Relative positioning method, apparatus, and readable storage medium

Abstract

The application provides a relative positioning method and device and a readable storage medium, which are applied to a first terminal device, the first terminal device is connected with a second terminal device through a direct communication link, and the method comprises the following steps: sending a first relative positioning reference signal to the second terminal device, receiving a second relative positioning reference signal sent by the second terminal device; determining a first positioning parameter corresponding to the first relative positioning reference signal and the second relative positioning reference signal of the received second relative positioning reference signal; receiving a second positioning parameter sent by the second terminal device, wherein the second positioning parameter is determined by the second terminal according to the received first relative positioning reference signal and the second relative positioning reference signal; and determining the relative position between the first terminal device and the second terminal device according to the first positioning parameter and the second positioning parameter, so that the determined relative position is more accurate, the calculation amount is reduced, and the positioning efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a relative positioning method, apparatus and readable storage medium. Background Technology

[0002] With the development of communication technology, vehicle-to-everything (V2X) technology has also made rapid progress. V2X technology requires high-precision, highly reliable relative position information between terminal devices to determine the relative position of a vehicle to any object, enabling effective vehicle control and providing comprehensive services.

[0003] In existing technologies, there are two methods for determining the relative position information between terminal devices. The first method is to first determine the absolute position of each terminal device and then calculate the relative position between the terminal devices. The second method is to use relative positioning technology based on short-range wireless communication.

[0004] Therefore, the first positioning method in the existing technology must first determine the absolute position of the terminal device in order to calculate the relative position between the terminal devices. Compared with directly calculating the relative position, the amount of calculation is greatly increased, which makes the positioning efficiency of relative position lower and the positioning delay greatly increased. The second positioning method has a large error in the positioning parameters determined when performing relative positioning, resulting in lower accuracy of relative positioning. Summary of the Invention

[0005] This application provides a relative positioning method, apparatus, and readable storage medium, which solves the technical problems of the first positioning method in the prior art, which requires the absolute position of the terminal device to be determined before the relative position between the terminal devices can be calculated, greatly increasing the amount of calculation, resulting in low positioning efficiency and a large increase in positioning delay; and the second positioning method, which determines the positioning parameters with large errors when performing relative positioning, resulting in low accuracy of relative positioning.

[0006] In a first aspect, this application provides a relative positioning method, the method being applied to a first terminal device, wherein the first terminal device and a second terminal device are connected via a direct communication link, the method comprising:

[0007] Send a first relative positioning reference signal to the second terminal device, and receive a second relative positioning reference signal sent by the second terminal device;

[0008] Determine the first positioning parameter corresponding to the received second relative positioning reference signal and the first relative positioning reference signal;

[0009] The second terminal device receives a second positioning parameter, which is determined by the second terminal based on the received first relative positioning reference signal and the second relative positioning reference signal.

[0010] The relative positions between the first terminal device and the second terminal device are determined based on the first positioning parameter and the second positioning parameter.

[0011] Optionally, if there are multiple first relative positioning reference signals and multiple second relative positioning reference signals, then determining the first positioning parameter corresponding to the received second relative positioning reference signal and the first relative positioning reference signal includes:

[0012] For each received second relative positioning reference signal, determine the first relative positioning reference signal that is closest to the second relative positioning reference signal;

[0013] Based on the second relative positioning reference signal and the determined first relative positioning reference signal, a first positioning parameter corresponding to a first signal pair containing the second relative positioning reference signal and the determined first relative positioning reference signal is obtained.

[0014] Optionally, the first positioning parameter includes: a first time difference and a first timestamp, wherein the first time difference is the time difference between the reception time of the second relative positioning reference signal in the first signal pair and the transmission time of the first relative positioning reference signal; and the first timestamp is the moment at which the first time difference is determined.

[0015] Optionally, the first orientation angle measurement parameters further include: first orientation angle measurement parameters and first power aperture related parameters;

[0016] Wherein: the first azimuth measurement parameters include: the first receiving antenna azimuth angle and the first transmitting antenna azimuth angle; the first power aperture related parameters include: the first receiving power, the first multipath receiving power, the first NLOS path, and the first LOS path.

[0017] Optionally, determining the relative position between the first terminal device and the second terminal device based on the first positioning parameter and the second positioning parameter includes:

[0018] For each obtained first positioning parameter and each second positioning parameter, a positioning parameter group is determined, which contains one first positioning parameter and one second positioning parameter.

[0019] The relative positions between the first terminal device and the second terminal device are determined based on the first positioning parameter and the second positioning parameter contained in the positioning parameter group.

[0020] Optionally, a set of positioning parameters is determined, including:

[0021] For each of the obtained second positioning parameters, determine the first positioning parameter corresponding to the first timestamp that is closest to the timestamp in the second positioning parameter;

[0022] The second positioning parameter and the first positioning parameter corresponding to the determined first timestamp are combined into a positioning parameter group.

[0023] Optionally, determining the relative position between the first terminal device and the second terminal device based on the first positioning parameter and the second positioning parameter included in the positioning parameter set includes:

[0024] Obtain the first time difference and the first power aperture related parameters of the first positioning parameter in the positioning parameter group, and the second time difference and the second power aperture related parameters of the second positioning parameter;

[0025] The relative distance between the first terminal device and the second terminal device corresponding to the positioning parameter group is determined based on the first time difference, the second time difference, the first power aperture related parameters, and the second power aperture related parameters.

[0026] Obtain the first orientation angle measurement parameter and the first power aperture related parameter of the first positioning parameter in the positioning parameter group, and the second orientation angle measurement parameter and the second power aperture related parameter of the second positioning parameter;

[0027] Based on the first direction angle measurement parameters, the second direction angle measurement parameters, the first power aperture related parameters, and the second power aperture related parameters, the relative angle between the first terminal device and the second terminal device corresponding to the positioning parameter set is determined; the relative angle is the angle from the north direction, rotating counterclockwise to the position of the terminal device participating in the relative positioning, with the terminal device applying for relative positioning as the center.

[0028] The relative distance and the relative angle are determined as the relative positions between the first terminal device and the second terminal device corresponding to the positioning parameter set.

[0029] Optionally, after determining the first positioning parameter, the method further includes:

[0030] The first positioning parameter is sent to the second terminal device so that the second terminal device determines the relative position between the first terminal device and the second terminal device based on the first positioning parameter and the second positioning parameter.

[0031] After determining the relative position between the first terminal device and the second terminal device, the method further includes:

[0032] The relative position is sent to the second terminal device so that the second terminal device can correct the determined relative position.

[0033] Optionally, it also includes:

[0034] Receive a relative position report sent by the second terminal device; correct the relative position based on the relative position report.

[0035] Optionally, after receiving the second positioning parameter, the method further includes:

[0036] The first positioning parameter and the second positioning parameter are sent to the positioning server so that the positioning server can determine the relative position between the first terminal device and the second terminal device based on the received first positioning parameter and second positioning parameter.

[0037] Optionally, the first terminal device and the third terminal device are connected via a direct communication link, and the third terminal device is an on-network device;

[0038] After receiving the second positioning parameter, it also includes:

[0039] The first positioning parameter and the second positioning parameter are sent to the positioning server through the third terminal device, so that the positioning server can determine the relative position between the first terminal device and the second terminal device based on the received first positioning parameter and second positioning parameter.

[0040] Optionally, after determining the relative position between the first terminal device and the second terminal device, the method further includes:

[0041] The relative position is sent to the positioning server so that the positioning server stores the relative position.

[0042] Optionally, the first terminal device and the third terminal device are connected via a direct communication link, and the third terminal device is an on-network device;

[0043] After determining the relative positions between the first terminal device and the second terminal device, the process also includes:

[0044] The relative position is sent to the positioning server via the third terminal device so that the positioning server stores the relative position.

[0045] Optionally, before sending the first relative positioning reference signal to the second terminal device, the method further includes:

[0046] Send a relative positioning request to the network-side device, the relative positioning request being used to instruct the network-side device to send relative positioning reference signal configuration information to the first terminal device and the second terminal device;

[0047] Receive relative positioning reference signal configuration information sent by network-side devices;

[0048] A first relative positioning reference signal is generated based on the relative positioning reference signal configuration information.

[0049] Optionally, sending the first relative positioning reference signal to the second terminal device includes:

[0050] Obtain pre-authorized spectrum resource information;

[0051] Based on the spectrum resource information, a first relative positioning reference signal is sent.

