Positioning measurement information reporting method and device

Abstract

The invention discloses a method and a device for reporting positioning measurement information, which are applied to the technical field of wireless communication. The method comprises the following steps: a first terminal device determines first positioning measurement information and first information, and sends the first positioning measurement information and the first information; wherein the first information indicates association between at least one antenna reference point and at least one sidewalk positioning reference signal sent by the at least one antenna reference point, and the at least one antenna reference point is an antenna reference point on a first terminal device.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of wireless communications, and in particular to a method and device for reporting positioning measurement information. Background Art

[0002] In the fifth generation mobile communication technology (5G), user equipment (UE) can obtain the reference signal time difference (RSTD) between multiple cells or multiple transmission points by measuring the positioning reference signal (PRS) sent by multiple cells or multiple transmission points, and send the measurement results to the network side for positioning.

[0003] Standardization work is currently underway for the sidelink (SL) positioning technology of 5G systems. As technology evolves, terminal devices may have multiple antenna reference points (ARPs), and different ARPs may be used to receive / send sidelink positioning reference signals (SL-PRS). Therefore, how to report the measurement results of different ARPs, implement measurement reports with ARP as the granularity (per ARP), and help the device that performs the positioning solution determine the matching positioning measurement results for positioning is a technical problem that needs to be solved at present. Summary of the invention

[0004] The embodiments of the present application provide a method and apparatus for reporting positioning measurement information, which are used to implement positioning measurement information reporting, so as to help a device that performs positioning solution to determine matching positioning measurement information.

[0005] In a first aspect, a method for reporting positioning measurement information is provided. The method can be applied to a first terminal device. The first terminal device can receive / send a sideline positioning reference signal and can obtain positioning measurement information based on the measurement of the sideline positioning reference signal.

[0006] The method includes: determining first positioning measurement information and first information, and sending the first positioning measurement information and the first information, wherein the first information indicates an association between at least one antenna reference point and at least one side positioning reference signal sent by the at least one antenna reference point, and the at least one antenna reference point is an antenna reference point on a first terminal device.

[0007] Taking the first antenna reference point on the first terminal device sending the first sideline positioning reference signal as an example, the first information sent by the first terminal device can be understood as: used to indicate the association between the first antenna reference point on the first terminal device and the first positioning reference signal.

[0008] In the above implementation, for positioning measurement and reporting based on the antenna reference point level, the terminal device can report first information on the basis of reporting positioning measurement information. The first information can indicate the association between at least one antenna reference point on the first terminal device and at least one side positioning reference signal sent by it, so that the device performing positioning solution can match the positioning measurement results reported by each terminal device, thereby selecting the positioning measurement results that comply with the RTT positioning principle for positioning solution, thereby avoiding positioning errors or positioning failures caused by incorrect matching of measurement results.

[0009] In a second aspect, a method for reporting positioning measurement information is provided, which can be applied to a device that performs positioning solution, and the method may include: receiving first positioning measurement information and first information sent by a first terminal device, and performing positioning according to the first positioning measurement information and the first information. The first information indicates an association between at least one antenna reference point and at least one side positioning reference signal sent by the at least one antenna reference point, and the at least one antenna reference point is an antenna reference point on the first terminal device.

[0010] In a possible implementation, the at least one antenna reference point includes a first antenna reference point, and the first positioning measurement information is obtained by the first terminal device measuring a second sideline positioning reference signal, and the second sideline positioning reference signal is sent by the second terminal device. The method also includes: receiving second positioning measurement information and second information from the second terminal device, the second information indicating an association between at least one antenna reference point on the second terminal device and at least one sideline positioning reference signal sent by the at least one antenna reference point, the at least one antenna reference point includes a second antenna reference point, the at least one sideline positioning reference signal includes the second sideline positioning reference signal sent by the second antenna reference point, and the second positioning measurement information is obtained by the second terminal device measuring the first sideline positioning reference signal; determining that the first positioning measurement information matches the second positioning measurement information based on the first positioning measurement information and the first information, and the second positioning measurement information and the second information; and performing positioning based on the first positioning measurement information and the second positioning measurement information.

[0011] Based on the first and second aspects above, in a possible implementation, the first positioning measurement information includes a receiving and transmitting time difference obtained by the first terminal device measuring the second positioning reference signal. Optionally, the first positioning measurement information also includes an identifier of an antenna reference point on the first terminal device that receives the second positioning reference signal.

[0012] Based on the above-mentioned first and second aspects, in a possible implementation method, the association between the at least one antenna reference point and the at least one side positioning reference signal sent by the at least one antenna reference point includes: the association between the identifier of the at least one antenna reference point and the resource identifier of the at least one side positioning reference signal.

[0013] Based on the above first and second aspects, in a possible implementation manner, an identifier of the at least one antenna reference point and a resource identifier of the at least one sidelink positioning reference signal are included in the first information.

[0014] Based on the above-mentioned first aspect and second aspect, in a possible implementation, the association between the at least one antenna reference point and the at least one side positioning reference signal sent by the at least one antenna reference point includes: an association between the identifier of the at least one antenna reference point and the timestamp of the at least one side positioning reference signal. Optionally, the timestamp of the at least one side positioning reference signal and the identifier of the at least one antenna reference point are included in the first information. Optionally, the timestamp of the at least one side positioning reference signal is the indication information of the time domain unit where the at least one side positioning reference signal is located.

[0015] Based on the above-mentioned first aspect and second aspect, in a possible implementation method, the determining the first positioning measurement information and the first information includes: before receiving a second sideline positioning reference signal from a second terminal device, determining the first information; after receiving the second sideline positioning reference signal, determining the first positioning measurement information; wherein, the first positioning measurement information is obtained by measuring the second sideline positioning reference signal; the sending of the first positioning measurement information and the first information includes: before sending the first positioning measurement information, sending the first information.

[0016] Based on the above first and second aspects, in a possible implementation manner, sending the first positioning measurement information and the first information includes: sending a first positioning measurement report, wherein the first positioning measurement report includes the first positioning measurement information and the first information.

[0017] According to a third aspect, a method for reporting positioning measurement information is provided. The method can be applied to a first terminal device. The first terminal device can receive / send a sideline positioning reference signal and obtain a positioning measurement result based on the measurement of the sideline positioning reference signal.

[0018] The method includes: receiving second information, the second information indicating an association between at least one antenna reference point and at least one side positioning reference signal sent by the at least one antenna reference point, the at least one antenna reference point being an antenna reference point on a second terminal device, wherein the at least one antenna reference point includes a second antenna reference point, and the at least one side positioning reference signal includes a second side positioning reference signal sent by the second antenna reference point; generating a first positioning measurement report according to the second information and first positioning measurement information, the first positioning measurement information being obtained by the first terminal device measuring the second side positioning reference signal; wherein the first positioning measurement report includes the first positioning measurement information, and the first positioning measurement report indicates an association between the second antenna reference point and the second side positioning reference signal; and sending the first positioning measurement report.

[0019] In the above implementation, for positioning measurement and positioning measurement information reporting based on the antenna reference point level, since the positioning measurement report includes information that can help match the positioning measurement results, the device used to perform positioning solution can match the positioning measurement reports reported by each terminal device, thereby avoiding positioning errors or positioning failures caused by incorrect matching of measurement results.

[0020] In a fourth aspect, a method for reporting positioning measurement information is provided, which can be applied to a device that performs positioning solution, the method comprising: receiving a first positioning measurement report from a first terminal device, the first positioning measurement report including first positioning measurement information, the first positioning measurement information being obtained by the first terminal device measuring a second sideline positioning reference signal, the first positioning measurement report indicating an association between a second antenna reference point and the second sideline positioning reference signal; wherein the second antenna reference point is an antenna reference point on the second terminal device that sends the second sideline positioning reference signal; and positioning is performed according to the first positioning measurement report.

[0021] A possible implementation method also includes: receiving a second positioning measurement report from the second terminal device, the second positioning measurement report including second positioning measurement information, the second positioning measurement information is obtained by the second terminal device measuring the first side positioning reference signal, and the second positioning measurement report indicates the association between the first antenna reference point and the first side positioning reference signal; wherein the first antenna reference point is the antenna reference point on the first terminal device that sends the first side positioning reference signal; positioning according to the first positioning measurement report includes: determining that the first positioning measurement report matches the second positioning measurement report; and positioning according to the first positioning measurement report and the second positioning measurement report.

[0022] Based on the third and fourth aspects above, in a possible implementation manner, the first positioning measurement report includes an identifier of the second antenna reference point.

[0023] Based on the above-mentioned third and fourth aspects, in a possible implementation method, the association between the at least one antenna reference point and the at least one side positioning reference signal sent by the at least one antenna reference point includes: the association between the identifier of the at least one antenna reference point and the resource identifier of the at least one side positioning reference signal.

[0024] Based on the third and fourth aspects above, in a possible implementation manner, an identifier of the at least one antenna reference point and a resource identifier of the at least one sidelink positioning reference signal are included in the first information.

[0025] Based on the third and fourth aspects above, in a possible implementation, the association between the at least one antenna reference point and the at least one side positioning reference signal sent by the at least one antenna reference point includes: an association between an identifier of the at least one antenna reference point and a timestamp of the at least one side positioning reference signal. Optionally, the timestamp of the at least one side positioning reference signal and the identifier of the at least one antenna reference point are included in the first information. Optionally, the timestamp of the at least one side positioning reference signal is the indication information of the time domain unit where the at least one side positioning reference signal is located.

[0026] In a fifth aspect, a communication device is provided, comprising a module for executing a method as described in any one of the first aspect above, or a module for executing a method as described in any one of the second aspect above, or a module for executing a method as described in any one of the third aspect above, or a module for executing a method as described in any one of the fourth aspect above.

[0027] In a sixth aspect, a communication device is provided, comprising a processor and an interface circuit, wherein the interface circuit is used to receive signals from other communication devices outside the communication device and transmit them to the processor or send signals from the processor to other communication devices outside the communication device, and the processor is used to implement a method as described in any one of the first aspect above, a method as described in any one of the second aspect above, a method as described in any one of the third aspect above, and a method as described in any one of the fourth aspect through a logic circuit or execution code instructions.

[0028] In the seventh aspect, a computer-readable storage medium is provided, wherein the storage medium stores a computer program or instruction. When the computer program or instruction is executed by a communication device, the method as described in any one of the first aspect above is implemented, or the method as described in any one of the second aspect above is implemented, or the method as described in any one of the third aspect above is implemented, or the method as described in any one of the fourth aspect above is implemented.

