Disclosed are a method and device for a first terminal to transmit a positioning reference
signal (PRS) through a physical sidelink feedback channel (PSFCH) in a
wireless communication
system supporting sidelink communication according to various embodiments. Disclosed are a method and device, wherein the method comprises the steps of: allocating a first frequency resource region for a PRS within a resource region for the PSFCH so that the PRS is multiplexed with a feedback
signal; transmitting allocation information on the first frequency resource region; and transmitting the PRS and the feedback
signal through the PSFCH on the basis of the allocation information, wherein the size of the first frequency resource region is determined on the basis of the size of a pre-configured frequency resource for the feedback signal and the type of the
multiplexing, and the allocation information includes information on the
multiplexing type, the size of the first frequency resource region, and the start frequency of the first frequency resource.