WO2024011640A1

WO2024011640A1 - Positioning auxiliary terminal device determination method and apparatus

Info

Publication number: WO2024011640A1
Application number: PCT/CN2022/106124
Authority: WO
Inventors: 江小威
Original assignee: 北京小米移动软件有限公司
Priority date: 2022-07-15
Filing date: 2022-07-15
Publication date: 2024-01-18
Also published as: CN115336297A

Abstract

Provided in the present disclosure are a positioning auxiliary terminal device determination method and apparatus, a device, and a storage medium, belonging to the technical field of communications. The method comprises: sending sidelink (SL) positioning related request information to a communication device, the SL positioning related request information being used for requesting a positioning auxiliary terminal device; and, on the basis of response information sent by the communication device for the SL positioning related request information, determining a positioning auxiliary terminal device. Provided in the present disclosure is a processing method for the scenario of "determining a positioning auxiliary terminal device", so as to determine a positioning auxiliary terminal device on the basis of response information sent by a communication device, thus providing a mechanism for determining a positioning auxiliary terminal device, and raising the accuracy of determining a positioning auxiliary terminal device.

Description

Determination method and device of positioning auxiliary terminal equipment

Technical field

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

Background technique

In the communication system, the positioning of the Sidelink link between the terminal device and the terminal device includes absolute positioning, relative positioning, and ranging. Among them, ranging usually only involves two terminal devices, that is, ranging is performed between two terminal devices, but absolute positioning and relative positioning may involve multiple auxiliary terminal devices to participate in positioning to improve the accuracy of absolute positioning and relative positioning. sex. However, the related technology does not involve a mechanism for determining the positioning auxiliary terminal equipment, making the determination of the positioning auxiliary terminal equipment less accurate.

Contents of the invention

The present disclosure proposes a method, device, equipment and storage medium for determining the positioning auxiliary terminal equipment, which determines the positioning auxiliary terminal equipment based on the response information sent by the communication device. It can provide a determination mechanism for the positioning auxiliary terminal equipment and improve the positioning auxiliary terminal equipment. Determined accuracy.

An embodiment of the present disclosure provides a method for determining a positioning assistance terminal device. The method is executed by a first terminal device. The method includes:

Send sidelinkSL positioning-related request information to the communication device, where the SL positioning-related request information is used to request positioning auxiliary terminal equipment;

Based on the response information sent by the communication device in response to the SL positioning-related request information, a positioning assistance terminal device is determined.

Optionally, in one embodiment of the present disclosure, the communication device includes one or more second terminal devices, and the positioning is determined based on the response information sent by the communication device in response to the SL positioning-related request information. Auxiliary terminal equipment, including:

Based on the response information sent by the one or more second terminal devices in response to the SL positioning-related request information, it is determined that the one or more second terminal devices are positioning assistance terminal devices.

Optionally, in one embodiment of the present disclosure, the SL positioning-related request information is SL universal mobile communication technology Long Term Evolution (LTE) positioning protocol (LPP) request assistance information, and the response information Provide auxiliary information for SL LPP.

Optionally, in an embodiment of the present disclosure, the SL positioning related request information includes at least one of the following:

SL-Time difference of arrival (Observed Time Difference of Arrival, TDOA) positioning auxiliary information;

SL-angle-of-arrival (AOA) positioning auxiliary information;

SL-angle-of-departure (AOD) positioning auxiliary information;

SL-round trip time (RTT) positioning auxiliary information;

SL - Carrier phase positioning auxiliary information.

Optionally, in an embodiment of the present disclosure, the response information includes at least one of the following:

SL-TDOA positioning auxiliary information;

SL-AOA positioning auxiliary information;

SL-AOD positioning auxiliary information;

SL-RTT positioning auxiliary information;

SL-carrier phase positioning auxiliary information.

Optionally, in an embodiment of the present disclosure, the method further includes:

Determine at least one second terminal device through a relocation proximity service (Proximity service, ProSe) discovery mechanism.

Optionally, in one embodiment of the present disclosure, sending SL positioning-related request information to the communication device includes:

Send the SL positioning-related request information to the communication device, wherein the SL positioning-related request information includes a candidate positioning auxiliary terminal device identification list, and the candidate positioning auxiliary terminal device identification list includes at least one candidate positioning auxiliary terminal device identification ;

Receive response information sent by the communication device in response to the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device.

Optionally, in an embodiment of the present disclosure, the terminal device identification information includes at least one of the following:

Cell-RadioNetworkTemporaryIdentifier (C-RNTI);

International Mobile Subscriber Identity (IMSI);

Temporary Mobile Subscriber Identity (TMSI);

Sidelink link layer two source identification SL L2 source ID;

Sidelink link layer two destination identification SL L2 destination ID;

Sidelink link system information identifier SLSSID;

Inactive temporary identifier (Inactive-RadioNetworkTemporaryIdentifier, I-RNTI).

Optionally, in an embodiment of the present disclosure, when sending the SL positioning-related request information to the communication device, the method further includes at least one of the following:

sending a signal quality measurement result of at least one candidate positioning assistance terminal device to the communication device;

Send the serving cell identification of the at least one candidate positioning assistance terminal device to the communication device;

Send the position tracking area where the at least one candidate positioning assistance terminal device is located to the communication device.

Optionally, in one embodiment of the present disclosure, the signal quality measurement results include at least one of the following:

Reference Signal Receiving Power (RSRP);

Reference Signal Receiving Quality (RSRQ);

Received Signal Strength Indicator (RSSI);

Signal to Interference plus Noise Ratio (SINR).

Determine the signal quality measurement result of the at least one candidate positioning assistance terminal device according to the reference signal sent by the at least one candidate positioning assistance terminal device;

The signal quality measurement result of the at least one candidate positioning assistance terminal device is sent to the communication device.

Optionally, in an embodiment of the present disclosure, the reference signal includes at least one of the following:

Demodulation Reference Signal (DM-RS);

Channel State Information-Reference Signal (CSI-RS);

Channel sounding reference signal (Sounding Reference Signal, SRS);

Partial-Response Signaling (PRS).

In response to the number of identifiers corresponding to the candidate positioning auxiliary terminal equipment identification list being greater than the identification threshold, a preset number of candidate positioning auxiliary terminals are determined in the candidate positioning auxiliary terminal equipment identification list in order of signal quality from high to low. Equipment Identity;

Send the preset number of candidate positioning assistance terminal device identifiers to the communication device.

Optionally, in an embodiment of the present disclosure, the serving cell identity includes at least one of the following:

Physical Cell Identifier (PCI);

Global Cell Identifier (GCI).

Optionally, in one embodiment of the present disclosure, the communication device includes a second terminal device, and the method further includes:

Negotiate with the second terminal device to determine the positioning assistance terminal device through at least one of the following messages;

Sidelink LPP message;

PC5-S message;

Radio Resource Control (RRC) message.

Optionally, in one embodiment of the present disclosure, the Sidelink LPP message includes request assistance information and/or provide assistance information of the sidelink LPP.

Another aspect of the present disclosure provides a method for determining a positioning assistance terminal device. The method is executed by a communication device. The method includes:

Receive SL positioning-related request information sent by the first terminal device, wherein the SL positioning-related request information is used to request positioning assistance terminal device;

Based on the SL positioning-related request information, response information is sent to the first terminal device, where the response information is used to determine the positioning assistance terminal device.

Optionally, in an embodiment of the present disclosure, the communication device includes a second terminal device, the method is performed by the second terminal device, and based on the SL positioning related request information, the sending Response information to the first terminal device includes:

Based on the SL positioning-related request information, response information is sent to the first terminal device, wherein the response information indicates that the second terminal device is the positioning assistance terminal device.

Optionally, in an embodiment of the present disclosure, the sending response information to the first terminal device based on the SL positioning-related request information includes:

Receive a candidate positioning auxiliary terminal device identification list sent by the first terminal device, wherein the candidate positioning auxiliary terminal device identification list includes at least one candidate positioning auxiliary terminal device identification;

Determine at least one positioning auxiliary terminal device based on the candidate positioning auxiliary terminal device identification list;

Send the response information to the first terminal device, where the response information includes the at least one positioning assistance terminal device.

Optionally, in one embodiment of the present disclosure, determining at least one positioning assistance terminal device based on the candidate positioning assistance terminal device identification list includes:

Based on the candidate positioning auxiliary terminal device identification list, negotiate with at least one candidate positioning auxiliary terminal device to determine the at least one positioning auxiliary terminal device, wherein the at least one candidate positioning auxiliary terminal device and the at least one candidate positioning auxiliary terminal device Device identification correspondence.

Optionally, in one embodiment of the present disclosure, negotiating with at least one candidate positioning auxiliary terminal device to determine the at least one positioning auxiliary terminal device based on the candidate positioning auxiliary terminal device identification list includes:

Based on the signal quality of the candidate positioning auxiliary terminal equipment identification list and the at least one candidate positioning auxiliary terminal equipment identification, the network connection status information of the at least one candidate positioning auxiliary terminal equipment identification and the at least one candidate positioning auxiliary terminal equipment The identified location updates area information to determine at least one candidate positioning auxiliary terminal device;

Send the SL positioning related request information to the at least one candidate positioning assistance terminal device;

Receive confirmation information sent by the at least one candidate positioning auxiliary terminal device for the SL positioning related request information, and use at least one terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as the at least one positioning Auxiliary terminal equipment.

Optionally, in one embodiment of the present disclosure, the communication device includes a second terminal device, the method is performed by the second terminal device, and in the step of sending the response information to the first terminal Before the device, it also includes:

Negotiate with the main positioning auxiliary terminal device to determine the at least one positioning auxiliary terminal device.

Optionally, in one embodiment of the present disclosure, determining the at least one positioning auxiliary terminal device through negotiation with a primary positioning auxiliary terminal device includes:

Send the SL positioning-related request information to the primary positioning auxiliary terminal device;

Receive at least one positioning auxiliary terminal device sent by the main positioning auxiliary terminal device for the SL positioning related request information.

Optionally, in one embodiment of the present disclosure, the communication device includes a second terminal device, the method is performed by the second terminal device, and in the step of sending the response information to the first terminal Before equipment, also includes:

Negotiate with the network side device or the location management function entity LMF to determine the at least one positioning assistance terminal device.

Optionally, in an embodiment of the present disclosure, the negotiation with the network side device or the location management function entity LMF to determine the at least one positioning assistance terminal device includes:

In response to the second terminal device being located within the coverage of the network side device, sending the SL positioning related request information to the network side device or the LMF;

Receive the at least one positioning assistance terminal device sent by the network side device or the LMF for the SL positioning related request information.

Optionally, in an embodiment of the present disclosure, the SL positioning-related request information includes at least one of the following:

List of candidate positioning auxiliary terminal device identifiers;

The signal quality corresponding to at least one candidate positioning auxiliary terminal device identification in the candidate positioning auxiliary terminal device identification list.

Optionally, in one embodiment of the present disclosure, the communication device includes a primary positioning auxiliary terminal device, the method is performed by the primary positioning auxiliary terminal device, and the method further includes:

Receive the SL positioning-related request information sent by the second terminal device;

Receive confirmation information sent by the at least one candidate positioning auxiliary terminal device for the SL positioning related request information, and use at least one terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as the at least one positioning Auxiliary terminal equipment;

Send response information to the SL positioning-related request information to the second terminal device, where the response information includes the at least one positioning assistance terminal device.

Optionally, in an embodiment of the present disclosure, the communication device includes an LMF, the method is performed by the LMF, and the method is based on the candidate positioning auxiliary terminal device identification list and at least one candidate positioning auxiliary terminal. The device negotiates to determine the at least one positioning assistance terminal device, including:

Receive the candidate positioning auxiliary terminal device identification list and the signal quality measurement result of the at least one candidate positioning auxiliary terminal device identification sent by the first terminal device;

Send the candidate positioning auxiliary terminal equipment identification list and the signal quality measurement result of the at least one candidate positioning auxiliary terminal equipment identification to the network side device;

Receive the at least one positioning assistance terminal device sent by the network side device.

Optionally, in one embodiment of the present disclosure, the communication device includes an LMF, the method is performed by the LMF, and the method further includes:

Based on the candidate positioning auxiliary terminal device identification list sent by the network side device or the second terminal device, negotiate with at least one candidate positioning auxiliary terminal device to determine the at least one positioning auxiliary terminal device;

Send the at least one positioning assistance terminal device to the network side device or the second terminal device.

The positioning assistance terminal device is determined through negotiation with the terminal device through LPP messages.

Optionally, in an embodiment of the present disclosure, the LPP message includes request assistance information and/or provide assistance information of LPP.

Optionally, in an embodiment of the present disclosure, the communication device includes a network-side device, the method is executed by the network-side device, and the based on the candidate positioning auxiliary terminal device identification list, and at least one The candidate positioning auxiliary terminal equipment negotiates to determine the at least one positioning auxiliary terminal equipment, including:

Send the candidate positioning auxiliary terminal equipment identification list and the signal quality measurement result of the at least one candidate positioning auxiliary terminal equipment identification to the LMF;

Receive the at least one positioning assistance terminal device sent by the LMF.

Optionally, in one embodiment of the present disclosure, the communication device includes a network side device, the method is executed by the network side device, and the method further includes:

Based on the candidate positioning auxiliary terminal device identification list sent by the LMF or the second terminal device, negotiate with at least one candidate positioning auxiliary terminal device to determine the at least one positioning auxiliary terminal device;

Send the at least one positioning assistance terminal device to the LMF or the second terminal device.

Another aspect of the present disclosure provides an SL PRS configuration negotiation device. The device is provided on the first terminal equipment side. The device includes:

A sending module, configured to send SL positioning-related request information to the communication device, where the SL positioning-related request information is used to request positioning assistance terminal equipment;

A determining module configured to determine the positioning assistance terminal device based on the response information sent by the communication device for the SL positioning-related request information.

Another aspect of the present disclosure provides an SL PRS configuration negotiation device. The device is provided on the communication equipment side. The device includes:

A receiving module, configured to receive SL positioning-related request information sent by the first terminal device, where the SL positioning-related request information is used to request positioning assistance terminal device;

A sending module, configured to send response information to the first terminal device based on the SL positioning-related request information, where the response information is used to determine the positioning assistance terminal device.

Another aspect of the present disclosure provides a first terminal device. The device includes a processor and a memory. A computer program is stored in the memory. The processor executes the computer program stored in the memory to enable The device executes the method proposed in the embodiment of the above aspect.

Another aspect of the present disclosure provides a communication device. The device includes a processor and a memory. A computer program is stored in the memory. The processor executes the computer program stored in the memory so that the The device performs the method proposed in the embodiment of the above aspect.