[0029] In an eighth aspect, a chip system is provided, comprising a chip, wherein the chip is coupled to a memory and is used to read and execute program instructions stored in the memory to implement a method as described in any one of the first, second, third or fourth aspects above.

[0030] In a ninth aspect, a computer program product is provided, which, when called by a computer, enables the computer to execute a method as described in any one of the first, second, third or fourth aspects above. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the principle of round-trip time positioning technology;

[0032] Figure 2 A schematic diagram of positioning measurement in a side communication scenario;

[0033] Figure 3 A schematic diagram of a communication system architecture applicable to an embodiment of the present application;

[0034] Figure 4 A schematic diagram of another communication system architecture applicable to the embodiments of the present application;

[0035] Figure 5 A schematic diagram of another communication system architecture applicable to the embodiments of the present application;

[0036] Figure 6 A schematic diagram of a positioning measurement information reporting process provided in an embodiment of the present application;

[0037] Figure 7This is a schematic diagram of UE1 and UE2 sending positioning measurement information and first information separately in an embodiment of the present application;

[0038] Figure 8 A schematic diagram of another positioning measurement information reporting process provided in an embodiment of the present application;

[0039] Fig. 9 A schematic diagram of the structure of a communication device provided in an embodiment of the present application;

[0040] Fig.10 A schematic diagram of the structure of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] In the positioning technology based on the "triangulation positioning method", for a terminal device to be located, the position of the terminal device can be calculated as long as the distance between the terminal device and three reference points of known locations is obtained.

[0042] The distance between the terminal device and the reference point can be calculated based on the round-trip time (RTT) positioning technology. The RTT positioning principle is a positioning technology based on echo signal ranging. This technology uses the transmission speed of wireless signals in space and calculates the distance by measuring the round-trip time of the signal from the transmitter to the receiver.

[0043] In RTT positioning technology, two devices can send / receive positioning reference signals to obtain round-trip transmission time without the need for clock synchronization between devices. Figure 1 The principle of RTT positioning technology is shown as an example. Figure 1 As shown, UE A is at T A1 The positioning reference signal PRS1 is sent to UE B at time T. B1 Receive the positioning reference signal PRS1 at time T B2 The positioning reference signal PRS2 is sent to UE A at time T. A2 The positioning reference signal PRS2 is received at time t. The time difference between receiving and sending the positioning reference signal measured by UE A is expressed as t round =T A2 -T A1 , the time difference between receiving and sending the positioning reference signal measured by UE B is expressed as t reply =T B2 -T B1 , the flight time between UE A and UE B is:

[0044]

[0045] Multiplying TOF by the speed of light gives you the distance between the two devices.

[0046] based on Figure 1 The RTT positioning technology principle shown in the side communication system diagram, the positioning measurement report currently reported by the terminal device mainly includes the time difference associated with the received side positioning reference signal, which can also be called the receiving and sending time difference. The time difference is the time difference between the time when the terminal device receives the side positioning reference signal and the time when it sends the side positioning reference signal. Furthermore, the positioning measurement report can also include the ARP identifier of the received side positioning reference signal. Figure 2 A schematic diagram of positioning measurement and reporting of positioning measurement information in a side communication scenario is exemplified.

[0047] like Figure 2 As shown, UE1 has two ARPs, denoted as UE1_ARP1 and UE1_ARP2, and UE2 has one ARP, denoted as UE2_ARP1. UE1 sends a side positioning reference signal SL-PRS1 through UE1_ARP1, and sends a side positioning reference signal SL-PRS3 through UE1_ARP2, and SL-PRS1 and SL-PRS3 are received by UE2_APR1 of UE2; UE2 sends a side positioning reference signal SL-PRS2 through UE2_ARP1, and SL-PRS2 is received by UE1_APR1 and UE1_ARP2 of UE1.

[0048] UE1 can measure the time difference Rx_Txmeasurement1 between UE1_APR1 receiving SL-PRS2 and sending SL-PRS1, and generate the following positioning measurement report A1 (see Figure 2 MR A1) in:

[0049] Rx_Tx measurement1+UE1_ARP1 ID……………………(A1)

[0050] UE1 can also measure the time difference Rx_Txmeasurement2 between UE1_APR2 receiving SL-PRS2 and sending SL-PRS3, and generate the following positioning measurement report A2 (see Figure 2 MR A2) in:

[0051] Rx_Tx measurement2+UE1_ARP2 ID……………………(A2)

[0052] UE2 can measure the time difference Rx_Txmeasurement3 between UE2_APR1 receiving SL-PRS1 and sending SL-PRS2, and generate the following positioning measurement report A3 (see Figure 2 MR A3) in:

[0053] Rx_Tx measurement3+UE2_ARP1 ID……………………(A3)

[0054] UE2 can also measure the time difference Rx_Txmeasurement4 between UE2_APR1 receiving SL-PRS3 and sending SL-PRS2, and generate the following positioning measurement report A4 (see Figure 2 MR A4) in:

[0055] Rx_Tx measurement4+UE2_ARP1 ID……………………(A4)

[0056] Among them, UE1_ARP1 ID represents the identifier of UE1_ARP1 on UE1, and so on, UE1_ARP2 ID represents the identifier of UE1_ARP2 on UE1, and UE2_ARP1 represents the identifier of UE2_ARP1 on UE2.

[0057] UE1 and UE2 may send the above positioning measurement report to a device that performs positioning solution, for example, the device that performs positioning solution may be a LMF or a terminal device.

[0058] according to Figure 2 As shown, the side positioning reference signals associated with the receive-send time difference in the positioning measurement report A1 reported by UE1 and the positioning measurement report A3 reported by UE2 are both SL-PRS1 and SL-PRS2, which can constitute the time difference parameter required for RTT positioning calculation. Therefore, based on the principle of RTT positioning technology, the positioning measurement report A1 reported by UE1 and the positioning measurement report A3 reported by UE2 can be used to perform positioning solution to obtain the distance between UE1_ARP1 and UE2_ARP1. Similarly, the side positioning reference signals associated with the receive-send time difference in the positioning measurement report A2 reported by UE1 and the positioning measurement report A4 reported by UE2 are both SL-PRS2 and SL-PRS3. Based on the principle of RTT positioning technology, the positioning measurement report A2 reported by UE1 and the positioning measurement report A4 reported by UE2 can be used to perform positioning solution to obtain the distance between UE1_ARP2 and UE2_ARP1.

[0059] The sideline positioning reference signals associated with the receive and transmit time difference in the positioning measurement report A1 reported by UE1 and the positioning measurement report A4 reported by UE2 are different, and cannot constitute the time difference parameter required for RTT positioning calculation. Similarly, the positioning measurement report A2 reported by UE1 and the positioning measurement report A3 reported by UE2 cannot be used for positioning solution.

[0060] On the device side that performs positioning solution, after receiving the above positioning measurement report, how to determine which positioning measurement report reported by UE1 can be matched with which positioning measurement report reported by UE2 to perform positioning solution is a technical problem that needs to be solved at present.

[0061] The above description only takes the example of a terminal device with a small number of ARPs. When the terminal device has a larger number of ARPs and can send / receive side positioning reference signals through these ARPs, the number of positioning measurement reports reported by the terminal device is larger. For the device that performs positioning solution, how to accurately match the positioning measurement reports reported by the terminal device is even more important.

[0062] To this end, an embodiment of the present application provides a method for reporting positioning measurement information and a related device applying the method. In an embodiment of the present application, when reporting positioning measurement results, in addition to reporting the receiving and sending time difference of the sideline positioning reference signal, the terminal device can also report information used for auxiliary positioning (hereinafter referred to as positioning auxiliary information in some embodiments), which can help the device used to perform positioning to determine the matching positioning measurement results from the positioning measurement results reported by multiple terminal devices to perform positioning solution based on the RTT positioning principle.

[0063] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0064] The technical solution provided in the embodiment of the present application is mainly applicable to wireless communication systems. The wireless communication system can comply with the wireless communication standard of the third generation partnership project (3GPP). For example, the solution provided in the embodiment of the present application can be applied to a fourth generation (4th generation, 4G) communication system, such as a long term evolution (long term evolution, LTE) communication system, or to a fifth generation (5th generation, 5G) communication system, such as a 5G new radio (new radio, NR) communication system, or to various future communication systems, such as a sixth generation (6th generation, 6G) communication system. The technical solution provided in the embodiment of the present application can also comply with other wireless communication standards, such as the wireless communication standards of the 802 series (such as 802.11, 802.15, or 802.20) of the Institute of Electrical and Electronics Engineers (IEEE).

[0065] The method provided in the embodiment of the present application can also be applied to a Bluetooth system, a Wi-Fi system, a LoRa system or a vehicle to everything (V2X) system. The method provided in the embodiment of the present application can also be applied to a satellite communication system, wherein the satellite communication system can be integrated with the above communication system.

[0066] See also Figure 3 , is a schematic diagram of a communication system architecture applicable to the embodiments of the present application. Figure 3 As shown, terminal device 30 is a terminal device to be positioned, terminal device 31, terminal device 32 and terminal device 33 are anchor terminal devices as reference points, and the positions of the anchor terminal devices are known to the location management function (LMF) entity in the core network. Terminal devices 30, terminal devices 31, terminal devices 32 and terminal devices 33 are within the signal coverage of network device 34, and can send side positioning reference signals under the control of network device 34, and send positioning measurement results to LMF 35 through network device 34. LMF 35 can locate terminal device 30 according to the positioning measurement results reported by each terminal device.

[0067] See also Figure 4 , is a schematic diagram of another communication system architecture applicable to the embodiment of the present application. Figure 4As shown, terminal device 40 is a terminal device to be positioned, and a direct communication connection is established between terminal device 40, terminal device 41, terminal device 42 and terminal device 43, and none of these terminal devices establishes a connection with a network device. Terminal device 40 can send side positioning reference signals to terminal device 41, terminal device 42 and terminal device 43 respectively, and can obtain positioning measurement results. One of the above terminal devices can be used as a device for performing positioning solution, and the position of terminal device 40 is determined according to the positioning measurement results of each terminal device. Taking terminal device 40 as an example of a device for performing positioning solution, terminal device 41, terminal device 42 and terminal device 43 can send positioning measurement results to terminal device 40, and terminal device 40 can determine the position of terminal device 40 according to the received positioning measurement results and the positioning measurement results of the terminal device 40 itself, wherein the positions of terminal device 41, terminal device 42 and terminal device 43 are known to terminal device 40.