[0052] Secondly, this application provides a relative positioning method, which is applied to a positioning server, wherein a first terminal device and a second terminal device are connected via a direct communication link, and the method includes:

[0053] The system acquires a first positioning parameter and a second positioning parameter. The first positioning parameter is the positioning parameter corresponding to the second relative positioning reference signal determined by the first terminal device and the first relative positioning reference signal. The second positioning parameter is the positioning parameter corresponding to the first relative positioning reference signal determined by the second terminal device and the second relative positioning reference signal. The first relative positioning reference signal is sent by the first terminal device to the second terminal device, and the second relative positioning reference signal is received by the first terminal device from the second terminal device.

[0054] The relative positions between the first terminal device and the second terminal device are determined based on the first positioning parameters and the second positioning parameters.

[0055] Optionally, it also includes:

[0056] Obtain the relative position between the first terminal device and the second terminal device as determined by the first terminal device;

[0057] The relative positions are stored.

[0058] Optionally, the first terminal device and the third terminal device are connected via a direct communication link to obtain the relative position between the first terminal device and the second terminal device determined by the first terminal device, including:

[0059] The relative position between the first terminal device and the second terminal device is received from the third terminal device;

[0060] The relative positions are stored.

[0061] Thirdly, this application provides a relative positioning device, the device being located in a first terminal device, the first terminal device and a second terminal device being communicatively connected via a direct communication link, the device comprising:

[0062] Memory, transceiver, processor:

[0063] A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations:

[0064] Send a first relative positioning reference signal to the second terminal device, and receive a second relative positioning reference signal sent by the second terminal device;

[0065] Determine the first positioning parameter corresponding to the received second relative positioning reference signal and the first relative positioning reference signal;

[0066] The second terminal device receives a second positioning parameter, which is determined by the second terminal based on the received first relative positioning reference signal and the second relative positioning reference signal.

[0067] The relative positions between the first terminal device and the second terminal device are determined based on the first positioning parameter and the second positioning parameter.

[0068] Optionally, if there are multiple first relative positioning reference signals and multiple second relative positioning reference signals, then when the processor determines the first positioning parameter corresponding to the received second relative positioning reference signal and the first relative positioning reference signal, it specifically includes:

[0069] For each received second relative positioning reference signal, determine the first relative positioning reference signal that is closest to the second relative positioning reference signal;

[0070] Based on the second relative positioning reference signal and the determined first relative positioning reference signal, a first positioning parameter corresponding to a first signal pair containing the second relative positioning reference signal and the determined first relative positioning reference signal is obtained.

[0071] Optionally, the first positioning parameter includes: a first time difference and a first timestamp, wherein the first time difference is the time difference between the reception time of the second relative positioning reference signal in the first signal pair and the transmission time of the first relative positioning reference signal; and the first timestamp is the moment at which the first time difference is determined.

[0072] Optionally, the first orientation angle measurement parameters further include: first orientation angle measurement parameters and first power aperture related parameters;

[0073] Wherein: the first azimuth measurement parameters include: the first receiving antenna azimuth angle and the first transmitting antenna azimuth angle; the first power aperture related parameters include: the first receiving power, the first multipath receiving power, the first NLOS path, and the first LOS path.

[0074] Optionally, when the processor determines the relative position between the first terminal device and the second terminal device based on the first positioning parameter and the second positioning parameter, it specifically includes:

[0075] For each obtained first positioning parameter and each second positioning parameter, a positioning parameter group is determined, which contains one first positioning parameter and one second positioning parameter.

[0076] The relative positions between the first terminal device and the second terminal device are determined based on the first positioning parameter and the second positioning parameter contained in the positioning parameter group.

[0077] Optionally, the processor, when determining the positioning parameter set, specifically includes:

[0078] For each of the obtained second positioning parameters, determine the first positioning parameter corresponding to the first timestamp that is closest to the timestamp in the second positioning parameter;

[0079] The second positioning parameter and the first positioning parameter corresponding to the determined first timestamp are combined into a positioning parameter group.

[0080] Optionally, when the processor determines the relative position between the first terminal device and the second terminal device based on the first positioning parameter and the second positioning parameter included in the positioning parameter set, it includes:

[0081] Obtain the first time difference and the first power aperture related parameters of the first positioning parameter in the positioning parameter group, and the second time difference and the second power aperture related parameters of the second positioning parameter;

[0082] The relative distance between the first terminal device and the second terminal device corresponding to the positioning parameter group is determined based on the first time difference, the second time difference, the first power aperture related parameters, and the second power aperture related parameters.

[0083] Obtain the first orientation angle measurement parameter and the first power aperture related parameter of the first positioning parameter in the positioning parameter group, and the second orientation angle measurement parameter and the second power aperture related parameter of the second positioning parameter;

[0084] Based on the first direction angle measurement parameters, the second direction angle measurement parameters, the first power aperture related parameters, and the second power aperture related parameters, the relative angle between the first terminal device and the second terminal device corresponding to the positioning parameter set is determined; the relative angle is the angle from the north direction, rotating counterclockwise to the position of the terminal device participating in the relative positioning, with the terminal device applying for relative positioning as the center.

[0085] The relative distance and the relative angle are determined as the relative positions between the first terminal device and the second terminal device corresponding to the positioning parameter set.

[0086] Optionally, after determining the first positioning parameter, the processor further includes:

[0087] The first positioning parameter is sent to the second terminal device so that the second terminal device determines the relative position between the first terminal device and the second terminal device based on the first positioning parameter and the second positioning parameter.

[0088] After determining the relative position between the first terminal device and the second terminal device, the processor further includes:

[0089] The relative position is sent to the second terminal device so that the second terminal device can correct the determined relative position.

[0090] Optionally, the processor is further configured to;

[0091] Receive a relative position report sent by the second terminal device; correct the relative position based on the relative position report.

[0092] Optionally, after receiving the second positioning parameter, the processor further includes:

[0093] The first positioning parameter and the second positioning parameter are sent to the positioning server so that the positioning server can determine the relative position between the first terminal device and the second terminal device based on the received first positioning parameter and second positioning parameter.

[0094] Optionally, the first terminal device and the third terminal device are connected via a direct communication link, and the third terminal device is an on-network device;

[0095] The processor, after receiving the second positioning parameter, further includes:

[0096] The first positioning parameter and the second positioning parameter are sent to the positioning server through the third terminal device, so that the positioning server can determine the relative position between the first terminal device and the second terminal device based on the received first positioning parameter and second positioning parameter.

[0097] Optionally, after determining the relative position between the first terminal device and the second terminal device, the processor further includes:

[0098] The relative position is sent to the positioning server so that the positioning server stores the relative position.

[0099] Optionally, the first terminal device and the third terminal device are connected via a direct communication link, and the third terminal device is an on-network device;

[0100] After determining the relative position between the first terminal device and the second terminal device, the processor further includes:

[0101] The relative position is sent to the positioning server via the third terminal device so that the positioning server stores the relative position.

[0102] Optionally, before sending the first relative positioning reference signal to the second terminal device, the processor further includes:

[0103] Send a relative positioning request to the network-side device, the relative positioning request being used to instruct the network-side device to send relative positioning reference signal configuration information to the first terminal device and the second terminal device;

[0104] Receive relative positioning reference signal configuration information sent by network-side devices;

[0105] A first relative positioning reference signal is generated based on the relative positioning reference signal configuration information.

[0106] Optionally, the processor, when sending the first relative positioning reference signal to the second terminal device, includes:

[0107] Obtain pre-authorized spectrum resource information;

[0108] Based on the spectrum resource information, a first relative positioning reference signal is sent.

[0109] Fourthly, this application provides a relative positioning device, the device being located in a positioning server, wherein a first terminal device and a second terminal device are connected via a direct communication link, the device comprising:

[0110] Memory, transceiver, processor:

[0111] A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations:

[0112] The system acquires a first positioning parameter and a second positioning parameter. The first positioning parameter is the positioning parameter corresponding to the second relative positioning reference signal determined by the first terminal device and the first relative positioning reference signal. The second positioning parameter is the positioning parameter corresponding to the first relative positioning reference signal determined by the second terminal device and the second relative positioning reference signal. The first relative positioning reference signal is sent by the first terminal device to the second terminal device, and the second relative positioning reference signal is received by the first terminal device from the second terminal device.

[0113] The relative positions between the first terminal device and the second terminal device are determined based on the first positioning parameters and the second positioning parameters.

