Relative positioning method, device and system

Abstract

The embodiments of the present application provide a relative positioning method, device and system, which relate to the field of communication technology and can solve the problem that when the absolute position of itself or the other end obtained by the terminal is of low accuracy or even cannot obtain the absolute position of itself or the other end, the relative position of itself and the other end obtained is of low accuracy or even cannot determine the relative position of itself and the other end. The method includes: the first terminal obtains multiple first relative positions; wherein each first relative position in the multiple first relative positions is determined according to the second relative position and the third relative position; the first relative position is the initial relative position of the first terminal and the second terminal; the second relative position is the relative position of the first terminal and the reference point; the third relative position is the relative position of the second terminal and the reference point; the first terminal processes the multiple first relative positions to obtain the relative position of the first terminal and the second terminal.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of communication technology, and in particular, to a relative positioning method, device and system. Background Art

[0002] In the vehicle-to-everything (V2X) communication system, a terminal can communicate with other terminals through a direct link, such as vehicle-to-vehicle (V2V), vehicle-to-pedestrian (V2P), vehicle-to-infrastructure (V2I), vehicle-to-network (V2N), etc.

[0003] In V2X communication systems, in certain application scenarios, in order to improve user experience, when terminals communicate with each other, the terminal needs to obtain the relative position between itself and the other terminal. For example, in order for terminal 1 to meet terminal 2 within the specified time, it is necessary to adjust the current vehicle speed based on the relative position of terminal 1 and terminal 2 and the time limit to ensure that it meets terminal 2 within the specified time. Therefore, in V2X communication systems, in order to improve user experience, it becomes increasingly important to obtain the relative position between terminals.

[0004] At present, a terminal can obtain the relative position between itself and the other end through the following process: the terminal obtains its own absolute position and the absolute position of the other end, calculates its own absolute position and the absolute position of the other end, and obtains the relative position between the terminal and the other end. For example, when terminal 1 obtains the relative position between terminal 1 and terminal 2, terminal 1 obtains its own absolute position 1 and the absolute position 2 of terminal 2, calculates the absolute position 1 and the absolute position 2, and obtains the relative position between terminal 1 and terminal 2. In this process, the two terminals need to perform GPS positioning respectively to determine the absolute position. However, in some scenarios, the GPS signal received by the terminal may be weak or even unable to receive the GPS signal due to reasons such as the shielding of the terminal's GPS signal. The terminal cannot obtain a high-precision absolute position or even an absolute position based on the weak GPS signal, and cannot obtain a high-precision relative position between terminals or even the relative position between terminals. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a relative positioning method, device and system to solve the problem that when the absolute position of itself or the other end obtained by the terminal is of low accuracy or even cannot obtain the absolute position of itself or the other end, the relative position of itself and the other end obtained is of low accuracy or even cannot determine the relative position of itself and the other end.

[0006] In order to achieve the above purpose, the embodiment of the present application adopts the following technical solution:

[0007] In a first aspect, a relative positioning method is provided, which may include: a first terminal acquires a plurality of first relative positions determined according to a second relative position and a third relative position; and a plurality of first relative positions are processed to obtain a relative position of the first terminal and the second terminal. The first relative position is an initial relative position of the first terminal and the second terminal; the second relative position is a relative position of the first terminal and a reference point; and the third relative position is a relative position of the second terminal and the reference point.

[0008] Based on the method described in the first aspect, the first terminal does not need to obtain the absolute position of the first terminal and the absolute position of the second terminal. The relative position of the first terminal and the second terminal can be determined according to the relative position of the first terminal and the reference point and the relative position of the second terminal and the reference point. The first terminal can obtain a more accurate relative position of the first terminal and the second terminal by processing the obtained initial relative positions of multiple first terminals and second terminals.

[0009] In one possible design, in combination with the first aspect, the first terminal may send a first message to the second terminal for requesting to obtain multiple third relative positions; receive multiple third relative positions from the second terminal; process the multiple third relative positions and the multiple second relative positions to obtain multiple first relative positions; or the first terminal may send a first message to multiple reference points for requesting to obtain multiple third relative positions; receive multiple third relative positions from multiple reference points; process the multiple third relative positions and the multiple second relative positions to obtain multiple first relative positions.

[0010] Based on this possible design, the first terminal can obtain multiple third relative positions from the second terminal, or obtain the third relative position from multiple reference points, providing a feasible solution for the first terminal to obtain the first relative position based on the second relative position and the third relative position.

[0011] In one possible design, in combination with the first aspect or the possible design of the first aspect, when the first terminal sends a first message to the second terminal, the first message may include identity information of multiple reference points; or when the first terminal sends a first message to multiple reference points, the first message may include identity information of the second terminal.

[0012] Based on this possible design, when the first terminal obtains multiple third relative positions from the second terminal, by specifying multiple reference points, the second terminal only sends the third relative position of the second terminal and the reference point to the first terminal, avoiding the first terminal from receiving the relative position of the second terminal and other terminals that are not reference points, thereby reducing the processing burden of the first terminal. Or when the first terminal obtains the third relative position from the reference point, by specifying the second terminal, the reference point only sends the third relative position of the reference point and the second terminal to the first terminal, avoiding the first terminal from receiving the relative position of the reference point and terminals other than the second terminal, thereby reducing the processing burden of the first terminal.

[0013] In one possible design, in combination with the first aspect or any possible design of the first aspect, when the first terminal sends a first message to the second terminal, the first message may also include a first trigger condition for triggering the second terminal to send multiple third relative positions to the first terminal; the first trigger condition includes a preset period and / or a preset relative position threshold, and the preset period includes the period length and / or a preset number of transmissions; or when the first terminal sends the first message to multiple reference points, the first message may also include a first trigger condition for triggering multiple reference points to send multiple third relative positions to the first terminal; the first trigger condition includes a preset period and / or a preset relative position threshold, and the preset period includes the period length and / or a preset number of transmissions.

[0014] Based on this possible design, the first terminal can reduce the number of signaling interactions between the first terminal and the second terminal or between the first terminal and multiple reference points by setting the first trigger condition, thereby reducing the communication load.

[0015] In one possible design, in combination with the first aspect or any possible design of the first aspect, the first terminal sends a second message to multiple reference points to request acquisition of multiple first relative positions, and receives multiple first relative positions from multiple reference points; or the first terminal sends a second message to the server to request acquisition of multiple first relative positions, and receives multiple first relative positions from the server.

[0016] Based on this possible design, the first terminal can reduce the calculation burden of the first terminal by acquiring multiple first relative positions from multiple reference points or servers.

[0017] In one possible design, in combination with the first aspect or any possible design of the first aspect, the second message may include identity information of the second terminal.

[0018] Based on this possible design, when the first terminal obtains multiple first relative positions from the second network element, by specifying the second terminal, the second network element can only send the first relative position of the first terminal and the second terminal to the first terminal, thereby avoiding the first terminal receiving the relative position of the first terminal and other terminals other than the second terminal, thereby reducing the processing burden of the first terminal.

[0019] In one possible design, in combination with the first aspect or any possible design of the first aspect, when the first terminal sends a second message to multiple reference points, the second message may also include a second trigger condition for triggering multiple reference points to send multiple first relative positions to the first terminal; the second trigger condition includes a preset period and / or a preset relative position threshold, and the preset period includes the period length and / or a preset number of transmissions; or when the first terminal sends a second message to a server, the second message may also include a second trigger condition for triggering the server to send multiple first relative positions to the first terminal; the second trigger condition includes a preset period and / or a preset relative position threshold, and the preset period includes the period length and / or a preset number of transmissions.

[0020] Based on this possible design, the first terminal can reduce the number of signaling interactions between the first terminal and multiple reference points or between the first terminal and the server by setting the second trigger condition, thereby alleviating the communication load.

[0021] In one possible design, in combination with the first aspect or the possible design of the first aspect, the first terminal can perform weighted processing on multiple first relative positions to obtain the relative position of the first terminal and the second terminal; or the first terminal can use a preset probability distribution model to process multiple first relative positions to obtain the relative position of the first terminal and the second terminal.

[0022] Based on this possible design, the first terminal can obtain a more accurate relative position of the first terminal and the second terminal by processing a plurality of first relative positions.

[0023] In one possible design, in combination with the first aspect or the possible design of the first aspect, the relative position may include length and angle, the length being the length of the line segment between the two terminals corresponding to the relative position; the angle being the angle formed by the straight line where the two terminals are located and the normal along the angle direction, the normal being a straight line in a preset direction, and the angle direction being clockwise or counterclockwise.

[0024] Based on this possible design, the relative position adopts a unified standard, which makes it easier for each terminal to determine and process the relative position.

[0025] In a second aspect, a relative positioning method is provided, which may include: a second terminal receives a first message from a first terminal for requesting to obtain multiple third relative positions; the second terminal sends multiple third relative positions to the first terminal according to the first message; the third relative position is the relative position of the second terminal and a reference point.

[0026] Based on the method described in the second aspect, the second terminal sends multiple third relative positions to the first terminal after receiving the first message sent by the first terminal, providing a feasible solution for the first terminal to obtain the first relative position based on the second relative position and the third relative position.

[0027] In one possible design, in combination with the second aspect, the first message may include identity information of multiple reference points and / or a first trigger condition for triggering the second terminal to send multiple third relative positions to the first terminal, the first trigger condition including a preset period and / or a preset relative position threshold, the preset period including the period length and / or a preset number of transmissions.

[0028] Based on this possible design, the second terminal only sends the third relative position of the second terminal and the reference point to the first terminal, which can avoid the first terminal receiving the relative position of the second terminal and other terminals that are not reference points, thereby reducing the processing burden of the first terminal; the second terminal sends multiple third relative positions to the first terminal when the first trigger condition is met, which can reduce the number of signaling interactions between the second terminal and the first terminal and reduce the communication load.

[0029] According to a third aspect, a relative positioning method is provided, which may include: each of a plurality of reference points receives a first message from a first terminal requesting to obtain a third relative position; the reference point sends a plurality of third relative positions to the first terminal according to the first message; and the third relative position is the relative position of the second terminal and the reference point.

[0030] Based on the method described in the third aspect, each of the multiple reference points sends the third relative position to the first terminal after receiving the first message sent by the first terminal, providing a feasible solution for the first terminal to obtain the first relative position based on the second relative position and the third relative position.

[0031] In one possible design, in combination with the third aspect, the first message may include identity information of the second terminal and / or a first trigger condition for triggering multiple reference points to send multiple third relative positions to the first terminal, the first trigger condition including a preset period and / or a preset relative position threshold, the preset period including the period length and / or a preset number of transmissions.

[0032] Based on this possible design, each of the multiple reference points only sends the third relative position of the second terminal and the reference point to the first terminal, which can avoid the first terminal receiving the relative position of the reference point and terminals other than the second terminal, thereby reducing the processing burden of the first terminal; when the first trigger condition is met, the multiple reference points send multiple third relative positions to the first terminal, which can reduce the number of signaling interactions between the second terminal and the first terminal and reduce the communication load.

[0033] In a fourth aspect, a relative positioning method is provided, which may include: each of a plurality of reference points receives a second message from a first terminal requesting to obtain a first relative position; the reference point sends a plurality of first relative positions to the first terminal according to the second message; the first relative position is an initial relative position between the first terminal and the second terminal.

[0034] Based on the method described in the fourth aspect, multiple reference points directly send multiple first relative positions to the first terminal, which can reduce the calculation burden of the first terminal.

[0035] In one possible design, in combination with the fourth aspect, the second message may include identity information of the second terminal and / or a second trigger condition for triggering multiple reference points to send multiple first relative positions to the first terminal, the second trigger condition including a preset period and / or a preset relative position threshold, the preset period including the period length and / or a preset number of transmissions.

[0036] Based on this possible design, multiple reference points only send the first relative position of the first terminal and the second terminal to the first terminal according to the second message, which can avoid the first terminal receiving the relative position of the first terminal and other terminals except the second terminal, thereby reducing the processing burden of the first terminal; multiple reference points send multiple first relative positions to the first terminal when the second trigger condition is met, which can reduce the number of signaling interactions between the first terminal and multiple reference points and reduce the communication load.

[0037] In a fifth aspect, a relative positioning method is provided, which may include: a server receives a second message from a first terminal for requesting to obtain multiple first relative positions; the server sends multiple first relative positions to the first terminal according to the second message; the first relative position is the initial relative position of the first terminal and the second terminal.