[0068] See also Figure 5 , which is a schematic diagram of another communication system architecture applicable to an embodiment of the present application. Figure 5 The figure shows that the terminal device 50 realizes positioning by receiving the side-link positioning reference signals sent by multiple roadside units (RSU). RSU is a roadside unit deployed on the roadside, which meets the side-link communication / positioning related protocols and can provide wireless communication functions for the terminal. RSU can be various forms of roadside stations, access points, sidelink devices, etc. Figure 5 As shown, the terminal device 50 is a terminal device to be positioned, and the terminal device 50 can send side positioning reference signals to each other with RSU 1, RSU 2 and RSU 3, respectively, and can obtain positioning measurement results. Taking the terminal device 50 as an example of a device for performing positioning solution, RSU 1, RSU 2 and RSU 3 can send positioning measurement results to the terminal device 50, and the terminal device 50 can determine the position of the terminal device 50 according to the received positioning measurement results and the positioning measurement results of the terminal device 50 itself, wherein the positions of RSU 1, RSU 2 and RSU 3 are known to the terminal device 50.

[0069] Understandably, Figure 3 , Figure 4 or Figure 5 The side link positioning scenarios shown are only some possible examples. Other possible side link positioning scenarios may include more terminal devices or other types of devices, which is not limited in the embodiments of the present application.

[0070] The terminal device (such as Figure 3 , Figure 4 or Figure 5The terminal device in the embodiment of the present invention, and the first terminal device, the second terminal device, etc. mentioned below) may include a device that provides voice and / or data connectivity to a user, for example, a handheld device with a wireless connection function, or a processing device connected to a wireless modem. The terminal may communicate with a core network via a radio access network (RAN) and exchange voice and / or data with the RAN. The terminal may include user equipment (UE), wireless terminal, mobile terminal, device-to-device (D2D) terminal, vehicle to everything (V2X) terminal, machine-to-machine / machine-type communications (M2M / MTC) terminal, Internet of Things (IoT) terminal, subscriber unit, subscriber station, mobile station, remote station, access point (AP), remote terminal, access terminal, user terminal, user agent, RSU, or user device, etc. For example, it may include a mobile phone (or "cellular" phone), a computer with a mobile terminal, a portable, pocket-sized, handheld, or computer-built-in mobile device, etc. For example, personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDA), and other devices. The terminal can also be a tablet computer or a computer with wireless transceiver function. The terminal can also be a virtual reality (VR) terminal, an augmented reality (AR) terminal, a wireless terminal in industrial control, a wireless terminal in unmanned driving, a wireless terminal in telemedicine, a wireless terminal in smart grids, a wireless terminal in smart cities, a wireless terminal in smart homes, etc.It also includes limited devices, such as devices with low power consumption, or devices with limited storage capacity, or devices with limited computing power, etc. Examples include information sensing devices such as barcodes, radio frequency identification (RFID), sensors, global positioning systems (GPS), laser scanners, etc.

[0071] The network device in the embodiment of the present application refers to an access network (AN) device (such as a base station), which may refer to a device in the access network that communicates with a wireless terminal through one or more cells at an air interface. For example, the access network device may include an evolved base station (NodeB or eNB or e-NodeB, evolutional NodeB) in a long term evolution (LTE) system or an advanced long term evolution (LTE-A), or may also include a next generation node B (gNB) in a 5G NR system or may also include a centralized unit (CU) and a distributed unit (DU) in a cloud access network (Cloud Radio Access Network, Cloud RAN) system, which is not limited in the embodiment of the present application. Among them, the eNB may include various forms of macro base stations, micro base stations (also called small stations), relay stations, access points, wearable devices, and vehicle-mounted devices. The eNB may also be a transmission and reception point (TRP). The gNB may include various forms of macro base stations, micro base stations (also called small stations), relay stations, access points, wearable devices, and vehicle-mounted devices. The gNB may also be a TRP, a transmission measurement function (TMF). The gNB may include a CU and a DU integrated on the gNB.

[0072] Based on the above system architecture, the following takes the first terminal device and the second terminal device as an example to describe the process of transmitting a sideline positioning reference signal between the first terminal device and the second terminal device, performing measurements based on the sideline positioning reference signal to obtain positioning measurement information, and reporting the positioning measurement information. Exemplarily, the first terminal device and the second terminal device may be Figure 3 or Figure 4 Two terminal devices in, or Figure 5 The terminal device and an RSU in it.

[0073] The execution subject of the method provided in the embodiment of the present application is introduced by taking a terminal device as an example. The terminal device in the embodiment of the present application can be a terminal device, or a chip, unit or module in the terminal device, such as the aforementioned Figure 3 , Figure 4 or Figure 5 Any terminal device shown, or an RSU. The terminal device may also be a communication device with a terminal function or a chip, unit or module inside a communication device with a terminal function. For ease of understanding, the embodiments of the present application are described by taking the terminal device as a terminal device or a chip, unit or module inside a terminal device, and the network device as a network device or a chip, unit or module inside a network device as an example.

[0074] The positioning reference signal in the method provided in the embodiment of the present application may be a positioning reference signal based on a sidelink (which may be referred to as a sidelink positioning reference signal).

[0075] In the embodiments of the present application, expressions such as “positioning measurement information” and “positioning measurement result” can be used interchangeably.

[0076] See also Figure 6 , which is a schematic diagram of a positioning measurement information reporting process provided in an embodiment of the present application.

[0077] In an embodiment of the present application, the first terminal device has one or more antenna reference points (hereinafter referred to as ARPs), and the second terminal device has one or more ARPs. The first terminal device can send at least one side positioning reference signal to the second terminal device through at least one ARP, and the second terminal device can also send at least one side positioning reference signal to the first terminal device through at least one ARP. For example, the first ARP on the first terminal device can send a first side positioning reference signal to the second terminal device, and the second ARP on the second terminal device can receive the first side positioning reference signal sent by the first terminal device. The second ARP on the second terminal device can send a second side positioning reference signal to the first terminal device, and the first ARP on the first terminal device can receive the second side positioning reference signal sent by the second terminal device. The first terminal device and the second terminal device can obtain positioning measurement information based on the measurement of the side positioning reference signal.

[0078] like Figure 6 As shown, the process may include the following steps:

[0079] Step 601: A first terminal device determines first positioning measurement information and first information.

[0080] The first information indicates an association between at least one ARP and at least one side positioning reference signal sent by the at least one ARP, and the at least one ARP is an ARP on the first terminal device. That is, the first information may indicate an association between one or more ARPs on the first terminal device and one or more positioning reference signals sent by it. The first information may also be referred to as positioning assistance information.

[0081] In a possible implementation, the first information may be a data structure such as a list or a matrix, which indicates the association between the ARP on the first terminal device and the side positioning reference signal sent by the ARP. It is understood that the embodiment of the present application does not limit the data structure used by the first information.

[0082] by Figure 2 Taking UE1 in the example, the first information determined by UE1 may be a list including a first table entry and a second table entry. For example, the list may be expressed as {(UE1_ARP1, SL-PRS1), (UE1_ARP2, SL-PRS3)}, wherein the table entry (UE1_ARP1, SL-PRS1) indicates that UE1_ARP1 is associated with SL-PRS1, and the table entry (UE1_ARP2, SL-PRS3) indicates that UE1_ARP2 is associated with SL-PRS3.

[0083] For another example, the first terminal device includes an antenna reference point ARP1, and ARP1 sends side positioning reference signals SL-PRS1 and SL-PRS2. The first information can be the following data structure: {(ARP1, SL-PRS1), (ARP 1, SL-PRS2)}, wherein (ARP1, SL-PRS1) indicates that ARP1 is associated with SL-PRS1, and (ARP 1, SL-PRS2) indicates that ARP1 is associated with SL-PRS2.

[0084] For another example, the first terminal device includes an antenna reference point ARP1, and ARP1 sends a side positioning reference signal SL-PRS1. The first information can be the following data structure: {(ARP1, SL-PRS1)}, where (ARP1, SL-PRS1) indicates that ARP1 is associated with SL-PRS1.

[0085] The above are only a few possible examples. The embodiments of the present application do not limit the number of antenna reference points on the first terminal device, nor the number of side positioning reference signals that can be sent by one antenna reference point.

[0086] In a possible implementation, the association between the ARP and the positioning reference signal can be expressed in the following manner: an association between the identifier of at least one ARP and the resource identifier of at least one side positioning reference signal sent by the at least one ARP. That is to say, the association between the ARP and the positioning reference signal can be expressed by the association between the identifier of the ARP and the resource identifier of the side positioning reference signal. Taking the first ARP on the first terminal device as an example, the association relationship can be expressed as: an association between the identifier of the first ARP and the resource identifier of one or more side positioning reference signals sent by the first ARP. Optionally, the identifier of the first ARP and the resource identifier of the side positioning reference signal sent by the first ARP can be included in the first information. Optionally, the association between the ARP and the side positioning reference signal can be reflected by a certain data structure, such as (identifier of ARP1, resource identifier of SL-PRS1) represents the association between ARP1 and the SL-PRS1 sent by it.

[0087] The resources of the sideline positioning reference signal include the time-frequency resources of the sideline positioning reference signal, and the time-frequency resources of the sideline positioning reference signal can be allocated by the network device or selected by the terminal device from the candidate resources in the resource pool. Different resources of the sideline positioning reference signal can be distinguished by the resource identifier, that is, the resource identifier can be used to distinguish the sideline positioning reference signal.

[0088] For example, Figure 2 For example, the first information corresponding to UE1_ARP1 on UE1 may include: an identifier of UE1_ARP1 (expressed as UE1_ARP1 ID), and / or a resource identifier of SL-PRS1 (expressed as SL-PRS1 resource ID). The first information corresponding to UE1_ARP2 on UE1 may include: an identifier of UE1_ARP2 (expressed as UE1_ARP2 ID), and / or a resource identifier of SL-PRS3 (expressed as SL-PRS3 resource ID).

[0089] In another possible implementation, the association between the ARP and the positioning reference signal can be expressed in the following manner: the association between the identifier of at least one ARP and the timestamp of at least one side positioning reference signal sent by the at least one ARP. That is to say, the association between the ARP and the positioning reference signal can be expressed by the association between the identifier of the ARP and the timestamp of the side positioning reference signal. Taking the first ARP on the first terminal device as an example, the association relationship can be expressed as: the association between the identifier of the first ARP and the timestamp of one or more positioning reference signals sent by the first ARP. Optionally, the identifier of the first ARP and the timestamp of at least one side positioning reference signal sent by the first ARP can be included in the first information. Optionally, the association between the ARP and the side positioning reference signal can be reflected by a certain data structure, such as (identifier of ARP1, timestamp of SL-PRS1) represents the association between ARP1 and the SL-PRS1 it sends.