[0114] Optionally, the processor is further configured to:

[0115] Obtain the relative position between the first terminal device and the second terminal device as determined by the first terminal device;

[0116] The relative positions are stored.

[0117] Optionally, the first terminal device and the third terminal device are connected via a direct communication link. When the processor obtains the relative position between the first terminal device and the second terminal device determined by the first terminal device, it includes:

[0118] The relative position between the first terminal device and the second terminal device is received from the third terminal device;

[0119] The relative positions are stored.

[0120] Fifthly, this application provides a relative positioning device, which is located in a first terminal device, and the first terminal device and a second terminal device are connected via a direct communication link. The device includes:

[0121] The transmitting unit is configured to transmit a first relative positioning reference signal to the second terminal device;

[0122] The receiving unit is configured to receive the second relative positioning reference signal sent by the second terminal device;

[0123] A determining unit is used to determine the first positioning parameter corresponding to the received second relative positioning reference signal and the first relative positioning reference signal;

[0124] The receiving unit is further configured to receive a second positioning parameter sent by the second terminal device, wherein the second positioning parameter is determined by the second terminal based on the received first relative positioning reference signal and the second relative positioning reference signal;

[0125] The determining unit is further configured to determine the relative position between the first terminal device and the second terminal device based on the first positioning parameter and the second positioning parameter.

[0126] Sixthly, this application provides a relative positioning device, located on a positioning server, wherein a first terminal device and a second terminal device are connected via a direct communication link, the device comprising:

[0127] The acquisition unit is used to acquire a first positioning parameter and a second positioning parameter. The first positioning parameter is a positioning parameter corresponding to the second relative positioning reference signal determined by the first terminal device and the first relative positioning reference signal. The second positioning parameter is a positioning parameter corresponding to the first relative positioning reference signal determined by the second terminal device and the second relative positioning reference signal. The first relative positioning reference signal is sent by the first terminal device to the second terminal device, and the second relative positioning reference signal is received by the first terminal device from the second terminal device.

[0128] The determining unit is used to determine the relative position between the first terminal device and the second terminal device based on the first positioning parameter and the second positioning parameter.

[0129] In a seventh aspect, this application provides a processor-readable storage medium storing a computer program for causing the processor to perform the method described in any one of the first or second aspects.

[0130] This application provides a relative positioning method, apparatus, and readable storage medium, applied to a first terminal device. The first terminal device and a second terminal device are connected via a direct communication link. The method involves sending a first relative positioning reference signal to the second terminal device and receiving a second relative positioning reference signal sent by the second terminal device. It then determines a first positioning parameter corresponding to the received second relative positioning reference signal and the first relative positioning reference signal; receives a second positioning parameter sent by the second terminal device, which is determined by the second terminal device based on the received first and second relative positioning reference signals; and determines the relative position between the first and second terminal devices based on the first and second positioning parameters. Since both the first and second positioning parameters are determined by the round-trip relative positioning reference signals between the first and second terminal devices during relative positioning, they are both parameters with reduced errors, resulting in a more accurate relative position. Furthermore, the relative position between the terminal devices can be determined without determining the absolute position of each terminal device, thus reducing computational load, significantly reducing positioning latency, and improving positioning efficiency.

[0131] It should be understood that the description in the foregoing summary section is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0132] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0133] Figure 1 This is a network architecture diagram of existing cellular network-based positioning methods;

[0134] Figure 2 This is a flowchart illustrating the signaling interaction process for absolute positioning, using a location request triggered by a terminal device as an example in existing technologies.

[0135] Figure 3 Network architecture diagram of the relative positioning method provided in the embodiments of this application;

[0136] Figure 4 A flowchart illustrating the relative positioning method provided in an embodiment of this application;

[0137] Figure 5 This is a schematic diagram showing the relative positions of the terminal devices in the embodiments of this application;

[0138] Figure 6 A flowchart illustrating a relative positioning method provided in another embodiment of this application;

[0139] Figure 7 A flowchart illustrating a relative positioning method provided in yet another embodiment of this application;

[0140] Figure 8 A flowchart illustrating a relative positioning method provided in yet another embodiment of this application;

[0141] Figure 9 A flowchart illustrating a relative positioning method provided in another embodiment of this application is shown.

[0142] Figure 10 A flowchart illustrating a relative positioning method provided in yet another embodiment of this application;

[0143] Figure 11 A flowchart illustrating a relative positioning method provided in another embodiment of this application is shown.

[0144] Figure 12 This is a schematic diagram of the structure of a relative positioning device provided in an embodiment of this application;

[0145] Figure 13 This is a schematic diagram of the structure of a relative positioning device provided in another embodiment of this application;

[0146] Figure 14 This is a schematic diagram of the structure of a relative positioning device provided in another embodiment of this application;

[0147] Figure 15 This is a schematic diagram of the relative positioning device provided in another embodiment of this application. Detailed Implementation

[0148] In the embodiments of this application, the term "multiple" refers to two or more, and other quantifiers are similar.

[0149] To clearly understand the technical solution of this application, the solutions of the prior art will be described in detail first.

[0150] In existing technologies, determining the relative position between terminal devices is applied in multiple fields. For example, in the field of vehicle networking technology, determining high-precision and highly reliable relative position information between terminal devices is used to determine the relative position information between a vehicle equipped with terminal devices and any object, thereby enabling effective vehicle control and providing comprehensive services.

[0151] In existing technologies, there are two methods for determining the relative position information between terminal devices. The first method is to first determine the absolute position of each terminal device and then calculate the relative position between the terminal devices. The second method is to use relative positioning technology based on short-range wireless communication.

[0152] Figure 1 The network architecture diagram of existing cellular network-based positioning methods is shown below. Figure 1 As shown, the first method requires the joint participation of the terminal device (UE), network-side equipment (NG-RAN), core network equipment (Mobility Management Function Entity (AMF) and / or Location Management Function Entity (LMF, also known as the location server). The example given is of the terminal device triggering a location request and using the observed time difference of arrival (TDOA) method for absolute positioning. Figure 2 As shown, the positioning method includes the following steps:

[0153] Step 0: Establish a NAS connection between the UE and the Mobility Management Function Entity (AMF).

[0154] Step 1: The UE sends the MOLR parameter to the AMF.

[0155] Step 2: The AMF sends a location request to the Location Management Function Entity (LMF, also known as the Location Server).

[0156] Step 3: LMF selects the Time Difference of Observation (OTDOA) method as the localization method.

[0157] Step 4: The LMF provides auxiliary data to the UE.

[0158] Step 5: The LMF requests location information from the UE.

[0159] Step 6: The UE provides location information.

[0160] Step 7: LMF calculates the UE's location information.

[0161] The UE's location information is absolute location information.

[0162] Step 8: The LMF sends a location response to the AMF.

[0163] Step 9: AMF sends MOLR parameters to UE.

[0164] Step 10: The UE sends a completion message to the AMF.

[0165] according to Figure 2As can be seen from the method for locating terminal devices, absolute positioning of the terminal device requires multiple interactions between the terminal device and the core network device via network-side equipment. After determining the absolute position of the terminal device, the core network device calculates the relative position of the two terminal devices based on their absolute positions. Therefore, although this relative positioning method can determine the relative position between terminal devices, the computational load is greatly increased. Moreover, it requires obtaining the precise geographical location information of the network-side equipment involved in the positioning process, resulting in low positioning efficiency and significantly increased positioning latency.

[0166] In the second method, when using relative positioning technology based on short-range wireless communication, the main parameters for determining the relative positioning between terminal devices include received signal strength indicator (RSSI), time of arrival (TOA), time difference of arrival (TDOA), angle of arrival (AOA), and frequency difference of arrival (FDOA). For example, the positioning principle using time of arrival determines the relative position between terminal devices by measuring the signal transmission time after identifying the specific positioning source. Another example is using received signal strength, i.e., path loss, and employing Bluetooth-based relative positioning technology to determine the relative position between terminal devices.

[0167] In this relative positioning method for terminal devices, the accuracy is low due to the significant errors introduced in determining the aforementioned parameters. However, in vehicle-to-everything (V2X) technology, in scenarios with cellular network coverage, 99% stability is required, with relative positioning accuracy reaching 0.1m horizontally and 0.5m vertically. This includes the relative positions of the vehicle with pedestrians, roadside units, and adjacent vehicles. This relative positioning method falls far short of these high-precision requirements and cannot meet the positioning service needs based on Quality of Service (QoS) metrics in scenarios with cellular network coverage.