[0038] Based on the method described in the fifth aspect, the server directly sends the multiple first relative positions to the first terminal, which can reduce the calculation burden of the first terminal.

[0039] In one possible design, in combination with the fifth aspect, the second message may include identity information of the second terminal and / or a second trigger condition for triggering the server to send multiple first relative positions to the first terminal, the second trigger condition including a preset period and / or a preset relative position threshold, and the preset period includes a period length and / or a preset number of sending times.

[0040] Based on this possible design, the server only sends the first relative position of the first terminal and the second terminal to the first terminal according to the second message, which can avoid the first terminal receiving the relative position of the first terminal and other terminals except the second terminal, thereby reducing the processing burden of the first terminal; the server sends multiple first relative positions to the first terminal when the second trigger condition is met, which can reduce the number of signaling interactions between the first terminal and the server and reduce the communication load.

[0041] In a sixth aspect, a communication device is provided, which can implement the function performed by the first terminal in the first aspect or the possible design of the first aspect, and the function can be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions. For example, the communication device includes: a processing module.

[0042] A processing module, used to obtain a plurality of first relative positions determined according to the second relative position and the third relative position; the first relative position is an initial relative position of the first terminal and the second terminal; the second relative position is a relative position of the first terminal and a reference point; the third relative position is a relative position of the second terminal and the reference point;

[0043] The processing module is further used to process the multiple first relative positions acquired by the acquisition module to obtain the relative position of the first terminal and the second terminal.

[0044] Among them, the specific implementation method of the communication device can refer to the behavioral function of the first terminal in the relative positioning method provided by the first aspect or any possible design of the first aspect. Based on the communication device described in the sixth aspect, the first terminal does not need to obtain the absolute position of the first terminal and the absolute position of the second terminal. According to the relative position of the first terminal and the reference point and the relative position of the second terminal and the reference point, the relative position of the first terminal and the second terminal can be determined, and the first terminal can obtain a more accurate relative position of the first terminal and the second terminal by processing the obtained initial relative positions of multiple first terminals and second terminals.

[0045] In one possible design, in combination with the sixth aspect, the communication device also includes a sending module; the sending module is specifically used to send a first message to the second terminal for requesting to obtain multiple third relative positions; the above-mentioned processing module is also used to receive multiple third relative positions from the second terminal; the multiple third relative positions and the multiple second relative positions are processed to obtain multiple first relative positions; or the sending module is specifically used to send a first message to multiple reference points for requesting to obtain multiple third relative positions; the above-mentioned processing module is also used to receive multiple third relative positions from multiple reference points; the multiple third relative positions and the multiple second relative positions are processed to obtain multiple first relative positions.

[0046] Based on this possible design, the first terminal can obtain multiple third relative positions from the second terminal, or obtain the third relative position from multiple reference points, providing a feasible solution for the first terminal to obtain the first relative position based on the second relative position and the third relative position.

[0047] In one possible design, in combination with the sixth aspect or the possible design of the sixth aspect, when the above-mentioned sending module sends a first message to the second terminal, the first message may include identity information of multiple reference points; or when the above-mentioned sending module sends the first message to multiple reference points, the first message may include identity information of the second terminal.

[0048] Based on this possible design, when the first terminal obtains multiple third relative positions from the second terminal, by specifying multiple reference points, the second terminal only sends the third relative position of the second terminal and the reference point to the first terminal, avoiding the first terminal from receiving the relative position of the second terminal and other terminals that are not reference points, thereby reducing the processing burden of the first terminal. Or when the first terminal obtains the third relative position from the reference point, by specifying the second terminal, the reference point only sends the third relative position of the reference point and the second terminal to the first terminal, avoiding the first terminal from receiving the relative position of the reference point and terminals other than the second terminal, thereby reducing the processing burden of the first terminal.

[0049] In one possible design, in combination with the sixth aspect or the possible design of the sixth aspect, when the above-mentioned sending module sends a first message to the second terminal, the first message may also include a first trigger condition for triggering the second terminal to send multiple third relative positions to the first terminal; the first trigger condition includes a preset period and / or a preset relative position threshold, and the preset period includes the period length and / or a preset number of transmissions; or when the above-mentioned sending module sends a first message to multiple reference points, the first message may also include a first trigger condition for triggering multiple reference points to send multiple third relative positions to the first terminal; the first trigger condition includes a preset period and / or a preset relative position threshold, and the preset period includes the period length and / or a preset number of transmissions.

[0050] Based on this possible design, the first terminal can reduce the number of signaling interactions between the first terminal and the second terminal or between the first terminal and multiple reference points by setting the first trigger condition, thereby reducing the communication load.

[0051] In one possible design, in combination with the sixth aspect or the possible design of the sixth aspect, the above-mentioned sending module is also used to send a second message to multiple reference points for requesting to obtain multiple first relative positions, and the above-mentioned acquisition module is also used to receive multiple first relative positions from multiple reference points; or the above-mentioned sending module is also used to send a second message to the server for requesting to obtain multiple first relative positions, and the above-mentioned acquisition module is also used to receive multiple first relative positions from the server.

[0052] Based on this possible design, the first terminal can reduce the calculation burden of the first terminal by acquiring multiple first relative positions from multiple reference points or servers.

[0053] In one possible design, in combination with the sixth aspect or a possible design of the sixth aspect, the second message may include identity information of the second terminal.

[0054] Based on this possible design, when the first terminal obtains multiple first relative positions from the second network element, by specifying the second terminal, the second network element can only send the first relative position of the first terminal and the second terminal to the first terminal, thereby avoiding the first terminal receiving the relative position of the first terminal and other terminals other than the second terminal, thereby reducing the processing burden of the first terminal.

[0055] In one possible design, in combination with the sixth aspect or the possible design of the sixth aspect, when the above-mentioned sending module sends a second message to multiple reference points, the second message may also include a second trigger condition for triggering multiple reference points to send multiple first relative positions to the first terminal; the second trigger condition includes a preset period and / or a preset relative position threshold, and the preset period includes the period length and / or a preset number of sending times; or when the above-mentioned sending module sends a second message to the server, the second message may also include a second trigger condition for triggering the server to send multiple first relative positions to the first terminal; the second trigger condition includes a preset period and / or a preset relative position threshold, and the preset period includes the period length and / or a preset number of sending times.

[0056] Based on this possible design, the first terminal can reduce the number of signaling interactions between the first terminal and multiple reference points or between the first terminal and the server by setting the second trigger condition, thereby alleviating the communication load.

[0057] In one possible design, in combination with the sixth aspect or the possible design of the sixth aspect, the above-mentioned processing module is specifically used to: perform weighted processing on multiple first relative positions to obtain the relative position of the first terminal and the second terminal; or use a preset probability distribution model to process multiple first relative positions to obtain the relative position of the first terminal and the second terminal.

[0058] Based on this possible design, the first terminal can obtain a more accurate relative position of the first terminal and the second terminal by processing a plurality of first relative positions.

[0059] In one possible design, in combination with the sixth aspect or the possible design of the sixth aspect, the relative position includes length and angle, the length is the length of the line segment between the two terminals corresponding to the relative position; the angle is the angle formed by the straight line where the two terminals are located and the normal along the angle direction, the normal is a straight line in a preset direction, and the angle direction is clockwise or counterclockwise.

[0060] Based on this possible design, the relative position adopts a unified standard, which makes it easier for each terminal to determine and process the relative position.

[0061] In a seventh aspect, a communication device is provided, which can implement the function performed by the second terminal in the second aspect or the possible design of the second aspect, and the function can be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions. For example, the communication device includes: a receiving module and a sending module.

[0062] A receiving module, used for receiving a first message from a first terminal for requesting to obtain a plurality of third relative positions; the third relative position is a relative position between the second terminal and a reference point;

[0063] The sending module is used to send multiple third relative positions to the first terminal.

[0064] Among them, the specific implementation method of the communication device can refer to the behavioral function of the second terminal in the relative positioning method provided by the second aspect or any possible design of the second aspect. Based on the communication device described in the seventh aspect, the second terminal sends multiple third relative positions to the first terminal after receiving the first message sent by the first terminal, providing a feasible solution for the first terminal to obtain the first relative position based on the second relative position and the third relative position.

[0065] In one possible design, in combination with the seventh aspect, the first message may include identity information of multiple reference points and / or a first trigger condition for triggering the second terminal to send multiple third relative positions to the first terminal, the first trigger condition including a preset period and / or a preset relative position threshold, the preset period including the period length and / or a preset number of transmissions.

[0066] Based on this possible design, the second terminal only sends the third relative position of the second terminal and the reference point to the first terminal, which can avoid the first terminal receiving the relative position of the second terminal and other terminals that are not reference points, thereby reducing the processing burden of the first terminal; the second terminal sends multiple third relative positions to the first terminal when the first trigger condition is met, which can reduce the number of signaling interactions between the second terminal and the first terminal and reduce the communication load.

[0067] In an eighth aspect, a communication device is provided, which can implement the function performed by each of the multiple reference points in the third aspect or the possible design of the third aspect, and the function can be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions. For example, the communication device includes: a receiving module and a sending module.

[0068] A receiving module, used for receiving a first message from the first terminal for requesting to obtain a third relative position; the third relative position is a relative position between the second terminal and the reference point;

[0069] The sending module is used to send multiple third relative positions to the first terminal.

[0070] Among them, the specific implementation method of the communication device can refer to the behavior function of the reference point in the relative positioning method provided by the third aspect or any possible design of the third aspect. Based on the communication device described in the eighth aspect, multiple reference points send multiple third relative positions to the first terminal after receiving the first message sent by the first terminal, providing a feasible solution for the first terminal to obtain the first relative position based on the second relative position and the third relative position.

[0071] In one possible design, in combination with the eighth aspect, the first message may include identity information of the second terminal and / or a first trigger condition for triggering multiple reference points to send multiple third relative positions to the first terminal, the first trigger condition including a preset period and / or a preset relative position threshold, the preset period including the period length and / or a preset number of transmissions.

[0072] Based on this possible design, multiple reference points only send the third relative position of the second terminal and the reference point to the first terminal, which can avoid the first terminal receiving the relative position of the second terminal and other terminals that are not reference points, thereby reducing the processing burden of the first terminal; multiple reference points send multiple third relative positions to the first terminal when the first trigger condition is met, which can reduce the number of signaling interactions between the second terminal and the first terminal and reduce the communication load.

[0073] In a ninth aspect, a communication device is provided, which can implement the function performed by each of the multiple reference points in the fourth aspect or the possible design of the fourth aspect, and the function can be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions. For example, the communication device includes: a receiving module and a sending module.

[0074] A receiving module, used to receive a second message from the first terminal for requesting to obtain a first relative position; the first relative position is an initial relative position between the first terminal and the second terminal;

[0075] The sending module is used to send multiple first relative positions to the first terminal.

[0076] Among them, the specific implementation method of the communication device can refer to the behavioral functions of multiple reference points in the relative positioning method provided by the fourth aspect or any possible design of the fourth aspect. Based on the communication device described in the ninth aspect, multiple reference points directly send multiple first relative positions to the first terminal, which can reduce the computational burden of the first terminal.

[0077] In one possible design, in combination with the ninth aspect, the second message may include identity information of the second terminal and / or a second trigger condition for triggering multiple reference points to send multiple first relative positions to the first terminal, the second trigger condition including a preset period and / or a preset relative position threshold, the preset period including the period length and / or a preset number of transmissions.

[0078] Based on this possible design, multiple reference points only send the first relative position of the first terminal and the second terminal to the first terminal according to the second message, which can avoid the first terminal receiving the relative position of the first terminal and other terminals except the second terminal, thereby reducing the processing burden of the first terminal; multiple reference points send multiple first relative positions to the first terminal when the second trigger condition is met, which can reduce the number of signaling interactions between the first terminal and multiple reference points and reduce the communication load.

[0079] In the tenth aspect, a communication device is provided, which can implement the functions performed by the server in the fifth aspect or the possible design of the fifth aspect, and the functions can be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions. For example, the communication device includes: a receiving module and a sending module.

[0080] A receiving module, used for receiving a second message from a first terminal for requesting to obtain a plurality of first relative positions; the first relative position is an initial relative position between the first terminal and the second terminal;

[0081] The sending module is used to send multiple first relative positions to the first terminal.