[0090] Taking the first terminal device sending the first side positioning reference signal as an example, for the first terminal device, the first terminal device is the sending device of the first positioning reference signal, and the timestamp of the first positioning reference signal is the sending timestamp of the first positioning reference signal. In the embodiment of the present application, the timestamp of the first positioning reference signal can be the indication information of the time domain unit where the first positioning reference signal is located, for example, the timestamp of the first positioning reference signal can be the index of the time slot where the first positioning reference signal is located. For the second terminal device, the second terminal device is the receiving device of the first positioning reference signal. In the dimension of the above-mentioned time domain unit (such as the time slot), the time delay between the sending time and the receiving time of the positioning reference signal will not exceed one time domain unit. Therefore, the time domain unit where the second terminal device receives the first positioning reference signal is the same as the time domain unit where the first terminal device sends the first positioning reference signal. It can be understood that since the sending timestamp of the first positioning reference signal is the same as the receiving timestamp of the first positioning reference signal in the dimension of the above-mentioned time domain unit, the embodiments of the present application are collectively referred to as the timestamp of the first positioning reference signal.

[0091] For example, Figure 2 For example, the first information corresponding to UE1_ARP1 on UE1 may include: an identifier of UE1_ARP1 (expressed as UE1_ARP1 ID), and / or a timestamp of SL-PRS1 (expressed as SL-PRS slot index1). The first information corresponding to UE1_ARP2 on UE1 may include: an identifier of UE1_ARP2 (expressed as UE1_ARP2 ID), and / or a timestamp of SL-PRS3 (expressed as SL-PRS slot index3).

[0092] In an embodiment of the present application, the first positioning measurement information is obtained by the first terminal device based on measuring a sideline positioning reference signal, and the first positioning measurement information may include a receiving and sending time difference of the sideline positioning reference signal.

[0093] In a possible implementation, taking the case where the first ARP of the first terminal device receives the second positioning reference signal sent by the second terminal device, and the first ARP sends the first sideline positioning reference signal as an example, the first positioning measurement information determined by the first terminal device may include the receiving and sending time difference between sending the first positioning reference signal and receiving the second positioning reference signal. Figure 2 For example, UE1 can measure the time difference Rx_Tx measurement1 between the time when UE1_APR1 receives SL-PRS2 and the time when it sends SL-PRS1. UE1 can also measure the time difference Rx_Tx measurement2 between the time when UE1_APR2 receives SL-PRS2 and the time when it sends SL-PRS3.

[0094] Optionally, the first positioning measurement information determined by the first terminal device may further include an identifier of an ARP on the first terminal device that receives the second positioning reference signal. Figure 2 For example, for UE1_ARP1 on UE1, since it receives the side positioning reference signal SL-PRS2, the positioning measurement information corresponding to UE1_ARP1 may include UE1_APR1 ID. For UE1_ARP2 on UE1, since it receives the side positioning reference signal SL-PRS2, the positioning measurement information corresponding to UE1_ARP2 may include UE1_APR1ID.

[0095] Optionally, the first positioning measurement information may further include a resource identifier of a positioning reference signal received by the first terminal device. Figure 2 For example, for UE1_ARP1 on UE1, since it receives SL-PRS2, the positioning measurement information corresponding to UE1_ARP1 may include SL-PRS2 resource ID. For UE1_ARP2 on UE1, since it also receives SL-PRS2, the positioning measurement information corresponding to UE1_ARP2 may also include SL-PRS2resource ID.

[0096] Step 602: The first terminal device sends the first positioning measurement information and the first information determined in step 601.

[0097] In step 603 and step 604, the second terminal device may also determine the second positioning measurement information and the second information in the above manner, and send the determined second positioning measurement information and the second information to the device for performing positioning solution.

[0098] The second information may also be referred to as positioning assistance information.

[0099] Exemplarily, in step 602, the second positioning measurement information determined by the second terminal device indicates an association between at least one antenna reference point on the second terminal device and at least one side positioning reference signal sent by the at least one antenna reference point. Taking the example that the at least one antenna reference point includes a second antenna reference point, and the at least one side positioning reference signal includes a second side positioning reference signal sent by the second antenna reference point, the second information may indicate an association between the second antenna reference point and the second side positioning reference signal.

[0100] Exemplarily, in step 602, taking the first terminal device sending a first sideline positioning reference signal as an example, the second positioning measurement information is obtained by the second terminal device measuring the first sideline positioning reference signal.

[0101] In a possible implementation manner, the first positioning measurement information and the first information may be sent separately, the first positioning measurement information may be sent through a positioning measurement report, and the first information may be sent through another message.

[0102] In one possible implementation, the first information may be sent before the first positioning measurement report, or before the positioning measurement starts. For example, when the first terminal device obtains the time-frequency resources of the first positioning reference signal, it can determine which ARP to send the positioning reference signal corresponding to which resource identifier (that is, the association between the ARP identifier and the resource identifier of the positioning reference signal has been obtained at this time), or it can determine which ARP and in which time slot to send the positioning reference signal (that is, the association between the ARP identifier and the timestamp of the positioning reference signal has been obtained at this time), so the first terminal device can send the first information before the positioning measurement starts, or before sending the positioning measurement report. Exemplarily, the first terminal device can send the first information through an existing message when configuring the side positioning reference signal to save signaling overhead.

[0103] Among them, optionally, the time-frequency resources of the first positioning reference signal can be configured by the network device to the first terminal device, or can be selected by the first terminal device from the candidate resources in the resource pool, and the embodiment of the present application does not limit this.

[0104] For example, Figure 2 For example, Figure 7The exemplary embodiment shows an example in which UE1 sends the first positioning measurement information and the first information separately, and UE2 sends the second positioning measurement information and the second information separately. Figure 7 As shown, when configuring the sideline positioning reference signal, UE1 sends the first information to the LMF, and when configuring the sideline positioning reference signal, UE2 sends the second information to the LMF. The first information sent by UE1 and the second information sent by UE2 can refer to the previous text and will not be repeated here. Thereafter, after the positioning process is started, the sideline positioning reference signal is transmitted between UE1 and UE2. UE1 generates a first positioning measurement report based on the measurement of the sideline positioning reference signal, and reports the first positioning measurement report to the LMF; UE2 generates a second positioning measurement report based on the measurement of the sideline positioning reference signal, and reports the second positioning measurement report to the LMF.

[0105] It can be understood that in the process of UE1 sending the first information and the first positioning measurement report to the LMF, the first information and the first positioning measurement report may also be forwarded by other network elements, such as the first information and / or the first positioning measurement report sent by UE1 is sent to the service access and mobility management (access and mobility management function, AMF) of UE1 through RAN, and then sent by the AMF to the LMF, and the embodiment of the present application does not limit this. Similarly, in the process of UE2 sending the second information and the second positioning measurement report to the LMF, it may also be forwarded by other network elements.

[0106] Below Figure 2 For example, the first terminal device (such as Figure 2 The first information sent by UE1 in the example and the content of the first positioning measurement report, and the second terminal device (such as Figure 2 The second information sent by UE2) and the content of the second positioning measurement report.

[0107] For example, Figure 2 For example, the first positioning measurement report sent by UE1 includes the positioning measurement report A1 and the positioning measurement report A2 mentioned above. The first information sent by UE1 may include:

[0108] (SL-PRS1 resource ID, UE1_ARP1 ID);

[0109] (SL-PRS3 resource ID, UE1_ARP2 ID).

[0110] The second positioning measurement report sent by UE2 includes the positioning measurement report A3 and the positioning measurement report A4 mentioned above. The second information sent by UE2 may include:

[0111] (SL-PRS2 resource ID, UE2_ARP1 ID).

[0112] Another example is Figure 2 For example, the first positioning measurement report sent by UE1 includes the positioning measurement report A1 and the positioning measurement report A2 mentioned above. The first information sent by UE1 may include:

[0113] (SL-PRS slot index1, UE1_ARP1 ID);

[0114] (SL-PRS slot index3, UE1_ARP2 ID).

[0115] The second positioning measurement report sent by UE2 includes the positioning measurement report A3 and the positioning measurement report A4 mentioned above. The second information sent by UE2 may include:

[0116] (SL-PRS slot index2, UE2_ARP1 ID).

[0117] In another possible implementation, in step 602 and step 604, the first terminal device may send the first positioning measurement information and the first information through a first positioning measurement report, and the second terminal device may send the second positioning measurement information and the second information through a second positioning measurement report. In the embodiment of the present application, a new first positioning measurement report may be defined for transmitting the first positioning measurement information and the first information, and a new second positioning measurement report may be defined for transmitting the second positioning information and the second information.

[0118] The first possible data structure of the positioning measurement report newly defined in the embodiment of the present application may be:

[0119] PRS for Rx+Rx_Tx measurement+ARP ID for Rx+ARP ID for Tx+PRS for Tx

[0120] Among them, PRS for Rx represents the resource identifier of the received sideline positioning reference signal, ARP ID for Rx represents the identifier of the ARP for receiving the sideline positioning reference signal, PRS for Tx represents the resource identifier of the sent sideline positioning reference signal, ARP ID for Tx represents the identifier of the ARP for sending the sideline positioning reference signal, and Rx_Tx measurement represents the receive and send time difference associated with PRS for Rx and PRS for Tx.

[0121] Optionally, PRS for Rx may be omitted, that is, the positioning measurement report may not include PRS for Rx.

[0122] Taking the above data structure as an example, Figure 2 In the first positioning measurement report sent by UE1, the first positioning measurement report may include:

[0123] Positioning measurement report B1:

[0124] SL-PRS2 resource ID+Rx_Tx measurement1+UE1_ARP1 ID+UE1_ARP1 ID+SL-PRS1 resource ID

[0125] Positioning measurement report B2:

[0126] SL-PRS2 resource ID+Rx_Tx measurement2+UE1_ARP2 ID+UE1_ARP2 ID+SL-PRS3 resource ID

[0127] The second positioning measurement report sent by UE2 may include:

[0128] Positioning measurement report B3:

[0129] SL-PRS1 resource ID+Rx_Tx measurement3+UE2_ARP1 ID+UE2_ARP1 ID+SL-PRS2 resource ID

[0130] Positioning measurement report B4:

[0131] SL-PRS3 resource ID+Rx_Tx measurement4+UE2_ARP1 ID+UE2_ARP1 ID+SL-PRS2 resource ID

[0132] The second possible data structure of the positioning measurement report newly defined in the embodiment of the present application may be:

[0133] PRS slot for Rx+Rx_Tx measurement+ARP ID for Rx+ARP ID for Tx+PRSslot for Tx

[0134] Among them, PRS for Rx represents the timestamp of the received sideline positioning reference signal, ARP ID for Rx represents the identifier of the ARP that receives the sideline positioning reference signal, PRS slot for Tx represents the timestamp of the sent sideline positioning reference signal, ARP ID for Tx represents the identifier of the ARP that sends the sideline positioning reference signal, and Rx_Tx measurement represents the measured receive and send time difference.

