Positioning method, device, terminal and storage medium

Abstract

In a positioning method, device, terminal and storage medium provided by the present application, on the first terminal side, the positioning method includes: obtaining positioning service information of the target terminal; determining a main positioning terminal for providing the main positioning service and an auxiliary positioning terminal for providing the auxiliary positioning service from the target terminal according to the positioning service information; locating the position of the first terminal based on the main positioning terminal and the auxiliary positioning terminal. Since the first terminal can be assisted in positioning by the main positioning terminal and the auxiliary positioning terminal, the position of the first terminal can be accurately located even if there is no suitable positioning server providing positioning services in the network coverage area where the first terminal is located.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a positioning method, device, terminal and storage medium. Background Art

[0002] With the advent of the 5G era, the Internet of Things and intelligence have put forward higher requirements for location-based services. As a new direction, 5G New Radio (NR) positioning technology can meet the positioning needs of different application scenarios with high precision.

[0003] At present, when using 5G NR positioning technology to locate a terminal, the terminal needs to send the terminal's positioning capability to the positioning server, and then the positioning server determines the positioning method based on the terminal's positioning capability and sends it to the terminal. The terminal performs corresponding positioning measurements based on the positioning method and the base station to obtain the positioning result of the terminal.

[0004] In the above positioning technologies, when there is no suitable positioning server to provide positioning services in the network coverage area where the terminal is located, the terminal cannot be positioned. Summary of the invention

[0005] The present application provides a positioning method, device, terminal and storage medium, which are used to solve the technical problem that the terminal cannot be positioned when there is no suitable positioning server to provide positioning services in the network coverage area where the terminal is located.

[0006] In a first aspect, the present application provides a positioning method, which is applied to a first terminal, and the positioning method includes:

[0007] Obtaining the location service information of the target terminal;

[0008] According to the positioning service information, a primary positioning terminal for providing a primary positioning service and an auxiliary positioning terminal for providing an auxiliary positioning service are determined from the target terminal;

[0009] The position of the first terminal is located based on the primary positioning terminal and the auxiliary positioning terminal.

[0010] Optionally, the first terminal establishes a communication connection with the target terminal via a direct communication interface.

[0011] Optionally, obtain the location service information of the target terminal, including:

[0012] The positioning service information sent by the target terminal is received through the direct communication interface.

[0013] Optionally, obtain the location service information of the target terminal, including:

[0014] Sending a location service information acquisition request to the target terminal via a direct communication interface;

[0015] Receive the positioning service information sent by the target terminal.

[0016] Optionally, obtain the location service information of the target terminal, including:

[0017] Obtain the location service information of the target terminal from the network device.

[0018] Optionally, obtaining the location service information of the target terminal from the network device includes:

[0019] Sending a location service information acquisition request to a network device, where the first terminal is within the coverage of the network device;

[0020] Receive the positioning service information of the target terminal sent by the network device.

[0021] Optionally, obtain the location service information of the target terminal, including:

[0022] If it is determined that the target terminal is not within the coverage of the network device, obtaining the positioning service information of the target terminal from the storage medium of the first terminal;

[0023] The positioning service information of the target terminal is obtained and stored from the network device when the first terminal is within the coverage of the network device.

[0024] Optionally, determining a primary positioning terminal for providing a primary positioning service from the target terminal according to the positioning service information includes:

[0025] Determining at least one terminal capable of providing a primary positioning service from the target terminals according to the positioning service information;

[0026] According to the determined positioning capability information and moving speed of each terminal and the channel condition between the terminal and the first terminal, a main positioning terminal for providing a main positioning service is screened out from the at least one determined terminal.

[0027] Optionally, after determining a primary positioning terminal for providing a primary positioning service and a secondary positioning terminal for providing a secondary positioning service, the positioning method further includes:

[0028] Sending a first positioning service message for indicating providing a primary positioning service to a primary positioning terminal;

[0029] Alternatively, a first positioning service message for indicating providing the primary positioning service is sent to the network device, so that the network device forwards the first positioning service message to the primary positioning terminal after receiving the first positioning service message.

[0030] Optionally, after determining a primary positioning terminal for providing a primary positioning service and a secondary positioning terminal for providing a secondary positioning service, the method further includes:

[0031] Sending a second positioning service message for indicating providing an auxiliary positioning service to the auxiliary positioning terminal;

[0032] Alternatively, a second positioning service message for indicating the provision of auxiliary positioning service is sent to the network device, so that the network device forwards the second positioning service message to the auxiliary positioning terminal after receiving it.

[0033] Optionally, locating the position of the first terminal based on the primary positioning terminal and the auxiliary positioning terminal includes:

[0034] Sending the positioning capability information of the first terminal to the main positioning terminal;

[0035] Receiving a positioning method for performing positioning measurement on the first terminal determined by the main positioning terminal according to the positioning capability information;

[0036] Based on the positioning method, measure the positioning reference signal with the auxiliary positioning terminal to obtain the measurement result;

[0037] Based on the measurement result, the position of the first terminal is obtained.

[0038] Optionally, if the measurement result includes a first measurement result, performing positioning signal measurement with the auxiliary positioning terminal based on the positioning method to obtain the measurement result includes:

[0039] Receiving a first positioning signal sent by the auxiliary positioning terminal;

[0040] The first positioning signal is measured based on the positioning method to obtain a first measurement result.

[0041] Optionally, if the measurement result includes a second measurement result, obtaining the measurement result through interaction with the auxiliary positioning terminal based on the positioning method includes:

[0042] Sending a second positioning signal to the auxiliary positioning terminal;

[0043] A second measurement result is received, where the second measurement result is obtained by the auxiliary positioning terminal measuring the second positioning signal based on the positioning method.

[0044] Optionally, obtaining the position of the first terminal based on the measurement result includes:

[0045] Sending the first measurement result and / or the second measurement result to a main positioning terminal;

[0046] Receiving the positioning result sent by the main positioning terminal, and obtaining the position of the first terminal according to the positioning result;

[0047] The positioning result is obtained by the main positioning terminal calculating the first measurement result and / or the second measurement result based on the positioning method.

[0048] Optionally, obtaining the position of the first terminal based on the measurement result includes:

[0049] Based on the positioning method, the first measurement result and / or the second measurement result is calculated to obtain the positioning result of the first terminal.

[0050] In a second aspect, the present application provides a positioning method, which is applied to a primary positioning terminal, where the primary positioning terminal is used to provide a primary positioning service for a first terminal. The positioning method includes:

[0051] Receiving positioning capability information of the first terminal;

[0052] Determine, according to the positioning capability information of the first terminal, a positioning method for performing positioning measurement on the first terminal, and send the positioning method to the first terminal;

[0053] Receiving a measurement result obtained by measuring a positioning reference signal between the first terminal and the auxiliary positioning terminal based on the positioning method;

[0054] Based on the measurement result, obtain a positioning result of the first terminal, and send the positioning result to the first terminal;

[0055] Among them, the auxiliary positioning terminal is used to provide auxiliary positioning services.

[0056] Optionally, at least two of the first terminal, the primary positioning terminal and the auxiliary positioning terminal are communicatively connected via a direct communication interface.

[0057] Optionally, receiving a measurement result obtained by measuring a positioning reference signal between the first terminal and the auxiliary positioning terminal based on the positioning method includes:

[0058] receiving a first measurement result sent by the first terminal, wherein the first measurement result is obtained by the first terminal measuring a first positioning signal based on a positioning method, and the first positioning signal is sent by the auxiliary positioning terminal to the first terminal;

[0059] and / or,

[0060] A second measurement result is received, wherein the second measurement result is obtained by the auxiliary positioning terminal by measuring a second positioning signal based on a positioning method, and the second positioning signal is sent by the first terminal to the auxiliary positioning terminal.

[0061] Optionally, before receiving the positioning capability information of the first terminal, the positioning method further includes:

[0062] The positioning service information is sent to the first terminal through the direct communication interface or the network device.

[0063] Optionally, before receiving the positioning capability information of the first terminal, the positioning method further includes:

[0064] Receiving a location service information acquisition request sent by the first terminal;

[0065] The positioning service information is sent to the first terminal according to the positioning service information acquisition request.

[0066] Optionally, before receiving the positioning capability information of the first terminal, the positioning method further includes:

[0067] Receiving a first positioning service message sent by the first terminal through the direct connection interface and used to indicate providing a primary positioning service;

[0068] Alternatively, a first positioning service message sent by a network device to indicate provision of a primary positioning service is received, wherein the first positioning service message is sent by a first terminal to the network device.

[0069] In a third aspect, the present application provides a positioning method, which is applied to an auxiliary positioning terminal, where the auxiliary positioning terminal provides an auxiliary positioning service for a first terminal, and the positioning method includes:

[0070] Receiving a positioning method of the first terminal;

[0071] Based on the positioning method, measure a positioning reference signal with the first terminal to obtain a measurement result;

[0072] Sending the measurement result to the first terminal or the main positioning terminal, where the measurement result is used by the first terminal or the main positioning terminal to obtain a positioning result of the first terminal;

[0073] Among them, the main positioning terminal is used to provide the main positioning service.

[0074] Optionally, at least two terminals among the first terminal, the auxiliary positioning terminal and the main positioning terminal are communicatively connected via a direct communication interface.

[0075] Optionally, if the measurement result includes a first measurement result, based on the positioning method, measuring a positioning reference signal with the first terminal to obtain the measurement result includes:

[0076] Sending a first positioning signal to the first terminal;

[0077] A first measurement result sent by a first terminal is received, where the first measurement result is obtained by the first terminal measuring a first positioning signal based on a positioning method.

[0078] Optionally, if the measurement result includes a second measurement result, based on the positioning method, measuring a positioning reference signal with the first terminal to obtain the measurement result includes:

[0079] receiving a second positioning signal sent by the first terminal;

[0080] Based on the positioning method, the second positioning signal is measured to obtain a second measurement result.

[0081] Optionally, before receiving the positioning method of the first terminal, the positioning method further includes:

[0082] Receiving a second positioning service message sent by the first terminal for indicating provision of an auxiliary positioning service;

[0083] Alternatively, a second positioning service message sent by the network device to indicate provision of an auxiliary positioning service is received, wherein the second positioning service message is sent by the first terminal to the network device.

[0084] In a fourth aspect, the present application provides a positioning device, applied to a first terminal, the positioning device comprising:

[0085] An acquisition module is used to acquire the positioning service information of the target terminal;

[0086] A determination module, used to determine, from the target terminal, a primary positioning terminal for providing a primary positioning service and an auxiliary positioning terminal for providing an auxiliary positioning service according to the positioning service information;

[0087] The processing module is used to locate the position of the first terminal based on the main positioning terminal and the auxiliary positioning terminal.

[0088] Optionally, the first terminal establishes a communication connection with the target terminal via a direct communication interface.

[0089] Optionally, the acquisition module is specifically used to: receive positioning service information sent by the target terminal through the direct communication interface.

[0090] Optionally, the acquisition module is specifically used to: send a location service information acquisition request to the target terminal through the direct communication interface;

[0091] Receive the positioning service information sent by the target terminal.

[0092] Optionally, the acquisition module is specifically used to: acquire the positioning service information of the target terminal from the network device.

[0093] Optionally, the acquisition module is specifically used to: send a location service information acquisition request to a network device, and the first terminal is located within the coverage of the network device;

[0094] Receive the positioning service information of the target terminal sent by the network device.

[0095] Optionally, the acquisition module is specifically used to: if it is determined that the target terminal is not within the coverage of the network device, obtain the positioning service information of the target terminal from the storage medium of the first terminal;

[0096] The positioning service information of the target terminal is obtained and stored from the network device when the first terminal is within the coverage of the network device.

[0097] Optionally, the determination module is specifically used to: determine at least one terminal that can provide a primary positioning service from the target terminal according to the positioning service information;

[0098] According to the determined positioning capability information and moving speed of each terminal and the channel condition between the terminal and the first terminal, a main positioning terminal for providing a main positioning service is screened out from the at least one determined terminal.

[0099] Optionally, the positioning device further includes: a sending module, configured to send a first positioning service message for indicating provision of a primary positioning service to a primary positioning terminal;

[0100] Alternatively, a first positioning service message for indicating providing the primary positioning service is sent to the network device, so that the network device forwards the first positioning service message to the primary positioning terminal after receiving the first positioning service message.

[0101] Optionally, the sending module is further used to: send a second positioning service message for indicating the provision of an auxiliary positioning service to the auxiliary positioning terminal;

[0102] Alternatively, a second positioning service message for indicating the provision of auxiliary positioning service is sent to the network device, so that the network device forwards the second positioning service message to the auxiliary positioning terminal after receiving it.

[0103] Optionally, the processing module is specifically configured to: send the positioning capability information of the first terminal to the main positioning terminal;

[0104] Receiving a positioning method for performing positioning measurement on the first terminal determined by the main positioning terminal according to the positioning capability information;

[0105] Based on the positioning method, measure the positioning reference signal with the auxiliary positioning terminal to obtain the measurement result;

[0106] Based on the measurement result, the position of the first terminal is obtained.

[0107] Optionally, if the measurement result includes a first measurement result, the processing module is specifically configured to: receive a first positioning signal sent by the auxiliary positioning terminal;

[0108] The first positioning signal is measured based on the positioning method to obtain a first measurement result.