[0168] Therefore, based on the technical problems in the existing technology, the inventors, through creative research, discovered that in cellular network coverage scenarios, terminal devices can communicate directly. That is, nearby terminal devices communicate within a short distance using a direct communication link (also known as a Sidelink) to complete data transmission. The wireless interface corresponding to the Sidelink link is called the Direct Communication Interface (SL Interface). Therefore, utilizing direct communication between terminal devices, the first terminal device and the second terminal device can send relative positioning reference signals to each other. For example, the first terminal device sends a first relative positioning reference signal to the second terminal device and receives a second relative positioning reference signal sent by the second terminal device. The first terminal device determines a first positioning parameter corresponding to the received second relative positioning reference signal and the first relative positioning reference signal. The second terminal device determines a second positioning parameter based on the received first and second relative positioning reference signals and sends it to the first terminal device. The first terminal device determines the relative position between the first terminal device and the second terminal device based on the first and second positioning parameters. Since both the first and second positioning parameters are determined by the relative positioning reference signals traveling between the first and second terminal devices during relative positioning, these parameters are optimized to minimize errors. Therefore, the relative positions determined using the first and second positioning parameters are more accurate. Furthermore, the relative positions between terminal devices can be determined without needing to determine the absolute position of each individual device, thus reducing computational load, significantly decreasing positioning latency, and improving positioning efficiency.

[0169] Figure 3 The network architecture diagram of the relative positioning method provided in the embodiments of this application is as follows: Figure 3 As shown, in the network architecture of the relative positioning method provided in this embodiment, terminal devices communicate with each other via a Sidelink link. Terminal devices communicate with network-side devices via a Uu interface, and network-side devices communicate with core network devices in the CN core network. The core network devices include an LMF, also known as a positioning server.

[0170] exist Figure 3 The example includes two terminal devices, UE1 and UE2. However, other terminal devices may also be included, which communicate with UE1 and / or UE2 via a direct communication link. The network architecture in the relative positioning method provided in this application is under cellular network coverage. The terminal device communicating via the direct communication link can be an on-network terminal or an off-network terminal.

[0171] The technical solutions provided in this application can be applied to various systems with cellular network coverage, especially 5G systems. For example, applicable systems include Global System for Mobile Communication (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), LTE Frequency Division Duplex (FDD), LTE Time Division Duplex (TDD), Long Term Evolution Advanced (LTE-A), Universal Mobile Telecommunications System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX), and 5G New Radio (NR). These systems all include terminal equipment, network equipment, and core network components, such as Evolved Packet System (EPS) and 5G systems (5GS).

[0172] The terminal devices involved in the embodiments of this application can be devices that provide voice and / or data connectivity to users, handheld devices with wireless connectivity, or other processing devices connected to a wireless modem. The names of the terminal devices may differ in different systems; for example, in a 5G system, a terminal device can be called User Equipment (UE). Wireless terminal devices can communicate with one or more core networks (CNs) via a Radio Access Network (RAN). Wireless terminal devices can be mobile terminal devices, such as mobile phones (or "cellular" phones) and computers with mobile terminal devices, for example, portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile devices that exchange voice and / or data with the RAN. Examples include Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, and Personal Digital Assistants (PDAs). Terminal devices can also have direct communication capabilities, such as vehicle-to-everything (V2X) communication terminal devices or other direct-access terminal devices. Wireless terminal devices can also be referred to as systems, subscriber units, subscriber stations, mobile stations, mobile devices, remote stations, access points, remote terminals, access terminals, user terminals, user agents, or user devices; however, this is not limited to these terms in the embodiments of this application.

[0173] The network-side equipment involved in this application embodiment can be a base station, which may include multiple cells providing services to terminal devices. Depending on the specific application, a base station may also be called an access point, or a device in the access network that communicates with wireless terminal devices through one or more sectors on the air interface, or other names. The network device can be used to exchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, where the rest of the access network may include an Internet Protocol (IP) communication network. The network device can also coordinate the attribute management of the air interface. For example, the network equipment involved in the embodiments of this application can be a base transceiver station (BTS) in a Global System for Mobile communications (GSM) or Code Division Multiple Access (CDMA), a NodeB in a Wide-band Code Division Multiple Access (WCDMA) system, an evolved Node B (eNB or e-NodeB) in a long term evolution (LTE) system, a 5G base station (gNB) in a next generation system, a Home evolved Node B (HeNB), a relay node, a femto, a pico, etc., and is not limited in the embodiments of this application. In some network structures, the network equipment may include centralized unit (CU) nodes and distributed unit (DU) nodes, and the centralized unit and distributed unit may be geographically separated.

[0174] The network-side equipment and terminal equipment involved in this application embodiment can each use one or more antennas to perform multiple-input multiple-output (MIMO) transmission. MIMO transmission can be single-user MIMO (SU-MIMO) or multiple-user MIMO (MU-MIMO). Depending on the configuration and number of antenna combinations, MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO, or massive-MIMO, and can also be diversity transmission, precoding transmission, or beamforming transmission, etc.

[0175] This application embodiment can be applied to vehicle-to-everything (V2X) application scenarios. The terminal device can be an in-vehicle terminal on a vehicle, a user terminal carried by a pedestrian on the roadside, or a roadside unit. Using the relative positioning method provided in this application embodiment, the relative position between the vehicle and the pedestrian on the roadside, the relative position between the vehicle and the roadside unit, and the relative position between adjacent vehicles can be determined with high precision.

[0176] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0177] Example 1

[0178] Figure 4 This is a flowchart illustrating the relative positioning method provided in the embodiments of this application, as shown below. Figure 4 As shown, the execution subject of the relative positioning method provided in this embodiment is a relative positioning device. This relative positioning device is located in the first terminal device. The first terminal device and the second terminal device are connected via a direct communication link. Therefore, the relative positioning method provided in this embodiment includes the following steps:

[0179] Step 101: Send a first relative positioning reference signal to the second terminal device and receive a second relative positioning reference signal sent by the second terminal device.

[0180] In this configuration, the first terminal device can be the terminal device requesting relative positioning, and the second terminal device can be the peer terminal device participating in the relative positioning. Alternatively, the second terminal device can be the terminal device requesting relative positioning, and the first terminal device can be the peer terminal device participating in the relative positioning.

[0181] In this embodiment, if the first terminal device is the terminal device requesting relative positioning, it can send a relative positioning request to the network-side device. The network-side device then configures the relative positioning reference signal according to the request, generates relative positioning reference signal configuration information, and sends this information to both the first and second terminal devices, enabling them to generate corresponding relative positioning reference signals. The relative positioning reference signal generated by the first terminal device is the first relative positioning reference signal. The relative positioning reference signal generated by the second terminal device is the second relative positioning reference signal.

[0182] It is understood that the first relative positioning reference signal and the second relative positioning reference signal can also be generated in other ways, and this embodiment does not limit this.

[0183] The forms of the first relative positioning reference signal and the second relative positioning reference signal are not limited in this embodiment.

[0184] In this embodiment, pre-authorized spectrum resource information is stored in both the first and second terminal devices. When the first terminal device sends a first relative positioning reference signal to the second terminal device, it sends the first relative positioning reference signal based on the spectrum resource information. Similarly, when the second terminal device sends a second relative positioning reference signal to the first terminal device, it sends the second relative positioning reference signal based on the spectrum resource information.

[0185] It should be noted that when the first terminal device sends the first relative positioning reference signal to the second terminal device, it does so through the SL interface of the Sidelink link. It also receives the second relative positioning reference signal sent by the second terminal device through the SL interface of the Sidelink link.

[0186] Step 102: Determine the first positioning parameters corresponding to the received second relative positioning reference signal and the first relative positioning reference signal.

[0187] In this embodiment, the second relative positioning reference signal received by the first terminal device and the first relative positioning reference signal it sends can form a signal pair, and the positioning parameter corresponding to this signal pair is the first positioning parameter. The first positioning parameter may include: a first time difference, a first timestamp, a first orientation angle measurement parameter, and a first power aperture related parameter, and may also include other parameters, which are not limited in this embodiment.

[0188] The first time difference is the time difference between the reception time of the second relative positioning reference signal and the transmission time of the first relative positioning reference signal in the signal pair. The first timestamp is the moment when the first time difference is determined. The first timestamp can be represented using Coordinated Universal Time (UTC) or cellular time. If cellular time is used, it is represented by the system frame number (SFN), slot number, and symbol number.