[0135] Optionally, PRS slot for Rx may be omitted, that is, the positioning measurement report may not include PRS slot for Rx.

[0136] Taking the above data structure as an example, Figure 2 In the first positioning measurement report sent by UE1, the first positioning measurement report may include:

[0137] Positioning measurement report C1:

[0138] SL-PRS slot index2+Rx_Tx measurement1+UE1_ARP1 ID+UE1_ARP1 ID+SL-PRSslot index1

[0139] Positioning measurement report C2:

[0140] SL-PRS slot index2+Rx_Tx measurement2+UE1_ARP2 ID+UE1_ARP2 ID+SL-PRSslot index3

[0141] The second positioning measurement report sent by UE2 may include:

[0142] Positioning measurement report C3:

[0143] SL-PRS slot index1+Rx_Tx measurement3+UE2_ARP1 ID+UE2_ARP1 ID+SL-PRSslot index2

[0144] Positioning measurement report C4:

[0145] SL-PRS slot index3+Rx_Tx measurement4+UE2_ARP1 ID+UE2_ARP1 ID+SL-PRSslot index2

[0146] It can be understood that the first possible data structure and the second possible data structure are merely examples, and the embodiment of the present application does not limit the data structure of the positioning measurement report.

[0147] In a possible implementation, the first terminal device may send the first positioning measurement information and the first information to a device for performing positioning solution, and the second terminal device may also send the second positioning measurement information and the second information to a device for performing positioning solution. The device for performing positioning solution may be an LMF. In this case, the first terminal device may send the positioning measurement information and the first information to the LMF in the core network, such as in Figure 3 In the described architecture, the terminal device 30, the terminal device 31, the terminal device 32 and the terminal device 33 can send the positioning measurement information and the positioning assistance information measured by each of them to the LMF 35 through the network device 34. The device for performing positioning solution may also be a terminal device. In this case, the first terminal device can send the first positioning measurement information and the first information to the terminal device for performing positioning solution through the side link, such as in Figure 4 In the architecture shown, terminal devices 40, 41, and 42 can send their respective measured positioning measurement information and positioning assistance information to terminal device 43 via a side link. The device for performing positioning solution may also be the first terminal device itself. In this case, the first terminal device does not need to send the first positioning measurement information and the first information to other devices. Other devices send their respective measured positioning measurement information and positioning assistance information to the first terminal device. For example, Figure 4 In the architecture shown, terminal device 41, terminal device 42, and terminal device 43 can send the positioning measurement information and first information measured by each of them to terminal device 40 via a side link.

[0148] Understandably, Figure 6 In the description, only the example of sending the positioning measurement information and the positioning auxiliary information to the LMF is used. In other embodiments, the positioning measurement information and the positioning auxiliary information can also be sent to other devices for performing positioning solutions, and the embodiments of the present application are not limited to this.

[0149] Based on the above Figure 6 In the process shown, after the device for performing positioning solution receives the positioning measurement information and positioning assistance information sent by each device, it can match the positioning measurement information of each device to determine the positioning measurement information that complies with the principles of RTT positioning technology, so that positioning solution can be performed based on the principles of RTT positioning technology.

[0150] Taking the example that a device performing positioning solution receives first positioning measurement information and first information sent by a first terminal device, and receives second positioning measurement information and second information sent by a second terminal device, the device performing positioning solution determines that the first positioning measurement information matches the second positioning measurement information based on the first information and the first positioning measurement information sent by the first terminal device, and the second information and second positioning measurement information sent by the second terminal device; and performs positioning based on the first positioning measurement information and the second positioning measurement information.

[0151] For example, Figure 2 Taking UE1 and UE2 in the example, the first positioning measurement information reported by UE1 is the positioning measurement report B1 and positioning measurement report B2 mentioned above, and the second positioning measurement information reported by UE2 is the positioning measurement report B3 and positioning measurement report B4 mentioned above. Based on the positioning measurement report B1, it can be determined that UE1_ARP1 of UE1 receives SL-PRS2 and sends SL-PRS1. Based on the positioning measurement report B3, it can be determined that UE2_ARP1 of UE2 receives SL-PRS1 and sends SL-PRS2. It can be seen that the positioning measurement report B1 and the positioning measurement report B2 comply with the principle of consistency in transmission and reception, that is, the ARP for receiving and sending the sidecar positioning reference signal is the same ARP, and the sidecar positioning reference signal sent by UE1 matches the sidecar positioning reference signal received by UE2, and the sidecar positioning reference signal sent by UE2 matches the sidecar positioning reference signal received by UE1. Therefore, a matching positioning measurement report can be constituted to perform RTT positioning calculation; similarly, the positioning measurement report B2 reported by UE1 and the positioning measurement report B4 reported by UE2 can also constitute a matching positioning measurement report to perform RTT positioning calculation.

[0152] According to the positioning measurement report B1 reported by UE1 and the positioning measurement report B4 reported by UE2, it can be seen that the sidewalk positioning reference signal sent by UE1 and the sidewalk positioning reference signal received by UE2 do not match, so a matching positioning measurement report cannot be formed to perform RTT positioning calculation.

[0153] Another example is Figure 2Taking UE1 and UE2 in the example, the first positioning measurement information reported by UE1 is the positioning measurement report C1 and positioning measurement report C2 mentioned above, and the positioning measurement information reported by UE2 is the positioning measurement report C3 and positioning measurement report C4 mentioned above. Based on the positioning measurement report C1, it can be determined that UE1_ARP1 of UE1 receives the side row positioning reference signal in the time slot corresponding to slot index2 and sends the side row positioning reference signal in the time slot corresponding to slot index1, and based on the positioning measurement report C3, it can be determined that UE2_ARP1 of UE2 receives the side row positioning reference signal in the time slot corresponding to slot index1 and sends the side row positioning reference signal in the time slot corresponding to slot index2. It can be seen that the time slot in which UE1 sends the sideline positioning reference signal is the same as the time slot in which UE2 receives the sideline positioning reference signal, the time slot in which UE2 sends the sideline positioning reference signal is the same as the time slot in which UE1 receives the sideline positioning reference signal, and the positioning measurement report C1 and the positioning measurement report C3 comply with the principle of consistency between transmission and reception, and therefore can constitute a matching positioning measurement report to perform RTT positioning calculation; similarly, the positioning measurement report C2 reported by UE1 and the positioning measurement report C4 reported by UE2 can also constitute a matching positioning measurement report to perform RTT positioning calculation.

[0154] According to the positioning measurement report C1 reported by UE1 and the positioning measurement report C4 reported by UE2, it can be seen that the time slot in which UE1 sends the sideline positioning reference signal is different from the time slot in which UE2 receives the sideline positioning reference signal, so it is impossible to form a matching positioning measurement report to perform RTT positioning calculation.

[0155] In some embodiments, the positioning measurement report C1, positioning measurement report C2, positioning measurement report C3 and positioning measurement report C4 may not include the timestamp of the received side positioning reference signal. For LMF, it can obtain the time-frequency resources for UE1 and UE2 to send the side positioning reference signal in advance. For example, RAN allocates the time-frequency resources of the side positioning reference signal to UE1 and UE1 and notifies LMF. In this way, LMF can determine the time slot for UE1 to send the side positioning reference signal and the time slot for UE2 to receive the side positioning reference signal, as well as the time slot for UE2 to send the side positioning reference signal and the time slot for UE1 to receive the side positioning reference signal, so that the positioning measurement reports reported by different terminal devices can be matched.

[0156] Based on the above Figure 6It can be seen from the process shown that for positioning measurement and reporting based on the ARP level, in an embodiment of the present application, the terminal device can report positioning assistance information on the basis of reporting positioning measurement information. The positioning assistance information can indicate the association between the ARP on the terminal device and the side positioning reference signal sent by it, so that the device performing the positioning solution can match the positioning measurement information reported by each terminal device, thereby selecting the positioning measurement information that conforms to the RTT positioning principle for positioning solution, thereby avoiding the problem of positioning error or positioning failure caused by incorrect matching of the positioning measurement information.

[0157] See also Figure 8 , which is a schematic diagram of another positioning measurement information reporting process provided in an embodiment of the present application.

[0158] In an embodiment of the present application, the first terminal device has one or more antenna reference points (hereinafter referred to as ARPs), and the second terminal device has one or more ARPs. The first terminal device can send at least one side positioning reference signal to the second terminal device through at least one ARP, and the second terminal device can also send at least one side positioning reference signal to the first terminal device through at least one ARP. For example, the first ARP on the first terminal device can send a first side positioning reference signal to the second terminal device, and the second ARP on the second terminal device can receive the first side positioning reference signal sent by the first terminal device. The second ARP on the second terminal device can send a second side positioning reference signal to the first terminal device, and the first ARP on the first terminal device can receive the second side positioning reference signal sent by the second terminal device. The first terminal device and the second terminal device can obtain positioning measurement information based on the measurement of the side positioning reference signal.

[0159] like Figure 8 As shown, the process may include the following steps:

[0160] Step 801: The second terminal device sends second information to the first terminal device, and the first terminal device receives the second information accordingly. The second information sent by the second terminal device indicates an association between at least one ARP on the second terminal device and at least one sidelink positioning reference signal sent by the at least one ARP.

[0161] Step 802: The first terminal device sends first information to the second terminal device, and correspondingly, the second terminal device receives the first information. The first information sent by the first terminal device indicates an association between at least one ARP on the first terminal device and at least one sidelink positioning reference signal sent by the at least one ARP.

[0162] In the embodiment of the present application, the first information sent by the first terminal device and the first information sent by the second terminal device can refer to Figure 6 The relevant contents in the process shown will not be repeated here.