A communication device provided by another embodiment of the present disclosure includes: a processor and an interface circuit;

The interface circuit is used to receive code instructions and transmit them to the processor;

The processor is configured to run the code instructions to perform the method proposed in the embodiment of one aspect.

A computer-readable storage medium provided by an embodiment of another aspect of the present disclosure is used to store instructions. When the instructions are executed, the method proposed by the embodiment of the present disclosure is implemented.

A computer-readable storage medium provided by an embodiment of another aspect of the present disclosure is used to store instructions. When the instructions are executed, the method proposed by the embodiment of another aspect is implemented.

To sum up, in the embodiments of the present disclosure, SL positioning-related request information is sent to the communication device, where the SL positioning-related request information is used to request the positioning auxiliary terminal device, based on the response sent by the communication device to the SL positioning-related request information. information to determine the positioning auxiliary terminal equipment. In the embodiments of the present disclosure, the positioning auxiliary terminal device can be determined based on the response information sent by the communication device, which reduces the situation in which the positioning auxiliary terminal device cannot be determined, and can improve the accuracy of positioning auxiliary terminal device determination. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Description of drawings

The above and/or additional aspects and advantages of the present disclosure will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

Figure 1 is a schematic diagram of an example of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure;

Figure 2 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure;

Figure 3 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by yet another embodiment of the present disclosure;

Figure 4 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by yet another embodiment of the present disclosure;

Figure 5 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by yet another embodiment of the present disclosure;

Figure 6 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by yet another embodiment of the present disclosure;

Figure 7 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by yet another embodiment of the present disclosure;

Figure 8 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by yet another embodiment of the present disclosure;

Figure 9 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by yet another embodiment of the present disclosure;

Figure 10 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by yet another embodiment of the present disclosure;

Figure 11 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by yet another embodiment of the present disclosure;

Figure 12 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by yet another embodiment of the present disclosure;

Figure 13 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by yet another embodiment of the present disclosure;

Figure 14 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by yet another embodiment of the present disclosure;

Figure 15 is a schematic flowchart of a method for determining a positioning auxiliary terminal device provided by yet another embodiment of the present disclosure;

Figure 16 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by yet another embodiment of the present disclosure;

Figure 17 is a schematic flowchart of a method for determining a positioning auxiliary terminal device provided by yet another embodiment of the present disclosure;

Figure 18 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by yet another embodiment of the present disclosure;

Figure 19 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by yet another embodiment of the present disclosure;

Figure 20 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by yet another embodiment of the present disclosure;

Figure 21 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by yet another embodiment of the present disclosure;

Figure 22 is a schematic structural diagram of a determination device of a positioning assistance terminal device provided by an embodiment of the present disclosure;

Figure 23 is a schematic structural diagram of a determination device of a positioning assistance terminal device provided by another embodiment of the present disclosure;

Figure 24 is a block diagram of a terminal device provided by an embodiment of the present disclosure.

Figure 25 is a block diagram of a network side device provided by an embodiment of the present disclosure.

Detailed ways

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

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

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

The network elements or network functions involved in the embodiments of the present disclosure can be implemented by independent hardware devices or by software in the hardware devices. This is not limited in the embodiments of the present disclosure.

Positioning based on the terminal equipment (User Equipment, UE) and the Sidelink link between the UE includes absolute positioning, relative positioning, and ranging. Absolute positioning is to determine the absolute coordinates of the UE, relative positioning is to determine the coordinates of the UE relative to a reference point, and ranging is to determine the distance and/or angle of the UE relative to a reference point. Ranging usually refers to ranging between only two UEs, but absolute positioning and relative positioning may involve multiple auxiliary UEs to participate in positioning.

FIG. 1 shows an example schematic diagram of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure. As shown in Figure 1, taking the positioning method based on Downlink time difference of arrival (DL-TDOA) as an example, multiple Road Side Units (Road Side Units, RSU) can be set up on the roadside, and each roadside The unit may correspond to fixed location information, for example. The UE measures the positioning signals sent by multiple roadside units through sidelink links, and based on the positioning signals, the specific position of the UE relative to the RSU can be determined. The plurality of RSUs may be greater than or equal to three, for example. For example, the positioning signal may include the position information of the roadside unit. The UE may, for example, measure the arrival time difference of three positioning signals sent by the three roadside units, and based on the arrival time difference of the three positioning signals and the position of each roadside unit Information, the UE can determine the location information of the UE, or the location information of the UE relative to a certain roadside unit.

Among them, in addition to DL-TDOA, positioning solutions also include Uplink time difference of arrival (UL-TDOA), multiple round trip time (Multiple RTT), angle-of-arrival (AOA) ) or angle-of-departure (AOD), carrier phase positioning, etc. If the positioning result is converted into absolute position coordinates without absolute position information such as RSU-based GPS, then the positioning result is relative positioning. On the contrary, it is absolute positioning. RSUs that participate in relative positioning or absolute positioning are positioning-assisted UEs.

Among them, in an embodiment of the present disclosure, if positioning only involves two UEs, they are each other's positioning assistance UE.

And, in one embodiment of the present disclosure, there are different types of positioning assistance UEs, for example, they may include RSU type positioning assistance UEs. Among them, RSU type positioning assistance UE belongs to an infrastructure that can provide positioning services by cooperating with other RSUs. For example, an ordinary UE can also be used as a positioning assisting UE, but it is difficult for it to assist in providing positioning services together with other UEs. In addition, some positioning-assisted UEs have location information such as GPS, which can assist other UEs in absolute positioning. Also, some other positioning-assisted UEs may not have location information such as GPS.

A method, device, equipment and storage medium for determining a positioning assistance terminal device provided by embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

Figure 2 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure. The method is executed by the first terminal device. As shown in Figure 2, the method may include the following steps:

Step 201: Send SL positioning-related request information to the communication device, where the SL positioning-related request information is used to request positioning auxiliary terminal equipment;

Step 202: Determine the positioning assistance terminal device based on the response information sent by the communication device in response to the SL positioning-related request information.

It should be noted that, in one embodiment of the present disclosure, the terminal device may be a device that provides voice and/or data connectivity to the user. Terminal devices can communicate with one or more core networks via RAN (Radio Access Network). Terminal devices can be IoT terminals, such as sensor devices, mobile phones (or "cellular" phones) and devices with The computer of the Internet of Things terminal, for example, can be a fixed, portable, pocket-sized, handheld, computer-built-in or vehicle-mounted device. For example, station (STA), subscriber unit (subscriber unit), subscriber station (subscriber station), mobile station (mobile station), mobile station (mobile), remote station (remote station), access point, remote terminal ( remoteterminal), access terminal (access terminal), user device (user terminal) or user agent (useragent). Alternatively, the terminal device may also be a device of an unmanned aerial vehicle. Alternatively, the terminal device may also be a vehicle-mounted device, for example, it may be a driving computer with wireless communication function, or a wireless terminal connected to an external driving computer. Alternatively, the terminal device may also be a roadside device, for example, it may be a street light, a signal light or other roadside device with wireless communication function.

In one embodiment of the present disclosure, the first terminal device may be, for example, a located terminal device. The first terminal device may determine the positioning assistance terminal device based on the response information. For example, the first terminal device can measure the positioning signal sent by the positioning assistance terminal device through the sidelink link to determine the location information of the first terminal device.

And, in one embodiment of the present disclosure, the communication device does not specifically refer to a certain fixed device. The communication device may include, for example, at least one of a second terminal device, a network side device, and an LMF. The network side device may be a base station, for example. For example, the second terminal device may be a device that negotiates with the first terminal device to determine the positioning auxiliary terminal device. For example, the second terminal device may be a positioning auxiliary terminal device of the first terminal device, or may be a device of at least one determined positioning auxiliary terminal device, and the second terminal device is not a positioning auxiliary terminal device of the first terminal device.

Among them, in one embodiment of the present disclosure, the communication device includes one or more second terminal devices, and based on the response information sent by the communication device for the SL positioning-related request information, the positioning assistance terminal device is determined, including:

Based on the response information sent by the one or more second terminal devices in response to the SL positioning-related request information, the one or more second terminal devices are determined to be positioning assistance terminal devices.

And, in one embodiment of the present disclosure, the SL positioning-related request information is SL LPP requesting auxiliary information, and the response information is SL LPP providing auxiliary information.

For example, in one embodiment of the present disclosure, the SL positioning-related request information includes at least one of the following:

SL - time difference of arrival TDOA positioning auxiliary information;

SL-Angle of arrival AOA positioning auxiliary information;

SL - departure angle AOD positioning auxiliary information;

SL-round trip time RTT positioning auxiliary information;

SL-carrier phase positioning auxiliary information.

And, in one embodiment of the present disclosure, the response information includes at least one of the following:

SL-TDOA positioning auxiliary information;

SL-AOA positioning auxiliary information;

SL-AOD positioning auxiliary information;

SL-RTT positioning auxiliary information;

SL-carrier phase positioning auxiliary information.

By way of example, in one embodiment of the present disclosure, the method further includes:

At least one second terminal device is determined through a relocation proximity service ProSe discovery mechanism.

In one embodiment of the present disclosure, when the first terminal device determines at least one second terminal device through the relocation proximity service ProSe discovery mechanism, the first terminal device may determine that the at least one second terminal device is a positioning assistance terminal device. . The first terminal device may send the indication information to at least one second terminal device. The second terminal device can confirm that the second terminal device itself is a positioning assistance terminal device according to the indication information.

And, in one embodiment of the present disclosure, sending SL positioning-related request information to the communication device includes:

Send SL positioning-related request information to the communication device, where the SL positioning-related request information includes a candidate positioning auxiliary terminal device identification list, and the candidate positioning auxiliary terminal device identification list includes at least one candidate positioning auxiliary terminal device identification;

Receive response information sent by the communication device for the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device.

By way of example, in one embodiment of the present disclosure, the terminal device identification information includes at least one of the following:

Cell wireless network temporary identifier C-RNTI;

International Mobile Subscriber Identity IMSI;

Temporary mobile subscriber identity TMSI;

Sidelink link layer two source identification SL L2 source ID;

Sidelink link layer two destination identification SL L2 destination ID;

Sidelink link system information identifier SLSSID;

Invalid temporary identifier I-RNTI.

And, in one embodiment of the present disclosure, when sending SL positioning related request information to the communication device, the method further includes at least one of the following:

sending the signal quality measurement result of at least one candidate positioning assistance terminal device to the communication device;

Send the serving cell identification of at least one candidate positioning assistance terminal device to the communication device;

Send the location tracking area where at least one candidate positioning assistance terminal device is located to the communication device.

By way of example, in one embodiment of the present disclosure, the signal quality measurement results include at least one of the following:

Reference signal received power RSRP;

Reference signal reception quality RSRQ;

Received signal strength indicator RSSI;

Signal to interference plus noise ratio SINR.

A signal quality measurement result of at least one candidate positioning assistance terminal device is sent to the communication device.

And, in one embodiment of the present disclosure, the reference signal includes at least one of the following:

Demodulation reference signal DM-RS;

Channel state information reference signal CSI-RS;

Channel sounding reference signal SRS;

Partial response signal PRS.

In response to the number of identifications corresponding to the candidate positioning auxiliary terminal equipment identification list being greater than the identification threshold, a preset number of candidate positioning auxiliary terminal equipment identifications are determined in the candidate positioning auxiliary terminal equipment identification list in order of signal quality from high to low;

Send a preset number of candidate positioning auxiliary terminal device identifications to the communication device.

By way of example, in one embodiment of the present disclosure, the serving cell identity includes at least one of the following:

Physical cell identity PCI;

Global Cell Identity GCI.

By way of example, in one embodiment of the present disclosure, the communication device includes a second terminal device, and the method further includes:

Sidelink LPP message;

PC5-S message;

RRC message.

Further, in one embodiment of the present disclosure, the Sidelink LPP message includes request auxiliary information and/or provide auxiliary information of the sidelink LPP.

To sum up, in the embodiments of the present disclosure, SL positioning-related request information is sent to the communication device, where the SL positioning-related request information is used to request the positioning auxiliary terminal device, based on the response sent by the communication device to the SL positioning-related request information. information to determine the positioning auxiliary terminal equipment. In the embodiments of the present disclosure, the positioning auxiliary terminal device can be determined based on the response information sent by the communication device, which reduces the situation that the positioning auxiliary terminal device cannot be determined and can improve the accuracy of positioning auxiliary terminal device determination. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Figure 3 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure. The method is executed by the first terminal device. As shown in Figure 3, the method may include the following steps:

Step 301: Send SL positioning-related request information to one or more second terminal devices, where the SL positioning-related request information is used to request positioning assistance terminal devices;

Step 302: Determine one or more second terminal devices as positioning assistance terminal devices based on the response information sent by the one or more second terminal devices in response to the SL positioning-related request information.

In one embodiment of the present disclosure, the communication device of the embodiment of the present disclosure may include, for example, one or more second terminal devices. The second terminal device in the embodiment of the present disclosure may be, for example, a candidate positioning assistance terminal device. When the first terminal device receives the response information sent by the second terminal device in response to the SL positioning-related request information, the first terminal device may determine the second terminal device as the positioning assistance terminal device.

Among them, in one embodiment of the present disclosure, the SL positioning-related request information is SL LPP requesting auxiliary information, and the response information is SL LPP providing auxiliary information.

And, in one embodiment of the present disclosure, the SL positioning related request information includes at least one of the following:

SL - time difference of arrival TDOA positioning auxiliary information;

SL-Angle of arrival AOA positioning auxiliary information;

SL - departure angle AOD positioning auxiliary information;

SL-round trip time RTT positioning auxiliary information;

SL-carrier phase positioning auxiliary information.

For example, in one embodiment of the present disclosure, the SL positioning-related request information does not specifically refer to a certain fixed request information. For example, when the amount of information included in the SL positioning-related request information changes, the SL positioning-related request information can also change accordingly. For example, when the specific information included in the SL positioning-related request information changes, the SL positioning-related request information can also change accordingly.

SL-TDOA positioning auxiliary information;

SL-AOA positioning auxiliary information;

SL-AOD positioning auxiliary information;

SL-RTT positioning auxiliary information;

SL-carrier phase positioning auxiliary information.

And, in one embodiment of the present disclosure, the first terminal device can determine at least one second terminal device through the relocation proximity service ProSe discovery mechanism.