[0109] Optionally, if the measurement result includes a second measurement result, the processing module is specifically configured to: send a second positioning signal to the auxiliary positioning terminal;

[0110] A second measurement result is received, where the second measurement result is obtained by the auxiliary positioning terminal measuring the second positioning signal based on the positioning method.

[0111] Optionally, the processing module is specifically used to: send the first measurement result and / or the second measurement result to the main positioning terminal;

[0112] Receiving the positioning result sent by the main positioning terminal, and obtaining the position of the first terminal according to the positioning result;

[0113] The positioning result is obtained by the main positioning terminal calculating the first measurement result and / or the second measurement result based on the positioning method.

[0114] Optionally, the processing module is specifically used to: calculate the first measurement result and / or the second measurement result based on the positioning method to obtain the positioning result of the first terminal.

[0115] In a fifth aspect, the present application provides a positioning device, which is applied to a main positioning terminal, and the main positioning terminal is used to provide a main positioning service for a first terminal. The positioning device includes:

[0116] A receiving module, configured to receive positioning capability information of the first terminal;

[0117] A determination module, configured to determine a positioning method for performing positioning measurement on the first terminal according to the positioning capability information of the first terminal, and send the positioning method to the first terminal;

[0118] The receiving module is further used to receive a measurement result obtained by measuring a positioning reference signal between the first terminal and the auxiliary positioning terminal based on the positioning method;

[0119] A processing module, configured to obtain a positioning result of the first terminal based on the measurement result, and send the positioning result to the first terminal;

[0120] Among them, the auxiliary positioning terminal is used to provide auxiliary positioning services.

[0121] Optionally, at least two of the first terminal, the primary positioning terminal and the auxiliary positioning terminal are communicatively connected via a direct communication interface.

[0122] Optional, receiving module, specifically used for:

[0123] Optionally, a first measurement result sent by the first terminal is received, where the first measurement result is obtained by the first terminal measuring a first positioning signal based on a positioning method, and the first positioning signal is sent by the auxiliary positioning terminal to the first terminal;

[0124] and / or,

[0125] A second measurement result is received, wherein the second measurement result is obtained by the auxiliary positioning terminal by measuring a second positioning signal based on a positioning method, and the second positioning signal is sent by the first terminal to the auxiliary positioning terminal.

[0126] Optionally, the positioning device further includes: a sending module, configured to send positioning service information to the first terminal via a direct communication interface or a network device.

[0127] Optionally, the receiving module is further used to: receive a positioning service information acquisition request sent by the first terminal;

[0128] The positioning service information is sent to the first terminal according to the positioning service information acquisition request.

[0129] Optionally, the receiving module is further used to: receive a first positioning service message sent by the first terminal through the direct connection interface to indicate providing a primary positioning service;

[0130] Alternatively, a first positioning service message sent by a network device to indicate provision of a primary positioning service is received, wherein the first positioning service message is sent by a first terminal to the network device.

[0131] In a sixth aspect, the present application provides a positioning device, which is applied to an auxiliary positioning terminal, and the auxiliary positioning terminal provides an auxiliary positioning service for a first terminal. The positioning device includes:

[0132] A receiving module, used for receiving a positioning method of a first terminal;

[0133] A processing module, configured to measure a positioning reference signal with the first terminal based on the positioning method to obtain a measurement result;

[0134] A sending module, used to send the measurement result to the first terminal or the main positioning terminal, where the measurement result is used by the first terminal or the main positioning terminal to obtain the positioning result of the first terminal;

[0135] Among them, the main positioning terminal is used to provide the main positioning service.

[0136] Optionally, at least two terminals among the first terminal, the auxiliary positioning terminal and the main positioning terminal are communicatively connected via a direct communication interface.

[0137] Optionally, if the measurement result includes a first measurement result, the sending module is specifically configured to: send a first positioning signal to the first terminal;

[0138] The sending module is specifically used to: receive a first measurement result sent by a first terminal, where the first measurement result is obtained by the first terminal measuring a first positioning signal based on a positioning method.

[0139] Optionally, if the measurement result includes a second measurement result, the receiving module is specifically configured to:

[0140] receiving a second positioning signal sent by the first terminal;

[0141] The processing module is specifically used to: measure the second positioning signal based on the positioning method to obtain a second measurement result.

[0142] Optionally, the receiving module is further used to: receive a second positioning service message sent by the first terminal to indicate providing an auxiliary positioning service;

[0143] Alternatively, a second positioning service message sent by the network device to indicate provision of an auxiliary positioning service is received, wherein the second positioning service message is sent by the first terminal to the network device.

[0144] In a seventh aspect, the present application provides a terminal, which is a first terminal, and the first terminal includes:

[0145] Memory for storing computer programs;

[0146] a transceiver for transmitting and receiving data under the control of the processor;

[0147] A processor that reads a computer program from memory and performs the following operations:

[0148] Obtaining the location service information of the target terminal;

[0149] According to the positioning service information, a primary positioning terminal for providing a primary positioning service and an auxiliary positioning terminal for providing an auxiliary positioning service are determined from the target terminal;

[0150] The position of the first terminal is located based on the primary positioning terminal and the auxiliary positioning terminal.

[0151] Optionally, the first terminal establishes a communication connection with the target terminal via a direct communication interface.

[0152] Optionally, obtain the location service information of the target terminal, including:

[0153] The positioning service information sent by the target terminal is received through the direct communication interface.

[0154] Optionally, obtain the location service information of the target terminal, including:

[0155] Sending a location service information acquisition request to the target terminal via a direct communication interface;

[0156] Receive the positioning service information sent by the target terminal.

[0157] Optionally, obtain the location service information of the target terminal, including:

[0158] Obtain the location service information of the target terminal from the network device.

[0159] Optionally, obtaining the location service information of the target terminal from the network device includes:

[0160] Sending a location service information acquisition request to a network device, where the first terminal is within the coverage of the network device;

[0161] Receive the positioning service information of the target terminal sent by the network device.

[0162] Optionally, obtain the location service information of the target terminal, including:

[0163] If it is determined that the target terminal is not within the coverage of the network device, obtaining the positioning service information of the target terminal from the storage medium of the first terminal;

[0164] The positioning service information of the target terminal is obtained and stored from the network device when the first terminal is within the coverage of the network device.

[0165] Optionally, determining a primary positioning terminal for providing a primary positioning service from the target terminal according to the positioning service information includes:

[0166] Determining at least one terminal capable of providing a primary positioning service from the target terminals according to the positioning service information;

[0167] According to the determined positioning capability information and moving speed of each terminal and the channel condition between the terminal and the first terminal, a main positioning terminal for providing a main positioning service is screened out from the at least one determined terminal.

[0168] Optionally, after determining the primary positioning terminal for providing the primary positioning service and the secondary positioning terminal for providing the secondary positioning service, the processor is further configured to perform the following operations:

[0169] Sending a first positioning service message for indicating providing a primary positioning service to a primary positioning terminal;

[0170] Alternatively, a first positioning service message for indicating providing the primary positioning service is sent to the network device, so that the network device forwards the first positioning service message to the primary positioning terminal after receiving the first positioning service message.

[0171] Optionally, after determining the primary positioning terminal for providing the primary positioning service and the secondary positioning terminal for providing the secondary positioning service, the processor is further configured to perform the following operations:

[0172] Sending a second positioning service message for indicating providing an auxiliary positioning service to the auxiliary positioning terminal;

[0173] Alternatively, a second positioning service message for indicating the provision of auxiliary positioning service is sent to the network device, so that the network device forwards the second positioning service message to the auxiliary positioning terminal after receiving it.

[0174] Optionally, locating the position of the first terminal based on the primary positioning terminal and the auxiliary positioning terminal includes:

[0175] Sending the positioning capability information of the first terminal to the main positioning terminal;

[0176] Receiving a positioning method for performing positioning measurement on the first terminal determined by the main positioning terminal according to the positioning capability information;

[0177] Based on the positioning method, measure the positioning reference signal with the auxiliary positioning terminal to obtain the measurement result;

[0178] Based on the measurement result, the position of the first terminal is obtained.

[0179] Optionally, if the measurement result includes a first measurement result, performing positioning signal measurement with the auxiliary positioning terminal based on the positioning method to obtain the measurement result includes:

[0180] Receiving a first positioning signal sent by the auxiliary positioning terminal;

[0181] The first positioning signal is measured based on the positioning method to obtain a first measurement result.

[0182] Optionally, if the measurement result includes a second measurement result, obtaining the measurement result through interaction with the auxiliary positioning terminal based on the positioning method includes:

[0183] Sending a second positioning signal to the auxiliary positioning terminal;

[0184] A second measurement result is received, where the second measurement result is obtained by the auxiliary positioning terminal measuring the second positioning signal based on the positioning method.

[0185] Optionally, obtaining the position of the first terminal based on the measurement result includes:

[0186] Sending the first measurement result and / or the second measurement result to a main positioning terminal;

[0187] Receiving the positioning result sent by the main positioning terminal, and obtaining the position of the first terminal according to the positioning result;

[0188] The positioning result is obtained by the main positioning terminal calculating the first measurement result and / or the second measurement result based on the positioning method.

[0189] Optionally, obtaining the position of the first terminal based on the measurement result includes:

[0190] Based on the positioning method, the first measurement result and / or the second measurement result is calculated to obtain the positioning result of the first terminal.

[0191] In an eighth aspect, the present application provides a terminal, which is a main positioning terminal, and the main positioning terminal provides a main positioning service for a first terminal, and the main positioning terminal includes:

[0192] Memory for storing computer programs;

[0193] a transceiver for transmitting and receiving data under the control of the processor;

[0194] A processor that reads a computer program from memory and performs the following operations:

[0195] Receiving positioning capability information of the first terminal;

[0196] Determine, according to the positioning capability information of the first terminal, a positioning method for performing positioning measurement on the first terminal, and send the positioning method to the first terminal;

[0197] Receiving a measurement result obtained by measuring a positioning reference signal between the first terminal and the auxiliary positioning terminal based on the positioning method;

[0198] Based on the measurement result, obtain a positioning result of the first terminal, and send the positioning result to the first terminal;

[0199] Among them, the auxiliary positioning terminal is used to provide auxiliary positioning services.

[0200] Optionally, at least two of the first terminal, the primary positioning terminal and the auxiliary positioning terminal are communicatively connected via a direct communication interface.

[0201] Optionally, receiving a measurement result obtained by measuring a positioning reference signal between the first terminal and the auxiliary positioning terminal based on the positioning method includes:

[0202] receiving a first measurement result sent by the first terminal, wherein the first measurement result is obtained by the first terminal measuring a first positioning signal based on a positioning method, and the first positioning signal is sent by the auxiliary positioning terminal to the first terminal;

[0203] and / or,

[0204] A second measurement result is received, wherein the second measurement result is obtained by the auxiliary positioning terminal by measuring a second positioning signal based on a positioning method, and the second positioning signal is sent by the first terminal to the auxiliary positioning terminal.

[0205] Optionally, before receiving the positioning capability information of the first terminal, the processor is further configured to perform the following operations:

[0206] The positioning service information is sent to the first terminal through the direct communication interface or the network device.

[0207] Optionally, before receiving the positioning capability information of the first terminal, the processor is further configured to perform the following operations:

[0208] Receiving a location service information acquisition request sent by the first terminal;

[0209] The positioning service information is sent to the first terminal according to the positioning service information acquisition request.

[0210] Optionally, before receiving the positioning capability information of the first terminal, the processor is further configured to perform the following operations:

[0211] Receiving a first positioning service message sent by the first terminal through the direct connection interface and used to indicate providing a primary positioning service;

[0212] Alternatively, a first positioning service message sent by a network device to indicate provision of a primary positioning service is received, wherein the first positioning service message is sent by a first terminal to the network device.

[0213] In a ninth aspect, the present application provides a terminal, the terminal is an auxiliary positioning terminal, the auxiliary positioning terminal provides an auxiliary positioning service for the first terminal, and the auxiliary positioning terminal includes:

[0214] Memory for storing computer programs;

[0215] a transceiver for transmitting and receiving data under the control of the processor;

[0216] A processor that reads a computer program from memory and performs the following operations:

[0217] Receiving a positioning method of the first terminal;

[0218] Based on the positioning method, measure a positioning reference signal with the first terminal to obtain a measurement result;

[0219] Sending the measurement result to the first terminal or the main positioning terminal, where the measurement result is used by the first terminal or the main positioning terminal to obtain a positioning result of the first terminal;

[0220] Among them, the main positioning terminal is used to provide the main positioning service.

[0221] Optionally, at least two terminals among the first terminal, the auxiliary positioning terminal and the main positioning terminal are communicatively connected via a direct communication interface.

[0222] Optionally, if the measurement result includes a first measurement result, based on the positioning method, measuring a positioning reference signal with the first terminal to obtain the measurement result includes:

[0223] Sending a first positioning signal to the first terminal;

[0224] A first measurement result sent by a first terminal is received, where the first measurement result is obtained by the first terminal measuring a first positioning signal based on a positioning method.