[0163] In a possible implementation, the process of exchanging positioning auxiliary information between the first terminal device and the second terminal device may occur before reporting the positioning measurement report or before the positioning measurement starts. For example, when the second terminal device obtains the time-frequency resources of the first positioning reference signal, it can determine which ARP to send the positioning reference signal corresponding to which resource identifier (that is, the association between the ARP identifier and the resource identifier of the positioning reference signal has been obtained at this time), or it can determine which ARP and in which time slot to send the positioning reference signal (that is, the association between the ARP identifier and the timestamp of the positioning reference signal has been obtained at this time), so the second terminal device can send the second information to the first terminal device before the positioning measurement starts or before sending the positioning measurement report. Similarly, the first terminal device can also send the first information to the second terminal device after determining the time-frequency resources of the positioning reference signal. Exemplarily, the first terminal device and the second terminal device can exchange positioning auxiliary information through existing messages when configuring the positioning reference signal.

[0164] Step 803: The first terminal device generates a first positioning measurement report according to the second information and first positioning measurement information obtained by the first terminal device measuring the sidelink positioning reference signal.

[0165] Optionally, in addition to the first positioning measurement information, the first positioning measurement report may also indicate the association between the second sideline positioning reference signal (the second sideline positioning reference signal is sent by the second ARP of the second terminal device) and the second ARP on the second terminal device that sends the second sideline positioning reference signal.

[0166] Optionally, the first positioning measurement report includes an identifier of a second ARP that sends the second sidelink positioning reference signal on the second terminal device.

[0167] Taking the example of the first ARP of the first terminal device receiving the second sideline positioning reference signal sent by the second terminal device, the first terminal device can obtain the first positioning measurement information by measuring the second sideline positioning reference signal. The first positioning measurement information obtained by the first terminal device may include the time difference between the time when the first ARP receives the second positioning reference signal and the time when the first antenna reference point sends the sideline positioning reference signal. Optionally, the first positioning measurement information may also include an identifier of the first ARP. Optionally, the first positioning measurement information may also include a resource identifier of the second sideline positioning reference signal. For specific implementation methods, please refer to Figure 6 The relevant content in step 601 in the process shown.

[0168] After the first terminal device obtains the first positioning measurement information, a first positioning measurement report can be generated according to the first positioning measurement information and the second information from the second terminal device. The first positioning measurement report is a positioning measurement report newly defined in the embodiment of the present application, and the first positioning measurement report can not only include the positioning measurement information, but also indicate the association between the positioning reference signal received by the first terminal device and the ARP sending the positioning reference signal on the second terminal device.

[0169] In one possible implementation, taking the case where the first terminal device receives the second side positioning reference signal as an example, the first positioning measurement report generated by the first terminal device includes the resource identifier of the second side positioning reference signal and the identifier of the ARP used by the second terminal device to send the second positioning reference signal. Specifically, the second information received by the first terminal device from the second terminal device includes the resource identifier and the second ARP identifier of the second positioning reference signal. After the first terminal device obtains the first positioning measurement information based on the measurement of the second positioning reference signal, the second ARP identifier associated with the second positioning reference signal can be added to the first positioning measurement information based on the second information from the second terminal device, thereby generating a first positioning measurement report.

[0170] For example, Figure 2 For example, the first terminal device is Figure 2 UE1 in the second terminal device is Figure 2 The second information received by UE1 from UE2 includes (SL-PRS2 resource ID, UE2_ARP1 ID). After UE1 obtains the time differences Rx_Tx measurement1 and Rx_Tx measurement2 by measuring the received SL-PRS2, UE2_ARP1 ID associated with SL-PRS2 may be added to the positioning measurement information corresponding to Rx_Tx measurement1 and Rx_Tx measurement2 according to the received second information (SL-PRS2resource ID, UE2_ARP1 ID).

[0171] Exemplarily, a possible data structure of a positioning measurement report is:

[0172] PRS for Rx+ARP ID for Tx+RxTx measurement+ARP ID for Rx

[0173] Among them, PRS for Rx represents the resource identifier of the received sideline positioning reference signal, ARP ID for Tx represents the identifier of the ARP of the sideline positioning reference signal corresponding to PRS for Rx sent by the opposite device, ARP ID for Rx represents the identifier of the ARP of the sideline positioning reference signal corresponding to PRS for Rx received, and Rx_Tx measurement represents the receive and transmit time difference obtained by measuring the received PRS for Rx.

[0174] Optionally, PRS for Rx may be omitted, that is, the positioning measurement report may not include PRS for Rx.

[0175] The first measurement report obtained by UE1 may include:

[0176] Positioning measurement report D1:

[0177] SL-PRS2 resource ID+UE2_ARP1 ID+Rx_Tx measurement1+UE1_ARP1 ID

[0178] Positioning measurement report D2:

[0179] SL-PRS2 resource ID+UE2_ARP1 ID+Rx_Tx measurement2+UE1_ARP2 ID

[0180] In another possible implementation, taking the case where the first terminal device receives the second side positioning reference signal as an example, the first positioning measurement report generated by the first terminal device includes the timestamp of the second positioning reference signal and the identifier of the second ARP for the second terminal device to send the second positioning reference signal. Specifically, the second information received by the first terminal device from the second terminal device includes the timestamp and the second ARP identifier of the second positioning reference signal. After the first terminal device measures the second positioning reference signal to obtain the first positioning measurement information, the second ARP identifier associated with the timestamp of the second positioning reference signal can be added to the first positioning measurement information based on the second information from the second terminal device, thereby generating a first positioning measurement report.

[0181] For example, Figure 2 For example, the first terminal device is Figure 2 UE1 in the second terminal device is Figure 2The second information received by UE1 from UE2 includes: (SL-PRS2 slot index2, UE2_ARP1 ID). After UE1 obtains the reception time differences Rx_Tx measurement1 and Rx_Tx measurement2 by measuring the received SL-PRS2, UE1 may add the UE2_ARP1ID associated with SL-PRS1 (or SL-PRS2 slot index2) to the positioning measurement information corresponding to Rx_Tx measurement1 and Rx_Txmeasurement2 according to the received second information (SL-PRS2 slot index2, UE2_ARP1 ID).

[0182] Exemplarily, a possible data structure of a positioning measurement report is:

[0183] PRS slot for Rx+ARP ID for Tx+Rx_Tx measurement+ARP ID for Rx

[0184] Among them, PRS for Rx represents the timestamp of the received sideline positioning reference signal, ARP ID for Tx represents the identifier of the ARP of the sideline positioning reference signal corresponding to PRS for Rx sent by the opposite device, ARP ID for Rx represents the identifier of the ARP of the sideline positioning reference signal corresponding to PRS for Rx received, and Rx_Tx measurement represents the receive and send time difference obtained by measuring PRS for Rx.

[0185] Optionally, PRS slot for Rx may be omitted, that is, the positioning measurement report may not include PRS slot for Rx.

[0186] The first measurement report obtained by UE1 may include:

[0187] Positioning measurement report E1:

[0188] SL-PRS2 slot2+UE2_ARP1 ID+Rx_Tx measurement1+UE1_ARP1 ID

[0189] Positioning measurement report E2:

[0190] SL-PRS2 slot2+UE2_ARP1 ID+Rx_Tx measurement2+UE1_ARP2 ID

[0191] Optionally, PRS slot for Rx may be omitted, that is, the positioning measurement report may not include PRS slot for Rx.

[0192] Step 804: The first terminal device sends the first positioning measurement report generated in step 803.

[0193] In a possible implementation, the first terminal device may send the first positioning measurement report to a device for performing positioning solution. The device for performing positioning solution may be an LMF. In this case, the first terminal device may send the first positioning measurement report to the LMF in the core network, such as Figure 3 In the described architecture, the terminal device 30, the terminal device 31, the terminal device 32 and the terminal device 33 can send the positioning measurement reports measured by each of them to the LMF 35 through the network device 34. The device for performing positioning solution may also be a terminal device. In this case, the first terminal device can send the first positioning measurement report to the terminal device for performing positioning solution through a side link, such as in Figure 4 In the architecture shown, terminal devices 40, 41, and 42 can send their respective measured positioning measurement reports to terminal device 43 via a side link. The device for performing positioning solution may also be the first terminal device itself. In this case, the first terminal device does not need to send the first positioning measurement report to other devices. Other devices send their respective measured positioning measurement reports to the first terminal device. For example, Figure 4 In the architecture shown, terminal device 41, terminal device 42, and terminal device 43 can send their respective measured positioning measurement reports to terminal device 40 via a side link.

[0194] Understandably, Figure 8 In the description, only sending the positioning measurement report to the LMF is taken as an example. In other embodiments, the positioning measurement report can also be sent to other devices for performing positioning solution, and the embodiments of the present application are not limited to this.

[0195] Step 805: The second terminal device generates a second positioning measurement report according to the first information from the first terminal device and the second positioning measurement information obtained by the second terminal device measuring the sidelink positioning reference signal.

[0196] Exemplarily, taking the example of the second ARP of the second terminal device receiving the first sideline positioning reference signal sent by the first ARP of the first terminal device, the second positioning measurement report includes second positioning measurement information, the second positioning measurement information is obtained by the second terminal device measuring the first sideline positioning reference signal, and the second positioning measurement report indicates the association between the first ARP and the first sideline positioning reference signal. The way in which the second terminal device generates the second positioning measurement report can refer to the way given in step 803, which will not be repeated here.

[0197] For example, Figure 2 For example, the first terminal device is Figure 2 UE1 in the second terminal device is Figure 2 A possible data structure of the positioning measurement report is: PRS for Rx+ARP ID for Tx+Rx_Tx measurement+ARP ID for Rx. Then the second positioning measurement report generated by UE2 includes:

[0198] Positioning measurement report D3:

[0199] SL-PRS1 resource ID+UE1_ARP1 ID+Rx_Tx measurement3+UE2_ARP1 ID

[0200] Positioning measurement report D4:

[0201] SL-PRS3 resource ID+UE1_ARP2 ID+Rx_Tx measurement4+UE2_ARP1 ID

[0202] Another example is Figure 2 For example, the first terminal device is Figure 2 UE1 in the second terminal device is Figure 2 A possible data structure of the positioning measurement report is: PRS slot for Rx+ARP ID for Tx+Rx_Txmeasurement+ARP ID for Rx. Then the second positioning measurement report generated by UE2 includes:

[0203] Positioning measurement report E3:

[0204] SL-PRS2 slot1+UE1_ARP1 ID+Rx_Tx measurement1+UE1_ARP1 ID

[0205] Positioning measurement report E4:

[0206] SL-PRS2 slot3+UE1_ARP2 ID+Rx_Tx measurement2+UE1_ARP2 ID

[0207] Optionally, PRS slot for Rx may be omitted, that is, the positioning measurement report may not include PRS slot for Rx.

[0208] Step 806: The second terminal device sends the second positioning measurement report generated in step 805.