To sum up, in the embodiments of the present disclosure, SL positioning-related request information is sent to one or more second terminal devices, where the SL positioning-related request information is used to request positioning assistance terminal devices; based on one or more third terminal devices, In response to the response information sent by the second terminal device to the SL positioning-related request information, one or more second terminal devices are determined to be positioning auxiliary terminal devices. In the embodiments of the present disclosure, the positioning auxiliary terminal device can be determined based on the response information sent by the second terminal device, which reduces the situation that the positioning auxiliary terminal device cannot be determined, and can improve the accuracy of positioning auxiliary terminal device determination. The embodiments of the present disclosure specifically disclose a solution for determining that the second terminal device is a positioning assistance terminal device directly based on the response information sent by the second terminal. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Figure 4 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure. The method is executed by the first terminal device. As shown in Figure 4, the method may include the following steps:

Step 401: Send SL positioning-related request information to the second terminal device, where the SL positioning-related request information is used to request positioning assistance terminal device;

Step 402: Receive response information sent by the second terminal device in response to the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device determined by the second terminal device;

Step 403: Determine at least one positioning auxiliary terminal device as the positioning auxiliary terminal device.

And, in one embodiment of the present disclosure, the communication device includes a second terminal device.

And, in one embodiment of the present disclosure, the first terminal device can determine the second terminal device through the relocation proximity service ProSe discovery mechanism. The number of the second terminal device is one. For example, the second terminal device may be a target positioning auxiliary terminal device, or may be a device that sends response information to the first terminal device after determining the positioning auxiliary terminal device, wherein the second terminal device may not be a positioning auxiliary terminal device. , or it can be a positioning auxiliary terminal device.

For example, in one embodiment of the present disclosure, the second terminal device may be, for example, a target positioning auxiliary terminal device, and the first terminal device may determine the second terminal device through a relocation proximity service ProSe discovery mechanism. The first terminal device may determine the second terminal device as the target positioning auxiliary terminal device. The first terminal device may send indication information to the second terminal device, and the second terminal device may confirm that the second terminal device itself is a positioning assistance terminal device.

For example, in one embodiment of the present disclosure, the first terminal device may send SL positioning related request information to the second terminal device. When the second terminal device receives the SL positioning-related request information, the second terminal device can determine at least one positioning auxiliary terminal device, that is, the second terminal can determine one or more positioning auxiliary terminal devices. The second terminal device may send response information to the first terminal device. Since the response information includes the at least one positioning auxiliary terminal device, the first terminal device may determine the at least one positioning auxiliary terminal device as the positioning auxiliary terminal device.

For example, in one embodiment of the present disclosure, the response information may include confirmation positioning assistance information sent by one or more candidate positioning assistance terminal devices, where the confirmation positioning assistance information is used to determine the positioning assistance terminal device. The first terminal device may determine at least one positioning assistance terminal device that sends the positioning confirmation assistance information as the positioning assistance terminal device based on the positioning confirmation assistance information.

To sum up, in the embodiments of the present disclosure, the SL positioning-related request information is sent to the second terminal device, where the SL positioning-related request information is used to request the positioning auxiliary terminal device; and the SL positioning-related request from the second terminal device is received. Response information sent by the information, wherein the response information includes at least one positioning auxiliary terminal device determined by the second terminal device; and the at least one positioning auxiliary terminal device is determined as the positioning auxiliary terminal device. In the embodiments of the present disclosure, the positioning auxiliary terminal device can be determined based on the response information sent by the second terminal device, which reduces the situation that the positioning auxiliary terminal device cannot be determined, and can improve the accuracy of positioning auxiliary terminal device determination. The embodiments of the present disclosure specifically disclose a solution for determining the positioning auxiliary terminal device directly based on the response information sent by the second terminal. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Figure 5 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure. The method is executed by the first terminal device. As shown in Figure 5, the method may include the following steps:

Step 501: Send SL positioning-related request information to the communication device, where the SL positioning-related request information includes a candidate positioning auxiliary terminal device identification list, and the candidate positioning auxiliary terminal device identification list includes at least one candidate positioning auxiliary terminal device identification;

Step 502: Receive response information sent by the communication device for the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device;

Step 503: Determine the positioning assistance terminal device based on the response information sent by the communication device for the SL positioning-related request information.

In one embodiment of the present disclosure, the candidate positioning assistance identifier list includes, for example, one or more positioning assistance terminal device identifiers suggested by the first terminal device. The list of candidate positioning auxiliary identifiers does not specifically refer to a fixed list. For example, when the number of identifiers included in the candidate positioning auxiliary identifier list changes, the candidate positioning auxiliary identifier list may also change accordingly. For example, when the identifiers included in the candidate positioning auxiliary identifier list change, the candidate positioning auxiliary identifier list may also change accordingly.

And, in one embodiment of the present disclosure, the SL positioning-related request information sent by the first terminal device may include, for example, a candidate positioning assistance terminal device identification list. The second terminal device may determine at least one positioning auxiliary terminal device based on the candidate positioning auxiliary terminal device identification list. The second terminal device may send response information to the first terminal device. The response information includes at least one positioning assistance terminal device. The first terminal device may determine the at least one positioning assistance terminal device as the positioning assistance terminal device.

Cell wireless network temporary identifier C-RNTI;

International Mobile Subscriber Identity IMSI;

Temporary mobile subscriber identity TMSI;

Sidelink link layer two source identification SL L2 source ID;

Sidelink link layer two destination identification SL L2 destination ID;

Sidelink link system information identifier SLSSID;

Invalid temporary identifier I-RNTI.

For example, in one embodiment of the present disclosure, when sending SL positioning-related request information to the communication device, the method further includes at least one of the following:

For example, in one embodiment of the present disclosure, when the first terminal device sends SL positioning-related request information to the second terminal device, it may also simultaneously send the signal quality measurement result of at least one candidate positioning assistance terminal device to the communication device.

Reference signal received power RSRP;

Reference signal reception quality RSRQ;

Received signal strength indicator RSSI;

Signal to interference plus noise ratio SINR.

And, in one embodiment of the present disclosure, the signal quality measurement result does not refer to a certain fixed measurement result. For example, when the number of results included in a signal quality measurement changes, the signal quality measurement may change accordingly. For example, a signal quality measurement that includes only RSRP is different from a signal quality measurement that includes both RSRP and RSRQ.

By way of example, in one embodiment of the present disclosure, the reference signal includes at least one of the following:

Demodulation reference signal DM-RS;

Channel state information reference signal CSI-RS;

Channel sounding reference signal SRS;

Partial response signal PRS.

And, in one embodiment of the present disclosure, the reference signal does not specifically refer to a certain fixed measurement result. For example, when the number of signals included in the reference signal changes, the reference signal may also change accordingly. For example, when a specific signal included in the reference signal changes, the reference signal may also change accordingly. For example, the reference signal may include DM-RS, and the reference signal may also include DM-RS and PRS at the same time.

To sum up, in the embodiment of the present disclosure, SL positioning-related request information is sent to the communication device, where the SL positioning-related request information includes a candidate positioning auxiliary terminal device identification list, and the candidate positioning auxiliary terminal device identification list includes at least one candidate Positioning assistance terminal device identification; receiving response information sent by the communication device for the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device; determining positioning assistance based on the response information sent by the communication device for the SL positioning-related request information Terminal Equipment. In the embodiments of the present disclosure, the positioning auxiliary terminal device can be determined based on the response information sent by the communication device, which reduces the situation in which the positioning auxiliary terminal device cannot be determined, and can improve the accuracy of positioning auxiliary terminal device determination. Embodiments of the present disclosure specifically disclose a solution for determining a positioning auxiliary terminal device based on a candidate positioning auxiliary terminal device identification list. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Figure 6 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure. The method is executed by the first terminal device. As shown in Figure 6, the method may include the following steps:

Step 601: In response to the number of identifiers corresponding to the candidate positioning auxiliary terminal equipment identification list being greater than the identification threshold, determine a preset number of candidate positioning auxiliary terminal equipment in the candidate positioning auxiliary terminal equipment identification list in order of signal quality from high to low. logo;

Step 602: Send a preset number of candidate positioning assistance terminal device identifiers to the communication device.

In one embodiment of the present disclosure, the preset number refers to the number corresponding to at least one candidate positioning auxiliary terminal device identification determined when the number of identifications corresponding to the candidate positioning auxiliary terminal equipment identification list is greater than the identification threshold. The preset quantity does not refer to a fixed quantity. For example, when the first terminal device receives an instruction to modify the preset number, the preset number may be changed accordingly.

And in one embodiment of the present disclosure, when sending a preset number of candidate positioning auxiliary terminal device identifications to the communication device, for example, it may be to send SL positioning related request information including the preset number of candidate positioning auxiliary terminal devices to the communication device. . The communication device can determine at least one positioning auxiliary terminal device based on a preset number of candidate positioning auxiliary terminal device identifiers, that is, the at least one positioning auxiliary terminal device is a positioning auxiliary terminal determined by the communication device based on a preset number of candidate positioning auxiliary terminal device identifiers. equipment. The communication device may send response information to the first terminal device. The response information includes at least one positioning assistance terminal device. The first terminal device may determine the positioning assistance terminal device based on the response information.

To sum up, in the embodiments of the present disclosure, in response to the number of identifiers corresponding to the candidate positioning auxiliary terminal equipment identification list being greater than the identification threshold, in the order of signal quality from high to low, in the candidate positioning auxiliary terminal equipment identification list Determine a preset number of candidate positioning auxiliary terminal device identifiers; send the preset number of candidate positioning auxiliary terminal device identifiers to the communication device. In the embodiments of the present disclosure, the positioning auxiliary terminal device can be determined based on the response information sent by the communication device, which reduces the situation in which the positioning auxiliary terminal device cannot be determined, and can improve the accuracy of positioning auxiliary terminal device determination. Embodiments of the present disclosure specifically disclose a solution for determining the identification of candidate positioning auxiliary terminal equipment, which can improve the accuracy of determination of candidate positioning auxiliary terminal equipment and improve the accuracy of determination of positioning auxiliary terminal equipment. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Figure 7 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure. The method is executed by the first terminal device. As shown in Figure 7, the method may include the following steps:

Step 701: Negotiate with the second terminal device through the Sidelink LPP message to determine the positioning auxiliary terminal device;

Step 702: Negotiate with the second terminal device through the PC5-S message to determine the positioning auxiliary terminal device;

Step 703: Negotiate with the second terminal device through an RRC message to determine the positioning assistance terminal device.

Among them, in an embodiment of the present disclosure, steps 701 to 703 can be executed selectively, that is, any one of steps 701 to 703 can be executed.

For example, the communication device includes a second terminal device, and the first terminal device negotiates with the second terminal device through Sidelink LPP messages to determine the positioning auxiliary terminal device. For example, the first terminal device can send SL positioning related request information through Sidelink LPP messages. To the second terminal device, the first terminal device may determine the positioning assistance terminal device based on the response information sent by the second terminal device through the Sidelink LPP message to the SL positioning-related request information.

For example, the communication device includes a second terminal device, and the first terminal device negotiates with the second terminal device through the PC5-S message to determine the positioning assistance terminal device. For example, the first terminal device sends an SL positioning-related request through the PC5-S message. Information is sent to the communication device, and the first terminal device can determine the positioning assistance terminal device based on the response information sent by the second terminal device through the PC5-S message to the SL positioning-related request information.

For example, the communication device includes a second terminal device, and the first terminal device negotiates with the second terminal device through an RRC message to determine the positioning assistance terminal device. For example, the first terminal device sends SL positioning-related request information to the communication device through an RRC message. , the first terminal device may determine the positioning assistance terminal device based on the response information sent by the second terminal device to the SL positioning-related request information through the RRC message.

And, in one embodiment of the present disclosure, when the first terminal device negotiates with the second terminal device to determine the positioning assistance terminal device through the Sidelink LPP message, it may specifically request auxiliary information and/or provide auxiliary information through the sidelink LPP message. The second terminal device negotiates to determine the positioning auxiliary terminal device.

To sum up, in the embodiments of the present disclosure, the positioning auxiliary terminal device is determined through negotiation with the second terminal device through the Sidelink LPP message; the positioning auxiliary terminal device is determined through negotiation with the second terminal device through the PC5-S message; and the positioning auxiliary terminal device is determined through the RRC message. The second terminal device negotiates to determine the positioning auxiliary terminal device. In the embodiments of the present disclosure, the positioning auxiliary terminal device can be determined based on the response information sent by the communication device, which reduces the situation in which the positioning auxiliary terminal device cannot be determined, and can improve the accuracy of positioning auxiliary terminal device determination. The embodiments of the present disclosure specifically disclose a solution for sending negotiation information of a positioning assistance terminal device. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Figure 8 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure. The method is executed by a communication device. As shown in Figure 8, the method may include the following steps:

Step 801: Receive SL positioning-related request information sent by the first terminal device, where the SL positioning-related request information is used to request positioning assistance terminal device;

Step 802: Send response information to the first terminal device based on the SL positioning-related request information, where the response information is used to determine the positioning assistance terminal device.

In one embodiment of the present disclosure, the communication device includes a second terminal device, and the method is executed by the second terminal device and sends response information to the first terminal device based on the SL positioning-related request information, including:

Based on the SL positioning-related request information, response information is sent to the first terminal device, where the response information is used to indicate that the second terminal device is a positioning assistance terminal device.

And, in one embodiment of the present disclosure, sending response information to the first terminal device based on the SL positioning-related request information includes:

Send response information to the first terminal device, where the response information includes at least one positioning assistance terminal device.

For example, in one embodiment of the present disclosure, at least one positioning auxiliary terminal device is determined based on the candidate positioning auxiliary terminal device identification list, including:

Based on the candidate positioning auxiliary terminal device identification list, negotiate with at least one candidate positioning auxiliary terminal device to determine at least one positioning auxiliary terminal device, wherein the at least one candidate positioning auxiliary terminal device corresponds to the at least one candidate positioning auxiliary terminal device identification.

For example, in one embodiment of the present disclosure, negotiating with at least one candidate positioning auxiliary terminal device to determine at least one positioning auxiliary terminal device based on the candidate positioning auxiliary terminal device identification list includes:

Based on the candidate positioning auxiliary terminal equipment identification list and the signal quality of the at least one candidate positioning auxiliary terminal equipment identification, the network connection status information of the at least one candidate positioning auxiliary terminal equipment identification, and the location update area information of the at least one candidate positioning auxiliary terminal equipment identification, determine At least one candidate positioning assistance terminal device;

Send SL positioning related request information to at least one candidate positioning assistance terminal device;

Receive confirmation information sent by at least one candidate positioning auxiliary terminal device for the SL positioning related request information, and use at least one terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as at least one positioning auxiliary terminal device.