[0225] Optionally, if the measurement result includes a second measurement result, based on the positioning method, measuring a positioning reference signal with the first terminal to obtain the measurement result includes:

[0226] receiving a second positioning signal sent by the first terminal;

[0227] Based on the positioning method, the second positioning signal is measured to obtain a second measurement result.

[0228] Optionally, before receiving the positioning method of the first terminal, the processor is further configured to perform the following operations:

[0229] Receiving a second positioning service message sent by the first terminal for indicating provision of an auxiliary positioning service;

[0230] Alternatively, a second positioning service message sent by the network device to indicate provision of an auxiliary positioning service is received, wherein the second positioning service message is sent by the first terminal to the network device.

[0231] In a tenth aspect, the present application provides a processor-readable storage medium, which stores a computer program, and the computer program is used to enable a processor to execute a positioning method such as the first aspect, the second aspect, or the third aspect.

[0232] In an eleventh aspect, the present application provides a computer program product, comprising: a computer program, which, when executed by a processor, implements the positioning method of the first aspect, the second aspect or the third aspect described above.

[0233] In a twelfth aspect, the present application provides a communication system, comprising a first terminal as described in any of the above items, a main positioning terminal as described in any of the above items, and an auxiliary positioning terminal as described in any of the above items.

[0234] In a positioning method, device, terminal and storage medium provided by the present application, the positioning service information of the target terminal is obtained; according to the positioning service information, a main positioning terminal for providing the main positioning service and an auxiliary positioning terminal for providing the auxiliary positioning service are determined from the target terminal; based on the main positioning terminal and the auxiliary positioning terminal, the position of the first terminal is located. Since the first terminal can be assisted in positioning by the main positioning terminal and the auxiliary positioning terminal, the position of the first terminal can be accurately located even if there is no suitable positioning server providing positioning services in the network coverage area where the first terminal is located.

[0235] It should be understood that the contents described in the above summary of the invention are not intended to limit the key or important features of the embodiments of the present application, nor are they intended to limit the scope of the present application. Other features of the present application will become easy to understand through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0236] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0237] Figure 1 A schematic diagram of an application scenario provided for an embodiment of the present application;

[0238] Figure 2 A flowchart of a positioning method provided in one embodiment of the present application;

[0239] Figure 3 A schematic diagram of signaling interaction of a positioning method provided in an embodiment of the present application;

[0240] Figure 4 A schematic diagram of signaling interaction of a positioning method provided in another embodiment of the present application;

[0241] Figure 5 A schematic diagram of signaling interaction of a positioning method provided in another embodiment of the present application;

[0242] FIG6( a ) is a schematic diagram of signaling interaction when positioning is performed using a downlink positioning technology, provided in an embodiment of the present application;

[0243] FIG6( b ) is a schematic diagram of signaling interaction when positioning is performed using an uplink positioning technology, provided in an embodiment of the present application;

[0244] FIG6( c ) is a schematic diagram of signaling interaction when positioning is performed using an uplink and downlink hybrid positioning technology, provided in an embodiment of the present application;

[0245] Figure 7 A schematic diagram of the structure of a positioning device provided in one embodiment of the present application;

[0246] Figure 8 A schematic structural diagram of a positioning device provided in another embodiment of the present application;

[0247] Fig. 9 A structural schematic diagram of a positioning device provided in yet another embodiment of the present application;

[0248] Fig.10A schematic diagram of the structure of a terminal provided in one embodiment of the present application;

[0249] Fig.11 A schematic diagram of the structure of a terminal provided in another embodiment of the present application;

[0250] Fig.12 A schematic diagram of the structure of a terminal provided in yet another embodiment of the present application. DETAILED DESCRIPTION

[0251] The term "and / or" in this application describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects before and after the association are in an "or" relationship. In the embodiments of this application, the term "plurality" refers to two or more, and other quantifiers are similar.

[0252] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0253] The technical solution provided in the embodiment of the present application can be applicable to a variety of systems, especially 5G systems. For example, the applicable system can be a global system of mobile communication (GSM) system, a code division multiple access (CDMA) system, a wideband code division multiple access (WCDMA) general packet radio service (GPRS) system, a long term evolution (LTE) system, a LTE frequency division duplex (FDD) system, a LTE time division duplex (TDD) system, an advanced long term evolution (LTE-A) system, a universal mobile telecommunication system (UMTS), a world-wide interoperability for microwave access (WiMAX) system, a 5G new radio (NR) system, etc. These various systems include terminals and network equipment. The system also includes a core network part, such as an evolved packet system (EPS), a 5G system (5GS), etc.

[0254] The communication system to which the technical solution provided in the embodiment of the present application is applicable includes network equipment and terminals, and the network equipment may include access network equipment and core network equipment. The access network equipment may be, for example, a wireless access network equipment.

[0255] Figure 1 Schematic diagram of the application scenario provided by the embodiment of the present application. Figure 1 As shown, the scenario includes: a first terminal 101 , a main positioning terminal 102 , an auxiliary positioning terminal 103 , a network device 104 , and a positioning server 105 .

[0256] It should be noted that the above Figure 1 For illustration purposes, the above scenario may also include other network devices, such as wireless repeater devices and wireless backhaul devices. Figure 1In the embodiment of the present application, the first terminal 101, the main positioning terminal 102, the auxiliary positioning terminal 103, the network device 104, and the positioning server 105 in the above scenario are each shown as an example, but the present invention is not limited thereto.

[0257] Among them, the above-mentioned first terminal 101, main positioning terminal 102 and auxiliary positioning terminal 103 can all be devices that provide voice and / or data connectivity to users, handheld devices with wireless connection functions, or other processing devices connected to wireless modems.

[0258] In different systems, the names of the above terminals may also be different. For example, in the 5G system, the above terminals may be called User Equipment (UE). The above terminals may also be wireless terminals, wherein the wireless terminals may communicate with one or more core networks (CN) via a Radio Access Network (RAN). The wireless terminals may be mobile terminals, such as mobile phones (or "cellular" phones) and computers with mobile terminals, for example, portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile devices, which exchange language and / or data with a radio access network. For example, Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants (PDAs) and other devices. A wireless terminal may also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, an access point, a remote terminal, an access terminal, a user terminal, a user agent, and a user device, but is not limited thereto in the embodiments of the present application.

[0259] In the related art, the network device 104 and the positioning server 105 are usually used to realize the positioning of the first terminal, wherein the first terminal 101 and the positioning server 105 are both within the coverage of the network device 104. Specifically, when the first terminal 101 is positioned, the first terminal 101 sends its positioning capability information to the positioning server 105 through the network device 104. After receiving the positioning capability information of the first terminal, the positioning server 105 determines a suitable positioning method according to the positioning capability information, and sends the positioning method to the network device 104 and the first terminal 101.

[0260] Correspondingly, the first terminal 101 and the network device 104 perform positioning measurement according to the positioning method, obtain measurement data, and then send the measurement data to the positioning server 105. Finally, the positioning server 105 calculates the positioning result of the first terminal 101 according to the measurement data.

[0261] However, in the above positioning technology, due to the reliance on network equipment 104 and positioning server 105, when there is no suitable positioning server to provide positioning services within the network coverage area where the first terminal 101 is located, or when the first terminal 101 is not within the network coverage area, accurate positioning of the first terminal 101 cannot be achieved.

[0262] For example, when positioning the first terminal 101, if the corresponding positioning server is not deployed within the network coverage of the first terminal, when the first terminal 101 sends a positioning request, no positioning server will respond to the positioning request, and the first terminal 101 cannot be accurately positioned; or, when a positioning server is deployed within the network coverage of the first terminal 101, but the current data processing pressure of the positioning server is large, when the positioning server is used to position the first terminal 101, the response time of the positioning server will be too long due to the low data processing efficiency, thereby reducing the user experience; for example, when the first terminal 101 is not within the network coverage of the network device, or is at the edge of the network coverage (semi-coverage state), the terminal device cannot perform normal positioning measurements with the network device, and cannot obtain the accurate positioning result of the first terminal.

[0263] In order to solve the above problems, the embodiments of the present application provide a positioning method, device, terminal and storage medium. In the positioning method provided in the present application, when the positioning server cannot be used to locate the first terminal, the first terminal will obtain the positioning service information of the target terminal that can provide the positioning service, and then determine the main positioning terminal for providing the main positioning service and the auxiliary positioning terminal for providing the auxiliary positioning service from the target terminal according to the positioning service information of the target terminal, and then locate the position of the first terminal based on the main positioning terminal and the auxiliary positioning terminal.

[0264] It should be noted that the method and device provided in the embodiments of the present application are based on the same application concept. Since the principles of solving problems by the method and device are similar, the implementation of the device and method can refer to each other, and the repeated parts will not be repeated.

[0265] Figure 2 A flowchart of a positioning method provided in one embodiment of the present application is shown in FIG. Figure 2 As shown, the execution subject of the positioning method of this embodiment may be the first terminal mentioned above, and the positioning method may include the following steps:

[0266] S201. Obtain positioning service information of a target terminal.

[0267] Among them, the target terminal includes a main positioning terminal and an auxiliary positioning terminal. It should be understood that the number of target terminals can be multiple or one, and the main positioning terminal and the auxiliary positioning terminal can be the same target terminal or different target terminals. The embodiments of the present application do not make specific limitations.

[0268] It should be noted that the positioning service information is used to characterize the types of positioning services that can be provided, wherein the types of positioning services include: primary positioning service and auxiliary positioning service. Specifically, the primary positioning service is specifically: determining the positioning method before positioning, calculating the positioning result according to the measurement results of the positioning measurement during the positioning process, etc.; correspondingly, the auxiliary positioning service is specifically: performing positioning measurement according to the positioning method during the positioning process to assist the first terminal in obtaining the measurement results, etc.

[0269] In actual applications, when the first terminal is positioned, the first terminal will obtain the positioning service information of the target terminal. The embodiment of the present application does not specifically limit the method for obtaining the positioning service information. In some embodiments, the target terminal can enable the first terminal to obtain the positioning service information of the target terminal by sending identification information. Exemplarily, taking the identification information "1" indicating that the type of positioning service provided by the target terminal is the main positioning service, and taking the identification information "0" indicating that the type of positioning service provided by the target terminal is the auxiliary main positioning service as an example, when the first terminal is positioned, the first terminal will obtain the identification information corresponding to the target terminal, and determine the positioning service information of the target terminal based on the obtained identification information. As for the specific scheme for the first terminal to obtain the identification information corresponding to the target terminal, it is shown in the subsequent embodiments.

[0270] S202: Determine, from the target terminals, a primary positioning terminal for providing a primary positioning service and a secondary positioning terminal for providing a secondary positioning service according to the positioning service information.

[0271] Correspondingly, after receiving the positioning service information sent by the target terminal, the first terminal determines the type of positioning service that each target terminal can provide according to the positioning service information, thereby determining whether the target terminal is a primary positioning terminal or an auxiliary positioning terminal according to the positioning service type.

[0272] Still taking the above as an example, after receiving the identification information sent by the target terminal, the target terminal sending the identification information "1" is determined to be the primary positioning terminal, and the target terminal sending the identification information "0" is determined to be the secondary positioning terminal.

[0273] It should be noted that there is at least one main positioning terminal and at least one auxiliary positioning terminal. In some implementations, the main positioning terminal and the auxiliary positioning terminal may be different terminals; in other implementations, the main positioning terminal and the auxiliary positioning terminal may also be the same terminal. For example, when some target terminals can provide both main positioning services and auxiliary positioning services, the same target terminal may provide both main positioning services and auxiliary positioning services.

[0274] S203: Locate the position of the first terminal based on the primary positioning terminal and the auxiliary positioning terminal.

[0275] Specifically, after determining the main positioning terminal and the auxiliary positioning terminal, the main positioning terminal determines the positioning method for performing positioning measurement on the first terminal, and the auxiliary positioning terminal and the first terminal perform positioning measurement according to the positioning method to obtain the positioning measurement result, and finally locate the position of the first terminal according to the positioning measurement result.

[0276] In this step, the first terminal may locate the position of the first terminal according to the positioning measurement result, or the main positioning terminal may locate the position of the first terminal according to the positioning measurement result. This embodiment takes the first terminal locating the position of the first terminal according to the positioning measurement result as an example, but is not limited to this. As for the specific scheme for locating the position of the first terminal, it will be specifically described in subsequent embodiments and will not be repeated here.

[0277] In the positioning method provided by the present application, the first terminal obtains the positioning service information of the target terminal; according to the positioning service information, the main positioning terminal for providing the main positioning service and the auxiliary positioning terminal for providing the auxiliary positioning service are determined from the target terminal; based on the main positioning terminal and the auxiliary positioning terminal, the position of the first terminal is located. Since the first terminal can be assisted in positioning by the main positioning terminal and the auxiliary positioning terminal, the position of the first terminal can be accurately located even if there is no suitable positioning server providing positioning services in the network coverage area where the first terminal is located.