[0082] Among them, the specific implementation method of the communication device can refer to the behavior function of the server in the relative positioning method provided by the fifth aspect or any possible design of the fifth aspect. Based on the communication device described in the tenth aspect, the server directly sends multiple first relative positions to the first terminal, which can reduce the computational burden of the first terminal.

[0083] In one possible design, in combination with the tenth aspect, the second message may include identity information of the second terminal and / or a second trigger condition for triggering the server to send multiple first relative positions to the first terminal, the second trigger condition including a preset period and / or a preset relative position threshold, and the preset period includes a period length and / or a preset number of sending times.

[0084] Based on this possible design, the server only sends the first relative position of the first terminal and the second terminal to the first terminal according to the second message, which can avoid the first terminal receiving the relative position of the first terminal and other terminals except the second terminal, thereby reducing the processing burden of the first terminal; the server sends multiple first relative positions to the first terminal when the second trigger condition is met, which can reduce the number of signaling interactions between the first terminal and multiple reference points and reduce the communication load.

[0085] In the eleventh aspect, a communication device is provided, which includes one or more processors and one or more memories; the one or more memories are coupled to the one or more processors, and the one or more memories are used to store computer program codes or computer instructions; when the one or more processors execute the computer instructions, the communication device executes the relative positioning method as described in the first aspect or any possible design of the first aspect, or executes the relative positioning method as described in the second aspect or any possible design of the second aspect, or executes the relative positioning method as described in the third aspect or any possible design of the third aspect, or executes the relative positioning method as described in the fourth aspect or any possible design of the fourth aspect, or executes the relative positioning method as described in the fifth aspect or any possible design of the fifth aspect.

[0086] In the twelfth aspect, a computer-readable storage medium is provided, which stores computer instructions or programs. When the computer instructions or programs are run on a computer, the computer executes the relative positioning method as described in the first aspect or any possible design of the first aspect, or executes the relative positioning method as described in the second aspect or any possible design of the second aspect, or executes the relative positioning method as described in the third aspect or any possible design of the third aspect, or executes the relative positioning method as described in the fourth aspect or any possible design of the fourth aspect, or executes the relative positioning method as described in the fifth aspect or any possible design of the fifth aspect.

[0087] In the thirteenth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the relative positioning method as described in the first aspect or any possible design of the first aspect, or to execute the relative positioning method as described in the second aspect or any possible design of the second aspect, or to execute the relative positioning method as described in the third aspect or any possible design of the third aspect, or to execute the relative positioning method as described in the fourth aspect or any possible design of the fourth aspect, or to execute the relative positioning method as described in the fifth aspect or any possible design of the fifth aspect.

[0088] Among them, the technical effects brought about by any design method in the eleventh to thirteenth aspects can refer to the technical effects brought about by any possible design in the first to fifth aspects mentioned above, and will not be repeated here.

[0089] In the fourteenth aspect, a communication system is provided, which includes the communication device as described in the sixth aspect or any possible design of the sixth aspect and the communication device as described in the seventh aspect or any possible design of the seventh aspect, or, includes the communication device as described in the sixth aspect or any possible design of the sixth aspect and the communication device as described in the eighth aspect or any possible design of the eighth aspect, or, includes the communication device as described in the sixth aspect or any possible design of the sixth aspect and the communication device as described in the ninth aspect or any possible design of the ninth aspect, or, includes the communication device as described in the sixth aspect or any possible design of the sixth aspect and the communication device as described in the tenth aspect or any possible design of the tenth aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0090] Figure 1a A simplified schematic diagram of a communication system provided by an embodiment of the present invention;

[0091] Figure 1b A simplified schematic diagram of a user plane protocol stack provided by an embodiment of the present invention;

[0092] Figure 1c A simplified schematic diagram of a control plane protocol stack provided by an embodiment of the present invention;

[0093] Figure 1d A schematic diagram of the relative positions of devices provided in an embodiment of the present invention;

[0094] Figure 2 A schematic diagram of the composition of a communication device provided by an embodiment of the present invention;

[0095] Figure 3 A schematic diagram of a relative positioning method provided by an embodiment of the present invention;

[0096] Figure 4 A schematic diagram of communication between UEs provided in an embodiment of the present invention;

[0097] Figure 5 A schematic diagram of a relative positioning method provided by an embodiment of the present invention;

[0098] Figure 6 A schematic diagram of a relative positioning method provided by an embodiment of the present invention;

[0099] Figure 7 A schematic diagram of a relative positioning method provided by an embodiment of the present invention;

[0100] Figure 8 A schematic diagram of a relative positioning method provided by an embodiment of the present invention;

[0101] Fig. 9 A schematic diagram of the composition of a communication device provided by an embodiment of the present invention;

[0102] Fig.10 A schematic diagram of the composition of a communication device provided by an embodiment of the present invention;

[0103] Fig.11 A schematic diagram of the composition of a communication device provided by an embodiment of the present invention;

[0104] Fig.12 A schematic diagram of the composition of a communication device provided by an embodiment of the present invention;

[0105] Fig.13 A schematic diagram of the composition of a communication device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0106] The implementation of the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

[0107] The relative positioning method provided in the embodiment of the present application can be used for any communication system supporting V2X communication, which can be a third generation partnership project (3GPP) communication system, such as a long term evolution (LTE) system, or a fifth generation (5G) mobile communication system, a new radio (NR) system, an NR V2X system, and other next generation communication systems, or a non-3GPP communication system without limitation. Figure 1a Taking as an example, the relative positioning method provided in the embodiment of the present application is described.

[0108] Figure 1ais a schematic diagram of a communication system provided in an embodiment of the present application, such as Figure 1a As shown, the communication system may include multiple terminals, network devices and servers. The terminal may be located within the cell coverage of the network device, or outside the cell coverage of the network device. Among them, the terminal can communicate with the network device via an uplink (UL), the terminal sends service data to the network device on the UL, the network device forwards the received service data to the server, the server processes the service data, and sends the processed service data to the terminal through the network device. For example: the terminal sends uplink data to the network device through the uplink physical layer shared channel (physical sidelink share channel, PUSCH) on the UL, the network device forwards the received uplink data to the server, the server processes the uplink data, and sends the processed uplink data to the terminal through the network device; wherein, the network device that forwards the uplink data from the terminal to the server and the network device that forwards the downlink data from the server to the terminal can be the same network device or different network devices, which can be determined by the server.

[0109] The terminal may also communicate with other terminals via a sidelink (SL) and send service data to other terminals on the SL, such as sending sidelink data to other terminals via a physical sidelink share channel (PSSCH) on the SL, sending sidelink feedback control information (SFCI) corresponding to the received sidelink data to other terminals via a physical sidelink feedback channel (PSFCH) on the SL, etc. In the embodiment of the present application, the sidelink communication may include vehicle-to-vehicle communication (V2V), vehicle-to-pedestrian communication (V2P), vehicle-to-infrastructure communication (V2I), etc., without limitation.

[0110] in, Figure 1a The server in the description may be a V2X application server or a server with a location management function (LMF), or a base station providing a positioning function, etc., without limitation. The server may be used to provide business services to the terminal, monitor the location of the terminal, and so on.

[0111] Figure 1aThe network device in the 5G-RAN network can be any device with wireless transceiver functions, which is mainly used to realize wireless physical control functions, resource scheduling and wireless resource management, wireless access control and mobility management functions. Specifically, the network device can be an access network (AN) / radio access network (RAN) device, or a device composed of multiple 5G-AN / 5G-RAN nodes, or a base station (nodeB, NB), an evolved base station (evolution nodeB, eNB), a next generation base station (generation nodeB, gNB), a transmission receive point (TRP), a transmission point (TP), a roadside unit (RSU) and any other access node, etc., without limitation.

[0112] Figure 1a The terminal in the term may be referred to as user equipment (UE) or mobile station (MS) or mobile terminal (MT). Specifically, Figure 1a The terminal in the embodiment can be a mobile phone, 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 grid, a wireless terminal in smart city, a wireless terminal in smart home, a vehicle-mounted terminal, a vehicle with vehicle-to-vehicle (V2V) communication capability, an intelligent networked vehicle, etc., without limitation. The terminal, network equipment and server of the embodiment of the present application can be one or more chips, or a system on chip (SOC), etc.

[0113] It should be noted that Figure 1a This is only an exemplary figure, and the number of devices included is not limited. Figure 1a In addition to the devices shown, the communication system may also include other devices. Figure 1a The names of the devices and links in the Figure 1aIn addition to the names shown, each device and each link can also be named by other names. For example, the terminal and the network device communicate through the user equipment (Uu) interface, and the UL can also be named as the Uu link, etc.; the terminal and other terminals communicate directly through the direct communication interface PC5 interface, and the SL can also be named as the PC5 link or the direct link, etc., without restriction.

[0114] exist Figure 1a In the communication system shown, the terminal communicates with other terminals via the PC5 interface. To support the PC5 interface communication between terminals, a control plane protocol stack and a user plane protocol stack may be provided inside the terminal. Figure 1b As shown in FIG, the user plane protocol stack includes a packet data convergence protocol (PDCP) layer, a radio link control layer protocol (RLC) layer, a media access control sublayer protocol (MAC) layer, and a physical (PHY) layer. Figure 1c As shown, the control plane protocol stack is divided into a control plane protocol stack for a common broadcast channel and a control plane protocol stack for point-to-point sidelink communication, wherein the control plane protocol stack for the common broadcast channel includes a radio resource control (RRC) layer, an RLC layer, a MAC layer and a PHY layer, and the control plane protocol stack for point-to-point sidelink communication includes a PC5 signaling layer, a PDCP layer, an RLC layer, a MAC layer and a PHY layer.

[0115] Currently, in Figure 1a In the communication system shown, when a terminal obtains its relative position with other terminals, it obtains its own absolute position and the absolute position of the other terminal, calculates its own absolute position and the absolute position of the other terminal, and obtains its own absolute position and the absolute position of the other terminal. In this process, the two terminals need to perform GPS positioning to determine the absolute position. However, in some scenarios, the absolute position of itself or the other terminal obtained by the terminal may be low in accuracy or even unable to obtain the absolute position of itself or the other terminal due to reasons such as the shielding of the terminal's GPS signal. The relative position of itself and the other terminal obtained by the terminal is low in accuracy or even unable to determine the relative position of itself and the other terminal.

[0116] To solve this problem, the embodiment of the present application provides a relative positioning method, which uses multiple reference points to obtain multiple initial relative positions of the terminal and the opposite end according to the relative positions of the terminal and the multiple reference points and the relative positions of the opposite end and the multiple reference points. The multiple initial relative positions are processed so that the terminal can obtain the relative position of the terminal and the opposite end without obtaining its own absolute position and the absolute position of the opposite end. Specifically, the process can refer to the following Figure 3 or Figures 5 to 8 As described in the corresponding embodiments.

[0117] In the embodiment of the present application, the relative position between two devices may refer to: taking one of the two devices as a reference object, the displacement of the other device relative to the reference object. The displacement may include length and angle, where the length is the length of the line segment between the two devices; the angle is the angle formed by the straight line where the two devices are located and the normal along the angle direction, the normal is a straight line in a preset direction, the angle direction is clockwise or counterclockwise, and the preset direction may be any direction in geography, such as due north, due south, due east, due west, due southeast, due southwest, etc., without limitation.

[0118] For example, Figure 1d , which is a schematic diagram of the relative position between device 1 and device 2, wherein taking the north direction as the normal and the counterclockwise direction as the angle direction as an example, the length L of the line segment between device 1 and device 2 is the length of the relative position between device 1 and device 2, and the angle θ is the angle of the relative position between device 1 and device 2.

[0119] When implementing it specifically, Figure 1a Each device shown, such as each terminal and server, can use Figure 2 The structure shown, or including Figure 2 Parts shown. Figure 2 The present invention provides a schematic diagram of the composition of a communication device 200, which may be a first terminal or a chip or system on chip in the first terminal; or the communication device 200 may be a second terminal or a chip or system on chip in the second terminal; or the communication device 200 may be a server or a chip or system on chip in the server. Figure 2 As shown, the communication device 200 includes a processor 201 , a transceiver 202 and a communication line 203 .

[0120] Furthermore, the communication device 200 may further include a memory 204. The processor 201, the memory 204 and the transceiver 202 may be connected via a communication line 203.