For example, in one embodiment of the present disclosure, the communication device includes a second terminal device, the method is performed by the second terminal device, and before sending the response information to the first terminal device, the method further includes:

Negotiate with the main positioning auxiliary terminal device to determine at least one positioning auxiliary terminal device.

And, in one embodiment of the present disclosure, negotiating with the main positioning auxiliary terminal device to determine at least one positioning auxiliary terminal device includes:

Send SL positioning related request information to the main positioning auxiliary terminal device;

Receive at least one positioning auxiliary terminal device sent by the main positioning auxiliary terminal device for SL positioning related request information.

And, in one embodiment of the present disclosure, the communication device includes a second terminal device, the method is executed by the second terminal device, and before sending the response information to the first terminal device, it further includes:

Negotiate with the network side device or the positioning management function entity LMF to determine at least one positioning assistance terminal device.

And, in one embodiment of the present disclosure, negotiating with the network side device or the location management function entity LMF to determine at least one positioning assistance terminal device includes:

In response to the second terminal device being within the coverage of the network side device, sending SL positioning related request information to the network side device or LMF;

Receive at least one positioning assistance terminal device sent by the network side device or the LMF for SL positioning related request information.

By way of example, in one embodiment of the present disclosure, the SL positioning-related request information includes at least one of the following:

List of candidate positioning auxiliary terminal device identifiers;

The signal quality corresponding to at least one candidate positioning auxiliary terminal equipment identification in the candidate positioning auxiliary terminal equipment identification list.

For example, in one embodiment of the present disclosure, the communication device includes a primary positioning auxiliary terminal device, the method is performed by the primary positioning auxiliary terminal device, and the method further includes:

Receive confirmation information sent by at least one candidate positioning auxiliary terminal device for the SL positioning related request information, and use at least one terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as at least one positioning auxiliary terminal device;

Send response information to the second terminal device for the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device.

By way of example, in one embodiment of the present disclosure, the communication device includes an LMF, the method is performed by the LMF, and the method further includes:

Receive a list of candidate positioning auxiliary terminal device identifiers and a signal quality measurement result of at least one candidate positioning auxiliary terminal device identifier sent by the first terminal device;

Send the candidate positioning auxiliary terminal equipment identification list and the signal quality measurement result of at least one candidate positioning auxiliary terminal equipment identification to the network side device;

Receive at least one positioning assistance terminal device sent by the network side device.

For example, in one embodiment of the present disclosure, the communication device includes an LMF, the method is performed by the LMF, and the method further includes:

Based on the candidate positioning auxiliary terminal device identification list sent by the network side device or the second terminal device, negotiate with at least one candidate positioning auxiliary terminal device to determine at least one positioning auxiliary terminal device;

Send at least one positioning assistance terminal device to the network side device or the second terminal device.

And, in one embodiment of the present disclosure, the communication device includes an LMF, the method is performed by the LMF, and the method further includes:

Negotiate with the terminal device through LPP messages to determine the positioning auxiliary terminal device.

Further, in one embodiment of the present disclosure, the LPP message includes LPP request assistance information and/or provide assistance information.

For example, in one embodiment of the present disclosure, the communication device includes a network side device, the method is executed by the network side device, and the method further includes:

Send the candidate positioning auxiliary terminal equipment identification list and the signal quality measurement result of at least one candidate positioning auxiliary terminal equipment identification to the LMF;

Receive at least one positioning assistance terminal device sent by the LMF.

For example, in one embodiment of the present disclosure, the communication device includes a network side device, the method is performed by the network side device, and the method further includes:

Based on the candidate positioning auxiliary terminal device identification list sent by the LMF or the second terminal device, negotiate with at least one candidate positioning auxiliary terminal device to determine at least one positioning auxiliary terminal device;

Send at least one positioning assistance terminal device to the LMF or the second terminal device.

To sum up, in the embodiment of the present disclosure, the SL positioning-related request information sent by the first terminal device is received, where the SL positioning-related request information is used to request the positioning auxiliary terminal device; based on the SL positioning-related request information, a response is sent The information is sent to the first terminal device, where the response information is used to determine the positioning assistance terminal device. In the embodiment of the present disclosure, response information can be sent to the first terminal device, so that the first terminal device can determine the positioning auxiliary terminal device based on the response information, reducing the situation where the positioning auxiliary terminal device cannot be determined, and improving the positioning auxiliary terminal device. The accuracy of the device determination. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Figure 9 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure. The method is executed by a communication device. As shown in Figure 9, the method may include the following steps:

Step 901: Receive SL positioning-related request information sent by the first terminal device, where the SL positioning-related request information is used to request positioning assistance terminal device;

Step 902: Send response information to the first terminal device based on the SL positioning-related request information, where the response information is used to indicate that the second terminal device is a positioning assistance terminal device.

In one embodiment of the present disclosure, the communication device includes a second terminal device, and the second terminal device can receive the SL positioning-related request information sent by the first terminal device. When the second terminal device confirms that it is a positioning auxiliary terminal device, the second terminal device may send response information to the first terminal device based on the SL positioning related request information, where the response information is used to indicate that the second terminal device is a positioning auxiliary terminal. equipment. That is, when the first terminal device receives the response information, the first terminal device can confirm that the second terminal device is a positioning assistance terminal device.

To sum up, in the embodiment of the present disclosure, the SL positioning-related request information sent by the first terminal device is received, where the SL positioning-related request information is used to request the positioning auxiliary terminal device; based on the SL positioning-related request information, a response is sent information to the first terminal device, where the response information is used to indicate that the second terminal device is a positioning assistance terminal device. In this embodiment of the present disclosure, the second terminal device can send response information to the first terminal device, so that the first terminal device can determine that the second terminal device is a positioning auxiliary terminal device based on the response information, thereby reducing the inability to determine the positioning auxiliary terminal. The condition of the equipment can improve the accuracy of positioning auxiliary terminal equipment determination. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Figure 10 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure. The method is executed by a communication device. As shown in Figure 10, the method may include the following steps:

Step 1001: Receive SL positioning-related request information sent by the first terminal device, where the SL positioning-related request information is used to request positioning assistance terminal device;

Step 1002: Receive a candidate positioning auxiliary terminal device identification list sent by the first terminal device, wherein the candidate positioning auxiliary terminal device identification list includes at least one candidate positioning auxiliary terminal device identification;

Step 1003: Determine at least one positioning auxiliary terminal device based on the candidate positioning auxiliary terminal device identification list;

Step 1004: Send response information to the first terminal device based on the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device.

Among them, in an embodiment of the present disclosure,

steps

1001 and 1002 can be executed simultaneously. For example, the SL positioning-related request information can include a list of candidate positioning assistance terminal device identifiers. When the communication device receives the message sent by the first terminal device, When requesting information related to SL positioning, the communication device may simultaneously receive a candidate positioning assistance terminal device identification list.

In one embodiment of the present disclosure, the communication device includes a second terminal device, and the first terminal device can simultaneously send the candidate positioning assistance terminal device identification list to the second terminal device in the SL positioning-related request information. When the second terminal device receives the candidate positioning auxiliary terminal device identification list, it may determine one or more positioning auxiliary terminal devices based on the candidate positioning auxiliary terminal device identification list. The second terminal device may send response information to the first terminal device based on the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device. The second terminal device may be a positioning assistance terminal device, or may not be a positioning assistance terminal device.

In one embodiment of the present disclosure, the communication device includes a network side device, where the network side device may specifically be a base station. The first terminal device may simultaneously send the candidate positioning assistance terminal device identification list to the network side device in the SL positioning related request information. When the network side device receives the candidate positioning auxiliary terminal device identification list, it may determine one or more positioning auxiliary terminal devices based on the candidate positioning auxiliary terminal device identification list. The network side device may send response information to the first terminal device based on the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device.

In one embodiment of the present disclosure, the communication device includes an LMF, and the first terminal device may simultaneously send a candidate positioning assistance terminal device identification list to the LMF in the SL positioning-related request information. When the LMF receives the candidate positioning auxiliary terminal device identification list, it may determine one or more positioning auxiliary terminal devices based on the candidate positioning auxiliary terminal device identification list. The LMF may send response information to the first terminal device based on the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device.

To sum up, in the embodiments of the present disclosure, the SL positioning-related request information sent by the first terminal device is received, where the SL positioning-related request information is used to request the positioning auxiliary terminal device; the candidate positioning sent by the first terminal device is received. Auxiliary terminal equipment identification list, wherein the candidate positioning auxiliary terminal equipment identification list includes at least one candidate positioning auxiliary terminal equipment identification; based on the candidate positioning auxiliary terminal equipment identification list, determine at least one positioning auxiliary terminal equipment; based on the SL positioning related request information, send Response information is sent to the first terminal device, wherein the response information includes at least one positioning assistance terminal device. In the embodiment of the present disclosure, response information can be sent to the first terminal device, so that the first terminal device can determine the positioning auxiliary terminal device based on the response information, reducing the situation where the positioning auxiliary terminal device cannot be determined, and improving the positioning auxiliary terminal device. The accuracy of the device determination. Embodiments of the present disclosure specifically disclose a solution for determining a positioning auxiliary terminal device based on SL positioning related request information and a candidate positioning auxiliary terminal device identification list. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Figure 11 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure. The method is executed by a communication device. As shown in Figure 11, the method may include the following steps:

Step 1101: Receive a candidate positioning auxiliary terminal device identification list sent by the first terminal device, wherein the candidate positioning auxiliary terminal device identification list includes at least one candidate positioning auxiliary terminal device identification;

Step 1102: Negotiate with at least one candidate positioning auxiliary terminal device to determine at least one positioning auxiliary terminal device based on the candidate positioning auxiliary terminal device identification list, where the at least one candidate positioning auxiliary terminal device corresponds to the at least one candidate positioning auxiliary terminal device identification;

Step 1103: Send response information to the first terminal device, where the response information includes at least one positioning assistance terminal device.

In one embodiment of the present disclosure, the communication device may receive the candidate positioning assistance terminal device identification list sent by the first terminal device. The communication device may determine at least one candidate positioning assistance terminal device based on the candidate positioning assistance terminal device identification list. Wherein, the candidate positioning auxiliary terminal equipment identification list includes at least one candidate positioning auxiliary terminal equipment identification, and the at least one candidate positioning auxiliary terminal equipment corresponds to the at least one candidate positioning auxiliary terminal equipment identification, that is, the communication device can determine the at least one candidate positioning auxiliary terminal equipment identification. Corresponding candidate positioning auxiliary terminal devices.

For example, in one embodiment of the present disclosure, the communication device may negotiate with at least one candidate positioning assistance terminal device to determine at least one positioning assistance terminal device.

For example, in one embodiment of the present disclosure, the communication device includes a second terminal device, and the second terminal device can negotiate with at least one candidate positioning assistance terminal device to determine at least one positioning assistance terminal device. For example, the second terminal device may send SL positioning-related request information to each candidate positioning auxiliary terminal device in the at least one candidate positioning auxiliary terminal device. If the candidate positioning auxiliary terminal device receives the request, the candidate positioning auxiliary terminal device may send confirmation information to the second positioning auxiliary terminal device. Terminal Equipment. The second terminal device may determine the candidate positioning auxiliary terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as the at least one positioning auxiliary terminal device. The second terminal device may send response information to the first terminal device, where the response information includes at least one positioning assistance terminal device. The first terminal device may determine at least one positioning assistance terminal device based on the response information.

By way of example, in one embodiment of the present disclosure, the communication device includes a network side device, where the network side device may be, for example, a base station. The network side device may negotiate with at least one candidate positioning assistance terminal device to determine at least one positioning assistance terminal device. For example, the network side device may send SL positioning-related request information to each candidate positioning auxiliary terminal device in at least one candidate positioning auxiliary terminal device. If the candidate positioning auxiliary terminal device receives the request, the candidate positioning auxiliary terminal device may send confirmation information to the network side device. . The network side device may determine the candidate positioning auxiliary terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as the at least one positioning auxiliary terminal device. The network side device may send response information to the first terminal device, where the response information includes at least one positioning assistance terminal device. The first terminal device may determine at least one positioning assistance terminal device based on the response information.

For example, in one embodiment of the present disclosure, the communication device includes an LMF, and the LMF can negotiate with at least one candidate positioning assistance terminal device to determine at least one positioning assistance terminal device. For example, the LMF may send SL positioning-related request information to each candidate positioning auxiliary terminal device in at least one candidate positioning auxiliary terminal device. If the candidate positioning auxiliary terminal device receives the request, the candidate positioning auxiliary terminal device may send confirmation information to the LMF. The LMF may determine the candidate positioning auxiliary terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as the at least one positioning auxiliary terminal device. The LMF may send response information to the first terminal device, where the response information includes at least one positioning assistance terminal device. The first terminal device may determine at least one positioning assistance terminal device based on the response information.

To sum up, in the embodiment of the present disclosure, a candidate positioning auxiliary terminal device identification list sent by the first terminal device is received, wherein the candidate positioning auxiliary terminal device identification list includes at least one candidate positioning auxiliary terminal device identification; based on the candidate positioning Auxiliary terminal device identification list, negotiate with at least one candidate positioning auxiliary terminal device to determine at least one positioning auxiliary terminal device, wherein at least one candidate positioning auxiliary terminal device corresponds to at least one candidate positioning auxiliary terminal device identification; send response information to the first terminal Device, wherein the response information includes at least one positioning assistance terminal device. In the embodiment of the present disclosure, response information can be sent to the first terminal device, so that the first terminal device can determine the positioning auxiliary terminal device based on the response information, reducing the situation where the positioning auxiliary terminal device cannot be determined, and improving the positioning auxiliary terminal device. The accuracy of the device determination. The embodiments of the present disclosure specifically disclose a solution in which a communication device negotiates with at least one candidate positioning assistance terminal device to determine at least one positioning assistance terminal device. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Figure 12 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure. The method is executed by a communication device. As shown in Figure 12, the method may include the following steps:

Step 1201: Receive a candidate positioning auxiliary terminal device identification list sent by the first terminal device, wherein the candidate positioning auxiliary terminal device identification list includes at least one candidate positioning auxiliary terminal device identification;

Step 1202: Location update area based on the candidate positioning auxiliary terminal equipment identification list and the signal quality of the at least one candidate positioning auxiliary terminal equipment identification, the network connection status information of the at least one candidate positioning auxiliary terminal equipment identification, and the at least one candidate positioning auxiliary terminal equipment identification. information to determine at least one candidate positioning auxiliary terminal device;

Step 1203: Send SL positioning related request information to at least one candidate positioning assistance terminal device;

Step 1204: Receive confirmation information sent by at least one candidate positioning auxiliary terminal device for the SL positioning related request information, and use at least one terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as at least one positioning auxiliary terminal device.