[0278] In some scenarios, there may be multiple terminals in the target terminal that can provide the main positioning service. However, when the first terminal is positioned, only one main positioning terminal is often needed. Therefore, it is necessary to determine the main positioning terminal for providing the main positioning service from multiple targets. In practical applications, there are many ways to determine the main positioning terminal, which is not specifically limited in the embodiments of the present application. On the one hand, the main positioning terminal for providing the main positioning service for the first terminal can be randomly determined from multiple target terminals that can provide the main positioning service. On the other hand, the main positioning terminal for providing the main positioning service can also be determined from multiple target terminals that can provide the main positioning service based on the positioning performance of the terminal. Among them, the positioning performance includes: positioning capability, moving speed, and channel conditions between the terminal and the first terminal, etc. Specifically, step S202 in the above embodiment may include the following steps:

[0279] (1) determining, from the target terminals, at least one terminal that can provide a primary positioning service according to the positioning service information;

[0280] (2) According to the determined positioning capability information and moving speed of each terminal and the channel condition between the terminal and the first terminal, a primary positioning terminal for providing a primary positioning service is selected from the determined at least one terminal.

[0281] Exemplarily, based on the positioning capability information of the target terminal, a terminal whose positioning capability matches that of the first terminal can be determined as the main positioning terminal. For example, if the first terminal supports NR downlink positioning technology, then among at least one terminal capable of providing the main positioning service, the terminal that supports NR downlink positioning technology is determined to be the main positioning terminal; alternatively, the terminal with the lowest moving speed can be determined as the main positioning terminal; alternatively, the terminal with the best channel condition with the first terminal can be determined as the main positioning terminal.

[0282] In practical applications, the embodiment of the present application does not specifically limit the communication method between the first terminal and the target terminal. For example, the first terminal and the target terminal can establish a communication connection through a direct communication interface (Sidelink), or can establish a communication connection through a network device. Among them, the network device can be a base station.

[0283] On this basis, the target terminal can send the positioning service information to the first terminal through the direct communication interface, or send the positioning service information to the first terminal through the network device. Figure 3 and Figure 4 Two specific implementations of the above step S201 are described respectively:

[0284] Figure 3 A signaling interaction diagram of a positioning method provided in an embodiment of the present application. Figure 3As shown, the method provided in this embodiment may include the following steps:

[0285] S301. A first terminal sends a request for obtaining positioning service information to a target terminal through a direct communication interface.

[0286] S302: The target terminal sends positioning service information to the first terminal through the direct communication interface.

[0287] Correspondingly, the first terminal receives the positioning service information sent by the target terminal through the direct communication interface.

[0288] It should be noted that there are many ways for the first terminal and the target terminal to send or receive positioning service information through the direct communication interface, which is not specifically limited in the embodiments of the present application. On the one hand, the communication between the two can be achieved by sending a broadcast message. In this scheme, the first terminal sends a broadcast message carrying a request for obtaining positioning service information through the direct communication interface. Correspondingly, after the target terminal within the range of direct communication receives the broadcast message, it sends the positioning service information of the target terminal to the first terminal according to the request for obtaining positioning service information in the broadcast message. Through this scheme, the first terminal can find the surrounding target terminals that can provide positioning services to the maximum extent, thereby improving the success rate of locating the first terminal.

[0289] On the other hand, the communication between the two can also be achieved by sending a dedicated message. It should be understood that the specific scheme of using the dedicated message is similar to the above-mentioned broadcast message scheme, which will not be repeated here.

[0290] In the positioning method provided by the present application, the first terminal sends a positioning service information acquisition request to the target terminal through a direct communication interface; the target terminal sends the positioning service information to the first terminal; the first terminal receives the positioning service information sent by the target terminal. Sending data through a direct communication interface can improve data transmission efficiency, thereby improving positioning efficiency.

[0291] In some scenarios, the target terminal can also actively send positioning service information to the first terminal. For example, some target terminals with positioning functions can send broadcast messages carrying positioning service information in real time. When the first terminal needs to be positioned, it can receive the broadcast message, thereby obtaining the positioning service information of the target terminal to achieve positioning. That is, in the solution provided by this embodiment, if the target terminal has the function of actively sending broadcast messages, this embodiment directly executes the above step S302; if the target terminal does not have the function of actively sending broadcast messages, the first terminal needs to send a positioning service information acquisition request to obtain the positioning service information of the target terminal, that is, this embodiment needs to execute the above steps S301 to S302.

[0292] In actual applications, when the first terminal does not have a direct communication interface, or the target terminal does not have a direct communication interface, the first terminal may also obtain the positioning service information of the target terminal through a network device. Figure 4 A signaling interaction diagram of a positioning method provided in another embodiment of the present application. Figure 4 As shown, the method provided in this embodiment may include the following steps:

[0293] S401. A first terminal sends a request for obtaining positioning service information to a network device.

[0294] The first terminal is located within the coverage of the network device.

[0295] S402: The network device sends positioning service information of the target terminal to the first terminal.

[0296] Correspondingly, the first terminal receives the positioning service information of the target terminal sent by the network device.

[0297] It should be noted that there are many ways for the first terminal and the network device to communicate, which are not specifically limited in the embodiments of the present application. On the one hand, the communication between the two can be achieved by sending a broadcast message; on the other hand, the communication between the two can also be achieved by sending a dedicated message. It should be understood that the scheme provided in this embodiment is similar to the scheme for the first terminal to communicate with the target terminal, and will not be repeated here.

[0298] Similarly, the network device can also actively send a broadcast message carrying the positioning service information of the target terminal to the first terminal. When the first terminal needs to be located, the first terminal will receive the broadcast message, thereby obtaining the positioning service information of the target terminal to achieve positioning. That is, in this solution, if the network device can actively send a broadcast message to the first terminal, this embodiment directly executes the above step S402; if the network device cannot actively send a broadcast message, the first terminal needs to send a positioning service information acquisition request to obtain the positioning service information of the target terminal, that is, this embodiment needs to execute the above steps S401 to S402.

[0299] In other scenarios, if the first terminal does not have a direct communication interface, or the target terminal does not have a direct communication interface, and the first terminal is not within the coverage of the network device, the positioning service information of the target terminal can also be obtained from the storage medium of the first terminal.

[0300] Specifically, if it is determined that the target terminal is not within the coverage of the network device, the positioning service information of the target terminal is obtained from the storage medium of the first terminal; wherein the positioning service information of the target terminal is obtained and stored from the network device when the first terminal is within the coverage of the network device.

[0301] In an embodiment of the present application, the first terminal can obtain the positioning service information of the target terminal in a variety of ways to meet the positioning requirements of different scenarios, thereby improving the flexibility of the positioning method and further improving the positioning effect of the first terminal.

[0302] Figure 5 A signaling interaction diagram of a positioning method provided in another embodiment of the present application is shown below. Figure 5 As shown, the method of this embodiment may include the following steps:

[0303] S501: A main positioning terminal sends positioning service information to a first terminal via a direct communication interface or a network device.

[0304] S502: The auxiliary positioning terminal sends positioning service information to the first terminal through a direct communication interface or a network device.

[0305] S503: Determine, according to the positioning service information, a primary positioning terminal for providing a primary positioning service and an auxiliary positioning terminal for providing an auxiliary positioning service.

[0306] The implementation process of S501 to S503 can refer to the above Figure 3 , Figure 4 The description of the embodiment shown is not repeated here. In addition, the execution order of the above steps S501 and S502 is not specifically limited in the embodiment of the present application.

[0307] S504: The first terminal sends a first positioning service message for indicating provision of a primary positioning service to a primary positioning terminal.

[0308] In some embodiments, in this step, a first positioning service message for indicating provision of the primary positioning service may also be sent to the network device, so that the network device forwards the first positioning service message to the primary positioning terminal after receiving it.

[0309] S505: The first terminal sends a second positioning service message for indicating provision of an auxiliary positioning service to the auxiliary positioning terminal.

[0310] Similarly, in this step, a second positioning service message for indicating the provision of auxiliary positioning service may also be sent to the network device, so that the network device forwards the second positioning service message to the auxiliary positioning terminal after receiving it.

[0311] It should be noted that the embodiment of the present application does not specifically limit the execution order of the above steps S504 and S505.

[0312] S506: The first terminal sends the positioning capability information of the first terminal to the main positioning terminal.

[0313] The positioning capability information is used to determine the positioning method, and the positioning capability information includes at least one of the following: the positioning method supported by the first terminal, the type of auxiliary data supported for a certain positioning method (for example, the data type applicable to the network augmentation system (A-GNSS) supported by the first terminal), and the positioning capabilities of different positioning methods (for example, the ability of the first terminal to handle multiple positioning transactions). In actual applications, the first terminal can send the positioning capability information to the main positioning terminal by sending the LTE Positioning Protocol (LPP) of the first terminal.

[0314] It should be noted that the embodiment of the present application does not specifically limit the method for the first terminal to send the positioning capability information to the main positioning terminal. On the one hand, the positioning capability information can be sent to the main positioning terminal by broadcasting information or proprietary messages; on the other hand, the positioning capability information can also be sent to the main positioning terminal by forwarding by a network device, and the specific scheme for sending the positioning capability information is the same as the scheme and principle for obtaining the positioning service information in the above embodiment, which will not be repeated here.

[0315] S507: The primary positioning terminal determines a positioning method for performing positioning measurement on the first terminal according to the positioning capability information of the first terminal.

[0316] Among them, the positioning method for performing positioning measurement on the first terminal may include at least one of the following: NR downlink positioning technology (for example, downlink arrival time difference technology (Download-Time Difference of Arrival, DL-TDOA) and downlink departure angle technology (DL-AOD)), uplink positioning technology (for example, uplink arrival time difference technology (Upload-TimeDifference of Arrival, UL-TDOA) and uplink arrival angle technology (UL-AOA)) and uplink and downlink hybrid positioning technology (for example, multi-station round-trip time technology (Multi-RTT)), etc.

[0317] In this step, after receiving the positioning capability information of the first terminal, the main positioning terminal determines a positioning method for measuring the first terminal according to the positioning capability information of the first terminal.

[0318] Specifically, the positioning method for measuring the first terminal can be determined according to the positioning method supported by the first terminal indicated in the positioning capability information of the first terminal. Exemplarily, if the positioning method supported by the first terminal indicated in the positioning capability information of the first terminal is Multi-RTT technology, it can be determined that the positioning method for measuring the positioning of the first terminal is Multi-RTT technology.

[0319] It should be noted that when the first terminal supports multiple positioning methods, on the one hand, a positioning method can be randomly determined from the multiple positioning methods; on the other hand, the positioning method can also be determined based on the ability of the first terminal to handle multiple positioning transactions in the positioning capability information. Exemplarily, if the ability of the first terminal to use Multi-RTT technology is better than other positioning methods, it can be determined that the positioning method for positioning measurement of the first terminal is Multi-RTT technology. It should be understood that the above methods are all exemplary, and this embodiment is not limited to this.

[0320] S508: The main positioning terminal sends a positioning method to the first terminal.

[0321] S509: The primary positioning terminal sends a positioning method to the secondary positioning terminal.

[0322] It should be noted that the execution order of the above steps S508 and S509 is not specifically limited in this embodiment. As for the way in which the main positioning terminal sends the positioning method to the first terminal and the auxiliary positioning terminal, the way in which the target terminal and the first terminal perform data communication in the above embodiment can be referred to, and will not be repeated here.

[0323] In some real scenarios, for example, when the primary positioning terminal and the auxiliary positioning terminal cannot communicate, the first terminal can also send a positioning method to the auxiliary positioning terminal, that is, after the first terminal receives the positioning method, it forwards the positioning method to the auxiliary positioning terminal. Through this embodiment, the positioning requirements of different scenarios can be met, and the flexibility of this solution can be improved.

[0324] S510: The first terminal measures a positioning reference signal with an auxiliary positioning terminal based on a positioning method to obtain a measurement result.

[0325] It should be noted that for different positioning methods, different measurement results are obtained, and the method of obtaining the position of the first terminal is also different. Specifically, the measurement result may include: a first measurement result and / or a second measurement result. Among them, the first measurement result is obtained by the first terminal interacting with the auxiliary positioning terminal according to the positioning method, and the second measurement result is obtained by the auxiliary positioning terminal interacting with the first terminal according to the positioning method.

[0326] Exemplarily, when a downlink positioning method is adopted, a positioning reference signal is sent by the auxiliary positioning terminal, and the first terminal measures the positioning reference signal to obtain a first measurement result, and then the position of the first terminal is obtained based on the first measurement result; when an uplink positioning method is adopted, a positioning reference signal is sent by the first terminal, and the auxiliary positioning terminal obtains a second measurement result based on the positioning reference signal, and then the position of the first terminal is obtained based on the second measurement result; when an uplink and downlink hybrid positioning technology is adopted, a positioning reference signal is sent by the auxiliary positioning terminal, and the first terminal obtains the first measurement result, the first terminal sends a positioning reference signal, and the auxiliary positioning terminal obtains the second measurement result, and then the position of the first terminal is obtained based on the first measurement result and the second measurement result. As for the specific interaction methods of the above methods, they are shown in subsequent embodiments.

[0327] S511. The first terminal obtains a location of the first terminal based on the measurement result.

[0328] In some scenarios, the main positioning terminal may also obtain the position of the first terminal based on the measurement result. The specific implementation manner will be shown in the subsequent embodiments.