[0121] The processor 201 is a central processing unit (CPU), a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 201 may also be other devices with processing functions, such as circuits, devices, or software modules, without limitation.

[0122] The transceiver 202 is used to communicate with other devices or other communication networks. The other communication networks may be Ethernet, radio access network (RAN), wireless local area network (WLAN), etc. The transceiver 202 may be a module, a circuit, a transceiver or any device capable of achieving communication.

[0123] The communication line 203 is used to transmit information between the components included in the communication device 200.

[0124] The memory 204 is used to store instructions, where the instructions may be computer programs.

[0125] The memory 204 may be a read-only memory (ROM) or other types of static storage devices that can store static information and / or instructions, or a random access memory (RAM) or other types of dynamic storage devices that can store information and / or instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, etc., without limitation.

[0126] It should be noted that the memory 204 can exist independently of the processor 201, or can be integrated with the processor 201. The memory 204 can be used to store instructions or program codes or some data, etc. The memory 204 can be located in the communication device 200, or can be located outside the communication device 200, without limitation. The processor 201 is used to execute the instructions stored in the memory 204 to implement the relative positioning method provided in the following embodiments of the present application.

[0127] In one example, the processor 201 may include one or more CPUs, such as Figure 2 CPU0 and CPU1 in.

[0128] As an optional implementation, the communication device 200 includes multiple processors, for example, Figure 2 In addition to the processor 201, a processor 207 may also be included.

[0129] As an optional implementation, the communication device 200 further includes an output device 205 and an input device 206. Exemplarily, the input device 206 is a device such as a keyboard, a mouse, a microphone or a joystick, and the output device 205 is a device such as a display screen and a speaker.

[0130] It should be noted that the communication device 200 can be a desktop computer, a portable computer, a network server, a mobile phone, a tablet computer, a wireless terminal, an embedded device, a chip system or a Figure 2 In addition, Figure 2 The components shown in the figure do not constitute a limitation on the terminal, except Figure 2 In addition to the components shown, the terminal may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0131] In the embodiment of the present application, the chip system may be composed of a chip, or may include a chip and other discrete devices.

[0132] In addition, the actions, terms, etc. involved in the various embodiments of the present application can refer to each other without limitation. The message name or parameter name in the message exchanged between the various devices in the embodiments of the present application is only an example, and other names can also be used in the specific implementation without limitation.

[0133] Combine the following Figure 1a The communication system shown in the figure takes obtaining the relative position between the first terminal and the second terminal as an example to describe the relative positioning method provided in the embodiment of the present application. Among them, the first terminal can be Figure 1a Any terminal in, the second terminal can be Figure 1aAny terminal other than the first terminal. The first terminal, the second terminal, the reference point and the server described in the following embodiments may have Figure 2 Parts shown.

[0134] Figure 3 A relative positioning method is provided in an embodiment of the present application. This method can be used to solve the problem that when the absolute position of itself or the other end obtained by the terminal is of low accuracy or even cannot be obtained, the relative position of itself and the other end obtained is of low accuracy or even cannot be determined. Figure 3 As shown, the method may include:

[0135] Step 301: A first terminal obtains a plurality of first relative positions.

[0136] The first relative position may be the initial relative position of the first terminal and the second terminal; the first relative position may be determined based on the second relative position and the third relative position. The second relative position may be the relative position of the first terminal and a reference point, the third relative position may be the relative position of the second terminal and the reference point, and the reference point may be Figure 1a The terminal that is communicatively connected to the first terminal and the second terminal through the PC5 interface at the same time may also be a terminal that can simultaneously obtain the relative position of the first terminal and itself and the relative position of the second terminal and itself.

[0137] Exemplarily, the first relative position may satisfy the following formula:

[0138] First relative position = f(second relative position, third relative position); (Formula 1)

[0139] Wherein, f is a preset function, and the preset function f can be constructed using knowledge of trigonometric functions. The second relative position and the third relative position are processed using the preset function f to obtain the first relative position.

[0140] For example, the second relative position of the first terminal and the reference point is (L1, θ1), and the third relative position of the second terminal and the reference point is (L2, θ2). According to θ1 and θ2, the angle θ between the line segment corresponding to L1 and the line segment corresponding to L2 can be determined. According to L1, L2 and the angle θ, the length L3 of the first relative position can be obtained by using the cosine theorem in trigonometric functions: cosθ=(L1^2+L2^2–L3^2) / (2L1 L2). According to L1, L2, L3 and the angle θ, a triangle with the first terminal, the second terminal and the reference point as vertices is constructed, and the angles of each internal angle of the triangle are obtained by using the cosine theorem. According to the degree of each internal angle and the direction of the normal, the angle θ3 of the first relative position is obtained.

[0141] It should be noted that one first relative position can be determined based on one group (second relative position, third relative position), and multiple first relative positions can be determined based on multiple groups (second relative position, third relative position). Among them, one group (second relative position, third relative position) can be determined based on one reference point, and different groups (second relative position, third relative position) correspond to different reference points.

[0142] For example, Figure 4 For example, assuming that the first terminal is Figure 4 UE1, the second terminal is Figure 4 UE2. Figure 4 As shown, UE1 is connected to UE3, UE4, UE5, UE6, UE7 and UE8 through the PC5 interface, and UE2 is connected to UE3, UE4, UE6, UE7, UE9, UE10 and UE11 through the PC5 interface. Figure 4 It can be known that UE3, UE4, UE6 and UE7 are respectively connected to UE1 and UE2 through the PC5 interface communication, therefore, the reference points may include UE3, UE4, UE6 and UE7; the second relative position may include: the relative position between UE1 and UE3, the relative position between UE1 and UE4, the relative position between UE1 and UE6, and the relative position between UE1 and UE7; the third relative position may include: the relative position between UE2 and UE3, the relative position between UE2 and UE4, the relative position between UE2 and UE6, and the relative position between UE2 and UE7.

[0143] According to (the relative position of UE1 and UE3, and the relative position of UE2 and UE3), the initial relative position R1 of UE1 and UE2 is determined; according to (the relative position of UE1 and UE4, and the relative position of UE2 and UE4), the initial relative position R2 of UE1 and UE2 is determined; according to (the relative position of UE1 and UE6, and the relative position of UE2 and UE6), the initial relative position R3 of UE1 and UE2 is determined; according to (the relative position of UE1 and UE7, and the relative position of UE2 and UE7), the initial relative position R4 of UE1 and UE2 is determined.

[0144] In an exemplary embodiment, the first terminal may obtain multiple third relative positions from the second terminal or multiple reference points, and determine multiple first relative positions based on the multiple third relative positions and the multiple second relative positions. Figure 5 or Figure 6 As described in the corresponding embodiments.

[0145] In another exemplary embodiment, the first terminal may obtain multiple first relative positions from multiple reference points or servers. Specifically, the method may refer to the following Figure 7 or Figure 8 As described in the corresponding embodiments.

[0146] Step 302: The first terminal processes a plurality of first relative positions to obtain a relative position of the first terminal and a second terminal.

[0147] In one possible design, the first terminal performs weighted processing on multiple first relative positions according to preset weights to obtain the relative position of the first terminal and the second terminal.

[0148] Specifically, the first terminal may establish a weighted model in advance, and use the weighted model to perform weighted processing on multiple first relative positions corresponding to multiple reference points to obtain the relative position of the first terminal and the second terminal.

[0149] Exemplarily, the weighted model may satisfy the following formula:

[0150]

[0151] Among them, R represents the relative position of the first terminal and the second terminal; Ri represents the i-th first relative position, and Wi represents the weight corresponding to Ri.

[0152] Wi is a preset weight value corresponding to the i-th first relative position. The first terminal can set a corresponding weight for the first relative position corresponding to each reference point according to parameters such as the distance between each reference point and the first terminal and the second terminal, and the communication quality. The closer the distance, the greater the weight; the better the communication quality, the greater the weight; in particular, the weight of the first relative position corresponding to each reference point can also be set to 1 / n, etc., without restriction.

[0153] For example, Figure 4 For example, assuming that the first terminal is Figure 4 UE1, the second terminal is Figure 4 UE1, reference points may include UE3, UE4, UE6 and UE7, and the multiple first relative positions obtained include initial relative position R1, initial relative position R2, initial relative position R3, initial relative position R4, the weight corresponding to R1 is W1, the weight corresponding to R2 is W2, the weight corresponding to R3 is W3, and the weight corresponding to R4 is W4, then the relative position of UE1 and UE2 is R=R1 W1+R2 W2+R3 W3+R4 W4.

[0154] Furthermore, the first terminal can also correct the weighted model. The first terminal can collect statistics on the accuracy of the relative position of the first terminal and the second terminal, and according to the statistical results, appropriately adjust the weights of the weighted model to improve the accuracy of the relative position of the first terminal and the second terminal obtained by the first terminal processing multiple first relative positions according to the weighted model.

[0155] Among them, the relative position of the first terminal and the second terminal obtained by the relative positioning method provided in the embodiment of the present application is a relative position obtained by calculation; the relative position of the first terminal and the second terminal can be measured at the same time to obtain the actual relative position. If the difference between the length of the calculated relative position and the length of the actual relative position is less than the preset length threshold, and the difference between the angle of the calculated relative position and the angle of the actual relative position is less than the preset angle threshold, the calculated relative position is considered to be accurate.

[0156] Furthermore, the number of times the calculated relative position is accurate within a certain number of times can be counted, and the ratio of the number of times the calculated relative position is accurate to the total number of times counted can be determined as the accuracy of the calculated relative position. When the accuracy is lower than a preset accuracy threshold, the weighted model is appropriately adjusted to improve the accuracy of the calculated relative position.

[0157] In another possible design, the first terminal processes the multiple first relative positions using a preset probability distribution model to obtain the relative position of the first terminal and the second terminal.

[0158] Among them, the preset probability distribution model can be used to determine the probability distribution of multiple first relative positions, and determine the first relative position threshold range according to the probability distribution result, the first relative position threshold range includes a length range and an angle range; according to the first relative position threshold range, retain the first relative position within the threshold range, and calculate the average value or weighted processing of the retained multiple first relative positions to obtain the relative position of the first terminal and the second terminal.

[0159] Exemplarily, assuming that multiple first relative positions of the first terminal and the second terminal include (450m, 70°), (490m, 90°), (495m, 88°), (500m, 92°), (500m, 90°), and (510m, 89°), according to the probability distribution, the length range is determined to be (490m~510m), and the angle range is determined to be (88°~92°); according to the length range and the angle range, (490m, 90°), (495m, 88°), (500m, 92°), (500m, 90°), and (510m, 89°) are retained, and the retained first relative positions are averaged or weighted to obtain the relative position of the first terminal and the second terminal.

[0160] Furthermore, the first terminal may also modify the preset probability distribution model according to the statistical result of the accuracy of the relative position of the first terminal and the second terminal obtained by the first terminal, so as to improve the accuracy of the relative position of the first terminal and the second terminal obtained by the first terminal.

[0161] Furthermore, after the first terminal processes multiple first relative positions to obtain the relative position of the first terminal and the second terminal, it can also combine the relative position obtained by other relative positioning methods, such as the relative position obtained by direct measurement, to further improve the positioning accuracy.

[0162] Figure 3 Steps 301-302 are merely a process of obtaining the relative position of the first terminal and the second terminal at a time. Figure 3 The method shown obtains the relative positions of the first terminal and the second terminal at multiple moments, predicts the movement trajectory of the second terminal in the future period of time based on the relative positions of the first terminal and the second terminal at multiple moments, communicates with the second terminal based on the predicted movement trajectory, and improves user experience.

[0163] based on Figure 3 In the method shown, the first terminal can obtain the relative position of the first terminal and the second terminal by obtaining multiple first relative positions and processing the multiple first relative positions. In the embodiment of the present application, the first terminal does not need to obtain the absolute position of the first terminal and the absolute position of the second terminal to obtain the relative position of the first terminal and the second terminal. In the embodiment of the present application, the first terminal can obtain a more accurate relative position of the first terminal and the second terminal by processing multiple initial relative positions of the first terminal and the second terminal, further improving the user experience.

[0164] The process of obtaining multiple third relative positions from the second terminal in step 301 and determining multiple first relative positions according to the multiple third relative positions and the multiple second relative positions can refer to Figure 5 shown. Figure 5 A relative positioning method is provided in the embodiment of the present application, such as Figure 5 As shown, the relative positioning method may specifically include:

[0165] Step 501: A first terminal sends a first message to a second terminal.

