所述第一参考信号的测量间隔。
  42. 根据权利要求41所述的装置，其特征在于，所述第一参考信号的测量间隔是网络设备发送的；或，所述第一参考信号的测量间隔是所述网络设备在接收到所述装置的请求时配置的。
  43. 根据权利要求40所述的装置，其特征在于，所述第一信息是位置管理功能LMF或网络设备或所述第二终端发送的。
  44. 根据权利要求35至39任一所述的装置，其特征在于，所述装置还包括：第一生成模块，用于生成所述第二参考信号的配置信息；或，所述第一接收模块，还用于接收第二信息，所述第二信息包括所述第二参考信号的配置信息。
  45. 根据权利要求44所述的装置，其特征在于，所述第二参考信号的配置信息包括如下至少之一：所述第二参考信号的接收/发送终端的数量；所述第二参考信号的接收/发送终端的信息；所述第二参考信号的类型；所述第二参考信号的测量间隔。
  46. 根据权利要求45所述的装置，其特征在于，所述第二参考信号的测量间隔是网络设备发送的；或，所述第二参考信号的测量间隔是所述网络设备在接收到所述装置的请求时配置的。
  47. 根据权利要求44所述的装置，其特征在于，所述第二信息是位置管理功能LMF或网络设备或所述第二终端发送的。
  48. 一种终端的定位装置，其特征在于，所述装置包括：
    第二发送模块，用于向第一终端发送第一参考信号，所述第一参考信号用于对目标终端进行定位，所述第一参考信号是侧行链路的定位参考信号。
  49. 根据权利要求48所述的装置，其特征在于，所述装置还包括：
    第二接收模块，用于接收所述第一终端发送的第一测量报告；第二定位模块，用于根据所述第一测量报告计算所述目标终端的定位结果；其中，所述目标终端是所述第一终端和所述装置中的至少一种，所述第一测量报告包括所述第一参考信号的测量结果。
  50. 根据权利要求48所述的装置，其特征在于，所述装置还包括：
    第二接收模块，用于接收所述第一终端发送的第二参考信号；所述第二发送模块，用于向网络设备上报第二测量报告，所述第二测量报告包括所述第二参考信号的测量结果；所述第一终端用于向所述网络设备上报第一测量报告；所述网络设备用于根据所述第一测量报告和所述第二测量报告计算所述目标终端的定位结果；或，所述第二接收模块，用于接收所述第一终端发送的所述第一测量报告和所述第二参考信号；所述第二发送模块，用于向所述网络设备上报所述第一测量报告和所述第二测量报告；所述网络设备用于根据所述第一测量报告和所述第二测量报告计算所述目标终端的定位结果；或，所述第二接收模块，还用于接收所述第一终端发送的第一测量报告和第二参考信号；所述第二定位模块，用于根据第一测量报告和第二测量报告计算所述目标终端的定位结果；或，所述第二接收模块，用于接收所述第一终端发送的所述第二参考信号；所述第二发送模块，还用于向所述第一终端发送所述第二测量报告，所述第一终端用于根据所述第一测量报告和所述第二测量报告计算所述目标终端的定位结果；其中，所述目标终端是所述第一终端和所述装置中的至少一种，所述第一测量报告包括所述第一参考信号的测量结果，所述第二测量报告包括所述第二参考信号的测量结果。
  51. 根据权利要求48至50任一所述的装置，其特征在于，所述第一参考信号用于确定所述目标终端的位置信息和距离信息中的至少一种，所述位置信息包括绝对位置和/或相对位置。
  52. 根据权利要求48至50任一所述的装置，其特征在于，所述测量结果包括如下至少之一：参考信号的参考信号接收功率RSRP；参考信号的参考信号接收质量RSRQ；参考信号的到达角度；参考信号的发送角度；所述测量结果的时间戳；参考信号的收发时间差；参考信号的传播时延；每个测量结果的质量；到达时间差。
  53. 根据权利要求48至50任一所述的装置，其特征在于，所述第二参考信号的信号类型与所述第一参考信号的信号类型相同或不同。
  54. 根据权利要求48至50任一所述的装置，其特征在于，所述第一参考信号是侧行定位参考信号 SL-PRS，信道状态信息参考信号CSI-RS、解调参考信号DMRS、相位跟踪参考信号PTRS、同步信号块SSB、探测参考信号SRS中的至少一种。
  55. 根据权利要求48至50任一所述的装置，其特征在于，所述第二生成模块，用于生成所述第一参考信号的配置信息；或，所述第二接收模块，用于接收第一信息，所述第一信息包括所述第一参考信号的配置信息。
  56. 根据权利要求55所述的装置，其特征在于，所述第一参考信号的配置信息包括如下至少之一：所述第一参考信号的接收/发送终端的数量；所述第一参考信号的接收/发送终端的信息；所述第一参考信号的类型；所述第一参考信号的测量间隔。
  57. 根据权利要求56所述的装置，其特征在于，所述第一参考信号的测量间隔是网络设备发送的；或，所述第一参考信号的测量间隔是所述网络设备在接收到所述装置的请求时配置的。
  58. 根据权利要求55所述的装置，其特征在于，所述第一信息是位置管理功能LMF或网络设备或所述第一终端发送的。
  59. 根据权利要求48至50任一所述的装置，其特征在于，所述装置还包括：
    第二生成模块，用于生成所述第二参考信号的配置信息；或，所述第二接收模块，还用于接收第二信息，所述第二信息包括所述第二参考信号的配置信息。
  60. 根据权利要求59所述的装置，其特征在于，所述第二参考信号的配置信息包括如下至少之一：所述第二参考信号的接收/发送终端的数量；所述第二参考信号的接收/发送终端的信息；所述第二参考信号的类型；所述第二参考信号的测量间隔。
  61. 根据权利要求60所述的装置，其特征在于，所述第二参考信号的测量间隔是网络设备发送的；或，所述第二参考信号的测量间隔是所述网络设备在接收到所述装置的请求时配置的。
  62. 根据权利要求60所述的装置，其特征在于，所述第二信息是位置管理功能LMF或网络设备或所述第一终端发送的。
  63. 一种终端，其特征在于，所述终端包括：
    处理器；
    与所述处理器相连的收发器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为加载并执行所述可执行指令以实现如权利要求1至16任一所述的终端的定位方法，或，实现如权利要求17至31任一所述的终端的定位方法。
  64. 一种计算机可读存储介质，其特征在于，所述可读存储介质中存储有至少一条指令、至少一段程序、代码集或指令集，所述至少一条指令、所述至少一段程序、所述代码集或指令集由所述处理器加载并执行以实现如权利要求1至16任一所述的终端的定位方法，或，实现如权利要求17至31任一所述的终端的定位方法。
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