In one embodiment of the present disclosure, when the communication device negotiates with at least one candidate positioning assistance terminal device to confirm at least one positioning assistance terminal device, the communication device first determines at least one candidate positioning assistance terminal device in the candidate positioning assistance terminal device identification list. The terminal device, the at least one candidate positioning assistance terminal device is the terminal device that sends the SL positioning related request information. The communication device may send SL positioning-related request information to at least one candidate positioning auxiliary terminal device. When the at least one candidate positioning auxiliary terminal device receives the request, that is, when the at least one candidate positioning auxiliary terminal device confirms that it is a positioning auxiliary terminal device, the at least one candidate positioning auxiliary terminal device The auxiliary terminal device can send confirmation information to the communication device. The communication device may receive confirmation information sent by at least one candidate positioning auxiliary terminal device for the SL positioning related request information, and use at least one terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as at least one positioning auxiliary terminal device.

By way of example, in one embodiment of the present disclosure, the communication device may be a second terminal device, for example. The second terminal device may send SL positioning related request information to at least one candidate positioning assistance terminal device. When at least one candidate positioning auxiliary terminal device receives a request, that is, at least one candidate positioning auxiliary terminal device confirms itself as a positioning auxiliary terminal device, at least one candidate positioning auxiliary terminal device may send confirmation information to the second terminal device. The second terminal device may receive confirmation information sent by at least one candidate positioning auxiliary terminal device for the SL positioning related request information, and use at least one terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as at least one positioning auxiliary terminal device.

By way of example, in one embodiment of the present disclosure, the communication device may be, for example, a network-side device, and the network-side device may be, for example, a base station. The network side device may send SL positioning related request information to at least one candidate positioning auxiliary terminal device. When at least one candidate positioning auxiliary terminal device receives the request, that is, when at least one candidate positioning auxiliary terminal device confirms that it is a positioning auxiliary terminal device, at least one candidate The positioning assistance terminal device can send confirmation information to the network side device. The network side device may receive confirmation information sent by at least one candidate positioning auxiliary terminal device for the SL positioning related request information, and use at least one terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as at least one positioning auxiliary terminal device.

By way of example, in one embodiment of the present disclosure, the communication device may be an LMF, for example. The LMF may send SL positioning related request information to at least one candidate positioning auxiliary terminal device. When the at least one candidate positioning auxiliary terminal device receives the request, that is, when the at least one candidate positioning auxiliary terminal device confirms that it is a positioning auxiliary terminal device, the at least one candidate positioning auxiliary terminal device The terminal device can send confirmation information to the LMF. The LMF may receive confirmation information sent by at least one candidate positioning auxiliary terminal device for the SL positioning related request information, and use at least one terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as at least one positioning auxiliary terminal device.

To sum up, in the embodiment of the present disclosure, a candidate positioning auxiliary terminal device identification list sent by the first terminal device is received, wherein the candidate positioning auxiliary terminal device identification list includes at least one candidate positioning auxiliary terminal device identification; based on the candidate positioning The auxiliary terminal equipment identification list and the signal quality of at least one candidate positioning auxiliary terminal equipment identification, the network connection status information of at least one candidate positioning auxiliary terminal equipment identification, and the location update area information of at least one candidate positioning auxiliary terminal equipment identification, determine at least one candidate Positioning auxiliary terminal equipment; sending SL positioning related request information to at least one candidate positioning auxiliary terminal equipment; receiving confirmation information sent by at least one candidate positioning auxiliary terminal equipment for the SL positioning related request information, and sending the confirmation to at least one candidate positioning auxiliary terminal equipment At least one terminal device of the information serves as at least one positioning auxiliary terminal device. In the embodiment of the present disclosure, response information can be sent to the first terminal device, so that the first terminal device can determine the positioning auxiliary terminal device based on the response information, reducing the situation where the positioning auxiliary terminal device cannot be determined, and improving the positioning auxiliary terminal device. The accuracy of the device determination. The embodiments of the present disclosure specifically disclose a specific solution for a communication device to negotiate with at least one candidate positioning assistance terminal device to determine at least one positioning assistance terminal device. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Figure 13 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure. The communication device includes a second terminal device. The method is executed by the second terminal device. As shown in Figure 13, the method may include Following steps:

Step 1301: Receive SL positioning-related request information sent by the first terminal device, where the SL positioning-related request information is used to request positioning assistance terminal device;

Step 1302: Negotiate with the main positioning auxiliary terminal device to determine at least one positioning auxiliary terminal device;

Step 1303: Send response information to the first terminal device based on the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device.

Among them, in one embodiment of the present disclosure, the main positioning auxiliary terminal device refers to a terminal device that has a positioning auxiliary terminal device that selects and determines to participate in positioning.

And, in one embodiment of the present disclosure, the communication device includes a second terminal device, and the second terminal device is not the primary positioning auxiliary terminal device. When the second terminal device receives the SL positioning-related request information sent by the first terminal device, the second terminal device can negotiate with the primary positioning auxiliary terminal device to determine at least one positioning auxiliary terminal device. The second terminal device may send response information to the first terminal device based on the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device. The first terminal device may determine at least one positioning assistance terminal device based on the response information.

To sum up, in the embodiment of the present disclosure, the SL positioning-related request information sent by the first terminal device is received, where the SL positioning-related request information is used to request the positioning auxiliary terminal device; negotiate with the main positioning auxiliary terminal device to determine at least A positioning auxiliary terminal device; based on the SL positioning related request information, send response information to the first terminal device, where the response information includes at least one positioning auxiliary terminal device. In the embodiment of the present disclosure, response information can be sent to the first terminal device, so that the first terminal device can determine the positioning auxiliary terminal device based on the response information, reducing the situation where the positioning auxiliary terminal device cannot be determined, and improving the positioning auxiliary terminal device. The accuracy of the device determination. The embodiments of the present disclosure specifically disclose a solution in which the second terminal device negotiates with the primary positioning auxiliary terminal device to determine at least one positioning auxiliary terminal device. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Figure 14 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure. The communication device includes a second terminal device. The method is executed by the second terminal device. As shown in Figure 14, the method may include Following steps:

Step 1401: Receive SL positioning-related request information sent by the first terminal device, where the SL positioning-related request information is used to request positioning assistance terminal device;

Step 1402: Send SL positioning related request information to the main positioning auxiliary terminal device;

Step 1403: Receive at least one positioning auxiliary terminal device sent by the main positioning auxiliary terminal device for SL positioning related request information;

Step 1404: Send response information to the first terminal device based on the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device.

And, in one embodiment of the present disclosure, the communication device includes a second terminal device, and the second terminal device is not the primary positioning auxiliary terminal device. When the second terminal device receives the SL positioning-related request information sent by the first terminal device, the second terminal device sends the SL positioning-related request information to the primary positioning auxiliary terminal device. The master positioning assistance terminal device can determine at least one positioning assistance terminal device. The second terminal device may receive at least one positioning auxiliary terminal device sent by the master positioning auxiliary terminal device for SL positioning related request information. The second terminal device may send response information to the first terminal device based on the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device. The first terminal device may determine at least one positioning assistance terminal device based on the response information.

For example, in one embodiment of the present disclosure, the primary positioning assistance terminal device may determine at least one positioning assistance based on the candidate positioning assistance terminal device identification list sent by the second terminal device and the signal quality corresponding to each candidate positioning assistance terminal device identification. Terminal Equipment. The primary positioning auxiliary terminal device may send SL positioning related request information to at least one candidate positioning auxiliary terminal device. When at least one candidate positioning auxiliary terminal device receives the request, that is, when at least one candidate positioning auxiliary terminal device confirms that it is a positioning auxiliary terminal device, at least A candidate positioning assistance terminal device may send a confirmation message to the primary positioning assistance terminal device. The primary positioning auxiliary terminal device may receive confirmation information sent by at least one candidate positioning auxiliary terminal device for the SL positioning related request information, and use at least one terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as at least one positioning auxiliary terminal device.

For example, in an embodiment of the present disclosure, the primary positioning auxiliary terminal device may be a candidate positioning auxiliary terminal device, and the primary positioning auxiliary terminal device may not be a candidate positioning auxiliary terminal device.

To sum up, in the embodiments of the present disclosure, the SL positioning-related request information sent by the first terminal device is received, where the SL positioning-related request information is used to request the positioning auxiliary terminal device; the SL positioning-related request information is sent to the primary positioning device. Auxiliary terminal equipment; receiving at least one positioning auxiliary terminal equipment sent by the main positioning auxiliary terminal equipment for SL positioning-related request information; based on the SL positioning-related request information, sending response information to the first terminal device, wherein the response information includes at least one positioning auxiliary Terminal Equipment. In the embodiment of the present disclosure, response information can be sent to the first terminal device, so that the first terminal device can determine the positioning auxiliary terminal device based on the response information, reducing the situation where the positioning auxiliary terminal device cannot be determined, and improving the positioning auxiliary terminal device. The accuracy of the device determination. The embodiments of the present disclosure specifically disclose a specific solution for the second terminal device to negotiate with the primary positioning auxiliary terminal device to determine at least one positioning auxiliary terminal device. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Figure 15 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure. The communication device includes a second terminal device. The method is executed by the second terminal device. As shown in Figure 15, the method may include Following steps:

Step 1501: Receive SL positioning-related request information sent by the first terminal device, where the SL positioning-related request information is used to request positioning assistance terminal device;

Step 1502: Negotiate with the network side device or the positioning management function entity LMF to determine at least one positioning auxiliary terminal device;

Step 1503: Send response information to the first terminal device based on the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device.

Wherein, in one embodiment of the present disclosure, the first terminal device negotiates with the second terminal device to determine the positioning assistance terminal device through at least one of the following messages;

Sidelink LPP message;

PC5-S message;

RRC message.

And, in one embodiment of the present disclosure, the Sidelink LPP message includes request assistance information and/or provide assistance information of the sidelink LPP.

To sum up, in the embodiment of the present disclosure, the SL positioning-related request information sent by the first terminal device is received, where the SL positioning-related request information is used to request the positioning auxiliary terminal device; and the network side device or the positioning management function entity The LMF negotiates to determine at least one positioning auxiliary terminal device; based on the SL positioning related request information, send response information to the first terminal device, where the response information includes at least one positioning auxiliary terminal device. In the embodiment of the present disclosure, response information can be sent to the first terminal device, so that the first terminal device can determine the positioning auxiliary terminal device based on the response information, reducing the situation where the positioning auxiliary terminal device cannot be determined, and improving the positioning auxiliary terminal device. The accuracy of the device determination. The embodiments of the present disclosure specifically disclose a solution in which the second terminal device negotiates with the network side device or the LMF to determine at least one positioning auxiliary terminal device. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Figure 16 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure. The communication device includes a second terminal device. The method is executed by the second terminal device. As shown in Figure 16, the method may include Following steps:

Step 1601: Receive SL positioning-related request information sent by the first terminal device, where the SL positioning-related request information is used to request positioning assistance terminal device;

Step 1602: In response to the second terminal device being within the coverage of the network side device, send SL positioning related request information to the network side device or LMF;

Step 1603: Receive at least one positioning assistance terminal device sent by the network side device or LMF for SL positioning related request information;

Step 1604: Send response information to the first terminal device based on the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device.

In one embodiment of the present disclosure, the communication device may be, for example, a second terminal device, and the second terminal device may negotiate with the network side device or the location management function entity LMF to determine at least one positioning assistance terminal device. The network side device may be a base station, for example. For example, when the second terminal device is within the coverage range of the base station, the second terminal device may send SL positioning related request information to the base station or LMF. The SL positioning-related request information may include, for example, a list of candidate positioning assistance terminal devices and signal quality corresponding to at least one candidate positioning assistance terminal device. The second terminal device may receive at least one positioning assistance terminal device sent by the base station or LMF.

List of candidate positioning auxiliary terminal device identifiers;

To sum up, in the embodiment of the present disclosure, the SL positioning-related request information sent by the first terminal device is received, where the SL positioning-related request information is used to request the positioning assistance terminal device; in response to the second terminal device being located on the network side Within the coverage of the device, send SL positioning-related request information to the network-side device or LMF; receive at least one positioning auxiliary terminal device sent by the network-side device or LMF for the SL positioning-related request information; based on the SL positioning-related request information, send response information to The first terminal device, wherein the response information includes at least one positioning assistance terminal device. In the embodiment of the present disclosure, response information can be sent to the first terminal device, so that the first terminal device can determine the positioning auxiliary terminal device based on the response information, reducing the situation where the positioning auxiliary terminal device cannot be determined, and improving the positioning auxiliary terminal device. The accuracy of the device determination. The embodiments of the present disclosure specifically disclose a specific solution for the second terminal device to negotiate with the network side device or LMF to determine at least one positioning auxiliary terminal device. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Figure 17 is a schematic flow chart of a method for determining a positioning auxiliary terminal device provided by an embodiment of the present disclosure. The communication device includes a primary positioning auxiliary terminal device. The method is executed by the primary positioning auxiliary terminal device. As shown in Figure 17, the method The following steps can be included:

Step 1701: Receive the SL positioning-related request information sent by the second terminal device;

Step 1702: Send SL positioning related request information to at least one candidate positioning assistance terminal device;

Step 1703: Receive confirmation information sent by at least one candidate positioning auxiliary terminal device for the SL positioning related request information, and use at least one terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as at least one positioning auxiliary terminal device;

Step 1704: Send response information to the second terminal device for the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device.

In one embodiment of the present disclosure, the first terminal device may send SL positioning related request information to a second terminal device. For example, the second terminal device may be a terminal device determined by the first terminal device through the ProSe discovery mechanism. If the second terminal device is not the primary positioning auxiliary terminal device, the second terminal device may send SL positioning related request information to the primary positioning auxiliary terminal device. The primary positioning auxiliary terminal device may receive the SL positioning related request information sent by the second terminal device. The primary positioning assistance terminal device may send SL positioning related request information to at least one candidate positioning assistance terminal device. If at least one candidate positioning auxiliary terminal device accepts the SL positioning-related request, at least one candidate positioning auxiliary terminal device may send confirmation information to the main positioning auxiliary terminal device. The primary positioning auxiliary terminal device may receive confirmation information sent by at least one candidate positioning auxiliary terminal device for the SL positioning related request information, and use at least one terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as at least one positioning auxiliary terminal device. The primary positioning assistance terminal device may send response information to the second terminal device for the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device. The second terminal device may send response information to the first terminal device based on the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device.