[0166] The first message may be used to request acquisition of third relative positions of multiple reference points.

[0167] Optionally, the first message may include identity information of multiple reference points, wherein the identity information of the reference point may be used to indicate the reference point. Exemplarily, the identity information of the reference point may be an identifier (ID) of the reference point or an IP address of the reference point or other identifiers for identifying the reference point, without limitation.

[0168] The first message may be any of the following messages: PC5 signaling message, RRC message, control signaling of the PHY layer, control signaling of the PDCP layer or control signaling of the MAC layer.

[0169] Exemplarily, the first terminal may communicate with the second terminal through the PC5 interface in advance, and request the second terminal to report the identity information of all terminals connected to the second terminal through the PC5 interface. The first terminal determines the identity information of multiple reference points that are simultaneously connected to the first terminal and the second terminal through the PC5 interface based on the identity information reported by the second terminal and the identity information of all terminals connected to itself through the PC5 interface, and sends the identity information of the multiple reference points to the second terminal by carrying it in the first message; or the reference point is a terminal whose relative position to the current terminal has been obtained by the first terminal; or the reference point is a terminal whose relative position to the current terminal can be obtained by the first terminal through other relative positioning methods.

[0170] Specifically, Figure 4 For example, the first terminal is UE1, the second terminal is UE2, the multiple reference points include UE3, UE4, UE6 and UE7, UE1 can send a first message to UE2, the first message includes the identity information of UE3, the identity information of UE4, the identity information of UE6 and the identity information of UE7.

[0171] Step 502: The second terminal receives the first message and determines a plurality of third relative positions.

[0172] Optionally, determining multiple third relative positions according to the identity information of multiple reference points included in the first message may specifically include:

[0173] After receiving the first message, the second terminal identifies multiple reference points based on the identity information of the multiple reference points included in the first message; for any reference point, if the second terminal has already obtained the relative position with respect to the reference point, or the relative position of the second terminal with respect to the reference point can be obtained through other relative positioning methods, then the relative position of the second terminal with respect to the reference point is determined to be the third relative position, that is, the relative position of the second terminal with respect to the reference point needs to be sent to the first terminal in step 503.

[0174] by Figure 4 For example, after UE2 receives the first message sent by UE1, it identifies that the reference points include UE3, UE4, UE6 and UE7 according to the first message. If UE2 has obtained the relative position of UE2 and UE4, the relative position of UE2 and UE6, and the relative position of UE2 and UE7, it determines the relative position of UE2 and UE4, the relative position of UE2 and UE6, and the relative position of UE2 and UE7 as multiple third relative positions and sends them to UE1.

[0175] Step 503: The second terminal sends the multiple third relative positions to the first terminal.

[0176] In one example, after receiving the first message, the second terminal may send multiple third relative positions to the first terminal.

[0177] In another example, in order to improve the reliability of the third relative position sent by the second terminal and reduce the number of signaling interactions, when the first trigger condition is reached, the second terminal may send multiple third relative positions to the first terminal.

[0178] The first trigger condition may be used to trigger the second terminal to send multiple third relative positions to the first terminal. The first trigger condition may include a preset period and / or a preset relative position threshold, etc., which are not limited.

[0179] The preset period may include a period length and / or a preset number of transmissions.

[0180] The cycle length can be used to limit the time interval for the second terminal to send multiple third relative positions to the first terminal; the second terminal can periodically send the third relative position obtained by the last measurement within a cycle to the first terminal or send the average value of the third relative positions obtained by multiple measurements within a cycle to the first terminal according to the cycle length, so that the first terminal can obtain the latest first relative position based on the latest third relative position and the second relative position, thereby obtaining a more accurate relative position of the first terminal and the second terminal.

[0181] The preset number of transmissions may be the maximum number of times the second terminal transmits multiple third relative positions to the first terminal. The second terminal may transmit multiple third relative positions of the preset number of transmissions to the first terminal according to the preset number of transmissions. In this way, it is possible to avoid the second terminal regularly transmitting multiple third relative positions to the first terminal, which results in increased signaling and waste of network resources.

[0182] Among them, the preset relative position threshold can be configured as needed without restriction. The preset relative position threshold can be a length threshold of the relative position. When the length of the relative position between the second terminal and the reference point is greater than the length threshold, it is considered that the distance between the second terminal and the reference point is far, and the accuracy of the corresponding third relative position cannot meet the accuracy requirement; when the length of the relative position between the second terminal and the reference point is less than the length threshold, it is considered that the accuracy of the third relative position between the second terminal and the reference point meets the accuracy requirement, and the third relative position that meets the accuracy requirement is sent to the first terminal. In an embodiment of the present application, the second terminal can screen multiple third relative positions according to the preset relative position threshold, and send the third relative position less than the length threshold to the first terminal to ensure the accuracy of the relative position between the first terminal and the second terminal.

[0183] For example, Figure 4 As shown, assuming that the first terminal is UE1 and the second terminal is UE2, the reference points may include UE3, UE4, UE6 and UE7. According to the length threshold of the preset relative position threshold, it is found that the length of the third relative position of UE2 and UE7 is greater than the length threshold, then UE2 will not send the third relative position of UE2 and UE7 to UE1. However, during the subsequent movement of UE2 and UE7, the length of the third relative position of UE2 and UE7 gradually decreases to less than or equal to the length threshold. It is considered that the third relative position of UE2 and UE7 meets the accuracy requirement at this time. UE2 sends the third relative position of UE2 and UE7 to UE1, so that UE1 can determine the first relative position of UE1 and UE2 based on the third relative position of UE2 and UE7 and the second relative position of UE1 and UE7.

[0184] Exemplarily, the first trigger condition can be configured by the first terminal or the server as needed, without limitation. Taking the first trigger condition configured by the first terminal as an example, the first trigger condition can be included in a first message sent to the second terminal, and the second terminal can obtain the first trigger condition from the first message. Alternatively, the first trigger condition is included in other messages sent by the first terminal to the second terminal, without limitation.

[0185] Optionally, the first terminal may also pre-set a threshold value for the number of third relative positions, which may be carried in the above-mentioned first message. Before the second terminal sends the multiple third relative positions to the first terminal, it determines whether the number of the multiple third relative positions is greater than the threshold value. If not, the multiple third relative positions are sent to the first terminal. If greater, multiple third relative positions whose number is the threshold value are selected from the multiple third relative positions and sent to the first terminal.

[0186] Alternatively, there is a threshold number of third relative positions in the message sent by the second terminal to the first terminal. Before the second terminal sends the multiple third relative positions to the first terminal, it determines whether the number of the multiple third relative positions is greater than the threshold number. If not, the multiple third relative positions are sent to the first terminal. If greater, multiple third relative positions whose number is the threshold number are selected from the multiple third relative positions and sent to the first terminal.

[0187] Step 504: The first terminal processes the multiple third relative positions and the multiple second relative positions to obtain multiple first relative positions.

[0188] Among them, for any reference point, if the first terminal has obtained the second relative position of the first terminal and the reference point, or can obtain the second relative position with the reference point, for example, the first terminal can obtain the absolute position of the reference point from the reference point, and obtain the relative position of the first terminal and the reference point according to the absolute position of the first terminal and the absolute position of the reference point, or the first terminal obtains the second relative position by directly measuring the reference point, then the first relative position is obtained based on the second relative position and the third relative position corresponding to the reference point.

[0189] Specifically, the first terminal may process the second relative position and the third relative position corresponding to each reference point to obtain the first relative position corresponding to each reference point. The processing process is specifically referred to in Formula 1 and will not be described in detail.

[0190] Step 505: The first terminal processes the multiple first relative positions to obtain the relative position of the first terminal and the second terminal.

[0191] Here, step 505 is the same as the above step 302 and will not be described in detail.

[0192] In the above step 501, the first terminal specifies the reference point when sending the first message to the second terminal. By carrying the identity information of multiple reference points in the first message, the second terminal only sends the third relative positions corresponding to the multiple reference points specified by the first terminal to the first terminal.

[0193] Alternatively, the first terminal may not specify the reference point, or when the first terminal is unable to specify the reference point, the first terminal sends a message to the second terminal for requesting to obtain all relative positions corresponding to the second terminal.

[0194] After receiving the message sent by the first terminal for requesting to obtain all relative positions corresponding to the second terminal, the second terminal sends all relative positions corresponding to itself to the first terminal; the first terminal determines whether there is a reference point based on all relative positions sent by the second terminal and all relative positions corresponding to itself. When the first terminal determines that there are multiple reference points, the relative position of each reference point to the first terminal is determined as the second relative position, and the relative position of each reference point to the second terminal is determined as the third relative position. According to the second relative position and the third relative position corresponding to each reference point, the first relative position corresponding to each reference point is determined, that is, multiple first relative positions are obtained.

[0195] Optionally, the first terminal may also pre-set a threshold value for the number of third relative positions, which may be carried in the above-mentioned first message. Before the second terminal sends multiple third relative positions to the first terminal, it determines whether the number of multiple third relative positions is greater than the threshold value. If not, the multiple third relative positions are sent to the first terminal. If not, multiple third relative positions are selected from the multiple third relative positions with a number equal to the threshold value and sent to the first terminal. Alternatively, the message sent by the second terminal to the first terminal contains a threshold value for the number of third relative positions. Before the second terminal sends multiple third relative positions to the first terminal, it determines whether the number of multiple third relative positions is greater than the threshold value. If not, the multiple third relative positions are sent to the first terminal. If not, multiple third relative positions are selected from the multiple third relative positions with a number equal to the threshold value and sent to the first terminal.

[0196] by Figure 4 For example, the first terminal is UE1, and the second terminal is UE2. UE1 sends a message to UE2 for requesting to obtain all relative positions corresponding to the second terminal; UE2 sends its relative positions to UE3, UE4, UE6, UE7, UE9, UE10 and UE11 respectively according to the message; UE1 determines UE3, UE4, UE6 and UE7 as reference points according to all relative positions corresponding to UE2 received and all relative positions corresponding to itself; determines the relative positions of UE1 and UE3, UE1 and UE4, UE1 and UE6, and UE1 and UE7 as the second relative positions; determines the relative positions of UE2 and UE3, UE2 and UE4, UE2 and UE6, and UE2 and UE7 as the third relative positions. UE1 processes multiple second relative positions and multiple third relative positions to obtain multiple first relative positions. The processing process refers to formula 1 and is not described in detail. UE1 processes the multiple first relative positions to obtain the relative position of the first terminal and the second terminal. The processing is in accordance with step 302 and will not be described in detail.

[0197] In the above method, when the first terminal does not specify a reference point, the first terminal can find other terminals that are in communication connection with the second terminal based on all relative positions received from the second terminal. Figure 4For example, when UE1 sends a message to UE2 requesting to obtain all relative positions corresponding to the second terminal, UE2 sends all relative positions corresponding to itself to UE1. UE1 can find the existence of UE9, UE10 and UE11 according to the relative positions of UE2 and UE9, UE2 and UE10, and UE2 and UE11, and determine that UE9, UE10 and UE11 are respectively connected to UE2 through the PC5 interface. Therefore, based on this method, other terminals that have no communication connection with the current terminal can be found, thereby establishing a complete panoramic view of the surrounding terminals.

[0198] The first terminal in step 301 obtains the third relative positions from the multiple reference points, and the process of determining the multiple first relative positions according to the multiple third relative positions and the multiple second relative positions can refer to Figure 6 shown. Figure 6 A relative positioning method provided in an embodiment of the present application, Figure 6 The following takes reference point 1 and reference point 2 as examples for detailed description. Figure 6 As shown, the relative positioning method may specifically include:

[0199] Step 601: A first terminal sends a first message to each reference point of a plurality of reference points.

[0200] The first message is used to request to obtain a third relative position between the second terminal and the reference point.

[0201] Optionally, the first message may include identity information of the second terminal, wherein the identity information of the second terminal may be used to indicate the second terminal. Exemplarily, the identity information of the second terminal may be an identifier (ID) of the second terminal or an IP address of the second terminal or other identifier used to identify the second terminal, without limitation.

[0202] The first message may be any of the following messages: a PC5 signaling message, an RRC message, a control signaling of a PHY layer, a control signaling of a PDCP layer, or a control signaling of a MAC layer.