[0329] In practical applications, the auxiliary positioning terminal and the main positioning terminal can be the same terminal or different terminals. For example, when some target terminals can provide both the main positioning service and the auxiliary positioning service, the same target terminal can provide both the main positioning service and the auxiliary positioning service. In this embodiment, if the auxiliary positioning terminal and the main positioning terminal are the same terminal, the embodiment of the present application may include the following steps:

[0330] (1) The first terminal sends the positioning capability information of the first terminal to the main positioning terminal.

[0331] (2) The main positioning terminal receives the positioning capability information of the first terminal, determines a positioning method for performing positioning measurement according to the positioning capability information of the first terminal, and sends the positioning method to the first terminal.

[0332] (3) The first terminal measures the positioning reference signal with the main positioning terminal based on the positioning method to obtain a measurement result;

[0333] (4) The first terminal obtains the location of the first terminal based on the measurement result.

[0334] It is understandable that the method and principle of using the main positioning terminal to provide auxiliary positioning services are similar to the method and principle of using the auxiliary positioning terminal to provide auxiliary positioning services. For details, please refer to the above embodiments, which will not be repeated here. In this solution, the auxiliary positioning service is performed by the main positioning terminal. When the number of target terminals is limited and there is no suitable auxiliary positioning terminal to provide auxiliary positioning services, the accurate positioning of the first terminal can be obtained, thereby improving the flexibility of this solution and improving the user experience. In addition, only using the main positioning terminal can reduce data interaction, thereby improving positioning efficiency.

[0335] Combine the following Figure 6(a) to Figure 6(c) , the positioning process of the above step S511 is explained in more detail according to different positioning methods.

[0336] FIG6(a) is a schematic diagram of signaling interaction when positioning using downlink positioning technology provided in an embodiment of the present application. The method provided in the embodiment of the present application is applied to downlink positioning technology, as shown in FIG6(a), and the scheme includes the following steps:

[0337] S611. The auxiliary positioning terminal sends a first positioning signal to the first terminal.

[0338] S612: The first terminal measures the first positioning signal based on the positioning method to obtain a first measurement result.

[0339] The following describes this solution in detail by taking the downlink positioning technology including the downlink TDOA technology and the downlink AOD technology as an example. It should be understood that the downlink positioning technology provided in this embodiment is only exemplary and is not limited thereto in practical applications.

[0340] In this solution, when the downlink TDOA technology is adopted, the auxiliary positioning terminal sends a downlink PRS positioning reference signal, i.e., the first positioning signal, to the first terminal; the first terminal measures the downlink PRS positioning reference signal to obtain an RSTD measurement result, i.e., the first measurement result.

[0341] When the downlink AOD technology is adopted, the auxiliary positioning terminal sends a downlink PRS positioning reference signal, ie, a first positioning signal, to the first terminal; the first terminal measures the downlink PRS positioning reference signal to obtain an RSRP measurement result, ie, a first measurement result.

[0342] It should be understood that the method of using the above two uplink positioning technologies to measure the first positioning signal to obtain the first measurement result can adopt the solution in the prior art, which will not be described in detail here.

[0343] S613: The first terminal obtains a location of the first terminal based on the first measurement result.

[0344] S614: The first terminal sends a first measurement result to the primary positioning terminal.

[0345] S615: The primary positioning terminal obtains the location of the first terminal based on the first measurement result.

[0346] S616: The main positioning terminal sends the location of the first terminal to the first terminal.

[0347] In practical applications, there are many ways to calculate the position of the first terminal, which are not specifically limited in the embodiments of the present application. On the one hand, when the first terminal does not have computing capability, the position of the first terminal can be calculated by the main positioning terminal, that is, in this embodiment, after obtaining the first measurement result, the above steps S614 to S616 need to be performed. On the other hand, when the first terminal has computing capability, the position of the first terminal can be calculated by the first terminal, that is, in this embodiment, after obtaining the first measurement result, only the above step S613 needs to be performed.

[0348] Through the above solution, the positioning requirements of various types of first terminals can be met, and the user experience can be improved. In addition, when the first terminal directly calculates the positioning result, since the first terminal does not need to forward the first measurement result to the main positioning terminal, the main positioning terminal does not need to forward the positioning result to the first terminal, which can improve the positioning efficiency.

[0349] It should be noted that, in this embodiment, the communication method between the auxiliary positioning terminal, the main positioning terminal and the first terminal is similar to the communication method provided in the above embodiment, that is, if the auxiliary positioning terminal and the main positioning terminal both have direct communication interfaces, the two can communicate through the direct communication interfaces, and if either the auxiliary positioning terminal or the main positioning terminal does not have a direct communication interface, the two can communicate through a network device. Exemplarily, the auxiliary positioning terminal can send a first positioning signal to the first terminal through a direct communication interface or a network device; it should be understood that the communication method between the main positioning terminal and the first terminal is similar to the above, and will not be repeated here. Exemplarily, the first terminal can send a first measurement result to the main positioning terminal through a direct communication interface or a network device.

[0350] FIG6(b) is a schematic diagram of signaling interaction when positioning using uplink positioning technology provided in an embodiment of the present application. The method provided in the embodiment of the present application is applied to uplink positioning technology, as shown in FIG6(b), and the scheme includes the following steps:

[0351] S621. The first terminal sends a second positioning signal to the auxiliary positioning terminal.

[0352] S622. The auxiliary positioning terminal performs measurement according to the second positioning signal to obtain a second measurement result.

[0353] S623. The auxiliary positioning terminal sends the second measurement result to the first terminal.

[0354] The following describes this solution in detail by taking the uplink positioning technology including UL-TDOA technology and UL-AOA technology as an example. It should be understood that the uplink positioning technology provided in this embodiment is only exemplary and is not limited thereto in practical applications.

[0355] In this embodiment, when the UL-TDOA technology is adopted, the first terminal sends a UL SRS positioning reference signal, that is, a second positioning signal, to the auxiliary positioning terminal; the auxiliary positioning terminal measures the UL SRS positioning reference signal to obtain an RTOA measurement result, that is, a second measurement result.

[0356] When the downlink AOD technology is adopted, the first terminal sends a UL SRS positioning reference signal, i.e., the second positioning signal, to the auxiliary positioning terminal; the auxiliary positioning terminal measures the UL SRS positioning reference signal to obtain the measurement results of the arrival azimuth angle A-AOA and the arrival pitch angle Z-AOA, i.e., the second measurement results.

[0357] It should be understood that when the above two uplink positioning technologies are adopted, the method for measuring the second positioning signal to obtain the second measurement result can adopt the solution in the prior art, which will not be described in detail here.

[0358] S624: The first terminal obtains the location of the first terminal based on the second measurement result.

[0359] S625. The auxiliary positioning terminal sends the second measurement result to the primary positioning terminal.

[0360] S626: The main positioning terminal obtains the location of the first terminal based on the second measurement result.

[0361] S627: The main positioning terminal sends the location of the first terminal to the first terminal.

[0362] In practical applications, there are many ways to calculate the position of the first terminal, which are not specifically limited in the embodiments of the present application. On the one hand, when the first terminal does not have computing capability, the position of the first terminal can also be calculated by the main positioning terminal, that is, in this embodiment, after obtaining the second measurement result, only the above step S624 needs to be executed. On the other hand, when the first terminal has computing capability, the position of the first terminal can be calculated by the first terminal, that is, in this embodiment, the above steps S625 to S627 need to be executed.

[0363] This solution can meet the positioning requirements of various types of first terminals and improve user experience. In addition, when the first terminal directly calculates the positioning result, since the auxiliary positioning terminal does not need to forward the second measurement result to the main positioning terminal, the main positioning terminal does not need to forward the positioning result to the first terminal, which can improve the positioning efficiency.

[0364] FIG6(c) is a schematic diagram of signaling interaction when positioning is performed using an uplink and downlink hybrid positioning technology provided in an embodiment of the present application. The method provided in an embodiment of the present application is applied to the uplink and downlink hybrid positioning technology, as shown in FIG6(c), and the scheme includes the following steps:

[0365] S631. The auxiliary positioning terminal sends a first positioning signal to the first terminal.

[0366] S632: The first terminal measures the first positioning signal based on the positioning method to obtain a first measurement result.

[0367] S633. The first terminal sends a second positioning signal to the auxiliary positioning terminal.

[0368] S634. The auxiliary positioning terminal performs measurement according to the second positioning signal to obtain a second measurement result.

[0369] S635. The auxiliary positioning terminal sends the second measurement result to the first terminal.

[0370] It should be noted that steps S631 to S635 in this embodiment are similar to the positioning method provided in FIG. 6 (a) and FIG. 6 (b) above, and the details can be referred to above, and will not be repeated here. In addition, the execution order of the above steps is not specifically limited in this embodiment of the application.

[0371] S636. The first terminal obtains the location of the first terminal based on the first measurement result and the second measurement result.

[0372] S637: The first terminal sends the first measurement result and the second measurement result to the primary positioning terminal.

[0373] S638. The primary positioning terminal obtains the location of the first terminal based on the first measurement result and the second measurement result.

[0374] S639: The main positioning terminal sends the location of the first terminal to the first terminal.

[0375] Similarly, in this embodiment, there are multiple ways to calculate the position of the first terminal, which are not specifically limited in the embodiments of the present application. On the one hand, when the first terminal does not have the positioning calculation capability, the main positioning terminal can also calculate the position of the first terminal, that is, this embodiment needs to execute the above steps S631~S635 and S637~S639. On the other hand, when the first terminal has the computing capability, the position of the first terminal can be calculated by the first terminal, that is, this embodiment only needs to execute the above steps S631~S636. Through this solution, the positioning needs of the first terminal that does not have the positioning calculation capability can be met, thereby improving the flexibility of this solution and improving the user experience. In addition, when the first terminal directly calculates the positioning result, since the auxiliary positioning terminal and the first terminal do not need to forward the measurement results to the main positioning terminal, the main positioning terminal does not need to forward the positioning result to the first terminal, which can improve the positioning efficiency.

[0376] On the first terminal side, an embodiment of the present application provides a positioning device, which is applied to the first terminal. Figure 7 This is a schematic diagram of the structure of a positioning device provided in an embodiment of the present application. As shown in the figure, the positioning device 700 includes:

[0377] The acquisition module 701 is used to acquire the positioning service information of the target terminal;

[0378] The determination module 702 is used to determine, from the target terminal, a primary positioning terminal for providing a primary positioning service and an auxiliary positioning terminal for providing an auxiliary positioning service according to the positioning service information;

[0379] The processing module 703 is used to locate the position of the first terminal based on the main positioning terminal and the auxiliary positioning terminal.

[0380] Optionally, the first terminal establishes a communication connection with the target terminal via a direct communication interface.

[0381] Optionally, the acquisition module 701 is specifically used for:

[0382] The positioning service information sent by the target terminal is received through the direct communication interface.

[0383] Optionally, the acquisition module 701 is specifically used for:

[0384] Sending a location service information acquisition request to the target terminal via a direct communication interface;

[0385] Receive the positioning service information sent by the target terminal.

[0386] Optionally, the acquisition module 701 is specifically used for:

[0387] Obtain the location service information of the target terminal from the network device.

[0388] Optionally, the acquisition module 701 is specifically used for:

[0389] Sending a location service information acquisition request to a network device, where the first terminal is within the coverage of the network device;

[0390] Receive the positioning service information of the target terminal sent by the network device.

[0391] Optionally, the acquisition module 701 is specifically used for:

[0392] If it is determined that the target terminal is not within the coverage of the network device, obtaining the positioning service information of the target terminal from the storage medium of the first terminal;

[0393] The positioning service information of the target terminal is obtained and stored from the network device when the first terminal is within the coverage of the network device.

[0394] Optionally, the determination module 702 is specifically configured to:

[0395] Determining at least one terminal capable of providing a primary positioning service from the target terminals according to the positioning service information;

[0396] According to the determined positioning capability information and moving speed of each terminal and the channel condition between the terminal and the first terminal, a main positioning terminal for providing a main positioning service is screened out from the at least one determined terminal.

[0397] Optionally, the positioning device further includes: a sending module (not shown), configured to send a first positioning service message indicating provision of a primary positioning service to a primary positioning terminal;

[0398] Alternatively, a first positioning service message for indicating providing the primary positioning service is sent to the network device, so that the network device forwards the first positioning service message to the primary positioning terminal after receiving the first positioning service message.

[0399] Optionally, the sending module is also used to:

[0400] Sending a second positioning service message for indicating providing an auxiliary positioning service to the auxiliary positioning terminal;

[0401] Alternatively, a second positioning service message for indicating the provision of auxiliary positioning service is sent to the network device, so that the network device forwards the second positioning service message to the auxiliary positioning terminal after receiving it.

[0402] Optionally, the processing module 703 is specifically used for:

[0403] Sending the positioning capability information of the first terminal to the main positioning terminal;

[0404] Receiving a positioning method for performing positioning measurement on the first terminal determined by the main positioning terminal according to the positioning capability information;

[0405] Based on the positioning method, measure the positioning reference signal with the auxiliary positioning terminal to obtain the measurement result;

[0406] Based on the measurement result, the position of the first terminal is obtained.

[0407] Optionally, the processing module 703 is specifically used for:

[0408] Receiving a first positioning signal sent by the auxiliary positioning terminal;

[0409] The first positioning signal is measured based on the positioning method to obtain a first measurement result.