For example, in one embodiment of the present disclosure, the primary positioning auxiliary terminal device may determine at least one candidate positioning based on the candidate positioning auxiliary terminal device identification list sent by the second terminal device and the signal quality corresponding to each candidate positioning auxiliary terminal device identification. Auxiliary terminal equipment.

To sum up, in the embodiments of the present disclosure, the SL positioning-related request information sent by the second terminal device is received; the SL positioning-related request information is sent to at least one candidate positioning auxiliary terminal device; and the at least one candidate positioning auxiliary terminal device is received. Confirmation information for sending the SL positioning-related request information, using at least one terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as at least one positioning auxiliary terminal device; sending response information for the SL positioning-related request information to the second terminal device , wherein the response information includes at least one positioning assistance terminal device. In the embodiment of the present disclosure, response information can be sent to the first terminal device, so that the first terminal device can determine the positioning auxiliary terminal device based on the response information, reducing the situation where the positioning auxiliary terminal device cannot be determined, and improving the positioning auxiliary terminal device. The accuracy of the device determination. The embodiments of the present disclosure specifically disclose a specific solution for determining at least one positioning auxiliary terminal device between a primary positioning auxiliary device and at least one candidate positioning auxiliary device. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Figure 18 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure. The communication device includes an LMF, and the method is executed by the LMF. As shown in Figure 18, the method may include the following steps:

Step 1801: Receive a list of candidate positioning auxiliary terminal device identifiers and a signal quality measurement result of at least one candidate positioning auxiliary terminal device identifier sent by the first terminal device;

Step 1802: Send the candidate positioning auxiliary terminal equipment identification list and the signal quality measurement result of at least one candidate positioning auxiliary terminal equipment identification to the network side device;

Step 1803: Receive at least one positioning assistance terminal device sent by the network side device;

Step 1804: Send response information to the first terminal device based on the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device.

List of candidate positioning auxiliary terminal device identifiers;

In one embodiment of the present disclosure, the LMF can negotiate with the terminal device to determine the positioning assistance terminal device through the LPP message. For example, the LMF may negotiate with the first terminal device to determine the positioning auxiliary terminal device through the LPP message. For example, the LMF may also negotiate with the candidate positioning auxiliary terminal device to determine the positioning auxiliary terminal device through the LPP message.

In one embodiment of the present disclosure, the LPP message includes LPP request assistance information and/or provide assistance information.

To sum up, in the embodiments of the present disclosure, a list of candidate positioning auxiliary terminal device identifiers and a signal quality measurement result of at least one candidate positioning auxiliary terminal device identifier sent by the first terminal device are received; and a list of candidate positioning auxiliary terminal device identifiers is sent. , the signal quality measurement result of at least one candidate positioning auxiliary terminal device identification is sent to the network side device; receiving at least one positioning auxiliary terminal device sent by the network side device; based on the SL positioning related request information, sending response information to the first terminal device, wherein, The response information includes at least one positioning assistance terminal device. In the embodiment of the present disclosure, response information can be sent to the first terminal device, so that the first terminal device can determine the positioning auxiliary terminal device based on the response information, reducing the situation where the positioning auxiliary terminal device cannot be determined, and improving the positioning auxiliary terminal device. The accuracy of the device determination. The embodiments of this disclosure specifically disclose a specific solution in which the LMF negotiates with the network side device to determine at least one positioning assistance terminal device. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Figure 19 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure. The communication device includes an LMF, and the method is executed by the LMF. As shown in Figure 19, the method may include the following steps:

Step 1901: Negotiate with at least one candidate positioning auxiliary terminal device to determine at least one positioning auxiliary terminal device based on the candidate positioning auxiliary terminal device identification list sent by the network side device or the second terminal device;

Step 1902: Send at least one positioning assistance terminal device to the network side device or the second terminal device.

In one embodiment of the present disclosure, the first terminal device may send SL positioning related request information to the second terminal device. The second terminal device may send SL positioning related request information to the LMF. The LMF may receive the SL positioning-related request information sent by the second terminal device. The SL positioning related request information may include, for example, a candidate positioning assistance terminal device identification list. The LMF may receive the candidate positioning assistance terminal device identification list sent by the second terminal device. The LMF may determine at least one candidate positioning assistance terminal device based on the candidate positioning assistance terminal identification list. The LMF may send SL positioning related request information to at least one candidate positioning assistance terminal device. If at least one candidate positioning assistance terminal device accepts the SL positioning related request, at least one candidate positioning assistance terminal device may send confirmation information to the LMF. The LMF may receive confirmation information sent by at least one candidate positioning auxiliary terminal device for the SL positioning related request information, and use at least one terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as at least one positioning auxiliary terminal device. The LMF may send response information to the second terminal device for the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device. The second terminal device may send response information to the first terminal device based on the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device.

In one embodiment of the present disclosure, the first terminal device may send SL positioning related request information to the network side device. The network side device can send SL positioning related request information to the LMF. The LMF can receive SL positioning-related request information sent by the network side device. The SL positioning related request information may include, for example, a candidate positioning assistance terminal device identification list. The LMF may receive a candidate positioning assistance terminal device identification list sent by the network side device. The LMF may determine at least one candidate positioning assistance terminal device based on the candidate positioning assistance terminal identification list. The LMF may send SL positioning related request information to at least one candidate positioning assistance terminal device. If at least one candidate positioning assistance terminal device accepts the SL positioning related request, at least one candidate positioning assistance terminal device may send confirmation information to the LMF. The LMF may receive confirmation information sent by at least one candidate positioning auxiliary terminal device for the SL positioning related request information, and use at least one terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as at least one positioning auxiliary terminal device. The LMF may send response information to the network side device for the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device. The network side device may send response information to the first terminal device based on the SL positioning related request information, where the response information includes at least one positioning assistance terminal device.

For example, in one embodiment of the present disclosure, for example, the LMF may also negotiate with the candidate positioning assistance terminal device through an LPP message to determine the positioning assistance terminal device.

For example, in one embodiment of the present disclosure, the SL positioning-related request information may include, for example, a list of candidate positioning assistance terminal device identifiers and a signal quality measurement result of at least one candidate positioning assistance terminal device identifier. The network side device receives the signal quality measurement result of the candidate positioning auxiliary terminal device identification list and at least one candidate positioning auxiliary terminal device identification sent by the first terminal device, and the network side device sends the candidate positioning auxiliary terminal device identification list and the at least one candidate positioning auxiliary terminal device identification. Device-identified signal quality measurements to LMF. The LMF negotiates with at least one candidate positioning auxiliary terminal device to determine at least one positioning auxiliary terminal device based on the candidate positioning auxiliary terminal device identification list sent by the network side device. The LMF may send at least one positioning auxiliary terminal device to the network side device. The network side device receives at least one positioning auxiliary terminal device sent by the LMF, and the network side device sends response information to the first terminal device based on the SL positioning related request information, where the response information includes at least one positioning auxiliary terminal device.

To sum up, in the embodiment of the present disclosure, at least one positioning auxiliary terminal device is determined through negotiation with at least one candidate positioning auxiliary terminal device based on the candidate positioning auxiliary terminal device identification list sent by the network side device or the second terminal device; sending At least one positioning auxiliary terminal device is to the network side device or the second terminal device. In the embodiment of the present disclosure, a specific solution for determining at least one positioning auxiliary terminal device with at least one candidate positioning auxiliary terminal device based on the candidate positioning auxiliary terminal device identification list sent by the network side device or the second terminal device is provided, and the LMF is provided A determination mechanism for positioning the auxiliary terminal device between the positioning auxiliary terminal device and at least one candidate positioning auxiliary terminal device. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Figure 20 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure. The communication device includes a network side device. The method is executed by the network side device. As shown in Figure 20, the method may include the following steps :

Step 2001: Receive a list of candidate positioning auxiliary terminal device identifiers and a signal quality measurement result of at least one candidate positioning auxiliary terminal device identifier sent by the first terminal device;

Step 2002: Send the candidate positioning auxiliary terminal equipment identification list and the signal quality measurement result of at least one candidate positioning auxiliary terminal equipment identification to the LMF;

Step 2003: Receive at least one positioning assistance terminal device sent by the LMF;

Step 2004: Send response information to the first terminal device based on the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device.

Among them, in one embodiment of the present disclosure, the SL positioning-related request information includes at least one of the following:

List of candidate positioning auxiliary terminal device identifiers;

To sum up, in the embodiments of the present disclosure, a list of candidate positioning auxiliary terminal device identifiers and a signal quality measurement result of at least one candidate positioning auxiliary terminal device identifier sent by the first terminal device are received; and a list of candidate positioning auxiliary terminal device identifiers is sent. , the signal quality measurement result of at least one candidate positioning auxiliary terminal device identification to the LMF; receiving at least one positioning auxiliary terminal device sent by the LMF; based on the SL positioning related request information, sending response information to the first terminal device, wherein the response information includes at least A positioning assistance terminal device. In the embodiment of the present disclosure, response information can be sent to the first terminal device, so that the first terminal device can determine the positioning auxiliary terminal device based on the response information, reducing the situation where the positioning auxiliary terminal device cannot be determined, and improving the positioning auxiliary terminal device. The accuracy of the device determination. The embodiments of this disclosure specifically disclose a specific solution for the network side device to negotiate with the LMF to determine at least one positioning assistance terminal device. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Figure 21 is a schematic flowchart of a method for determining a positioning assistance terminal device provided by an embodiment of the present disclosure. The communication device includes a network side device. The method is executed by the network side device. As shown in Figure 21, the method may include the following steps. :

Step 2101: Negotiate with at least one candidate positioning auxiliary terminal device to determine at least one positioning auxiliary terminal device based on the candidate positioning auxiliary terminal device identification list sent by the LMF or the second terminal device;

Step 2102: Send at least one positioning assistance terminal device to the LMF or the second terminal device.

In one embodiment of the present disclosure, the first terminal device may send SL positioning related request information to the second terminal device. The second terminal device may send SL positioning related request information to the network side device. The network side device may receive the SL positioning related request information sent by the second terminal device. The SL positioning related request information may include, for example, a candidate positioning assistance terminal device identification list. The network side device may receive the candidate positioning assistance terminal device identification list sent by the second terminal device. The network side device may determine at least one candidate positioning assistance terminal device based on the candidate positioning assistance terminal identification list. The network side device may send SL positioning related request information to at least one candidate positioning assistance terminal device. If at least one candidate positioning assistance terminal device accepts the SL positioning-related request, at least one candidate positioning assistance terminal device may send confirmation information to the network side device. The network side device may receive confirmation information sent by at least one candidate positioning auxiliary terminal device for the SL positioning related request information, and use at least one terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as at least one positioning auxiliary terminal device. The network side device may send response information to the second terminal device for the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device. The second terminal device may send response information to the first terminal device based on the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device.

In one embodiment of the present disclosure, the first terminal device may send SL positioning related request information to the LMF. LMF can send SL positioning related request information to the network side device. The network side device can receive the SL positioning related request information sent by the LMF. The SL positioning related request information may include, for example, a candidate positioning assistance terminal device identification list. The network side device may receive the candidate positioning assistance terminal device identification list sent by the LMF. The network side device may determine at least one candidate positioning assistance terminal device based on the candidate positioning assistance terminal identification list. The network side device may send SL positioning related request information to at least one candidate positioning assistance terminal device. If at least one candidate positioning assistance terminal device accepts the SL positioning-related request, at least one candidate positioning assistance terminal device may send confirmation information to the network side device. The network side device may receive confirmation information sent by at least one candidate positioning auxiliary terminal device for the SL positioning related request information, and use at least one terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as at least one positioning auxiliary terminal device. The network side device may send response information to the LMF for the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device. The LMF may send response information to the first terminal device based on the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device.

And, in one embodiment of the present disclosure, the LMF may receive a list of candidate positioning auxiliary terminal device identifiers and a signal quality measurement result of at least one candidate positioning auxiliary terminal device identifier sent by the first terminal device, and the LMF may send the candidate positioning auxiliary terminal device identifier. The device identification list and the signal quality measurement result of at least one candidate positioning auxiliary terminal device identification are sent to the network side device. The network side device may negotiate with at least one candidate positioning auxiliary terminal device to determine at least one positioning auxiliary terminal device based on the candidate positioning auxiliary terminal device identification list sent by the LMF, and the network side device may send at least one positioning auxiliary terminal device to the LMF. The LMF may receive at least one positioning assistance terminal device sent by the network side device, and the LMF sends response information to the first terminal device based on the SL positioning related request information, where the response information includes at least one positioning assistance terminal device.

To sum up, in the embodiments of the present disclosure, based on the candidate positioning auxiliary terminal device identification list sent by the LMF or the second terminal device, at least one positioning auxiliary terminal device is determined through negotiation with at least one candidate positioning auxiliary terminal device; at least one positioning auxiliary terminal device is sent; Locate the auxiliary terminal device to the LMF or second terminal device. In the embodiment of the present disclosure, a specific solution for determining at least one positioning auxiliary terminal device with at least one candidate positioning auxiliary terminal device based on the candidate positioning auxiliary terminal device identification list sent by the LMF or the second terminal device is provided, thereby providing a network side device A determination mechanism for positioning the auxiliary terminal device between the positioning auxiliary terminal device and at least one candidate positioning auxiliary terminal device. The present disclosure provides a processing method for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Figure 22 is a schematic structural diagram of a determination device for positioning assistance terminal equipment provided by an embodiment of the present disclosure. As shown in Figure 22, the device 2200 can be provided on the terminal side, and the device 2200 can include:

The sending module 2201 is used to send SL positioning-related request information to the communication device, where the SL positioning-related request information is used to request positioning assistance terminal equipment;

The determination module 2202 is configured to determine the positioning assistance terminal device based on the response information sent by the communication device for the SL positioning-related request information.

To sum up, in the determination device of the positioning auxiliary terminal equipment in the embodiment of the present disclosure, the SL positioning related request information is sent to the communication device through the sending module, where the SL positioning related request information is used to request the positioning auxiliary terminal equipment; determine The module determines the positioning auxiliary terminal device based on the response information sent by the communication device to the SL positioning-related request information. In the embodiments of the present disclosure, the positioning auxiliary terminal device can be determined based on the response information sent by the communication device, which reduces the situation in which the positioning auxiliary terminal device cannot be determined, and can improve the accuracy of positioning auxiliary terminal device determination. The present disclosure provides a processing device for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Optionally, in one embodiment of the present disclosure, the communication device includes one or more second terminal devices, and the determining module 2202 is configured to determine the positioning assistance terminal based on the response information sent by the communication device for the SL positioning-related request information. When used as equipment, it is specifically used for:

SL - time difference of arrival TDOA positioning auxiliary information;

SL-Angle of arrival AOA positioning auxiliary information;

SL - departure angle AOD positioning auxiliary information;

SL-round trip time RTT positioning auxiliary information;

SL-carrier phase positioning auxiliary information.