[0189] The first azimuth angle measurement parameters include: the first receiving antenna azimuth angle and the first transmitting antenna azimuth angle. The first receiving antenna azimuth angle is the azimuth angle of the antenna corresponding to the received second relative positioning reference signal. The first transmitting antenna azimuth angle is the azimuth angle of the antenna corresponding to the transmitting first relative positioning reference signal.

[0190] The parameters related to the first power aperture include: first received power, first multipath received power, first NLOS path, and first LOS path. The first received power is the received power for receiving the second relative positioning reference signal. The first multipath received power is the multipath received power corresponding to the second relative positioning reference signal received by the first terminal device. The first NLOS path is the NLOS path corresponding to the first terminal device. The first LOS path is the LOS path corresponding to the first terminal device.

[0191] Step 103: Receive the second positioning parameters sent by the second terminal device. The second positioning parameters are determined by the second terminal based on the received first relative positioning reference signal and the second relative positioning reference signal.

[0192] In this embodiment, the second terminal device receives a first relative positioning reference signal and sends a second relative positioning reference signal to the first terminal device. The second terminal device combines the received first relative positioning reference signal and the sent second relative positioning reference signal to form a signal pair, and determines the second positioning parameter corresponding to the signal pair.

[0193] The second positioning parameters include: the second time difference, the second timestamp, the second orientation angle measurement parameters, and the second power aperture related parameters corresponding to the signal pair. Other parameters may also be included, but this embodiment does not limit them.

[0194] The second time difference is the time difference between the reception time of the first relative positioning reference signal and the transmission time of the second relative positioning reference signal in the signal pair. The second timestamp is the moment at which the second time difference is determined. The second timestamp can be expressed in Coordinated Universal Time (UTC) or cellular time. If cellular time is used, it is represented by the system frame number (SFN), slot number, and symbol number.

[0195] The second azimuth angle measurement parameters include: the azimuth angle of the second receiving antenna and the azimuth angle of the second transmitting antenna. The azimuth angle of the second receiving antenna is the azimuth angle of the antenna corresponding to the first relative positioning reference signal received by the second terminal. The azimuth angle of the second transmitting antenna is the azimuth angle of the antenna corresponding to the second relative positioning reference signal transmitted by the second terminal.

[0196] The second power aperture-related parameters include: second received power, second multipath received power, second NLOS path, and second LOS path. The second received power is the received power of the second terminal device when receiving the first relative positioning reference signal. The second multipath received power is the multipath received power of the second terminal device corresponding to the first relative positioning reference signal. The second NLOS path is the NLOS path corresponding to the second terminal device. The second LOS path is the LOS path corresponding to the second terminal device.

[0197] In this embodiment, after the second terminal device determines the second positioning parameter, it sends the second positioning parameter to the first terminal device through the SL interface of the Sidelink link, and then the first terminal device receives the second positioning parameter.

[0198] Step 104: Determine the relative position between the first terminal device and the second terminal device based on the first positioning parameter and the second positioning parameter.

[0199] In this embodiment, the relative distance and relative angle between the two terminal devices are determined based on the first positioning parameter and the second positioning parameter. The relative distance and relative angle together constitute the relative position between the first terminal device and the second terminal device.

[0200] like Figure 5 As shown, the relative distance is the relative distance between the requesting positioning terminal device and the peer terminal device participating in the relative positioning. The relative angle is the angle taken as the center of the circle, rotated counterclockwise from due north to the position of the peer terminal device participating in the relative positioning.

[0201] In this embodiment, if the first terminal device is the terminal device requesting relative positioning and the second terminal device is the terminal device participating in the relative positioning, then the relative angle is the angle rotated counterclockwise from due north to the position of the second terminal device, with the first terminal device as the center. If the first terminal device is the terminal device participating in the relative positioning and the second terminal device is the terminal device requesting relative positioning, then the relative angle is the angle rotated counterclockwise from due north to the position of the first terminal device, with the second terminal device as the center.

[0202] The relative positioning method provided in this embodiment is applied to a first terminal device. The first terminal device and a second terminal device are connected via a direct communication link. The method involves sending a first relative positioning reference signal to the second terminal device and receiving a second relative positioning reference signal sent by the second terminal device. It then determines a first positioning parameter corresponding to the received second relative positioning reference signal and the first relative positioning reference signal; receives a second positioning parameter sent by the second terminal device, which is determined by the second terminal device based on the received first and second relative positioning reference signals; and determines the relative position between the first and second terminal devices based on the first and second positioning parameters. Since both the first and second positioning parameters are determined from the relative positioning reference signals transmitted between the first and second terminal devices during relative positioning, they are both parameters with reduced errors, resulting in a more accurate relative position. Furthermore, the relative position between the terminal devices can be determined without determining the absolute position of each terminal device, thus reducing computational load, significantly reducing positioning latency, and improving positioning efficiency.

[0203] Example 2

[0204] Figure 6 A flowchart illustrating a relative positioning method provided in another embodiment of this application is shown below. Figure 6 As shown, the relative positioning method provided in this embodiment is based on the relative positioning method provided in Embodiment 1 of this application, and is an embodiment where there are multiple first relative positioning reference signals and multiple second relative positioning reference signals. The first terminal device is the relative positioning terminal applying for the application, and the first terminal device can be a network-connected device or an offline device. This embodiment includes the following steps:

[0205] Step 201: Generate the first relative positioning reference signal.

[0206] As an optional implementation, in this embodiment, step 201 includes the following steps:

[0207] Step 2011: Send a relative positioning request to the network-side device.

[0208] The relative positioning request is used to instruct the network-side device to send relative positioning reference signal configuration information to the first terminal device and the second terminal device.

[0209] In this embodiment, when the first terminal device needs to determine its relative position with the second terminal device, it sends a relative positioning request to the network-side device.

[0210] Step 2012: Receive relative positioning reference signal configuration information sent by the network-side device.

[0211] In this embodiment, the network-side device determines the configuration information for sending relative positioning reference signals between the first terminal device and the second terminal device based on the relative positioning request, and sends the relative positioning reference signal configuration information to the first terminal device and the second terminal device through the Uu interface. Therefore, the first terminal device receives the relative positioning reference signal configuration information sent by the network-side device. Correspondingly, the second terminal device also receives the relative positioning reference signal configuration information sent by the network-side device.

[0212] The relative positioning reference signal configuration information includes any of the following parameters or combinations:

[0213] The relative positioning transmit signal power, frequency, bandwidth, periodic or semi-persistent signal (including duration), activation time of the reference signal, carrier aggregation frequency, and measurement time.

[0214] Step 2013: Generate a first relative positioning reference signal based on the relative positioning reference signal configuration information.

[0215] In this embodiment, the first terminal device generates a relative positioning reference signal that meets the configuration information requirements based on the relative positioning reference signal configuration information. The relative positioning reference signal generated by the first terminal device is the first relative positioning reference signal.

[0216] It should be noted that the second terminal device generates a relative positioning reference signal that meets the configuration information requirements based on the relative positioning reference signal configuration information. The relative positioning reference signal generated by the second terminal device is the second relative positioning reference signal.

[0217] Step 202: Send multiple first relative positioning reference signals to the second terminal device.

[0218] Optionally, in this embodiment, step 202 includes the following steps:

[0219] Step 2021: Obtain pre-authorized spectrum resource information.

[0220] Step 2022: Based on the spectrum resource information, send the first relative positioning reference signal.

[0221] In this embodiment, each terminal device stores pre-authorized spectrum resource information. This spectrum resource information is consistent for both the terminal device applying for relative positioning and the peer terminal device participating in relative positioning, so that the terminal device applying for relative positioning and the peer terminal device participating in relative positioning can send corresponding relative positioning reference signals based on this spectrum resource information.

[0222] Therefore, in this embodiment, the first terminal device sends a first relative positioning reference signal through the SL interface based on the pre-authorized spectrum resource information, and the second terminal device sends a second relative positioning reference signal through the SL interface based on the pre-authorized spectrum resource information.

[0223] Step 203: Receive multiple second relative positioning reference signals sent by the second terminal device.