[0410] Optionally, the processing module 703 is specifically used for:

[0411] Sending a second positioning signal to the auxiliary positioning terminal;

[0412] A second measurement result is received, where the second measurement result is obtained by the auxiliary positioning terminal measuring the second positioning signal based on the positioning method.

[0413] Optionally, the processing module 703 is specifically used for:

[0414] Sending the first measurement result and / or the second measurement result to a main positioning terminal;

[0415] Receiving the positioning result sent by the main positioning terminal, and obtaining the position of the first terminal according to the positioning result;

[0416] The positioning result is obtained by the main positioning terminal calculating the first measurement result and / or the second measurement result based on the positioning method.

[0417] Optionally, the processing module 703 is specifically used for:

[0418] Based on the positioning method, the first measurement result and / or the second measurement result is calculated to obtain the positioning result of the first terminal.

[0419] It should be noted here that the above-mentioned device provided in the present application can correspondingly implement all the method steps implemented by the first terminal in the above-mentioned method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0420] On the main positioning terminal side, an embodiment of the present application provides a positioning device, which is applied to the main positioning terminal. Figure 8 This is a schematic diagram of the structure of a positioning device provided by another embodiment of the present application. Figure 8As shown, the positioning device 800 includes:

[0421] The receiving module 801 is configured to receive positioning capability information of a first terminal;

[0422] The determination module 802 is used to determine a positioning method for performing positioning measurement on the first terminal according to the positioning capability information of the first terminal, and send the positioning method to the first terminal;

[0423] The receiving module 801 is further configured to receive a measurement result obtained by measuring a positioning reference signal between the first terminal and the auxiliary positioning terminal based on the positioning method;

[0424] The processing module 803 is used to obtain a positioning result of the first terminal based on the measurement result, and send the positioning result to the first terminal;

[0425] Among them, the auxiliary positioning terminal is used to provide auxiliary positioning services.

[0426] Optionally, at least two of the first terminal, the primary positioning terminal and the auxiliary positioning terminal are communicatively connected via a direct communication interface.

[0427] Optionally, the receiving module 801 is specifically configured to:

[0428] receiving a first measurement result sent by the first terminal, wherein the first measurement result is obtained by the first terminal measuring a first positioning signal based on a positioning method, and the first positioning signal is sent by the auxiliary positioning terminal to the first terminal;

[0429] and / or,

[0430] A second measurement result is received, wherein the second measurement result is obtained by the auxiliary positioning terminal by measuring a second positioning signal based on a positioning method, and the second positioning signal is sent by the first terminal to the auxiliary positioning terminal.

[0431] Optionally, the positioning device further includes: a sending module (not shown), configured to send positioning service information to the first terminal via a direct communication interface or a network device.

[0432] Optionally, the receiving module 801 is further configured to:

[0433] Receiving a location service information acquisition request sent by the first terminal;

[0434] The positioning service information is sent to the first terminal according to the positioning service information acquisition request.

[0435] Optionally, the receiving module 801 is further used for:

[0436] Receiving a first positioning service message sent by the first terminal through the direct connection interface and used to indicate providing a primary positioning service;

[0437] Alternatively, a first positioning service message sent by a network device to indicate provision of a primary positioning service is received, wherein the first positioning service message is sent by a first terminal to the network device.

[0438] It should be noted here that the above-mentioned device provided in the present application can correspondingly implement all the method steps implemented by the main positioning terminal in the above-mentioned method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be specifically described here.

[0439] On the auxiliary positioning terminal side, an embodiment of the present application provides a positioning device, which is applied to the main positioning terminal. Fig. 9 This is a schematic diagram of the structure of a positioning device provided in one embodiment of the present application. Fig. 9 As shown, the positioning device 900 includes:

[0440] The receiving module 901 is used to receive a positioning method of a first terminal;

[0441] The processing module 902 is configured to measure a positioning reference signal with the first terminal based on the positioning method to obtain a measurement result;

[0442] A sending module 903 is used to send the measurement result to the first terminal or the main positioning terminal, and the measurement result is used by the first terminal or the main positioning terminal to obtain the positioning result of the first terminal;

[0443] Among them, the main positioning terminal is used to provide the main positioning service.

[0444] Optionally, at least two terminals among the first terminal, the auxiliary positioning terminal and the main positioning terminal are communicatively connected via a direct communication interface.

[0445] Optionally, if the measurement result includes the first measurement result, the processing module 902 is specifically configured to:

[0446] Sending a first positioning signal to the first terminal;

[0447] A first measurement result sent by a first terminal is received, where the first measurement result is obtained by the first terminal measuring a first positioning signal based on a positioning method.

[0448] Optionally, if the measurement result includes a second measurement result, the processing module 902 is specifically configured to:

[0449] receiving a second positioning signal sent by the first terminal;

[0450] Based on the positioning method, the second positioning signal is measured to obtain a second measurement result.

[0451] Optionally, the receiving module 901 is further used for:

[0452] Receiving a second positioning service message sent by the first terminal for indicating provision of an auxiliary positioning service;

[0453] Alternatively, a second positioning service message sent by the network device to indicate provision of an auxiliary positioning service is received, wherein the second positioning service message is sent by the first terminal to the network device.

[0454] It should be noted here that the above-mentioned device provided in the present application can correspondingly implement all the method steps implemented by the auxiliary positioning terminal in the above-mentioned method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0455] Fig.10 A schematic diagram of a terminal structure provided in an embodiment of the present application. The terminal is a first terminal, such as Fig.10 As shown, the first terminal 1000 includes:

[0456] Transceiver 1001 , processor 1002 and memory 1003 .

[0457] The transceiver 1001 is used to receive and send data under the control of the processor 1002 .

[0458] Among them, Fig.10 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 1002 and memory represented by memory 1003. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1001 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, which transmission medium may include a wireless channel, a wired channel, an optical cable, and the like. The processor 1002 is responsible for managing the bus architecture and general processing, and the memory 1003 may store data used by the processor 1002 when performing operations.

[0459] The processor 1002 is responsible for managing the bus architecture and general processing, and the memory 1003 can store data used by the processor 1002 when performing operations.

[0460] Optionally, processor 1002 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or a complex programmable logic device (CPLD), and the processor may also adopt a multi-core architecture.

[0461] The processor 1002 is configured to execute any method related to the first terminal provided in the embodiment of the present application according to the obtained executable instructions by calling the computer program stored in the memory 1003. The processor and the memory may also be arranged physically separately.

[0462] Specifically, the processor 1002 is used to read the computer program in the memory and perform the following operations:

[0463] Obtaining the location service information of the target terminal;

[0464] According to the positioning service information, a primary positioning terminal for providing a primary positioning service and an auxiliary positioning terminal for providing an auxiliary positioning service are determined from the target terminal;

[0465] The position of the first terminal is located based on the primary positioning terminal and the auxiliary positioning terminal.

[0466] Optionally, the first terminal establishes a communication connection with the target terminal via a direct communication interface.

[0467] Optionally, obtaining the positioning service information of the target terminal includes: receiving the positioning service information sent by the target terminal through a direct communication interface.

[0468] Optionally, obtaining the positioning service information of the target terminal includes: sending a positioning service information obtaining request to the target terminal through a direct communication interface;

[0469] Receive the positioning service information sent by the target terminal.

[0470] Optionally, obtaining the positioning service information of the target terminal includes: obtaining the positioning service information of the target terminal from a network device.

[0471] Optionally, obtaining the positioning service information of the target terminal includes: sending a positioning service information acquisition request to a network device, the first terminal being located within the coverage of the network device;

[0472] Receive the positioning service information of the target terminal sent by the network device.

[0473] Optionally, obtaining the positioning service information of the target terminal includes: if it is determined that the target terminal is not within the coverage of the network device, obtaining the positioning service information of the target terminal from the storage medium of the first terminal;

[0474] The positioning service information of the target terminal is obtained and stored from the network device when the first terminal is within the coverage of the network device.

[0475] Optionally, determining a primary positioning terminal for providing a primary positioning service from the target terminal according to the positioning service information includes:

[0476] Determining at least one terminal capable of providing a primary positioning service from the target terminals according to the positioning service information;

[0477] According to the determined positioning capability information and moving speed of each terminal and the channel condition between the terminal and the first terminal, a main positioning terminal for providing a main positioning service is screened out from the at least one determined terminal.

[0478] Optionally, after determining the primary positioning terminal for providing the primary positioning service and the auxiliary positioning terminal for providing the auxiliary positioning service, the processor 1002 is further configured to perform the following operations:

[0479] Sending a first positioning service message for indicating providing a primary positioning service to a primary positioning terminal;

[0480] Alternatively, a first positioning service message for indicating providing the primary positioning service is sent to the network device, so that the network device forwards the first positioning service message to the primary positioning terminal after receiving the first positioning service message.

[0481] Optionally, after determining the primary positioning terminal for providing the primary positioning service and the auxiliary positioning terminal for providing the auxiliary positioning service, the processor 1002 is further configured to perform the following operations:

[0482] Sending a second positioning service message for indicating providing an auxiliary positioning service to the auxiliary positioning terminal;

[0483] Alternatively, a second positioning service message for indicating the provision of auxiliary positioning service is sent to the network device, so that the network device forwards the second positioning service message to the auxiliary positioning terminal after receiving it.

[0484] Optionally, locating the position of the first terminal based on the main positioning terminal and the auxiliary positioning terminal includes: sending positioning capability information of the first terminal to the main positioning terminal;

[0485] Receiving a positioning method for performing positioning measurement on the first terminal determined by the main positioning terminal according to the positioning capability information;

[0486] Based on the positioning method, measure the positioning reference signal with the auxiliary positioning terminal to obtain the measurement result;

[0487] Based on the measurement result, the position of the first terminal is obtained.

[0488] Optionally, if the measurement result includes a first measurement result, performing positioning signal measurement with the auxiliary positioning terminal based on the positioning method to obtain the measurement result includes:

[0489] Receiving a first positioning signal sent by the auxiliary positioning terminal;

[0490] The first positioning signal is measured based on the positioning method to obtain a first measurement result.

[0491] Optionally, if the measurement result includes a second measurement result, obtaining the measurement result through interaction with the auxiliary positioning terminal based on the positioning method includes:

[0492] Sending a second positioning signal to the auxiliary positioning terminal;

[0493] A second measurement result is received, where the second measurement result is obtained by the auxiliary positioning terminal measuring the second positioning signal based on the positioning method.

[0494] Optionally, obtaining the position of the first terminal based on the measurement result includes:

[0495] Sending the first measurement result and / or the second measurement result to a main positioning terminal;

[0496] Receiving the positioning result sent by the main positioning terminal, and obtaining the position of the first terminal according to the positioning result;

[0497] The positioning result is obtained by the main positioning terminal calculating the first measurement result and / or the second measurement result based on the positioning method.

[0498] Optionally, obtaining the position of the first terminal based on the measurement result includes:

[0499] Based on the positioning method, the first measurement result and / or the second measurement result is calculated to obtain the positioning result of the first terminal.

[0500] It should be noted here that the above-mentioned terminal provided in the present application can implement all the method steps implemented by the first terminal in the above-mentioned method embodiment, and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0501] Fig.11 A schematic diagram of the structure of a terminal provided in another embodiment of the present application. The terminal is a main positioning terminal, the main positioning terminal provides a main positioning service for a first terminal, and the main positioning terminal includes:

[0502] Transceiver 1101 , processor 1102 , and memory 1103 .

[0503] Among them, Fig.11 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 1102 and various circuits of memory represented by memory 1103 are linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1101 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, which transmission medium may include a wireless channel, a wired channel, an optical cable, and other transmission media. The processor 1102 is responsible for managing the bus architecture and general processing, and the memory 1103 may store data used by the processor 1102 when performing operations.

[0504] The processor 1102 may be a CPU, an ASIC, an FPGA or a CPLD, and the processor may also adopt a multi-core architecture.

[0505] The processor 1102 is used to execute any method of the master positioning terminal provided in the embodiment of the present application according to the obtained executable instructions by calling the computer program stored in the memory 1103. The processor and the memory can also be arranged physically separately.

[0506] Specifically, the processor 1102 is used to read the computer program in the memory and perform the following operations:

[0507] Receiving positioning capability information of the first terminal;

[0508] Determine, according to the positioning capability information of the first terminal, a positioning method for performing positioning measurement on the first terminal, and send the positioning method to the first terminal;

[0509] Receiving a measurement result obtained by measuring a positioning reference signal between the first terminal and the auxiliary positioning terminal based on the positioning method;

[0510] Based on the measurement result, obtain a positioning result of the first terminal, and send the positioning result to the first terminal;

[0511] Among them, the auxiliary positioning terminal is used to provide auxiliary positioning services.

[0512] Optionally, at least two of the first terminal, the primary positioning terminal and the auxiliary positioning terminal are communicatively connected via a direct communication interface.

[0513] Optionally, receiving a measurement result obtained by measuring a positioning reference signal between the first terminal and the auxiliary positioning terminal based on the positioning method includes:

[0514] receiving a first measurement result sent by the first terminal, wherein the first measurement result is obtained by the first terminal measuring a first positioning signal based on a positioning method, and the first positioning signal is sent by the auxiliary positioning terminal to the first terminal;

[0515] and / or,

[0516] A second measurement result is received, wherein the second measurement result is obtained by the auxiliary positioning terminal by measuring a second positioning signal based on a positioning method, and the second positioning signal is sent by the first terminal to the auxiliary positioning terminal.