SL-TDOA positioning auxiliary information;

SL-AOA positioning auxiliary information;

SL-AOD positioning auxiliary information;

SL-RTT positioning auxiliary information;

SL-carrier phase positioning auxiliary information.

Optionally, in an embodiment of the present disclosure, the determining module 2202 is also used to:

Optionally, in an embodiment of the present disclosure, the sending module 2201 is used to send SL positioning related request information to the communication device, specifically for:

Cell wireless network temporary identifier C-RNTI;

International Mobile Subscriber Identity IMSI;

Temporary mobile subscriber identity TMSI;

Sidelink link layer two source identification SL L2 source ID;

Sidelink link layer two destination identification SL L2 destination ID;

Sidelink link system information identifier SLSSID;

Invalid temporary identifier I-RNTI.

Optionally, in an embodiment of the present disclosure, when the sending module 2201 is used to send SL positioning related request information to the communication device, it is also used for at least one of the following:

Optionally, in an embodiment of the present disclosure, the signal quality measurement results include at least one of the following:

Reference signal received power RSRP;

Reference signal reception quality RSRQ;

Received signal strength indicator RSSI;

Signal to interference plus noise ratio SINR.

Optionally, in an embodiment of the present disclosure, the sending module 2201 is also used to:

Demodulation reference signal DM-RS;

Channel state information reference signal CSI-RS;

Channel sounding reference signal SRS;

Partial response signal PRS.

Physical cell identity PCI;

Global Cell Identity GCI.

Optionally, in one embodiment of the present disclosure, the communication device includes a second terminal device, and the sending module 2201 is further configured to negotiate with the second terminal device to determine the positioning assistance terminal device through at least one of the following messages;

Sidelink LPP message;

PC5-S message;

RRC message.

Figure 23 is a schematic structural diagram of a determination device for positioning assistance terminal equipment provided by an embodiment of the present disclosure. As shown in Figure 23, the device 2300 can be provided on the network side, and the device 2000 can include:

The receiving module 2301 is configured to receive SL positioning-related request information sent by the first terminal device, where the SL positioning-related request information is used to request positioning assistance terminal device;

The sending module 2302 is configured to send response information to the first terminal device based on the SL positioning-related request information, where the response information is used to determine the positioning assistance terminal device.

To sum up, in the determination device of the positioning assistance terminal device in the embodiment of the present disclosure, the SL positioning related request information sent by the first terminal device is received through the receiving module, where the SL positioning related request information is used to request the positioning assistance terminal device, the sending module sends response information to the first terminal device based on the SL positioning-related request information, where the response information is used to determine the positioning assistance terminal device. In the embodiment of the present disclosure, response information can be sent to the first terminal device, so that the first terminal device can determine the positioning auxiliary terminal device based on the response information, reducing the situation where the positioning auxiliary terminal device cannot be determined, and improving the positioning auxiliary terminal device. The accuracy of the device determination. The present disclosure provides a processing device for the situation of "determination of positioning auxiliary terminal equipment" to determine the positioning auxiliary terminal equipment based on the response information sent by the communication device, which can provide a determination mechanism of the positioning auxiliary terminal equipment and improve positioning assistance. The accuracy of the terminal device determination.

Optionally, in one embodiment of the present disclosure, the communication device includes a second terminal device, the method is executed by the second terminal device, and the sending module 2302 is configured to send response information to the first terminal device based on the SL positioning-related request information. When used as terminal equipment, it is specifically used for:

Optionally, in an embodiment of the present disclosure, the sending module 2302 is configured to send response information to the first terminal device based on the SL positioning-related request information, specifically for:

Optionally, in an embodiment of the present disclosure, the receiving module 2301 is configured to determine at least one positioning auxiliary terminal device based on the candidate positioning auxiliary terminal device identification list, specifically for:

Optionally, in one embodiment of the present disclosure, the receiving module 2301 is configured to negotiate with at least one candidate positioning auxiliary terminal device to determine at least one positioning auxiliary terminal device based on the candidate positioning auxiliary terminal device identification list, specifically for :

Optionally, in one embodiment of the present disclosure, the communication device includes a second terminal device, and the device is configured on the second terminal device side, and the receiving module 2301 is configured to send at least one positioning auxiliary terminal device to the first terminal. Before the device, it was also specifically used for:

Optionally, in an embodiment of the present disclosure, the receiving module 2301 is configured to negotiate with the main positioning auxiliary terminal device to determine at least one positioning auxiliary terminal device, specifically for:

Optionally, in an embodiment of the present disclosure, the receiving module 2301 is configured to negotiate with the network side device or the location management function entity LMF to determine at least one positioning assistance terminal device, specifically for:

List of candidate positioning auxiliary terminal device identifiers;

Optionally, in an embodiment of the present disclosure, the communication device includes a primary positioning auxiliary terminal device, and the device is configured on the side of the primary positioning auxiliary terminal device. The receiving module 2301 is also used to:

Optionally, in an embodiment of the present disclosure, the communication device includes an LMF, and the device is configured on the LMF side. The receiving module 2301 is also used for:

Optionally, in an embodiment of the present disclosure, the communication device includes an LMF, and the device is configured on the LMF side. The sending module 2302 is also used for:

Optionally, in an embodiment of the present disclosure, the positioning assistance terminal device is determined through negotiation with the terminal device through an LPP message.

Optionally, in an embodiment of the present disclosure, the communication device includes a network side device, which is configured on the network side, the receiving module 2301, and is also used for:

Receive at least one positioning assistance terminal device sent by the LMF.

Optionally, in one embodiment of the present disclosure, the communication device includes a network side device, which is configured on the network side, and the sending module 2302 is also used for:

Figure 24 is a block diagram of a terminal device UE2400 provided by an embodiment of the present disclosure. For example, the UE2400 can be a mobile phone, a computer, a digital broadcast terminal device, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

Referring to FIG. 24 , the UE 2400 may include at least one of the following components: a processing component 2402 , a memory 2404 , a power supply component 2406 , a multimedia component 2408 , an audio component 2410 , an input/output (I/O) interface 2412 , a sensor component 2414 , and a communication component. 2416.

Processing component 2402 generally controls the overall operations of UE 2400, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 2402 may include at least one processor 2420 to execute instructions to complete all or part of the steps of the above method. Additionally, processing component 2402 may include at least one module that facilitates interaction between processing component 2402 and other components. For example, processing component 2402 may include a multimedia module to facilitate interaction between multimedia component 2408 and processing component 2402.

Memory 2404 is configured to store various types of data to support operations at UE 2400. Examples of this data include instructions for any application or method operating on the UE2400, contact data, phonebook data, messages, pictures, videos, etc. Memory 2404 may be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EEPROM), Programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

Power supply component 2406 provides power to various components of UE 2400. Power component 2406 may include a power management system, at least one power supply, and other components associated with generating, managing, and distributing power to UE 2400.

Multimedia component 2408 includes a screen that provides an output interface between the UE 2400 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes at least one touch sensor to sense touches, slides, and gestures on the touch panel. The touch sensor may not only sense the boundary of the touch or sliding operation, but also detect the wake-up time and pressure related to the touch or sliding operation. In some embodiments, multimedia component 2408 includes a front-facing camera and/or a rear-facing camera. When the UE2400 is in an operating mode, such as shooting mode or video mode, the front camera and/or rear camera can receive external multimedia data. Each front-facing camera and rear-facing camera can be a fixed optical lens system or have a focal length and optical zoom capabilities.

Audio component 2410 is configured to output and/or input audio signals. For example, audio component 2410 includes a microphone (MIC) configured to receive external audio signals when UE 2400 is in operating modes, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 2404 or sent via communications component 2416. In some embodiments, audio component 2410 also includes a speaker for outputting audio signals.

The I/O interface 2412 provides an interface between the processing component 2402 and a peripheral interface module. The peripheral interface module may be a keyboard, a click wheel, a button, etc. These buttons may include, but are not limited to: Home button, Volume buttons, Start button, and Lock button.

Sensor component 2414 includes at least one sensor for providing various aspects of status assessment for UE 2400 . For example, the sensor component 2414 can detect the on/off state of the device 2500, the relative positioning of components, such as the display and keypad of the UE 2400, the sensor component 2414 can also detect the position change of the UE 2400 or a component of the UE 2400, the user The presence or absence of contact with the UE2400, the UE2400 orientation or acceleration/deceleration and the temperature change of the UE2400. Sensor assembly 2414 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 2414 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 2414 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

Communication component 2416 is configured to facilitate wired or wireless communication between UE 2400 and other devices. UE2400 can access wireless networks based on communication standards, such as WiFi, 2G or 3G, or a combination thereof. In one exemplary embodiment, the communication component 2416 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communications component 2416 also includes a near field communications (NFC) module to facilitate short-range communications. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

In an exemplary embodiment, the UE 2400 may be configured by at least one Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array ( FPGA), controller, microcontroller, microprocessor or other electronic component implementation for executing the above method.

Figure 25 is a block diagram of a network side device 2500 provided by an embodiment of the present disclosure. For example, the network side device 2500 may be provided as a network side device. Referring to Figure 25, the network side device 2500 includes a processing component 2522, which further includes at least one processor, and a memory resource represented by a memory 2532 for storing instructions, such as application programs, that can be executed by the processing component 2522. The application program stored in memory 2532 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 2522 is configured to execute instructions to perform any of the foregoing methods applied to the network side device, for example, the method shown in FIG. 20 .

The network side device 2500 may also include a power supply component 2526 configured to perform power management of the network side device 2500, a wired or wireless network interface 2550 configured to connect the network side device 2500 to the network, and an input/output (I/O). O)Interface 2558. The network side device 2500 can operate based on an operating system stored in the memory 2532, such as Windows Server TM, Mac OS X TM, Unix TM, Linux TM, Free BSD TM or similar.

In the above embodiments provided by the present disclosure, the methods provided by the embodiments of the present disclosure are introduced from the perspectives of network side equipment and UE respectively. In order to implement each function in the method provided by the above embodiments of the present disclosure, the network side device and the UE may include a hardware structure and a software module to implement the above functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. A certain function among the above functions can be executed by a hardware structure, a software module, or a hardware structure plus a software module.

A communication device provided by an embodiment of the present disclosure. The communication device may include a transceiver module and a processing module. The transceiver module may include a sending module and/or a receiving module. The sending module is used to implement the sending function, and the receiving module is used to implement the receiving function. The transceiving module may implement the sending function and/or the receiving function.

The communication device may be a terminal device (such as the terminal device in the foregoing method embodiment), a device in the terminal device, or a device that can be used in conjunction with the terminal device. Alternatively, the communication device may be a network device, a device in a network device, or a device that can be used in conjunction with the network device.

Another communication device provided by an embodiment of the present disclosure. The communication device may be a network device, or may be a terminal device (such as the terminal device in the foregoing method embodiment), or may be a chip, chip system, or processor that supports the network device to implement the above method, or may be a terminal device that supports A chip, chip system, or processor that implements the above method. The device can be used to implement the method described in the above method embodiment. For details, please refer to the description in the above method embodiment.

A communications device may include one or more processors. The processor may be a general-purpose processor or a special-purpose processor, etc. For example, it can be a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, and the central processor can be used to control and execute communication devices (such as network side equipment, baseband chips, terminal equipment, terminal equipment chips, DU or CU, etc.) A computer program processes data for a computer program.

Optionally, the communication device may also include one or more memories, on which a computer program may be stored, and the processor executes the computer program, so that the communication device performs the method described in the above method embodiment. Optionally, data may also be stored in the memory. The communication device and the memory can be provided separately or integrated together.

Optionally, the communication device may also include a transceiver and an antenna. The transceiver can be called a transceiver unit, a transceiver, or a transceiver circuit, etc., and is used to implement transceiver functions. The transceiver can include a receiver and a transmitter. The receiver can be called a receiver or a receiving circuit, etc., and is used to implement the receiving function; the transmitter can be called a transmitter or a transmitting circuit, etc., and is used to implement the transmitting function.

Optionally, one or more interface circuits may also be included in the communication device. Interface circuitry is used to receive code instructions and transmit them to the processor. The processor executes the code instructions to cause the communication device to perform the method described in the above method embodiment.

The communication device is a terminal device (such as the terminal device in the foregoing method embodiment): the processor is configured to execute the method shown in any one of Figures 2 to 7.

The communication device is a communication device: the processor is used to execute the method shown in any one of Figures 8 to 21.

In one implementation, a transceiver for implementing receiving and transmitting functions may be included in the processor. For example, the transceiver may be a transceiver circuit, an interface, or an interface circuit. The transceiver circuits, interfaces or interface circuits used to implement the receiving and transmitting functions can be separate or integrated together. The above-mentioned transceiver circuit, interface or interface circuit can be used for reading and writing codes/data, or the above-mentioned transceiver circuit, interface or interface circuit can be used for signal transmission or transfer.

In one implementation, the processor may store a computer program, and the computer program runs on the processor, which can cause the communication device to perform the method described in the above method embodiment. The computer program may be embedded in the processor, in which case the processor may be implemented in hardware.

In one implementation, the communication device may include a circuit, and the circuit may implement the functions of sending or receiving or communicating in the foregoing method embodiments. The processors and transceivers described in this disclosure may be implemented on integrated circuits (ICs), analog ICs, radio frequency integrated circuits (RFICs), mixed signal ICs, application specific integrated circuits (ASICs), printed circuit boards ( printed circuit board (PCB), electronic equipment, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal oxide semiconductor (CMOS), n-type metal oxide-semiconductor (NMOS), P-type Metal oxide semiconductor (positive channel metal oxide semiconductor, PMOS), bipolar junction transistor (BJT), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.

The communication device described in the above embodiments may be a network device or a terminal device (such as the terminal device in the foregoing method embodiment), but the scope of the communication device described in the present disclosure is not limited thereto, and the structure of the communication device may not be limited to limits. The communication device may be a stand-alone device or may be part of a larger device. For example, the communication device may be:

(1) Independent integrated circuit IC, or chip, or chip system or subsystem;

(2) A collection of one or more ICs. Optionally, the IC collection may also include storage components for storing data and computer programs;

(3)ASIC, such as modem;

(4) Modules that can be embedded in other devices;

(5) Receivers, terminal equipment, intelligent terminal equipment, cellular phones, wireless equipment, handheld devices, mobile units, vehicle-mounted equipment, network equipment, cloud equipment, artificial intelligence equipment, etc.;

(6) Others, etc.