[0224] Specifically, in this embodiment, steps 202 and 203 are described in conjunction with each other. After generating the first relative positioning reference signal, the first terminal device can periodically or in real-time send the first relative positioning reference signal to the second terminal device through the SL interface of the Sidelink link. After generating the second relative positioning reference signal, the second terminal device can periodically or in real-time send the second relative positioning reference signal to the first terminal device through the SL interface of the Sidelink link. In this way, the first terminal device can receive multiple second relative positioning reference signals sent by the second terminal device.

[0225] It should be noted that the period during which the first terminal device sends the first relative positioning reference signal to the second terminal device may be the same as or different from the period during which the second terminal device sends the second relative positioning reference signal to the first terminal device. The period can be determined according to actual needs.

[0226] Step 204: For each received second relative positioning reference signal, determine the first relative positioning reference signal that is closest to the second relative positioning reference signal.

[0227] Step 205: Based on the second relative positioning reference signal and the determined first relative positioning reference signal, obtain the first positioning parameters corresponding to the first signal pair containing the second relative positioning reference signal and the determined first relative positioning reference signal.

[0228] In this embodiment, for each received second relative positioning reference signal, the reception time of the second relative positioning reference signal is determined, and the transmission time of each first relative positioning reference signal is also determined. Based on the reception time and the transmission time of the first relative positioning reference signal, the first relative positioning reference signal that is temporally closest to the second relative positioning reference signal is determined. The signal containing the second relative positioning reference signal and the determined first relative positioning reference signal is then grouped together to form a first signal pair. The positioning parameters corresponding to this first signal pair are determined; these positioning parameters are called first positioning parameters. Here, "nearest neighbor" can be understood as the smallest time difference between the reception time and the transmission time, or the time difference between the reception time and the transmission time satisfying a set value.

[0229] In this embodiment, the first positioning parameters include: the first time difference, the first timestamp, the first orientation angle measurement parameters, and the first power aperture related parameters corresponding to the first signal pair.

[0230] The first time difference is the time difference between the reception time of the second relative positioning reference signal in the first signal pair and the transmission time of the nearest first relative positioning reference signal. The first timestamp is the moment when the first time difference is determined. The first timestamp is expressed in Coordinated Universal Time (UTC) or cellular time. Cellular time is represented by the system frame number, timeslot number, and symbol number.

[0231] The first azimuth angle measurement parameters include: the first receiving antenna azimuth angle and the first transmitting antenna azimuth angle. Specifically, the first receiving antenna azimuth angle is the azimuth angle of the antenna corresponding to the received second relative positioning reference signal. The first transmitting antenna azimuth angle is the azimuth angle of the antenna corresponding to the transmitting first relative positioning reference signal.

[0232] The parameters related to the first power aperture include: first received power, first multipath received power, first NLOS path, and first LOS path. Specifically, the first received power is the received power for receiving the second relative positioning reference signal. The first multipath received power is the multipath received power corresponding to the second relative positioning reference signal received by the first terminal device. The first NLOS path is the NLOS path corresponding to the first terminal device. The first LOS path is the LOS path corresponding to the first terminal device.

[0233] In this embodiment, when determining the first positioning parameters corresponding to the first signal pair, the parameters included in the first positioning parameters are determined respectively. Specifically, when determining the first time difference, the time difference between the reception time of the second relative positioning reference signal in the first signal pair and the transmission time of the nearest first relative positioning reference signal is calculated, and this time difference is the first time difference. When determining the first timestamp, the timestamp on the system is determined as the first timestamp when the first time difference is obtained. When determining the first azimuth angle measurement parameters, the azimuth angle of the antenna corresponding to the received second relative positioning reference signal is determined as the first receiving antenna azimuth angle. The azimuth angle of the antenna corresponding to the transmitting first relative positioning reference signal is determined as the first transmitting antenna azimuth angle. When determining the first power aperture related parameters, the received power of the received second relative positioning reference signal is determined as the first received power. The multipath received power corresponding to the received second relative positioning reference signal is determined as the first multipath received power. The NLOS path corresponding to the first terminal device is determined as the first NLOS path. The LOS path corresponding to the first terminal device is determined as the first LOS path.

[0234] It should be noted that receiving multiple second relative positioning signals and sending multiple first relative positioning signals will determine multiple signal pairs. Each signal pair will determine a positioning parameter. The positioning parameters determined by different signal pairs may be the same or different.

[0235] Step 206: Receive multiple second positioning parameters sent by the second terminal device.

[0236] Specifically, in this embodiment, for each received first relative positioning reference signal, the second terminal device determines the second relative positioning reference signal that is closest to the first relative positioning reference signal; based on the first relative positioning reference signal and the determined second relative positioning reference signal, it obtains the second positioning parameters corresponding to the second signal pair containing the first relative positioning reference signal and the determined second relative positioning reference signal.

[0237] The second positioning parameters include: the second time difference, the second timestamp, the second orientation angle measurement parameters, and the second power aperture related parameters corresponding to the second signal pair.

[0238] The second time difference is the time difference between the reception time of the first relative positioning reference signal in the second signal pair and the transmission time of the nearest second relative positioning reference signal. The second timestamp is the moment when the second time difference is determined. The second timestamp is expressed in Coordinated Universal Time (UTC) or cellular time. Cellular time is represented by the system frame number, timeslot number, and symbol number.

[0239] The second azimuth angle measurement parameters include: the second receiving antenna azimuth angle and the second transmitting antenna azimuth angle. Specifically, the second receiving antenna azimuth angle is the azimuth angle of the antenna corresponding to the first relative positioning reference signal received by the second terminal. The second transmitting antenna azimuth angle is the azimuth angle of the antenna corresponding to the second terminal transmitting the second relative positioning reference signal.

[0240] The second power aperture-related parameters include: second received power, second multipath received power, and second NLOS path. Specifically, the second received power is the received power of the second terminal device when receiving the first relative positioning reference signal. The second multipath received power is the multipath received power of the second terminal device corresponding to the first relative positioning reference signal. The second NLOS path is the NLOS path corresponding to the second terminal device. The second LOS path is the LOS path corresponding to the second terminal device.

[0241] It should be noted that the second terminal device determines the second relative positioning reference signal that is closest to the first relative positioning reference signal for each received first relative positioning reference signal, and obtains the second positioning parameters corresponding to the second signal pair containing the first relative positioning reference signal and the determined second relative positioning reference signal based on the first relative positioning reference signal and the determined second relative positioning reference signal. The method is similar to the method in steps 204-205, and will not be described in detail here.

[0242] Step 207: Send the first positioning parameters to the second terminal device so that the second terminal device can determine the relative position between the first terminal device and the second terminal device based on the first positioning parameters and the second positioning parameters.

[0243] In this embodiment, the first terminal device sends first positioning parameters to the second terminal device via the SL interface of the Sidelink link. The second terminal device then determines a positioning parameter group based on the obtained first and second positioning parameters. This positioning parameter group contains one first positioning parameter and one second positioning parameter. Based on the first and second positioning parameters in this positioning parameter group, the relative position between the first and second terminal devices is determined again. The relative position determined by the second terminal device is used to correct the relative position determined by the first terminal device.

[0244] In this process, the second terminal determines a positioning parameter group based on the obtained first positioning parameters and second positioning parameters. The positioning parameter group includes a first positioning parameter and a second positioning parameter. The method of determining the relative position between the first terminal device and the second terminal device again based on the first positioning parameter and the second positioning parameter included in the positioning parameter group is similar to steps 208-209 in the embodiments of this application, and will not be described in detail here.

[0245] Understandably, there is no strict order requirement between steps 207 and 208.

[0246] Step 208: For each of the obtained first positioning parameters and each of the second positioning parameters, determine a positioning parameter group, which includes a first positioning parameter and a second positioning parameter.

[0247] As an optional implementation, in this embodiment, step 208 includes the following steps:

[0248] Step 2081: For each of the obtained second positioning parameters, determine the first positioning parameter corresponding to the first timestamp that is closest to the timestamp in the second positioning parameter.

[0249] Step 2082: The second positioning parameter and the first positioning parameter corresponding to the determined first timestamp are determined as a positioning parameter group.

[0250] In this embodiment, since the first positioning parameter includes a first timestamp and the second positioning parameter includes a second timestamp, in order to minimize errors when calculating relative positions, for each second positioning parameter, the first positioning parameter corresponding to the first timestamp closest to the second timestamp in the second positioning parameter is determined from among multiple first positioning parameters as the first positioning parameter for grouping. The second positioning parameter and the first positioning parameter corresponding to the closest first timestamp then form a positioning parameter group.