[0517] Optionally, before receiving the positioning capability information of the first terminal, the processor 1102 is further configured to perform the following operations: read a computer program in the memory and perform the following operations:

[0518] The positioning service information is sent to the first terminal through the direct communication interface or the network device.

[0519] Optionally, before receiving the positioning capability information of the first terminal, the processor 1102 is further configured to perform the following operation: sending positioning service information to the first terminal through a direct communication interface or a network device.

[0520] Optionally, before receiving the positioning capability information of the first terminal, the processor 1102 is further configured to perform the following operations:

[0521] Receiving a location service information acquisition request sent by the first terminal;

[0522] The positioning service information is sent to the first terminal according to the positioning service information acquisition request.

[0523] Optionally, before receiving the positioning capability information of the first terminal, the processor 1102 is further configured to perform the following operations:

[0524] Receiving a first positioning service message sent by the first terminal through the direct connection interface and used to indicate providing a primary positioning service;

[0525] Alternatively, a first positioning service message sent by a network device to indicate provision of a primary positioning service is received, wherein the first positioning service message is sent by a first terminal to the network device.

[0526] It should be noted here that the above-mentioned terminal provided in the present application can implement all the method steps implemented by the main positioning terminal in the above-mentioned method embodiment, and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0527] Fig.12 A schematic diagram of the structure of a terminal provided in another embodiment of the present application. The terminal is an auxiliary positioning terminal, which provides an auxiliary positioning service for a first terminal, and the auxiliary positioning terminal includes:

[0528] Transceiver 1201 , processor 1202 and memory 1203 .

[0529] The transceiver 1201 is used to receive and send data under the control of the processor 1202 .

[0530] Among them, Fig.12 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 1202 and memory represented by memory 1203. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1201 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, which transmission medium may include a wireless channel, a wired channel, an optical cable, and the like. The processor 1202 is responsible for managing the bus architecture and general processing, and the memory 1203 may store data used by the processor 1202 when performing operations.

[0531] The processor 1202 is responsible for managing the bus architecture and general processing, and the memory 1203 can store data used by the processor 1202 when performing operations.

[0532] Optionally, the processor 1202 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or a complex programmable logic device (CPLD), and the processor may also adopt a multi-core architecture.

[0533] The processor 1202 is used to execute any method for assisting the positioning of a terminal provided in the embodiments of the present application according to the obtained executable instructions by calling the computer program stored in the memory 1203. The processor and the memory may also be arranged physically separately.

[0534] Specifically, the processor 1202 is used to read the computer program in the memory and perform the following operations:

[0535] Receiving a positioning method of the first terminal;

[0536] Based on the positioning method, measure a positioning reference signal with the first terminal to obtain a measurement result;

[0537] Sending the measurement result to the first terminal or the main positioning terminal, where the measurement result is used by the first terminal or the main positioning terminal to obtain a positioning result of the first terminal;

[0538] Among them, the main positioning terminal is used to provide the main positioning service.

[0539] Optionally, at least two terminals among the first terminal, the auxiliary positioning terminal and the main positioning terminal are communicatively connected via a direct communication interface.

[0540] Optionally, if the measurement result includes a first measurement result, based on the positioning method, measuring a positioning reference signal with the first terminal to obtain the measurement result includes:

[0541] Sending a first positioning signal to the first terminal;

[0542] A first measurement result sent by a first terminal is received, where the first measurement result is obtained by the first terminal measuring a first positioning signal based on a positioning method.

[0543] Optionally, if the measurement result includes a second measurement result, based on the positioning method, measuring a positioning reference signal with the first terminal to obtain the measurement result includes:

[0544] receiving a second positioning signal sent by the first terminal;

[0545] Based on the positioning method, the second positioning signal is measured to obtain a second measurement result.

[0546] Optionally, before receiving the positioning method of the first terminal, the processor 1202 is further configured to perform the following operations:

[0547] Receiving a second positioning service message sent by the first terminal for indicating provision of an auxiliary positioning service;

[0548] Alternatively, a second positioning service message sent by the network device to indicate provision of an auxiliary positioning service is received, wherein the second positioning service message is sent by the first terminal to the network device.

[0549] It should be noted here that the above-mentioned terminal provided in the present application can implement all the method steps implemented by the auxiliary positioning terminal in the above-mentioned method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0550] It should be noted that the division of units in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional unit in each embodiment of the present application may be integrated into a 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.

[0551] If the above-mentioned 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 processor-readable storage medium. Based on this understanding, the technical solution 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, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0552] On the first terminal side, an embodiment of the present application provides a processor-readable storage medium, which stores a computer program. The computer program is used to enable the processor to execute the method related to the first terminal provided in the embodiment of the present application, so that the processor can implement all the method steps implemented by the first terminal in the above method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0553] On the main positioning terminal side, an embodiment of the present application provides a processor-readable storage medium, which stores a computer program. The computer program is used to enable the processor to execute the method related to the first terminal provided in the embodiment of the present application, so that the processor can implement all the method steps implemented by the main positioning terminal in the above method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0554] On the auxiliary positioning terminal side, an embodiment of the present application provides a processor-readable storage medium, which stores a computer program. The computer program is used to enable the processor to execute the method related to the auxiliary positioning terminal provided in the embodiment of the present application, so that the processor can implement all the method steps implemented by the main positioning terminal in the above method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0555] Among them, the processor-readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NANDFLASH), solid-state drive (SSD)), etc.

[0556] On the first terminal side, an embodiment of the present application also provides a computer program product comprising instructions, the computer program is stored in a storage medium, at least one processor can read the computer program from the storage medium, and when at least one processor executes the computer program, it can implement all the method steps implemented by the first terminal in the above method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0557] On the main positioning terminal side, an embodiment of the present application also provides a computer program product including instructions. The computer program is stored in a storage medium. At least one processor can read the computer program from the storage medium. When at least one processor executes the computer program, all the method steps implemented by the main positioning terminal in the above method embodiment can be implemented, and the same technical effect can be achieved. The parts and beneficial effects of this embodiment that are the same as those in the method embodiment will not be described in detail here.

[0558] On the auxiliary positioning terminal side, an embodiment of the present application also provides a computer program product comprising instructions. The computer program is stored in a storage medium. At least one processor can read the computer program from the storage medium. When at least one processor executes the computer program, all the method steps implemented by the auxiliary positioning terminal in the above method embodiment can be implemented, and the same technical effect can be achieved. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0559] The embodiment of the present application also provides a communication system, including a main terminal, a main positioning terminal and an auxiliary positioning terminal. The first terminal can execute all the method steps executed by the first terminal in the above method embodiment, and can achieve the same technical effect. The main positioning terminal can execute all the method steps executed by the main positioning terminal in the above method embodiment, and can achieve the same technical effect. The auxiliary positioning terminal can execute all the method steps executed by the auxiliary positioning terminal in the above method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those in the method embodiment will not be described in detail here.

[0560] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0561] The present application is described with reference to the signaling interaction schematic diagrams and / or block diagrams of the methods, apparatuses, and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the signaling interaction schematic diagram and / or block diagram, as well as the combination of processes and / or blocks in the signaling interaction schematic diagram and / or block diagram, can be implemented by computer executable instructions. These computer executable instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the signaling interaction schematic diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0562] These processor executable instructions may also be stored in a processor readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the processor readable memory produce a manufactured product including an instruction device, which implements the signaling interaction schematic. Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0563] These processor executable instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the signaling interaction schematic. Figure 1A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0564] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A positioning method, characterized in that: Applied to the first terminal, the positioning method includes: Obtaining the location service information of the target terminal; According to the positioning service information, determining from the target terminal a primary positioning terminal for providing a primary positioning service and an auxiliary positioning terminal for providing an auxiliary positioning service; Wherein, determining a primary positioning terminal for providing a primary positioning service from the target terminal according to the positioning service information includes: According to the positioning service information, at least one terminal capable of providing a primary positioning service is determined from the target terminals; according to the positioning capability information, the moving speed of each terminal determined, and the channel condition between the terminal and the first terminal, a primary positioning terminal for providing a primary positioning service is screened from the at least one terminal determined; Sending a first positioning service message for indicating provision of a primary positioning service to the primary positioning terminal; or sending a first positioning service message for indicating provision of a primary positioning service to a network device; Sending a second positioning service message for indicating provision of an auxiliary positioning service to the auxiliary positioning terminal; or sending a second positioning service message for indicating provision of an auxiliary positioning service to a network device; The position of the first terminal is located based on the primary positioning terminal and the auxiliary positioning terminal.

2. The positioning method according to claim 1, characterized in that: The first terminal establishes a communication connection with the target terminal via a direct communication interface.

3. The positioning method according to claim 1 or 2, characterized in that: The obtaining of the positioning service information of the target terminal includes: The positioning service information sent by the target terminal is received through the direct communication interface.

4. The positioning method according to claim 1 or 2, characterized in that: The obtaining of the positioning service information of the target terminal includes: Sending a location service information acquisition request to the target terminal via a direct communication interface; Receive positioning service information sent by the target terminal.

5. The positioning method according to claim 1, characterized in that: The obtaining of the positioning service information of the target terminal includes: Obtain the target terminal's location service information from the network device.

6. The positioning method according to claim 5, characterized in that: The obtaining of the positioning service information of the target terminal from the network device specifically includes: Sending a location service information acquisition request to the network device, where the first terminal is located within the coverage of the network device; Receive the positioning service information of the target terminal sent by the network device.

7. The positioning method according to claim 1, characterized in that: The obtaining of the positioning service information of the target terminal specifically includes: If it is determined that the target terminal is not within the coverage of the network device, obtaining the positioning service information of the target terminal from the storage medium of the first terminal; The positioning service information of the target terminal is acquired and stored from the network device when the first terminal is within the coverage of the network device.

8. The positioning method according to claim 1, characterized in that: The locating the position of the first terminal based on the primary positioning terminal and the auxiliary positioning terminal includes: Sending the positioning capability information of the first terminal to the main positioning terminal; receiving a positioning method for performing positioning measurement on the first terminal determined by the main positioning terminal according to the positioning capability information; Based on the positioning method, measuring a positioning reference signal with the auxiliary positioning terminal to obtain a measurement result; Based on the measurement result, the position of the first terminal is obtained.

9. The positioning method according to claim 8, characterized in that: If the measurement result includes the first measurement result, performing positioning signal measurement with the auxiliary positioning terminal based on the positioning method to obtain a measurement result includes: Receiving a first positioning signal sent by the auxiliary positioning terminal; The first positioning signal is measured based on the positioning method to obtain the first measurement result.

10. The positioning method according to claim 9, characterized in that: If the measurement result includes a second measurement result, the obtaining the measurement result through interaction with the auxiliary positioning terminal based on the positioning method includes: Sending a second positioning signal to the auxiliary positioning terminal; The second measurement result is received, where the second measurement result is obtained by the auxiliary positioning terminal measuring the second positioning signal based on the positioning method.

11. The positioning method according to claim 10, characterized in that: The obtaining the position of the first terminal based on the measurement result includes: Sending the first measurement result and / or the second measurement result to the main positioning terminal; receiving a positioning result sent by the main positioning terminal, and obtaining a position of the first terminal according to the positioning result; The positioning result is obtained by the main positioning terminal calculating the first measurement result and / or the second measurement result based on the positioning method.

12. The positioning method according to claim 10, characterized in that: The obtaining the position of the first terminal based on the measurement result includes: Based on the positioning method, the first measurement result and / or the second measurement result are calculated to obtain a positioning result of the first terminal.

13. A positioning method, characterized in that: The method is applied to a main positioning terminal, the main positioning terminal is used to provide a main positioning service for a first terminal, wherein the main positioning terminal is determined by the first terminal from among target terminals according to positioning service information, at least one terminal capable of providing the main positioning service, and is screened from the at least one terminal determined according to the positioning capability information, the moving speed of each terminal determined, and the channel condition between the terminal and the first terminal. The positioning method includes: Receiving a first positioning service message sent by the first terminal through the direct connection interface to indicate provision of a primary positioning service; or receiving a first positioning service message sent by a network device to indicate provision of a primary positioning service, wherein the first positioning service message is sent by the first terminal to the network device; Receiving positioning capability information of the first terminal; Determine, according to the positioning capability information of the first terminal, a positioning method for performing positioning measurement on the first terminal, and send the positioning method to the first terminal; Receiving a measurement result of a positioning reference signal measurement performed between the first terminal and the auxiliary positioning terminal based on the positioning method; Obtaining a positioning result of the first terminal based on the measurement result, and sending the positioning result to the first terminal; Wherein, the auxiliary positioning terminal is used to provide auxiliary positioning services.

14. The positioning method according to claim 13, characterized in that: At least two of the first terminal, the main positioning terminal and the auxiliary positioning terminal are communicatively connected via a direct communication interface.