Where the communication device may be a chip or a system on a chip, the chip includes a processor and an interface. The number of processors may be one or more, and the number of interfaces may be multiple.

Optionally, the chip also includes a memory for storing necessary computer programs and data.

Those skilled in the art can also understand that the various illustrative logical blocks and steps listed in the embodiments of the present disclosure can be implemented by electronic hardware, computer software, or a combination of both. Whether such functionality is implemented in hardware or software depends on the specific application and overall system design requirements. Those skilled in the art can use various methods to implement the described functions for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present disclosure.

The present disclosure also provides a readable storage medium on which instructions are stored, and when the instructions are executed by a computer, the functions of any of the above method embodiments are implemented.

The present disclosure also provides a computer program product, which, when executed by a computer, implements the functions of any of the above method embodiments.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs. When the computer program is loaded and executed on a computer, the processes or functions described in accordance with the embodiments of the present disclosure are generated in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device. The computer program may be stored in or transferred from one computer-readable storage medium to another, for example, the computer program may be transferred from a website, computer, server, or data center Transmission to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more available media integrated therein. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., high-density digital video discs (DVD)), or semiconductor media (e.g., solid state disks, SSD)) etc.

Those of ordinary skill in the art can understand that the first, second, and other numerical numbers involved in this disclosure are only for convenience of description and are not used to limit the scope of the embodiments of the disclosure, nor to indicate the order.

At least one in the present disclosure can also be described as one or more, and the plurality can be two, three, four or more, and the present disclosure is not limited. In the embodiment of the present disclosure, for a technical feature, the technical feature is distinguished by “first”, “second”, “third”, “A”, “B”, “C” and “D” etc. The technical features described in "first", "second", "third", "A", "B", "C" and "D" are in no particular order or order.

Other embodiments of the invention will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common common sense or customary technical means in the technical field that are not disclosed in the present disclosure. . It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise structures described above and illustrated in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the disclosure is limited only by the appended claims.

Claims

A method for determining a positioning assistance terminal device, characterized in that the method is executed by a first terminal device, and the method includes:

Send sidelinkSL positioning-related request information to the communication device, where the SL positioning-related request information is used to request positioning auxiliary terminal equipment;

Based on the response information sent by the communication device in response to the SL positioning-related request information, a positioning assistance terminal device is determined.
The method of claim 1, wherein the communication device includes one or more second terminal devices, and the positioning assistance is determined based on the response information sent by the communication device to the SL positioning-related request information. Terminal equipment, including:

Based on the response information sent by the one or more second terminal devices in response to the SL positioning-related request information, it is determined that the one or more second terminal devices are positioning assistance terminal devices.
The method according to claim 2, characterized in that the SL positioning related request information is SL LPP requesting auxiliary information, and the response information is SL LPP providing auxiliary information.
The method according to claim 3, characterized in that the SL positioning related request information includes at least one of the following:

SL - time difference of arrival TDOA positioning auxiliary information;

SL-Angle of arrival AOA positioning auxiliary information;

SL - departure angle AOD positioning auxiliary information;

SL-round trip time RTT positioning auxiliary information;

SL-carrier phase positioning auxiliary information.
The method according to claim 3, characterized in that the response information includes at least one of the following:

SL-TDOA positioning auxiliary information;

SL-AOA positioning auxiliary information;

SL-AOD positioning auxiliary information;

SL-RTT positioning auxiliary information;

SL-carrier phase positioning auxiliary information.
The method of claim 2, further comprising:

At least one second terminal device is determined through a relocation proximity service ProSe discovery mechanism.
The method according to claim 1, characterized in that sending SL positioning related request information to the communication device includes:

Send the SL positioning-related request information to the communication device, wherein the SL positioning-related request information includes a candidate positioning auxiliary terminal device identification list, and the candidate positioning auxiliary terminal device identification list includes at least one candidate positioning auxiliary terminal device identification ;

Receive response information sent by the communication device in response to the SL positioning-related request information, where the response information includes at least one positioning assistance terminal device.
The method according to claim 7, characterized in that the terminal device identification information includes at least one of the following:

Cell wireless network temporary identifier C-RNTI;

International Mobile Subscriber Identity IMSI;

Temporary mobile subscriber identity TMSI;

Sidelink link layer two source identification SL L2 source ID;

Sidelink link layer two destination identification SL L2 destination ID;

Sidelink link system information identifier SLSSID;

Invalid temporary identifier I-RNTI.
The method according to claim 7, wherein when sending the SL positioning-related request information to the communication device, the method further includes at least one of the following:

sending a signal quality measurement result of at least one candidate positioning assistance terminal device to the communication device;

Send the serving cell identification of the at least one candidate positioning assistance terminal device to the communication device;

Send the position tracking area where the at least one candidate positioning assistance terminal device is located to the communication device.
The method according to claim 9, characterized in that the signal quality measurement results include at least one of the following:

Reference signal received power RSRP;

Reference signal reception quality RSRQ;

Received signal strength indicator RSSI;

Signal to interference plus noise ratio SINR.
The method of claim 9, further comprising:

Determine the signal quality measurement result of the at least one candidate positioning assistance terminal device according to the reference signal sent by the at least one candidate positioning assistance terminal device;

The signal quality measurement result of the at least one candidate positioning assistance terminal device is sent to the communication device.
The method according to claim 11, characterized in that the reference signal includes at least one of the following:

Demodulation reference signal DM-RS;

Channel state information reference signal CSI-RS;

Channel sounding reference signal SRS;

Partial response signal PRS.
The method of claim 7, further comprising:

In response to the number of identifiers corresponding to the candidate positioning auxiliary terminal equipment identification list being greater than the identification threshold, a preset number of candidate positioning auxiliary terminals are determined in the candidate positioning auxiliary terminal equipment identification list in order of signal quality from high to low. Equipment Identity;

Send the preset number of candidate positioning assistance terminal device identifiers to the communication device.
The method according to claim 13, characterized in that the serving cell identifier includes at least one of the following:

Physical cell identity PCI;

Global Cell Identity GCI.
The method according to claim 1, wherein the communication device includes a second terminal device, and the method further includes:

Negotiate with the second terminal device to determine the positioning assistance terminal device through at least one of the following messages;

Sidelink LPP message;

PC5-S message;

RRC message.
The method according to claim 15, characterized in that the Sidelink LPP message includes request auxiliary information and/or provide auxiliary information of sidelink LPP.
A method for determining positioning assistance terminal equipment, characterized in that the method is executed by a communication device, and the method includes:

Receive SL positioning-related request information sent by the first terminal device, wherein the SL positioning-related request information is used to request positioning assistance terminal device;

Based on the SL positioning-related request information, response information is sent to the first terminal device, where the response information is used to determine the positioning assistance terminal device.
The method according to claim 17, wherein the communication device includes a second terminal device, the method is executed by the second terminal device, and the sending response is based on the SL positioning-related request information. Information to the first terminal device includes:

Based on the SL positioning-related request information, response information is sent to the first terminal device, wherein the response information indicates that the second terminal device is the positioning assistance terminal device.
The method of claim 17, wherein the sending response information to the first terminal device based on the SL positioning-related request information includes:

Receive a candidate positioning auxiliary terminal device identification list sent by the first terminal device, wherein the candidate positioning auxiliary terminal device identification list includes at least one candidate positioning auxiliary terminal device identification;

Determine at least one positioning auxiliary terminal device based on the candidate positioning auxiliary terminal device identification list;

Send the response information to the first terminal device, where the response information includes the at least one positioning assistance terminal device.
The method of claim 19, wherein determining at least one positioning assistance terminal device based on the candidate positioning assistance terminal device identification list includes:

Based on the candidate positioning auxiliary terminal device identification list, negotiate with at least one candidate positioning auxiliary terminal device to determine the at least one positioning auxiliary terminal device, wherein the at least one candidate positioning auxiliary terminal device and the at least one candidate positioning auxiliary terminal device Device ID correspondence.
The method according to claim 20, wherein said negotiating with at least one candidate positioning auxiliary terminal device to determine the at least one positioning auxiliary terminal device based on the candidate positioning auxiliary terminal device identification list includes:

Based on the signal quality of the candidate positioning auxiliary terminal equipment identification list and the at least one candidate positioning auxiliary terminal equipment identification, the network connection status information of the at least one candidate positioning auxiliary terminal equipment identification and the at least one candidate positioning auxiliary terminal equipment The identified location updates area information to determine at least one candidate positioning auxiliary terminal device;

Send the SL positioning related request information to the at least one candidate positioning assistance terminal device;

Receive confirmation information sent by the at least one candidate positioning auxiliary terminal device for the SL positioning related request information, and use at least one terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as the at least one positioning Auxiliary terminal equipment.
The method according to claim 17, characterized in that the communication device includes a second terminal device, the method is executed by the second terminal device, and in the sending the response information to the first terminal device Previously, this also included:

Negotiate with the main positioning auxiliary terminal device to determine the at least one positioning auxiliary terminal device.
The method according to claim 22, characterized in that the negotiation with the main positioning auxiliary terminal device to determine the at least one positioning auxiliary terminal device includes:

Send the SL positioning-related request information to the primary positioning auxiliary terminal device;

Receive at least one positioning auxiliary terminal device sent by the main positioning auxiliary terminal device for the SL positioning related request information.
The method according to claim 17, characterized in that the communication device includes a second terminal device, the method is executed by the second terminal device, and in the sending the response information to the first terminal device Previously, this also included:

Negotiate with the network side device or the location management function entity LMF to determine the at least one positioning assistance terminal device.
The method according to claim 24, characterized in that the negotiation with the network side device or the location management function entity LMF to determine the at least one positioning assistance terminal device includes:

In response to the second terminal device being located within the coverage of the network side device, sending the SL positioning related request information to the network side device or the LMF;

Receive the at least one positioning assistance terminal device sent by the network side device or the LMF for the SL positioning related request information.
The method according to claim 25, wherein the SL positioning-related request information includes at least one of the following:

List of candidate positioning auxiliary terminal device identifiers;

The signal quality corresponding to at least one candidate positioning auxiliary terminal device identification in the candidate positioning auxiliary terminal device identification list.
The method according to claim 17, wherein the communication device includes a primary positioning auxiliary terminal device, the method is executed by the primary positioning auxiliary terminal device, and the method further includes:

Receive the SL positioning-related request information sent by the second terminal device;

Send the SL positioning related request information to the at least one candidate positioning assistance terminal device;

Receive confirmation information sent by the at least one candidate positioning auxiliary terminal device for the SL positioning related request information, and use at least one terminal device that sends the confirmation information among the at least one candidate positioning auxiliary terminal device as the at least one positioning Auxiliary terminal equipment;

Send response information to the SL positioning-related request information to the second terminal device, where the response information includes the at least one positioning assistance terminal device.
The method of claim 17, wherein the communication device includes an LMF, the method is performed by the LMF, and the method further includes:

Receive the candidate positioning auxiliary terminal device identification list and the signal quality measurement result of the at least one candidate positioning auxiliary terminal device identification sent by the first terminal device;

Send the candidate positioning auxiliary terminal equipment identification list and the signal quality measurement result of the at least one candidate positioning auxiliary terminal equipment identification to the network side device;

Receive the at least one positioning assistance terminal device sent by the network side device.
The method of claim 17, wherein the communication device includes an LMF, the method is performed by the LMF, and the method further includes:

Based on the candidate positioning auxiliary terminal device identification list sent by the network side device or the second terminal device, negotiate with at least one candidate positioning auxiliary terminal device to determine the at least one positioning auxiliary terminal device;

Send the at least one positioning assistance terminal device to the network side device or the second terminal device.
The method of claim 17, wherein the communication device includes an LMF, the method is performed by the LMF, and the method further includes:

The positioning assistance terminal device is determined through negotiation with the terminal device through LPP messages.
The method according to claim 30, characterized in that the LPP message includes LPP request assistance information and/or provide assistance information.
The method according to claim 17, wherein the communication device includes a network side device, the method is executed by the network side device, and the method further includes:

Receive the candidate positioning auxiliary terminal device identification list and the signal quality measurement result of the at least one candidate positioning auxiliary terminal device identification sent by the first terminal device;

Send the candidate positioning auxiliary terminal equipment identification list and the signal quality measurement result of the at least one candidate positioning auxiliary terminal equipment identification to the LMF;

Receive the at least one positioning assistance terminal device sent by the LMF.
The method according to claim 17, characterized in that the communication device includes a network side device, the method is executed by the network side device, and the method further includes:

Based on the candidate positioning auxiliary terminal device identification list sent by the LMF or the second terminal device, negotiate with at least one candidate positioning auxiliary terminal device to determine the at least one positioning auxiliary terminal device;

Send the at least one positioning assistance terminal device to the LMF or the second terminal device.
A determination device for positioning auxiliary terminal equipment, characterized in that the device is provided on the side of the first terminal equipment, and the device includes:

A sending module, configured to send SL positioning-related request information to the communication device, where the SL positioning-related request information is used to request positioning assistance terminal equipment;

A determining module configured to determine the positioning assistance terminal device based on the response information sent by the communication device for the SL positioning-related request information.
A determination device for positioning auxiliary terminal equipment, characterized in that the device is provided on the side of the communication device, and the device includes:

A receiving module, configured to receive SL positioning-related request information sent by the first terminal device, where the SL positioning-related request information is used to request positioning assistance terminal device;

A sending module, configured to send response information to the first terminal device based on the SL positioning-related request information, where the response information is used to determine the positioning assistance terminal device.
A first terminal device, characterized in that the device includes a processor and a memory, wherein a computer program is stored in the memory, and the processor executes the computer program stored in the memory, so that the device The method as claimed in any one of claims 1 to 17 is carried out.
A communication device, characterized in that the device includes a processor and a memory, wherein a computer program is stored in the memory, and the processor executes the computer program stored in the memory, so that the device executes the following: The method of any one of claims 18 to 33.
A communication device, characterized by comprising: a processor and an interface circuit, wherein

The interface circuit is used to receive code instructions and transmit them to the processor;

The processor is configured to run the code instructions to perform the method according to any one of claims 1 to 17.
A communication device, characterized by comprising: a processor and an interface circuit, wherein

The interface circuit is used to receive code instructions and transmit them to the processor;

The processor is configured to execute the code instructions to perform the method according to any one of claims 18 to 33.
A computer-readable storage medium, characterized in that it is used to store instructions, and when the instructions are executed, the method according to any one of claims 1 to 17 is implemented.
A computer-readable storage medium, characterized in that it is used to store instructions, and when the instructions are executed, the method according to any one of claims 18 to 33 is implemented.