[0203] Exemplarily, the first terminal may communicate with the second terminal through the PC5 interface in advance, and request the second terminal to report the identity information of all terminals that are communicatively connected to the second terminal through the PC5 interface. The first terminal determines multiple reference points that are simultaneously communicatively connected to the first terminal and the second terminal through the PC5 interface based on the identity information reported by the second terminal and the identity information of all terminals that are communicatively connected to itself through the PC5 interface, and sends a first message to each of the multiple reference points; or the reference point is a terminal whose relative position to the current terminal has been obtained by the first terminal; or the reference point is a terminal whose relative position to the current terminal can be obtained by the first terminal through other relative positioning methods.

[0204] Specifically, Figure 4 For example, the first terminal is UE1, the second terminal is UE2, and the multiple reference points include UE3, UE4, UE6 and UE7. UE1 can send a first message to UE3, UE4, UE6 and UE7 respectively, and the first message can include the identity information of the second terminal.

[0205] Step 602: Each reference point receives the first message and determines a third relative position.

[0206] Optionally, determining the third relative position according to the identity information of the second terminal included in the first message may specifically include:

[0207] After receiving the first message, the reference point identifies the second terminal based on the identity information of the second terminal included in the first message; for any reference point, if the reference point has obtained the relative position with the second terminal, or the relative position of the second terminal and the reference point can be obtained through other relative positioning methods, then the relative position of the second terminal and the reference point is determined to be the third relative position, that is, the relative position of the second terminal and the reference point needs to be sent to the first terminal in step 603.

[0208] by Figure 4 For example, after UE3 receives the first message sent by UE1, it identifies UE2 according to the first message, determines the relative position of UE2 and UE3, and sends it to the first terminal; after UE4 receives the first message sent by UE1, it identifies UE2 according to the first message, determines the relative position of UE2 and UE4, and sends it to the first terminal; after UE6 receives the first message sent by UE1, it identifies UE2 according to the first message, determines the relative position of UE2 and UE6, and sends it to the first terminal; after UE7 receives the first message sent by UE1, it identifies UE2 according to the first message, determines the relative position of UE2 and UE7, and sends it to the first terminal.

[0209] Step 603: Each reference point sends the third relative position to the first terminal respectively.

[0210] In one example, after receiving the first message, the reference point sends the third relative position to the first terminal.

[0211] In another example, in order to improve the reliability of the third relative position sent by the reference point and reduce the number of signaling interactions, when the first trigger condition is reached, the reference point can send the third relative position to the first terminal.

[0212] The first trigger condition may be used to trigger the reference point to send the third relative position to the first terminal. The first trigger condition may include a preset period and / or a preset relative position threshold. The specific application of the first trigger condition is described in step 503 and will not be described in detail.

[0213] Step 604: The first terminal processes the multiple third relative positions and the multiple second relative positions to obtain multiple first relative positions.

[0214] Here, step 604 is the same as the above step 504 and will not be described in detail.

[0215] Step 605: The first terminal processes the multiple first relative positions to obtain the relative position of the first terminal and the second terminal.

[0216] Here, step 605 is the same as the above step 302 and will not be described in detail.

[0217] In the above step 601, the first terminal specifies a reference point, and the first terminal acquires the third relative position by sending a first message to the specified reference point.

[0218] Alternatively, the first terminal may not specify a reference point. When the first terminal does not specify a reference point, the first terminal sends a message requesting to obtain the relative position with the second terminal to all terminals connected to the first terminal via the PC5 interface communication; wherein the message includes the identity information of the second terminal.

[0219] When a terminal that is communicatively connected to a first terminal via a PC5 interface receives a message sent by the first terminal requesting to obtain a relative position with respect to a second terminal, it determines whether it is communicatively connected to the second terminal via a PC5 interface; if it is communicatively connected to the second terminal via a PC5 interface, it determines its relative position with respect to the second terminal as a third relative position and sends it to the first terminal.

[0220] by Figure 4For example, the first terminal is UE1, and the second terminal is UE2. UE1 sends messages including UE2's identity information to UE3, UE4, UE5, UE6, UE7, and UE8 respectively for requesting to obtain the relative position with UE2; UE3, UE4, UE6, and UE7 respectively find that they are connected to UE2 through the PC5 interface, UE3 determines the relative position between UE2 and UE3, and sends it to UE1; UE4 determines the relative position between UE2 and UE4, and sends it to UE1; UE6 determines the relative position between UE2 and UE6, and sends it to UE1; UE7 determines the relative position between UE2 and UE7, and sends it to UE1. UE1 receives multiple third relative positions, and processes multiple second relative positions and multiple third relative positions to obtain multiple first relative positions. The processing process refers to formula 1 and is not described in detail. UE1 processes multiple first relative positions to obtain the relative position of the first terminal and the second terminal. The processing process is in accordance with step 302 and is not described in detail.

[0221] Alternatively, the first terminal may not specify the second terminal. When the first terminal does not specify the second terminal, the first terminal sends a message to all terminals that are communicatively connected to the first terminal via the PC5 interface to request to obtain all relative positions corresponding to the terminals that are communicatively connected to the first terminal via the PC5 interface.

[0222] When the terminal connected to the first terminal via the PC5 interface receives the message for requesting to obtain all relative positions corresponding to the terminals connected to the first terminal via the PC5 interface, it sends all relative positions corresponding to itself to the first terminal. After the first terminal receives all relative positions sent by other terminals, it determines whether one of the terminals corresponding to each relative position is the second terminal, and if so, determines the relative position as the third relative position.

[0223] by Figure 4For example, the first terminal is UE1, and the second terminal is UE2. UE1 sends messages to UE3, UE4, UE5, UE6, UE7, and UE8 respectively for requesting to obtain all relative positions corresponding to the terminals connected to UE1 through the PC5 interface communication; after receiving the message, UE3, UE4, UE5, UE6, UE7, and UE8 respectively send all relative positions corresponding to themselves to UE1; for example, UE3 sends the relative position of UE3 and UE2, the relative position of UE3 and UE4, the relative position of UE3 and UE5, and the relative position of UE3 and UE9 to UE1, and after UE1 receives the relative position sent by UE3, it determines the relative position of UE3 and UE2 as the third relative position. Similarly, UE1 determines the relative position of UE4 and UE2, the relative position of UE6 and UE2, and the relative position of UE7 and UE2 as the third relative position. UE1 processes multiple second relative positions and multiple third relative positions to obtain multiple first relative positions. The processing process refers to formula 1 and is not repeated here. UE1 processes the multiple first relative positions to obtain the relative position of the first terminal and the second terminal. The processing process is based on step 302 and will not be described in detail.

[0224] In the above method, when the first terminal does not specify a reference point or does not specify a second terminal, the first terminal can find other terminals that are not connected to itself through the PC5 interface communication according to the received relative position. Figure 4 For example, when UE1 does not specify a reference point or the first message is used to request to obtain all relative positions corresponding to the terminal, UE1 can find UE9 according to the relative position sent by UE5, and find UE11 according to the relative position sent by UE7. Therefore, based on this method, the terminal can also find other terminals that are not connected to itself through the PC5 interface communication, thereby establishing a complete panoramic view of the surrounding terminals.

[0225] The process of the first terminal acquiring the first relative position from multiple reference points in step 301 can be referred to Figure 7 shown. Figure 7 A relative positioning method provided in an embodiment of the present application, Figure 7 The following takes reference point 1 and reference point 2 as examples for detailed description. Figure 7 As shown, the relative positioning method may specifically include:

[0226] Step 701: A first terminal sends a second message to each reference point of a plurality of reference points.

[0227] The second message is used to request to obtain a first relative position between the first terminal and the second terminal.

[0228] Optionally, the second message may include identity information of the second terminal. The identity information of the second terminal refers to step 601 and is not described in detail.

[0229] The second message may be any of the following messages: an RRC message, a control signaling of a PHY layer, a control signaling of a PDCP layer, or a control signaling of a MAC layer.

[0230] The process of the first terminal determining multiple reference points refers to step 601 and is not described in detail.

[0231] Step 702: Each reference point receives the second message and determines a third relative position.

[0232] Optionally, multiple third relative positions are determined based on the identity information of the second terminal included in the second message, wherein step 702 is the same as the above step 602 and is not described in detail.

[0233] Step 703: Each reference point determines a first relative position according to the second relative position and the third relative position.

[0234] The specific processing procedure is referred to in Formula 1 and will not be described in detail.

[0235] Step 704: Each reference point sends the first relative position to the first terminal.

[0236] In one example, after each reference point obtains the second message, it sends the first relative position to the first terminal.

[0237] In another example, in order to improve the reliability of the first relative position sent by the reference point and reduce the number of signaling interactions, when the second trigger condition arrives, the reference point can send the first relative position to the first terminal.

[0238] The second trigger condition may be used to trigger the reference point to send the first relative position to the first terminal. The second trigger condition may include a preset period and / or a preset relative position threshold.

[0239] The specific application of the second trigger condition is similar to the specific application of the first trigger condition in step 503 above, and will not be described in detail.

[0240] Step 705: The first terminal processes the multiple first relative positions to obtain the relative position of the first terminal and the second terminal.

[0241] Among them, step 705 is the same as the above step 302 and will not be repeated here.

[0242] The above method is to calculate the second relative position and the third relative position corresponding to the reference point to obtain the first relative position. The first terminal only needs to calculate the received first relative position, thereby reducing the calculation burden and CPU overhead of the first terminal.

[0243] The process of the first terminal obtaining the first relative position from the server in step 301 can be referred to as Figure 8 shown. Figure 8 A relative positioning method is provided in the embodiment of the present application, such as Figure 8 As shown, the relative positioning method may specifically include:

[0244] Step 801: The first terminal sends a second message to the server.

[0245] The specific content of the second message is the same as the second message in the above step 701 and is not described in detail.

[0246] Step 802: The server receives the second message, and determines all relative positions corresponding to the first terminal and all relative positions corresponding to the second terminal according to the identity information of the second terminal included in the second message.

[0247] Specifically, the server may identify the second terminal according to the identity information of the second terminal included in the second message, and determine all relative positions corresponding to the second terminal.

[0248] by Figure 4 For example, the first terminal is UE1 and the second terminal is UE2. After receiving the second message sent by UE1, the server identifies UE2 and determines the relative position of UE2 and UE3, the relative position of UE2 and UE4, the relative position of UE2 and UE6, the relative position of UE2 and UE7, the relative position of UE2 and UE10, and the relative position of UE2 and UE11.

[0249] The server determines the relative position of UE1 and UE3, the relative position of UE1 and UE4, the relative position of UE1 and UE5, the relative position of UE1 and UE6, the relative position of UE1 and UE7, and the relative position of UE1 and UE8 according to UE1.

[0250] Step 803: The server determines a plurality of second relative positions and a plurality of third relative positions according to all relative positions corresponding to the first terminal and all relative positions corresponding to the second terminal.

[0251] Specifically, the server can determine multiple reference points based on all relative positions corresponding to the first terminal and all relative positions corresponding to the second terminal; determine the relative position of each reference point and the first terminal as multiple second relative positions; and determine the relative position of each reference point and the second terminal as multiple third relative positions.

[0252] by Figure 4 For example, the first terminal is UE1, and the second terminal is UE2. The server determines that reference points may include UE3, UE4, UE6, and UE7 based on the relative positions of UE1 and UE3, UE1 and UE4, UE1 and UE5, UE1 and UE6, UE1 and UE7, and UE1 and UE8 corresponding to UE1, and the relative positions of UE2 and UE3, UE2 and UE4, UE2 and UE6, UE2 and UE7, UE2 and UE10, and UE2 and UE11 corresponding to UE2; determines the relative positions of UE1 and UE3, UE1 and UE4, UE1 and UE6, and UE1 and UE7 as the second relative position; and determines the relative positions of UE2 and UE3, UE2 and UE4, UE2 and UE6, and UE1 and UE7 as the third relative position.

[0253] Step 804: The server determines a plurality of first relative positions according to the plurality of second relative positions and the plurality of third relative positions.

[0254] The processing process is referred to Formula 1 and will not be described in detail.

[0255] Step 805: The server sends the multiple first relative positions to the first terminal.

[0256] In one example, after obtaining the second message, the server may send multiple first relative positions to the first terminal.