15. The method according to claim 13 or 14, characterized in that The receiving a measurement result obtained by measuring a positioning reference signal between the first terminal and the auxiliary positioning terminal based on the positioning method includes: receiving a first measurement result sent by the first terminal, wherein the first measurement result is obtained by the first terminal measuring a first positioning signal based on the positioning method, and the first positioning signal is sent by the auxiliary positioning terminal to the first terminal; and / or, A second measurement result is received, wherein the second measurement result is obtained by the auxiliary positioning terminal by measuring a second positioning signal based on the positioning method, and the second positioning signal is sent by the first terminal to the auxiliary positioning terminal.

16. The positioning method according to claim 13 or 14, characterized in that: Before receiving the positioning capability information of the first terminal, the positioning method further includes: Sending positioning service information to the first terminal through a direct communication interface or a network device.

17. The method according to claim 13 or 14, characterized in that Before receiving the positioning capability information of the first terminal, the positioning method further includes: Receiving a location service information acquisition request sent by the first terminal; The positioning service information is sent to the first terminal according to the positioning service information acquisition request.

18. A positioning method, characterized in that: Applied to an auxiliary positioning terminal, the auxiliary positioning terminal provides an auxiliary positioning service for a first terminal, and the positioning method includes: Receiving a second positioning service message sent by the first terminal to indicate provision of an auxiliary positioning service; or receiving a second positioning service message sent by a network device to indicate provision of an auxiliary positioning service, wherein the second positioning service message is sent by the first terminal to the network device; Receiving a positioning method of the first terminal; Based on the positioning method, measure a positioning reference signal with the first terminal to obtain a measurement result; Sending the measurement result to the first terminal or the main positioning terminal, where the measurement result is used by the first terminal or the main positioning terminal to obtain a positioning result of the first terminal; Among them, the main positioning terminal is used to provide the main positioning service. The main positioning terminal is determined by the first terminal from the target terminal according to the positioning service information, at least one terminal that can provide the main positioning service, and is screened from the at least one determined terminal according to the positioning capability information, moving speed of each terminal and the channel condition between the terminal and the first terminal.

19. The positioning method according to claim 18, characterized in that: At least two of the first terminal, the auxiliary positioning terminal and the main positioning terminal are communicatively connected via a direct communication interface.

20. The positioning method according to claim 18 or 19, characterized in that: If the measurement result includes the first measurement result, the measuring of the positioning reference signal between the first terminal and the positioning method to obtain the measurement result includes: Sending a first positioning signal to the first terminal; A first measurement result sent by the first terminal is received, where the first measurement result is obtained by the first terminal measuring the first positioning signal based on the positioning method.

21. The positioning method according to claim 18 or 19, characterized in that: If the measurement result includes a second measurement result, the measuring of a positioning reference signal with the first terminal based on the positioning method to obtain the measurement result includes: receiving a second positioning signal sent by the first terminal; Based on the positioning method, the second positioning signal is measured to obtain the second measurement result.

22. A positioning device, characterized in that: Applied to the first terminal, the positioning device includes: An acquisition module is used to acquire the positioning service information of the target terminal; A determination module, configured to determine, from the target terminal, a primary positioning terminal for providing a primary positioning service and an auxiliary positioning terminal for providing an auxiliary positioning service according to the positioning service information; The determination module is specifically used for: According to the positioning service information, at least one terminal capable of providing a primary positioning service is determined from the target terminals; according to the positioning capability information, the moving speed of each terminal determined, and the channel condition between the terminal and the first terminal, a primary positioning terminal for providing a primary positioning service is screened from the at least one terminal determined; A sending module, used to send a first positioning service message indicating provision of a primary positioning service to the primary positioning terminal; or send a first positioning service message indicating provision of a primary positioning service to a network device; Sending a second positioning service message for indicating provision of an auxiliary positioning service to the auxiliary positioning terminal; or sending a second positioning service message for indicating provision of an auxiliary positioning service to a network device; A processing module is used to locate the position of the first terminal based on the main positioning terminal and the auxiliary positioning terminal.

23. A positioning device, characterized in that: Applied to a main positioning terminal, the main positioning terminal is used to provide a main positioning service for a first terminal, wherein the main positioning terminal is the first terminal that determines at least one terminal that can provide the main positioning service from the target terminal according to the positioning service information, and is screened from the at least one terminal determined according to the positioning capability information, the moving speed of each terminal, and the channel condition between the terminal and the first terminal, the positioning device includes: A receiving module, configured to receive a first positioning service message sent by the first terminal through a direct connection interface to indicate provision of a primary positioning service; or receive a first positioning service message sent by a network device to indicate provision of a primary positioning service, wherein the first positioning service message is sent by the first terminal to the network device; The receiving module is further configured to receive positioning capability information of the first terminal; a determination module, configured to determine, according to the positioning capability information of the first terminal, a positioning method for performing positioning measurement on the first terminal, and send the positioning method to the first terminal; The receiving module is further used to receive a measurement result obtained by measuring a positioning reference signal between the first terminal and the auxiliary positioning terminal based on the positioning method; a processing module, configured to obtain a positioning result of the first terminal based on the measurement result, and send the positioning result to the first terminal; Wherein, the auxiliary positioning terminal is used to provide auxiliary positioning services.

24. A positioning device, characterized in that: Applied to an auxiliary positioning terminal, the auxiliary positioning terminal provides an auxiliary positioning service for a first terminal, and the positioning device includes: A receiving module, configured to receive a second positioning service message sent by the first terminal to indicate provision of an auxiliary positioning service; or receive a second positioning service message sent by a network device to indicate provision of an auxiliary positioning service, wherein the second positioning service message is sent by the first terminal to the network device; The receiving module is further used to receive the positioning method of the first terminal; A processing module, configured to measure a positioning reference signal with the first terminal based on the positioning method to obtain a measurement result; a sending module, configured to send the measurement result to the first terminal or the main positioning terminal, wherein the measurement result is used by the first terminal or the main positioning terminal to obtain a positioning result of the first terminal; Among them, the main positioning terminal is used to provide the main positioning service. The main positioning terminal is determined by the first terminal from the target terminal according to the positioning service information, at least one terminal that can provide the main positioning service, and is screened from the at least one determined terminal according to the positioning capability information, moving speed of each terminal and the channel condition between the terminal and the first terminal.

25. A terminal, characterized in that: The terminal is a first terminal, and the first terminal includes: Memory for storing computer programs; a transceiver for transmitting and receiving data under the control of the processor; A processor is configured to read the computer program in the memory and perform the following operations: Obtaining the location service information of the target terminal; According to the positioning service information, determining from the target terminal a primary positioning terminal for providing a primary positioning service and an auxiliary positioning terminal for providing an auxiliary positioning service; Wherein, determining a primary positioning terminal for providing a primary positioning service from the target terminal according to the positioning service information includes: According to the positioning service information, at least one terminal capable of providing a primary positioning service is determined from the target terminals; according to the positioning capability information, the moving speed of each terminal determined, and the channel condition between the terminal and the first terminal, a primary positioning terminal for providing a primary positioning service is screened from the at least one terminal determined; Sending a first positioning service message for indicating provision of a primary positioning service to the primary positioning terminal; or sending a first positioning service message for indicating provision of a primary positioning service to a network device; Sending a second positioning service message for indicating provision of an auxiliary positioning service to the auxiliary positioning terminal; or sending a second positioning service message for indicating provision of an auxiliary positioning service to a network device; The position of the first terminal is located based on the primary positioning terminal and the auxiliary positioning terminal.

26. The terminal according to claim 25, characterized in that The first terminal establishes a communication connection with the target terminal via a direct communication interface.

27. The terminal according to claim 25 or 26, characterized in that: The obtaining of the positioning service information of the target terminal includes: The positioning service information sent by the target terminal is received through the direct communication interface.

28. The terminal according to claim 25 or 26, characterized in that: The obtaining of the positioning service information of the target terminal includes: Sending a location service information acquisition request to the target terminal via a direct communication interface; Receive positioning service information sent by the target terminal.

29. The terminal according to claim 25, characterized in that The obtaining of the positioning service information of the target terminal includes: Obtain the target terminal's location service information from the network device.

30. The terminal according to claim 29, characterized in that The obtaining of the positioning service information of the target terminal from the network device specifically includes: Sending a location service information acquisition request to the network device, where the first terminal is located within the coverage of the network device; Receive the positioning service information of the target terminal sent by the network device.

31. The terminal according to claim 25, characterized in that The obtaining of the positioning service information of the target terminal specifically includes: If it is determined that the target terminal is not within the coverage of the network device, obtaining the positioning service information of the target terminal from the storage medium of the first terminal; The positioning service information of the target terminal is acquired and stored from the network device when the first terminal is within the coverage of the network device.

32. The terminal according to claim 25, characterized in that The locating the position of the first terminal based on the primary positioning terminal and the auxiliary positioning terminal includes: Sending the positioning capability information of the first terminal to the main positioning terminal; receiving a positioning method for performing positioning measurement on the first terminal determined by the main positioning terminal according to the positioning capability information; Based on the positioning method, measuring a positioning reference signal with the auxiliary positioning terminal to obtain a measurement result; Based on the measurement result, the position of the first terminal is obtained.

33. The terminal according to claim 32, characterized in that If the measurement result includes the first measurement result, performing positioning signal measurement with the auxiliary positioning terminal based on the positioning method to obtain a measurement result includes: Receiving a first positioning signal sent by the auxiliary positioning terminal; The first positioning signal is measured based on the positioning method to obtain the first measurement result.

34. The terminal according to claim 33, characterized in that If the measurement result includes a second measurement result, the obtaining the measurement result through interaction with the auxiliary positioning terminal based on the positioning method includes: Sending a second positioning signal to the auxiliary positioning terminal; The second measurement result is received, where the second measurement result is obtained by the auxiliary positioning terminal measuring the second positioning signal based on the positioning method.

35. The terminal according to claim 34, characterized in that Obtaining a position of the first terminal based on the measurement result includes: Sending the first measurement result and / or the second measurement result to the main positioning terminal; receiving a positioning result sent by the main positioning terminal, and obtaining a position of the first terminal according to the positioning result; The positioning result is obtained by the main positioning terminal calculating the first measurement result and / or the second measurement result based on the positioning method.

36. The terminal according to claim 34, characterized in that Obtaining a position of the first terminal based on the measurement result includes: Based on the positioning method, the first measurement result and / or the second measurement result are calculated to obtain a positioning result of the first terminal.

37. A terminal, characterized in that: The terminal is a main positioning terminal, and the main positioning terminal provides a main positioning service for the first terminal, wherein the main positioning terminal is determined by the first terminal from the target terminal according to the positioning service information, at least one terminal that can provide the main positioning service, and is screened from the at least one terminal determined according to the positioning capability information, the moving speed of each terminal, and the channel condition between the terminal and the first terminal, and the main positioning terminal includes: Memory for storing computer programs; a transceiver for transmitting and receiving data under the control of the processor; The processor is configured to read the computer program in the memory and perform the following operations: Receiving a first positioning service message sent by the first terminal through the direct connection interface to indicate provision of a primary positioning service; or receiving a first positioning service message sent by a network device to indicate provision of a primary positioning service, wherein the first positioning service message is sent by the first terminal to the network device; Receiving positioning capability information of the first terminal; Determine, according to the positioning capability information of the first terminal, a positioning method for performing positioning measurement on the first terminal, and send the positioning method to the first terminal; Receiving a measurement result of a positioning reference signal measurement performed between the first terminal and the auxiliary positioning terminal based on the positioning method; Obtaining a positioning result of the first terminal based on the measurement result, and sending the positioning result to the first terminal; Wherein, the auxiliary positioning terminal is used to provide auxiliary positioning services.

38. A terminal, characterized in that: The terminal is an auxiliary positioning terminal, the auxiliary positioning terminal provides an auxiliary positioning service for the first terminal, and the auxiliary positioning terminal includes: Memory for storing computer programs; a transceiver for transmitting and receiving data under the control of the processor; The processor is configured to read the computer program in the memory and perform the following operations: Receiving a second positioning service message sent by the first terminal to indicate provision of an auxiliary positioning service; or receiving a second positioning service message sent by a network device to indicate provision of an auxiliary positioning service, wherein the second positioning service message is sent by the first terminal to the network device; Receiving a positioning method of the first terminal; Based on the positioning method, measure a positioning reference signal with the first terminal to obtain a measurement result; Sending the measurement result to the first terminal or the main positioning terminal, where the measurement result is used by the first terminal or the main positioning terminal to obtain a positioning result of the first terminal; Among them, the main positioning terminal is used to provide the main positioning service. The main positioning terminal is determined by the first terminal from the target terminal according to the positioning service information, at least one terminal that can provide the main positioning service, and is screened from the at least one determined terminal according to the positioning capability information, moving speed of each terminal and the channel condition between the terminal and the first terminal.

39. A processor-readable storage medium, characterized in that: The processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the positioning method according to any one of claims 1 to 12, or the positioning method according to any one of claims 13 to 17, or the positioning method according to any one of claims 18 to 21.

40. A computer program product, characterized in that include: A computer program, characterized in that when the computer program is executed by a processor, it implements the positioning method according to any one of claims 1 to 12, or the positioning method according to any one of claims 13 to 17, or the positioning method according to any one of claims 18 to 21.

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