[0251] Step 209: Determine the relative position between the first terminal device and the second terminal device based on the first positioning parameter and the second positioning parameter included in the positioning parameter group.

[0252] As an optional implementation, in this embodiment, step 209 includes the following steps:

[0253] Step 2091: Obtain the first time difference and the first power aperture related parameters of the first positioning parameter in the positioning parameter group, and the second time difference and the second power aperture related parameters of the second positioning parameter.

[0254] Step 2092: Determine the relative distance between the first terminal device and the second terminal device corresponding to the positioning parameter set based on the first time difference, the second time difference, the first power aperture related parameters, and the second power aperture related parameters.

[0255] It should be noted that, in each first positioning parameter, if the first terminal device corresponds to multiple apertures, then for each aperture of the first terminal device, there is a corresponding first time difference, first timestamp, first orientation angle measurement parameter, and first received power for the first signal pair. Similarly, in each second positioning parameter, if the second terminal device corresponds to multiple apertures, then for each aperture of the second terminal device, there is a corresponding second time difference, second timestamp, second orientation angle measurement parameter, and second received power for the second signal pair.

[0256] In this embodiment, the first time difference is the time difference between the reception time of the second relative positioning reference signal and the transmission time of the nearest first relative positioning reference signal. The second time difference is the time difference between the reception time of the first relative positioning reference signal and the transmission time of the nearest second relative positioning reference signal. Therefore, when calculating the relative distance between the first terminal device and the second terminal device, in order to minimize the error in the relative distance, the most suitable first and second time differences are selected based on the first and second power aperture related parameters. The average time difference between the selected first and second time differences is calculated, and then the average time difference is multiplied by the speed of light to calculate the relative distance between the first terminal device and the second terminal device.

[0257] Step 2093: Obtain the first orientation angle measurement parameter and the first power aperture related parameter of the first positioning parameter in the positioning parameter group, and the second orientation angle measurement parameter and the second power aperture related parameter of the second positioning parameter.

[0258] Step 2094: Determine the relative angle between the first terminal device and the second terminal device corresponding to the positioning parameter set based on the first orientation angle measurement parameters, the second orientation angle measurement parameters, the first power aperture related parameters, and the second power aperture related parameters.

[0259] The relative angle is the angle taken as the center of a circle, rotated counterclockwise from due north to the position of the terminal device participating in the relative positioning. In this embodiment, since the first terminal device is the terminal device applying for relative positioning and the second terminal device is the terminal device participating in the relative positioning, the relative angle is the angle taken as the center of the circle, rotated counterclockwise from due north to the position of the second terminal device.

[0260] In this embodiment, the first azimuth angle measurement parameters include the first receiving antenna azimuth angle and the first transmitting antenna azimuth angle. The second azimuth angle measurement parameters include the second receiving antenna azimuth angle and the second transmitting antenna azimuth angle. Therefore, as an optional implementation, the most suitable first and second azimuth angle measurement parameters are first selected based on the first and second power aperture related parameters. Then, the four azimuth angles in the first and second azimuth angle measurement parameters can be averaged, and the average azimuth angle is determined as the relative angle between the first and second terminal devices. Alternatively, the most suitable first and second azimuth angle measurement parameters can be input into a pre-built relative angle determination algorithm model, and the relative angle between the first and second terminal devices can be determined based on the relative angle determination algorithm model. This embodiment does not limit this approach.

[0261] Step 2095: Determine the relative distance and relative angle as the relative position between the first terminal device and the second terminal device corresponding to the positioning parameter set.

[0262] In this embodiment, as Figure 5 As shown, relative positions can be represented by relative distance and relative angle.

[0263] Step 210: Send the relative position to the second terminal device so that the second terminal device can correct the relative position.

[0264] In this embodiment, the first terminal device sends its determined relative position to the second terminal device via the SL interface. The second terminal device then corrects the relative position sent by the first terminal device based on its own determined relative position and the relative position sent by the first terminal device. For example, if the relative position error calculated by the two terminal devices is small, it indicates that the QoS accuracy requirement is met, and no correction is needed. If the relative position error calculated by the two terminal devices is too large, then it is necessary to measure and calculate again to correct the relative position.

[0265] Optionally, the first terminal device can also correct its own determined relative position. Therefore, step 210 can be replaced by the following technical solution.

[0266] Receive the relative position report sent by the second terminal device and correct the relative position according to the relative position report.

[0267] In this embodiment, the first terminal device receives a relative position report sent by the second terminal device via the SL interface. The relative position report contains the relative position between the first and second terminal devices as determined by the second terminal device. The first terminal device corrects its own determined relative position based on both the first and second terminal device's relative position. The specific correction method is similar to that in step 210 and will not be described in detail here.

[0268] The relative positioning method provided in this embodiment involves a first terminal device grouping a first positioning parameter and a second positioning parameter to form a positioning parameter group. For each positioning parameter group, the relative position between the first terminal device and a second terminal device is determined. Furthermore, the first positioning parameter is sent to the second terminal device, allowing the second terminal device to group the first and second positioning parameters again to form a positioning parameter group. For each positioning parameter group, the relative position between the first and second terminal devices is determined again. The first or second terminal device then verifies the relative position, further improving the accuracy of the relative position and meeting QoS accuracy requirements.

[0269] The relative positioning method provided in this embodiment involves a first terminal device determining a positioning parameter group based on the obtained first positioning parameters and second positioning parameters. This positioning parameter group includes a first positioning parameter and a second positioning parameter. Based on the first and second positioning parameters in this positioning parameter group, the relative position between the first terminal device and the second terminal device is determined. Compared to the positioning method in the first prior art, where all terminal devices required for relative positioning must be network-connected, the relative positioning method provided in this embodiment can support relative positioning between non-network-connected devices as well as relative positioning between network-connected and non-network-connected devices, thus weakening the network status restrictions on terminal devices in relative positioning.

[0270] It should be noted that if the first terminal device in this embodiment is an online device, then after step 210, the following steps are also included:

[0271] The relative location is sent to the location server so that the location server can store the relative location.

[0272] In this embodiment, the on-network device is a device that is covered by a cellular network and is able to communicate with a positioning server.

[0273] In this embodiment, when the first terminal device is an online device, it sends its relative location to the positioning server via the LPP protocol. Furthermore, when sending the relative location, it can also send the identification information of the first and second terminal devices to the positioning server. The positioning server stores the relative locations of all terminal devices within the cellular network coverage area, so as to provide the relative locations of terminal devices when there is a service requirement to obtain these locations. For example, in the field of vehicle networking technology, when a cloud server has a service requirement to obtain the relative locations of terminal devices, it obtains the relative locations of the terminal devices from the positioning server.

[0274] Alternatively, if the first terminal device is an offline device and the second terminal device is an online device, then after step 210, the following steps are also included:

[0275] The relative location is sent to the positioning server via a second terminal device so that the positioning server can store the relative location.

[0276] In this embodiment, when the first terminal device is an offline device and the second terminal device is an online device, the first terminal device first sends the relative location to the second terminal device through the SL interface, and then the second terminal device sends the relative location to the positioning server through the LPP protocol.

[0277] The relative positioning method provided in this embodiment can send the relative position between the first terminal device and the second terminal device to the positioning server when at least one of the first terminal device and the second terminal device is a network device, thus meeting the business requirement of obtaining the relative position between the terminal devices.

[0278] Alternatively, if both the first and second terminal devices are offline devices, and the first terminal device and the third terminal device are connected via a direct communication link, and the third terminal device is an online device; then after step 210, the following steps are also included:

[0279] The relative location is sent to the positioning server via a third-party terminal device so that the positioning server can store the relative location.

[0280] In this embodiment, when both the first terminal device and the second terminal device are offline devices, the third terminal device is an online device, and the first terminal device and the third terminal device are connected via a direct communication link, the first terminal device first sends the relative location to the third terminal device through the SL interface, and then the third terminal device sends the relative location to the positioning server through the LPP protocol.

[0281] The relative positioning method provided in this embodiment can also satisfy the business requirement of obtaining the relative position between terminal devices by sending the relative position to the positioning server through a third terminal device that is connected to the network, even when both the first and second terminal devices are offline devices. Furthermore, compared to the first prior art positioning method, which requires all terminal devices to be connected to the network for relative positioning, the relative positioning method provided in this embodiment supports relative positioning between offline devices, further weakening the network status restrictions on terminal devices in relative positioning.