[0257] In another example, in order to improve the reliability of the first relative position sent by the server and reduce the number of signaling interactions, the server may send multiple first relative positions to the first terminal when the second trigger condition is reached.

[0258] The second trigger condition may be used to trigger the server to send multiple first relative positions to the first terminal. The second trigger condition includes a preset period and / or a preset relative position threshold.

[0259] The specific application of the second trigger condition is similar to the specific application of the first trigger condition in step 503 above, and will not be described in detail.

[0260] Optionally, the first terminal may also pre-set a threshold value for the number of first relative positions that the first terminal can receive. The threshold value may be carried in the above-mentioned second message. Before the server sends the multiple first relative positions to the first terminal, the server determines whether the number of the multiple first relative positions is greater than the threshold value. If not, the multiple first relative positions are sent to the first terminal. If greater, multiple first relative positions whose number is the threshold value are selected from the multiple first relative positions and sent to the first terminal.

[0261] Alternatively, the server contains a threshold number of first relative positions that the server can send in a message sent to the first terminal. Before the server sends the multiple first relative positions to the first terminal, the server determines whether the number of the multiple first relative positions is greater than the threshold number. If not, the multiple first relative positions are sent to the first terminal. If yes, multiple first relative positions whose number is the threshold number are selected from the multiple first relative positions and sent to the first terminal.

[0262] Alternatively, the server may process multiple first relative positions to obtain the relative position of the first terminal and the second terminal, and then send the relative position of the first terminal and the second terminal to the first terminal, in which case step 806 is ignored.

[0263] Step 806: The first terminal processes the multiple first relative positions to obtain the relative position of the first terminal and the second terminal.

[0264] Here, step 806 is the same as the above step 302 and will not be described in detail.

[0265] In the above method, the server can process multiple second relative positions and multiple third relative positions to obtain multiple first relative positions, and send them to the first terminal, thereby reducing the calculation burden and CPU overhead of the first terminal; the server can also directly send multiple second relative positions and multiple third relative positions to the first terminal (i.e., replacing step 805), and the first terminal processes the multiple second relative positions and multiple third relative positions to obtain multiple first relative positions, and then executes step 806.

[0266] It should be noted that in Figure 8 In the example, the server can also be a base station (that is, the server function is implemented on the base station). Figure 8 The server in the example is replaced by a base station, which is also within the protection scope of the present invention.

[0267] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the interaction between various network elements. It can be understood that in order to realize the above functions, each terminal includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the algorithm steps of each example described in the embodiments disclosed in this document, 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 and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0268] The embodiment of the present application can divide the functional modules of the terminal according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0269] In the case of dividing each functional module into corresponding functional modules, Fig. 9 The structure diagram of a communication device 90 is shown. The communication device 90 may be a first terminal or a chip or a system on chip in the first terminal. The communication device 90 may be used to perform the functions of the first terminal involved in the above embodiments. Fig. 9 The communication device 90 shown includes: a processing module 901 .

[0270] The processing module 901 is used to obtain multiple first relative positions; wherein each of the multiple first relative positions is determined according to the second relative position and the third relative position; the first relative position is the initial relative position of the first terminal and the second terminal; the second relative position is the relative position of the first terminal and the reference point; the third relative position is the relative position of the second terminal and the reference point. For example, the processing module 901 can be used to support the communication device 90 to perform step 301.

[0271] The processing module 901 is further used to process the multiple first relative positions to obtain the relative position of the first terminal and the second terminal. For example, the processing module 901 can be used to support the communication device 90 to execute step 302, step 505, step 605, step 705 or step 806.

[0272] The specific implementation of the communication device 90 can be referred to Figure 3 , Figure 5 , Figure 6 , Figure 7 or Figure 8 The behavior function of the first terminal in the relative positioning method.

[0273] In one possible design, the communication device 90 further includes a sending module 902; the sending module 902 is specifically used to send a first message for requesting to obtain multiple third relative positions to the second terminal; the above-mentioned processing module 901 is also used to receive multiple third relative positions from the second terminal; the multiple third relative positions and the multiple second relative positions are processed to obtain multiple first relative positions; or

[0274] The sending module 902 is specifically used to send a first message for requesting to obtain multiple third relative positions to multiple reference points; the above-mentioned processing module 901 is also used to receive multiple third relative positions from multiple reference points; and process the multiple third relative positions and the multiple second relative positions to obtain multiple first relative positions.

[0275] In one possible design, the sending module 902 is specifically used to: when sending a first message to a second terminal, the first message may include identity information of multiple reference points; or when sending a first message to multiple reference points, the first message may include identity information of the second terminal.

[0276] In one possible design, when the above-mentioned sending module 902 sends a first message to the second terminal, the first message may also include a first trigger condition for triggering the second terminal to send multiple third relative positions to the first terminal; the first trigger condition includes a preset period and / or a preset relative position threshold, and the preset period includes the period length and / or a preset number of sending times; or when sending the first message to multiple reference points, the first message may also include a first trigger condition for triggering multiple reference points to send multiple third relative positions to the first terminal; the first trigger condition includes a preset period and / or a preset relative position threshold, and the preset period includes the period length and / or a preset number of sending times.

[0277] In one possible design, the sending module 902 is further used to send a second message to multiple reference points for requesting to obtain multiple first relative positions, and the above-mentioned acquisition module 901 is further used to receive multiple first relative positions from multiple reference points; or the above-mentioned sending module 902 is further used to send a second message to the server for requesting to obtain multiple first relative positions, and the above-mentioned acquisition module 901 is further used to receive multiple first relative positions from the server.

[0278] In one possible design, the second message may include identity information of the second terminal.

[0279] In one possible design, the above-mentioned sending module 902 is used to send a second message to multiple reference points, and the second message may also include a second trigger condition for triggering multiple reference points to send multiple first relative positions to the first terminal; the second trigger condition includes a preset period and / or a preset relative position threshold, and the preset period includes the period length and / or a preset number of sending times; or when used to send a second message to a server, the second message may also include a second trigger condition for triggering the server to send multiple first relative positions to the first terminal; the second trigger condition includes a preset period and / or a preset relative position threshold, and the preset period includes the period length and / or a preset number of sending times.

[0280] In one possible design, the processing module 901 is specifically used to: perform weighted processing on multiple first relative positions to obtain the relative position of the first terminal and the second terminal; or use a preset probability distribution model to process multiple first relative positions to obtain the relative position of the first terminal and the second terminal.

[0281] In one possible design, the relative position includes length and angle, the length is the length of the line segment between the two terminals corresponding to the relative position; the angle is the angle formed by the straight line where the two terminals are located and the normal along the angle direction, the normal is a straight line in a preset direction, and the angle direction is clockwise or counterclockwise.

[0282] As another possible way to achieve this, Fig. 9 The processing module 901 in the embodiment may be replaced by a processor, and the processor may integrate the functions of the processing module 901. Further, Fig. 9 The communication device 90 shown may also include a memory. When the processing module 901 is replaced by a processor, the communication device 90 involved in the embodiment of the present application may be Figure 2 The communication device shown.

[0283] Fig.10 The structure diagram of a communication device 100 is shown, and the communication device 100 may be a second terminal or a chip or a system on chip in the second terminal. The communication device 100 may be used to perform the functions of the second terminal involved in the above embodiments. Fig.10 The communication device 100 shown includes: a receiving module 1001 and a sending module 1002 .

[0284] The receiving module 1001 is used to receive a first message from a first terminal; wherein the first message is used to request to obtain a plurality of third relative positions; the third relative position is a relative position between the second terminal and a reference point;

[0285] The sending module 1002 is configured to send a plurality of third relative positions to the first terminal.

[0286] The specific implementation of the communication device 100 can be referred to Figure 5 The behavior function of the second terminal in the relative positioning method.

[0287] In one possible design, the first message may include identity information of multiple reference points and / or a first trigger condition for triggering the second terminal to send multiple third relative positions to the first terminal, the first trigger condition includes a preset period and / or a preset relative position threshold, and the preset period includes a period length and / or a preset number of transmissions.

[0288] As another possible way to achieve this, Fig.10 The receiving module 1001 and the sending module 1002 in the embodiment can be replaced by a transceiver, and the transceiver can integrate the functions of the receiving module 1001 and the sending module 1002. Fig.10 The communication device 100 shown may also include a processor and a memory. When the receiving module 1001 and the sending module 1002 are replaced by a transceiver, the communication device 100 involved in the embodiment of the present application may be Figure 2 The communication device shown.

[0289] Fig.11 The structure diagram of a communication device 110 is shown, and the communication device 110 may be a chip or a system on a chip in a plurality of reference points. The communication device 110 may be used to perform the functions of the plurality of reference points involved in the above embodiments. Fig.11 The communication device 110 shown includes: a receiving module 1101 and a sending module 1102 .

[0290] The receiving module 1101 is used to receive a first message from a first terminal; wherein the first message is used to request to obtain a plurality of third relative positions; the third relative position is a relative position between the second terminal and a reference point;

[0291] The sending module 1102 is configured to send multiple third relative positions to the first terminal.

[0292] The specific implementation of the communication device 110 can be referred to Figure 6 The behavioral functions of multiple reference points in the relative positioning method.

[0293] In one possible design, the first message may include identity information of the second terminal and / or a first trigger condition for triggering multiple reference points to send multiple third relative positions to the first terminal, the first trigger condition including a preset period and / or a preset relative position threshold, the preset period including the period length and / or a preset number of transmissions.

[0294] As another possible way to achieve this, Fig.11The receiving module 1101 and the sending module 1102 in the embodiment can be replaced by a transceiver, and the transceiver can integrate the functions of the receiving module 1101 and the sending module 1102. Fig.11 The communication device 110 shown may also include a processor and a memory. When the receiving module 1101 and the sending module 1102 are replaced by a transceiver, the communication device 110 involved in the embodiment of the present application may be Figure 2 The communication device shown.

[0295] Fig.12 The structure diagram of a communication device 120 is shown. The communication device 120 can be a chip or a system on a chip with multiple reference points or multiple reference points. The communication device 120 can be used to perform the functions of the multiple reference points involved in the above embodiments. As an implementation method, Fig.12 The communication device 120 shown includes: a receiving module 1201 and a sending module 1202 .

[0296] The receiving module 1201 is used to receive a second message from the first terminal; wherein the second message is used to request to obtain a plurality of first relative positions, where the first relative position is an initial relative position between the first terminal and the second terminal;

[0297] The sending module 1202 is configured to send a plurality of first relative positions to a first terminal.

[0298] The specific implementation of the communication device 120 can be referred to Figure 7 The behavior function of the communication device in the relative positioning method.

[0299] In one possible design, the second message may include identity information of the second terminal and / or a second trigger condition for triggering multiple reference points to send multiple first relative positions to the first terminal, the second trigger condition including a preset period and / or a preset relative position threshold, and the preset period includes a period length and / or a preset number of transmissions.

[0300] As another possible way to achieve this, Fig.12 The receiving module 1201 and the sending module 1202 in the embodiment can be replaced by a transceiver, and the transceiver can integrate the functions of the receiving module 1201 and the sending module 1202. Further, Fig.12 The communication device 120 shown may also include a processor and a memory. When the receiving module 1201 and the sending module 1202 are replaced by a transceiver, the communication device 120 involved in the embodiment of the present application may be Figure 2 The communication device shown.

[0301] Fig.13The structure diagram of a communication device 130 is shown. The communication device 130 may be a server or a chip or a system on chip in a server. The communication device 130 may be used to perform the functions of the server involved in the above-mentioned embodiment. As an implementation method, Fig.13 The communication device 130 shown includes: a receiving module 1301 and a sending module 1302 .

[0302] The receiving module 1301 is used to receive a second message from the first terminal; wherein the second message is used to request to obtain a plurality of first relative positions, where the first relative position is an initial relative position between the first terminal and the second terminal;

[0303] The sending module 1302 is configured to send multiple first relative positions to the first terminal.

[0304] The specific implementation of the communication device 130 can be referred to Figure 8 The behavior function of the communication device in the relative positioning method.

[0305] In one possible design, the second message may include identity information of the second terminal and / or a second trigger condition for triggering the server to send multiple first relative positions to the first terminal, the second trigger condition including a preset period and / or a preset relative position threshold, and the preset period includes a period length and / or a preset number of transmissions.