[0209] Based on the above Figure 8 In the process shown, after the device for performing positioning solution receives the positioning measurement report sent by each terminal device, it can match the positioning measurement report of each terminal device to determine the positioning measurement report that complies with the principle of RTT positioning technology, so that positioning solution can be performed based on the principle of RTT positioning technology.

[0210] Take the example of a device performing positioning solution receiving a first positioning measurement report sent by a first terminal device and a second positioning measurement report sent by a second terminal device, wherein the specific description of the first positioning measurement report and the second positioning measurement report can refer to the previous text, and the device performing positioning solution can determine that the first positioning measurement report matches the second positioning measurement report; the device performing positioning solution performs positioning according to the first positioning measurement report and the second positioning measurement report.

[0211] For example, Figure 2 Taking UE1 and UE2 in the example, the first positioning measurement report reported by UE1 is the positioning measurement report D1 and positioning measurement report D2 mentioned above, and the second positioning measurement report reported by UE2 is the positioning measurement report D3 and positioning measurement report D4 mentioned above. Based on the positioning measurement report D1, it can be determined that the SL-PRS2 received by UE1_ARP1 of UE1 is sent by ARP1 of UE2, and based on the positioning measurement report D3, it can be determined that the SL-PRS1 received by UE2_ARP1 of UE2 is sent by ARP1 of UE1. It can be seen that the sidewalk positioning reference signal sent by UE1 matches the sidewalk positioning reference signal received by UE2, and the sidewalk positioning reference signal sent by UE2 matches the sidewalk positioning reference signal received by UE1. Therefore, a matching positioning measurement report can be formed to perform RTT positioning calculation; similarly, the positioning measurement report D2 reported by UE1 and the positioning measurement report D4 reported by UE2 can also form a matching positioning measurement report to perform RTT positioning calculation.

[0212] According to the positioning measurement report D1 reported by UE1 and the positioning measurement report D4 reported by UE2, it can be seen that the sideline positioning reference signal sent by UE1 and the sideline positioning reference signal received by UE2 do not match, so a matching positioning measurement report cannot be formed to perform RTT positioning calculation. Similarly, the positioning measurement report D2 reported by UE1 and the positioning measurement report D4 reported by UE2 cannot form a matching positioning measurement report.

[0213] Another example is Figure 2 Taking UE1 and UE2 in the example, the positioning measurement reports reported by UE1 are the positioning measurement report E1 and positioning measurement report E2 mentioned above, and the second positioning measurement report reported by UE2 is the positioning measurement report E3 and positioning measurement report E4 mentioned above. Based on the positioning measurement report E1, it can be determined that UE1_ARP1 of UE1 receives the side positioning reference signal in the time slot corresponding to slot index2 and the side positioning reference signal is sent by ARP1 of UE2. Based on the positioning measurement report E3, it can be determined that UE2_ARP1 of UE2 receives the side positioning reference signal in the time slot corresponding to slot index1 and the side positioning reference signal is sent by ARP1 of UE1. It can be seen that the positioning measurement report E1 and the positioning measurement report E3 can constitute a matching positioning measurement report to perform RTT positioning calculation. Similarly, the positioning measurement report E2 reported by UE1 and the positioning measurement report E4 reported by UE2 can also constitute a matching positioning measurement report to perform RTT positioning calculation.

[0214] According to the positioning measurement report E1 reported by UE1 and the positioning measurement report E4 reported by UE2, it can be seen that the time slot in which UE1 sends the sideline positioning reference signal is different from the time slot in which UE2 receives the sideline positioning reference signal, so a matching positioning measurement report cannot be formed to perform RTT positioning calculation. Similarly, the positioning measurement report E2 reported by UE1 and the positioning measurement report E4 reported by UE2 cannot form a matching positioning measurement report.

[0215] In some embodiments, the positioning measurement report E1, positioning measurement report E2, positioning measurement report E3 and positioning measurement report E4 may not contain the timestamp of the received side positioning reference signal. For LMF, it can obtain the time-frequency resources for UE1 and UE2 to send the side positioning reference signal in advance. For example, RAN allocates the time-frequency resources of the side positioning reference signal to UE1 and UE1 and notifies LMF. In this way, LMF can determine the time slot for UE1 to send the side positioning reference signal and the time slot for UE2 to receive the side positioning reference signal, as well as the time slot for UE2 to send the side positioning reference signal and the time slot for UE1 to receive the side positioning reference signal, so that the positioning measurement reports reported by different terminal devices can be matched.

[0216] Understandably, Figure 8 In the process shown, when the first terminal device and the second terminal device send positioning assistance information and positioning measurement reports to the LMF, the positioning assistance information and positioning measurement reports may also be forwarded by other network elements, which is not limited in this embodiment of the present application.

[0217] Understandably, Figure 8 In the process shown, the timing relationship between the steps is only a possible example, and the embodiment of the present application does not limit this. For example, there is no strict requirement for the time sequence of the first terminal device and the second terminal device generating and sending the positioning measurement report.

[0218] based on Figure 8 In the process shown, in the scenario where the positioning measurement report is reported at the granularity of Per ARP, since the positioning measurement report includes positioning auxiliary information that can help match the positioning measurement report, the device used to perform positioning solution can match the positioning measurement reports reported by each device, thereby avoiding positioning errors or positioning failures caused by positioning measurement report matching errors.

[0219] It is understandable that in order to implement the functions in the above embodiments, the network device (such as LMF for performing positioning solution) and the terminal device include hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and method steps of each example described in the embodiments disclosed in this application, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0220] Fig. 9 and Fig.10 The following is a schematic diagram of the structure of possible communication devices provided in the embodiments of the present application. These communication devices can be used to implement the functions of the terminal device or network device in the above method embodiments, and thus can also achieve the beneficial effects of the above method embodiments. In the embodiments of the present application, the communication device can be as follows: Figure 3 , Figure 4 or Figure 5 One of the terminal devices shown in FIG. Figure 3 The LMF shown may also be a module (such as a chip) applied to a terminal device or a network device (such as LMF).

[0221] like Fig. 9 As shown, the communication device 900 includes a processing unit 910 and a transceiver unit 920. The communication device 900 is used to implement the above Figure 6 or Figure 7The functions of a terminal device or a network device (such as LMF) in the method embodiment shown in FIG.

[0222] When the communication device 900 is used to implement Figure 6 or Figure 7 When the function of the terminal device in the method embodiment shown is: the processing unit 910 is used to determine first positioning measurement information and first information, the first information indicating the association between at least one antenna reference point and at least one side positioning reference signal sent by the at least one antenna reference point, and the at least one antenna reference point is an antenna reference point on the first terminal device; the processing unit 910 is also used to send the first positioning measurement information and the first information through the transceiver unit 920.

[0223] When the communication device 900 is used to implement Figure 6 or Figure 7 In the method embodiment shown, the function of the network device (such as LMF) is: the transceiver unit 920 is used to receive first positioning measurement information and first information from the first terminal, the first information indicating the association between at least one antenna reference point and at least one side positioning reference signal sent by the at least one antenna reference point, and the at least one antenna reference point is the antenna reference point on the first terminal device; the processing unit 910 is used to perform positioning according to the first positioning measurement information and the first information.

[0224] When the communication device 900 is used to implement Figure 8 In the method embodiment shown, the functions of the terminal device are as follows: the transceiver unit 920 is used to receive second information, wherein the second information indicates an association between at least one antenna reference point and at least one side positioning reference signal sent by the at least one antenna reference point, and the at least one antenna reference point is an antenna reference point on the second terminal device, wherein the at least one antenna reference point includes a second antenna reference point, and the at least one side positioning reference signal includes a second side positioning reference signal sent by the second antenna reference point; the processing unit 910 is used to generate a first positioning measurement report according to the second information and the first positioning measurement information, and the first positioning measurement information is obtained by the first terminal device measuring the second side positioning reference signal; wherein the first positioning measurement report includes the first positioning measurement information, and the first positioning measurement report indicates an association between the second antenna reference point and the second side positioning reference signal; the processing unit 910 is also used to send the first positioning measurement report through the transceiver unit 920.

[0225] When the communication device 900 is used to implement Figure 8In the method embodiment shown, the function of the network device (such as LMF) is: the transceiver unit 920 is used to receive a first positioning measurement report from a first terminal device, the first positioning measurement report includes first positioning measurement information, the first positioning measurement information is obtained by the first terminal device measuring the second side positioning reference signal, and the first positioning measurement report indicates the association between the second antenna reference point and the second side positioning reference signal; wherein the second antenna reference point is the antenna reference point on the second terminal device that sends the second side positioning reference signal; the processing unit 910 is used to perform positioning according to the first positioning measurement report.

[0226] For more detailed description of the processing unit 910 and the transceiver unit 920, please refer to Figure 6 , Figure 7 or Figure 8 The relevant description in the method embodiment shown is directly obtained and will not be repeated here.

[0227] like Fig.10 As shown, the communication device 1000 includes a processor 1010 and an interface circuit 1020. The processor 1010 and the interface circuit 1020 are coupled to each other. It is understood that the interface circuit 1020 can be a transceiver or an input-output interface. Optionally, the communication device 1000 may also include a memory 1030 for storing instructions executed by the processor 1010 or storing input data required by the processor 1010 to execute instructions or storing data generated after the processor 1010 executes instructions.

[0228] When the communication device 1000 is used to implement Figure 6 , Figure 7 or Figure 8 When the method is shown, the processor 1010 is used to implement the functions of the processing unit 910, and the interface circuit 1020 is used to implement the functions of the transceiver unit 920.

[0229] When the communication device is a chip applied to a terminal device, the terminal chip implements the functions of the terminal device in the above method embodiment. The terminal chip receives information from other modules in the terminal device, which is sent by the network device to the terminal; or the terminal chip sends information to other modules in the terminal device, which is sent by the terminal device to the network device.

[0230] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0231] In the present application, another example of a communication device is provided, the communication device includes at least one processor and at least one memory, the at least one processor is coupled to the at least one memory, the at least one memory is used to store instructions, when the instructions are executed by the at least one processor, the communication device executes the method in the above embodiment. Take the communication device including a processor and a memory as an example, Fig.10 As shown, the communication device 1000 includes a processor 1010 and a memory 1030. The processor 1010 and the memory 1030 are coupled, and the memory 1030 stores instructions. When the instructions stored in the memory 1030 are executed by the processor 1010, the communication device 1000 executes the method executed by the terminal device or the network device in the above embodiment.

[0232] The method steps in the embodiments of the present application can be implemented in hardware or in software instructions that can be executed by a processor. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, register, hard disk, mobile hard disk, CD-ROM or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and can write information to the storage medium. The storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a network device or a terminal. The processor and the storage medium can also be present in a network device or a terminal as discrete components.

[0233] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can 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 or instructions. When the computer program or instruction is loaded and executed on a computer, the process or function described in the embodiment of the present application is executed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device or other programmable device. The computer program or instruction may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer program or instruction may be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired or wireless means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server, data center, etc. that integrates one or more available media. The available medium may be a magnetic medium, for example, a floppy disk, a hard disk, a tape; it may also be an optical medium, for example, a digital video disc; it may also be a semiconductor medium, for example, a solid-state hard disk. The computer-readable storage medium may be a volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

[0234] In the various embodiments of the present application, unless otherwise specified or provided in a logical conflict, the terms and / or descriptions between the different embodiments are consistent and may be referenced to each other, and the technical features in the different embodiments may be combined to form new embodiments according to their inherent logical relationships.

[0235] In the present application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In the text description of the present application, the character " / " generally indicates that the previous and next associated objects are in an "or" relationship; in the formula of the present application, the character " / " indicates that the previous and next associated objects are in a "division" relationship. "Including at least one of A, B and C" can mean: including A; including B; including C; including A and B; including A and C; including B and C; including A, B and C.

[0236] It is understood that the various numbers involved in the embodiments of the present application are only for the convenience of description and are not used to limit the scope of the embodiments of the present application. The size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic.

Claims

1. A method for reporting positioning measurement information, characterized in that: The method comprises: Determine first positioning measurement information and first information, wherein the first information indicates an association between at least one antenna reference point and at least one sideways positioning reference signal sent by the at least one antenna reference point, and the at least one antenna reference point is an antenna reference point on the first terminal device; The first positioning measurement information and the first information are sent.

2. The method according to claim 1, characterized in that The association between the at least one antenna reference point and at least one side positioning reference signal sent by the at least one antenna reference point comprises: An association between an identifier of the at least one antenna reference point and a resource identifier of the at least one sidelink positioning reference signal.

3. The method according to claim 2, characterized in that The identifier of the at least one antenna reference point and the resource identifier of the at least one sidelink positioning reference signal are included in the first information.

4. The method according to claim 1, characterized in that The association between the at least one antenna reference point and at least one side positioning reference signal sent by the at least one antenna reference point comprises: An association between an identification of the at least one antenna reference point and a timestamp of the at least one sideways positioning reference signal.

5. The method according to claim 4, characterized in that The timestamp of the at least one sidetrack positioning reference signal and the identifier of the at least one antenna reference point are included in the first information.

6. The method according to any one of claims 4 to 5, characterized in that: The timestamp of the at least one sidelink positioning reference signal is indication information of the time domain unit where the at least one sidelink positioning reference signal is located.

7. The method according to any one of claims 1 to 6, characterized in that: The determining the first positioning measurement information and the first information includes: Before receiving a second sideline positioning reference signal from a second terminal device, determining the first information; After receiving the second sideline positioning reference signal, determining the first positioning measurement information; wherein the first positioning measurement information is obtained by measuring the second sideline positioning reference signal; The sending the first positioning measurement information and the first information includes: Before sending the first positioning measurement information, the first information is sent.

8. The method according to any one of claims 1 to 6, characterized in that: The sending the first positioning measurement information and the first information includes: A first positioning measurement report is sent, where the first positioning measurement report includes the first positioning measurement information and the first information.

9. A method for reporting positioning measurement information, characterized in that: The method comprises: Receiving first positioning measurement information and first information from a first terminal, wherein the first information indicates an association between at least one antenna reference point and at least one sideways positioning reference signal sent by the at least one antenna reference point, and the at least one antenna reference point is an antenna reference point on the first terminal device; Positioning is performed according to the first positioning measurement information and the first information.

10. The method according to claim 9, characterized in that The association between the at least one antenna reference point and at least one side positioning reference signal sent by the at least one antenna reference point comprises: An association between an identifier of the at least one antenna reference point and a resource identifier of the at least one sidelink positioning reference signal.

11. The method according to any one of claims 9 to 10, characterized in that: The identifier of the at least one antenna reference point and the resource identifier of the at least one sidelink positioning reference signal are included in the first information.

12. The method according to claim 9, characterized in that The association between the at least one antenna reference point and at least one side positioning reference signal sent by the at least one side positioning reference point comprises: An association between an identification of the at least one antenna reference point and a timestamp of the at least one sideways positioning reference signal.

13. The method according to claim 12, characterized in that The timestamp of the at least one sidetrack positioning reference signal and the identifier of the at least one antenna reference point are included in the first information.

14. The method according to any one of claims 12 to 13, characterized in that: The timestamp of the at least one sidelink positioning reference signal is indication information of the time domain unit where the at least one sidelink positioning reference signal is located.

15. The method according to any one of claims 9 to 14, characterized in that: The at least one antenna reference point includes a first antenna reference point, and the first positioning measurement information is obtained by the first terminal device measuring a second sideline positioning reference signal, and the second sideline positioning reference signal is sent by a second terminal device; The method further comprises: receiving second positioning measurement information and second information from the second terminal device, the second information indicating an association between at least one antenna reference point on the second terminal device and at least one sidetrack positioning reference signal sent by the at least one antenna reference point, the at least one antenna reference point including a second antenna reference point, the at least one sidetrack positioning reference signal including the second sidetrack positioning reference signal sent by the second antenna reference point, and the second positioning measurement information being obtained by the second terminal device measuring the first sidetrack positioning reference signal; Determining, according to the first positioning measurement information and the first information, and the second positioning measurement information and the second information, that the first positioning measurement information matches the second positioning measurement information; Positioning is performed according to the first positioning measurement information and the second positioning measurement information.

16. A method for reporting positioning measurement information, characterized in that: The method comprises: Receive second information, where the second information indicates an association between at least one antenna reference point and at least one side positioning reference signal sent by the at least one antenna reference point, where the at least one antenna reference point is an antenna reference point on a second terminal device, wherein the at least one antenna reference point includes a second antenna reference point, and the at least one side positioning reference signal includes a second side positioning reference signal sent by the second antenna reference point; Generate a first positioning measurement report according to the second information and the first positioning measurement information, where the first positioning measurement information is obtained by measuring the second sideline positioning reference signal by the first terminal device; wherein the first positioning measurement report includes the first positioning measurement information, and the first positioning measurement report indicates an association between the second antenna reference point and the second sideline positioning reference signal; Sending the first positioning measurement report.

17. The method according to claim 16, characterized in that The first positioning measurement report includes an identifier of the second antenna reference point.

18. The method according to any one of claims 16 to 17, characterized in that: The association between the at least one antenna reference point and at least one side positioning reference signal sent by the at least one antenna reference point comprises: An association between an identifier of the at least one antenna reference point and a resource identifier of the at least one sidelink positioning reference signal.

19. The method according to any one of claims 16 to 18, characterized in that: The identifier of the at least one antenna reference point and the resource identifier of the at least one sidelink positioning reference signal are included in the first information.

20. The method according to any one of claims 16 to 17, characterized in that: The association between the at least one antenna reference point and at least one side positioning reference signal sent by the at least one antenna reference point comprises: An association between an identification of the at least one antenna reference point and a timestamp of the at least one sideways positioning reference signal.

21. The method of claim 20, wherein: The timestamp of the at least one sidetrack positioning reference signal and the identifier of the at least one antenna reference point are included in the first information.

22. The method according to any one of claims 20 to 21, characterized in that: The timestamp of the at least one sidelink positioning reference signal is indication information of the time domain unit where the at least one sidelink positioning reference signal is located.

23. A method for reporting positioning measurement information, characterized in that: The method comprises: Receive a first positioning measurement report from a first terminal device, where the first positioning measurement report includes first positioning measurement information, where the first positioning measurement information is obtained by the first terminal device measuring a second sideline positioning reference signal, and the first positioning measurement report indicates an association between a second antenna reference point and the second sideline positioning reference signal; wherein the second antenna reference point is an antenna reference point on the second terminal device that sends the second sideline positioning reference signal; Perform positioning according to the first positioning measurement report.

24. The method of claim 23, wherein: The first positioning measurement report includes an identifier of the second antenna reference point.

25. The method according to any one of claims 23-24, characterized in that The association between the second antenna reference point and the second sideways positioning reference signal includes: An association between an identifier of the second antenna reference point and a resource identifier of the second sidelink positioning reference signal.

26. The method according to any one of claims 23-24, characterized in that The association between the second antenna reference point and the second sideways positioning reference signal includes: An association between an identifier of the second antenna reference point and a timestamp of the second sideways positioning reference signal.

27. The method of claim 26, wherein: The timestamp of the second sidelink positioning reference signal is indication information of the time domain unit where the second sidelink positioning reference signal is located.

28. The method according to any one of claims 23 to 27, characterized in that Also includes: Receive a second positioning measurement report from the second terminal device, where the second positioning measurement report includes second positioning measurement information, where the second positioning measurement information is obtained by the second terminal device measuring a first sideline positioning reference signal, and the second positioning measurement report indicates an association between a first antenna reference point and the first sideline positioning reference signal; wherein the first antenna reference point is an antenna reference point on the first terminal device that sends the first sideline positioning reference signal; The performing positioning according to the first positioning measurement report includes: Determining that the first positioning measurement report matches the second positioning measurement report; Positioning is performed according to the first positioning measurement report and the second positioning measurement report.

29. A communication device, characterized in that: Comprising a module for executing the method as described in any one of claims 1 to 8, or a module for executing the method as described in any one of claims 9 to 15, or a module for executing the method as described in any one of claims 16 to 22, or a module for executing the method as described in any one of claims 23 to 28.

30. A communication device, characterized in that: It includes a processor and an interface circuit, wherein the interface circuit is used to receive signals from other communication devices outside the communication device and transmit them to the processor or send signals from the processor to other communication devices outside the communication device, and the processor is used to implement the method as described in any one of claims 1 to 8 through a logic circuit or execute code instructions, to implement the method as described in any one of claims 9 to 15, to implement the method as described in any one of claims 16 to 22, and to implement the method as described in any one of claims 23 to 28.

31. A computer-readable storage medium, characterized in that: The storage medium stores a computer program or instruction. When the computer program or instruction is executed by the communication device, it implements the method as described in any one of claims 1 to 8, or implements the method as described in any one of claims 9 to 15, or implements the method as described in any one of claims 16 to 22, or implements the method as described in any one of claims 23 to 28.

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