[0306] As another possible way to achieve this, Fig.13 The receiving module 1301 and the sending module 1302 in the embodiment can be replaced by a transceiver, and the transceiver can integrate the functions of the receiving module 1301 and the sending module 1302. Further, Fig.13 The communication device 130 shown may also include a processor and a memory. When the receiving module 1301 and the sending module 1302 are replaced by a transceiver, the communication device 130 involved in the embodiment of the present application may be Figure 2 The communication device shown.

[0307] The embodiment of the present application also provides a computer-readable storage medium. All or part of the processes in the above method embodiments can be completed by a computer program to instruct the relevant hardware, and the program can be stored in the above computer-readable storage medium. When the program is executed, it may include the processes of the above method embodiments. The computer-readable storage medium can be an internal storage unit of a terminal (including a data sending end and / or a data receiving end) in any of the above embodiments, such as a hard disk or memory of the terminal. The above computer-readable storage medium can also be an external storage device of the above terminal, such as a plug-in hard disk equipped on the above terminal, a smart memory card (smart media card, SMC), a secure digital (secure digital, SD) card, a flash card (flash card), etc. Further, the above computer-readable storage medium can also include both an internal storage unit of the above terminal and an external storage device. The above computer-readable storage medium is used to store the above computer program and other programs and data required by the above terminal. The above computer-readable storage medium can also be used to temporarily store data that has been output or is to be output.

[0308] It should be noted that the terms "first" and "second" in the specification, claims and drawings of the present application are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0309] It should be understood that in the present application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three and more than three, and "and / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0310] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0311] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0312] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0313] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0314] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks or optical disks.

[0315] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application shall be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A relative positioning method, characterized in that: include: The first terminal acquires a plurality of first relative positions; wherein each of the plurality of first relative positions is determined according to a second relative position and a third relative position; the first relative position is an initial relative position between the first terminal and the second terminal; the second relative position is a relative position between the first terminal and a reference point; and the third relative position is a relative position between the second terminal and the reference point; The first terminal processes the multiple first relative positions to obtain the relative position of the first terminal and the second terminal.

2. The method according to claim 1, characterized in that The first terminal acquires a plurality of first relative positions, including: The first terminal sends a first message to the second terminal; wherein the first message is used to request to obtain multiple third relative positions; the first terminal receives the multiple third relative positions from the second terminal; the first terminal processes the multiple third relative positions and the multiple second relative positions to obtain the multiple first relative positions; or The first terminal sends a first message to the multiple reference points; wherein the first message is used to request to obtain a third relative position; the first terminal receives multiple third relative positions from the multiple reference points; the first terminal processes the multiple third relative positions and the multiple second relative positions to obtain the multiple first relative positions.

3. The method according to claim 2, characterized in that The method further comprises: When the first terminal sends the first message to the second terminal, the first message includes identity information of the plurality of reference points; or When the first terminal sends the first message to the plurality of reference points, the first message includes identity information of the second terminal.

4. The method according to claim 2 or 3, characterized in that: The method further comprises: When the first terminal sends the first message to the second terminal, the first message also includes a first trigger condition; wherein the first trigger condition is used to trigger the second terminal to send the multiple third relative positions to the first terminal, and the first trigger condition includes a preset period and / or a preset relative position threshold, and the preset period includes a period length and / or a preset number of transmissions; or When the first terminal sends the first message to multiple reference points, the first message also includes a first trigger condition; wherein, the first trigger condition is used to trigger multiple reference points to send the multiple third relative positions to the first terminal, and the first trigger condition includes a preset period and / or a preset relative position threshold, and the preset period includes a period length and / or a preset number of sending times.

5. The method according to claim 1, characterized in that The first terminal acquires a plurality of first relative positions, including: The first terminal sends a second message to the plurality of reference points; wherein the second message is used to request acquisition of the plurality of first relative positions; the first terminal receives the plurality of first relative positions from the plurality of reference points; or The first terminal sends a second message to the server; wherein the second message is used to request to obtain the multiple first relative positions; and the first terminal receives the multiple first relative positions from the server.

6. The method according to claim 5, characterized in that The second message includes identity information of the second terminal.

7. The method according to claim 5 or 6, characterized in that: The method further comprises: When the first terminal sends a second message to the multiple reference points, the second message also includes a second trigger condition; wherein the second trigger condition is used to trigger the multiple reference points to send the multiple first relative positions to the first terminal, and the second trigger condition includes a preset period and / or a preset relative position threshold, and the preset period includes a period length and / or a preset number of transmissions; or When the first terminal sends a second message to the server, the second message also includes a second trigger condition; wherein, the second trigger condition is used to trigger the server to send the multiple first relative positions to the first terminal, and the second trigger condition includes a preset period and / or a preset relative position threshold, and the preset period includes a period length and / or a preset number of sending times.

8. The method according to any one of claims 1-3, 5-6, characterized in that: The first terminal processes the multiple first relative positions to obtain a relative position of the first terminal and the second terminal, including: Performing weighted processing on the multiple first relative positions to obtain the relative position of the first terminal and the second terminal; or The plurality of first relative positions are processed using a preset probability distribution model to obtain a relative position of the first terminal and the second terminal.

9. The method according to any one of claims 1-3, 5-6, characterized in that: The relative position includes length and angle, the length is the length of the line segment between the two terminals corresponding to the relative position; the angle is the angle formed by the straight line where the two terminals are located and the normal along the angle direction, the normal is a straight line in a preset direction, and the angle direction is clockwise or counterclockwise.

10. A relative positioning method, characterized in that: include: The second terminal receives a first message from the first terminal; wherein the first message is used to request to obtain a plurality of third relative positions, the third relative positions being the relative positions of the second terminal and a reference point; the third relative positions and the second relative positions are used to determine a first relative position, the second relative position being the relative position of the first terminal and the reference point, and the first relative position being the initial relative position of the first terminal and the second terminal; The second terminal determines the plurality of third relative positions according to the first message; The second terminal sends the plurality of third relative positions to the first terminal.

11. The method according to claim 10, characterized in that The method further comprises: The first message includes identity information of multiple reference points and / or a first trigger condition; wherein, the first trigger condition is used to trigger the second terminal to send the multiple third relative positions to the first terminal, and the first trigger condition includes a preset period and / or a preset relative position threshold, and the preset period includes a period length and / or a preset number of sending times.

12. A relative positioning method, characterized in that: include: Each of the multiple reference points receives a first message from a first terminal; wherein the first message is used to request acquisition of a third relative position, the third relative position being a relative position between the second terminal and the reference point; the third relative position and the second relative position are used to determine a first relative position, the second relative position being a relative position between the first terminal and the reference point, and the first relative position being an initial relative position between the first terminal and the second terminal; The reference point determines the third relative position according to the first message; The reference point sends the third relative position to the first terminal.

13. The method according to claim 12, characterized in that The method further comprises: The first message includes the identity information of the second terminal and / or a first trigger condition, the first trigger condition is used to trigger the reference point to send the third relative position to the first terminal, the first trigger condition includes a preset period and / or a preset relative position threshold, and the preset period includes a period length and / or a preset number of transmissions.

14. A relative positioning method, characterized in that: include: Each reference point of the plurality of reference points receives a second message from the first terminal; wherein the second message is used to request acquisition of a first relative position, where the first relative position is an initial relative position between the first terminal and the second terminal; The reference point determines a second relative position and a third relative position according to the second message; wherein the second relative position is the relative position of the first terminal and the reference point; the third relative position is the relative position of the second terminal and the reference point; the reference point determines the first relative position according to the second relative position and the third relative position; The reference point sends the first relative position to the first terminal.

15. The method according to claim 14, characterized in that The method further comprises: The second message includes the identity information of the second terminal and / or a second trigger condition, the second trigger condition is used to trigger the reference point to send the first relative position to the first terminal, the second trigger condition includes a preset period and / or a preset relative position threshold, the preset period includes the period length and / or a preset number of transmissions.

16. A relative positioning method, characterized in that: include: The server receives a second message from the first terminal; wherein the second message is used to request to obtain multiple first relative positions, and the first relative position is an initial relative position of the first terminal and the second terminal; the server determines all relative positions corresponding to the first terminal and all relative positions corresponding to the second terminal according to the second message; The server determines a plurality of second relative positions and a plurality of third relative positions according to all relative positions corresponding to the first terminal and all relative positions corresponding to the second terminal; wherein the second relative position is a relative position between the first terminal and a reference point; and the third relative position is a relative position between the second terminal and the reference point; The server determines the plurality of first relative positions according to the plurality of second relative positions and the plurality of third relative positions; The server sends the multiple first relative positions to the first terminal.

17. The method according to claim 16, characterized in that The second message includes the identity information of the second terminal and / or a second trigger condition, the second trigger condition is used to trigger the server to send the multiple first relative positions to the first terminal, the second trigger condition includes a preset period and / or a preset relative position threshold, and the preset period includes a period length and / or a preset number of sending times.

18. A communication device, characterized in that: The communication device includes one or more processors and one or more memories; the one or more memories are coupled to the one or more processors, and the one or more memories are used to store computer program codes or computer instructions; When one or more processors execute computer instructions, the communication device executes the relative positioning method as described in any one of claims 1-9, or the relative positioning method as described in any one of claims 10-11, or the relative positioning method as described in any one of claims 12-13, or the relative positioning method as described in any one of claims 14-15, or the relative positioning method as described in any one of claims 16-17.

19. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions or programs. When the computer instructions or programs are executed on a computer, the computer executes the relative positioning method as described in any one of claims 1 to 9, or the relative positioning method as described in any one of claims 10 to 11, or the relative positioning method as described in any one of claims 12 to 13, or the relative positioning method as described in any one of claims 14 to 15, or the relative positioning method as described in any one of claims 16 to 17.

20. A computer program product, characterized in that The computer program product includes computer instructions or programs; when the computer instructions or programs are executed on the computer, the computer executes the relative positioning method as described in any one of claims 1 to 9, or the relative positioning method as described in any one of claims 10 to 11, or the relative positioning method as described in any one of claims 12 to 13, or the relative positioning method as described in any one of claims 14 to 15, or the relative positioning method as described in any one of claims 16 to 17.

21. A communication system, characterized in that: The communication system includes a first terminal, a second terminal, and a plurality of reference points or servers; The first terminal is used to obtain multiple first relative positions; process the multiple first relative positions to obtain the relative position of the first terminal and the second terminal; wherein each of the multiple first relative positions is determined according to the second relative position and the third relative position; the first relative position is the initial relative position of the first terminal and the second terminal; the second relative position is the relative position of the first terminal and a reference point; the third relative position is the relative position of the second terminal and the reference point; the second terminal is used to receive a first message from the first terminal; send multiple third relative positions to the first terminal; wherein the first message is used to request to obtain the multiple third relative positions; or The first terminal is used to obtain multiple first relative positions; process the multiple first relative positions to obtain the relative position of the first terminal and the second terminal; wherein each of the multiple first relative positions is determined according to the second relative position and the third relative position; the first relative position is the initial relative position of the first terminal and the second terminal; the second relative position is the relative position of the first terminal and a reference point; the third relative position is the relative position of the second terminal and the reference point; the multiple reference points are used to receive a first message from the first terminal; send multiple third relative positions to the first terminal; wherein the first message is used to request the acquisition of the multiple third relative positions; or The first terminal is used to obtain multiple first relative positions; process the multiple first relative positions to obtain the relative position of the first terminal and the second terminal; wherein each of the multiple first relative positions is determined according to the second relative position and the third relative position; the first relative position is the initial relative position of the first terminal and the second terminal; the second relative position is the relative position of the first terminal and a reference point; the third relative position is the relative position of the second terminal and the reference point; the multiple reference points are used to receive a second message from the first terminal; send multiple first relative positions to the first terminal; wherein the second message is used to request the acquisition of the multiple first relative positions; or The first terminal is used to obtain multiple first relative positions; process the multiple first relative positions to obtain the relative position of the first terminal and the second terminal; wherein each of the multiple first relative positions is determined according to the second relative position and the third relative position; the first relative position is the initial relative position of the first terminal and the second terminal; the second relative position is the relative position of the first terminal and a reference point; the third relative position is the relative position of the second terminal and the reference point; the server is used to receive a second message from the first terminal; send multiple first relative positions to the first terminal; wherein the second message is used to request the acquisition of the multiple first relative positions.

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