[0282] Example 3

[0283] Figure 7 A flowchart illustrating a relative positioning method provided in another embodiment of this application is shown below. Figure 7 As shown, the execution subject of the relative positioning method provided in this embodiment is a second terminal device, the first terminal device is the terminal device requesting relative positioning, and the second terminal device is the peer terminal device participating in the relative positioning. The relative positioning method provided in this embodiment includes the following steps:

[0284] Step 301: Receive a relative positioning request sent by the first terminal device.

[0285] Step 302: Generate a second relative positioning reference signal based on the relative positioning request.

[0286] As an optional implementation, in this embodiment, step 302 includes the following steps:

[0287] Step 3021: Obtain relative positioning reference signal configuration information from the network-side device according to the relative positioning request.

[0288] Step 3022: Generate a second relative positioning reference signal based on the relative positioning reference signal configuration information.

[0289] In this embodiment, the optional implementation of step 302 is similar to the optional implementation of step 201 in embodiment 2 of this application, and will not be described in detail here.

[0290] Step 303: Send multiple second relative positioning reference signals to the first terminal device.

[0291] As an optional implementation, in this embodiment, step 303 includes the following steps:

[0292] Step 3031: Obtain pre-authorized spectrum resource information based on the relative positioning request.

[0293] Step 3032: Send a second relative positioning reference signal based on the spectrum resource information.

[0294] In this embodiment, the optional implementation of step 303 is similar to the optional implementation of step 202 in embodiment two of this application, and will not be described in detail here.

[0295] Step 304: Receive multiple first relative positioning reference signals sent by the first terminal device.

[0296] Step 305: For each received first relative positioning reference signal, determine the second relative positioning reference signal that is closest to the first relative positioning reference signal, and obtain the second positioning parameters corresponding to the second signal pair containing the first relative positioning reference signal and the determined second relative positioning reference signal based on the first relative positioning reference signal and the determined second relative positioning reference signal.

[0297] In this embodiment, the implementation of step 305 is similar to that of steps 204-205 in embodiment two of this application, and will not be described in detail here.

[0298] Step 306: Receive multiple first positioning parameters sent by the first terminal device.

[0299] Step 307: Send the second positioning parameters to the first terminal device so that the first terminal device can determine a positioning parameter group based on the obtained first positioning parameters and second positioning parameters. The positioning parameter group contains a first positioning parameter and a second positioning parameter. Based on the first positioning parameter and the second positioning parameter contained in the positioning parameter group, determine the relative position between the first terminal device and the second terminal device.

[0300] Step 308: For each of the obtained second positioning parameters and each of the first positioning parameters, determine a positioning parameter group, which includes one second positioning parameter and one first positioning parameter.

[0301] Step 309: Determine the relative position between the first terminal device and the second terminal device based on the second positioning parameter and the first positioning parameter contained in the positioning parameter group.

[0302] Step 310: Send the relative position to the first terminal device so that the first terminal device can correct the relative position.

[0303] In this embodiment, steps 304-310 are implemented in a similar manner to the corresponding steps in Embodiment 2 of this application, and will not be described in detail here.

[0304] The relative positioning method provided in this application involves a second terminal device determining a positioning parameter group based on the obtained second positioning parameters and first positioning parameters. This positioning parameter group includes one second positioning parameter and one first positioning parameter. Based on the second positioning parameter and the first positioning parameter included in the positioning parameter group, the relative position between the first terminal device and the second terminal device is determined. The relative position is then sent to the first terminal device so that the first terminal device can correct the relative position, thereby further improving the accuracy of the relative position and meeting the QoS accuracy requirements.

[0305] Example 4

[0306] Figure 8 A flowchart illustrating a relative positioning method provided in another embodiment of this application is shown below. Figure 8 As shown, the relative positioning method provided in this embodiment, based on the relative positioning method provided in Embodiment 1 of this application, involves a positioning server grouping the first positioning parameters and the second positioning parameters to form a positioning parameter group, and determining the relative position between the first terminal device and the second terminal device for each positioning parameter group. In this embodiment, the first terminal device is the terminal requesting relative positioning and is an online device, while the second terminal device is an offline terminal. Therefore, this embodiment includes the following steps:

[0307] Step 401: Generate the first relative positioning reference signal.

[0308] Step 402: Send multiple first relative positioning reference signals to the second terminal device.

[0309] Step 403: Receive multiple second relative positioning reference signals sent by the second terminal device.

[0310] Step 404: For each received second relative positioning reference signal, determine the first relative positioning reference signal that is closest to the second relative positioning reference signal, and obtain the first positioning parameter corresponding to the first signal pair containing the second relative positioning reference signal and the determined first relative positioning reference signal based on the second relative positioning reference signal and the determined first relative positioning reference signal.

[0311] Step 405: Receive multiple second positioning parameters sent by the second terminal device.

[0312] In this embodiment, the implementation of steps 401-405 is similar to that of steps 201-206 in embodiment two of the present invention, and will not be described in detail here.

[0313] Step 406: Send the first positioning parameter and the second positioning parameter to the positioning server so that the positioning server can group the first positioning parameter and the second positioning parameter into a positioning parameter group, and determine the corresponding relative position between the first terminal device and the second terminal device for each positioning parameter group.

[0314] In this embodiment, the first terminal device sends the first positioning parameters and the second positioning parameters to the positioning server via the LPP protocol. The positioning server then determines a positioning parameter group based on the received first and second positioning parameters. This positioning parameter group contains one first positioning parameter and one second positioning parameter. Based on the first and second positioning parameters contained in this positioning parameter group, the relative position between the first and second terminal devices is determined.

[0315] It should be noted that the positioning server determines a positioning parameter group based on the obtained first positioning parameters and second positioning parameters. This positioning parameter group contains one first positioning parameter and one second positioning parameter. The method for determining the relative position between the first terminal device and the second terminal device based on the first positioning parameter and the second positioning parameter contained in this positioning parameter group is similar to the method for the first terminal device to execute the corresponding scheme, and will not be described in detail here.

[0316] Step 407: Receive the relative position sent by the positioning server.

[0317] Step 408: Send the relative position to the second terminal device.

[0318] In this embodiment, after the positioning server calculates the relative position between the first terminal device and the second terminal device, it sends the relative position to the first terminal device via the LPP protocol. The first terminal device then sends the relative position to the second terminal device via the SL interface.

[0319] The relative positioning method provided in this embodiment, when the first terminal device is a relative positioning terminal and is a networked device, and the second terminal is an offline terminal, can send the first positioning parameter and the second positioning parameter to the positioning server. The positioning server determines a positioning parameter group based on the obtained first positioning parameter and second positioning parameter. The positioning parameter group contains one first positioning parameter and one second positioning parameter. Based on the first positioning parameter and the second positioning parameter contained in the positioning parameter group, the relative position between the first terminal device and the second terminal device is determined, and the relative position is sent to the first terminal device. The first terminal device then sends the relative position to the second terminal device, which can effectively reduce the amount of calculation required for the terminal device to determine the relative position.

[0320] Example 5

[0321] Figure 9 A flowchart illustrating a relative positioning method provided in another embodiment of this application is shown below. Figure 9 As shown, the relative positioning method provided in this embodiment, based on the relative positioning method provided in Embodiment 1 of this application, involves a positioning server determining a positioning parameter group based on the obtained first positioning parameters and second positioning parameters. This positioning parameter group includes one first positioning parameter and one second positioning parameter. The embodiment determines the relative position between a first terminal device and a second terminal device based on the first and second positioning parameters contained in this positioning parameter group. The first terminal device is the terminal device requesting relative positioning and is not connected to the network, while the second terminal device is a terminal device connected to the network. Therefore, this embodiment includes the following steps:

[0322] Step 501: Generate the first relative positioning reference signal.

[0323] Step 502: Send multiple first relative positioning reference signals to the second terminal device.

[0324] Step 503: Receive multiple second relative positioning reference signals sent by the second terminal device.

[0325] Step 504: For each received second relative positioning reference signal, determine the first relative positioning reference signal that is closest to the second relative positioning reference signal, and obtain the first positioning parameter corresponding to the first signal pair containing the second relative positioning reference signal and the determined first relative positioning reference signal based on the second relative positioning reference signal and the determined first relative positioning reference signal.

[0326] Step 505: Receive multiple second positioning parameters sent by the second terminal device.

[0327] In this embodiment, the implementation of steps 501-505 is similar to that of steps 401-405 in Embodiment 2 of the present invention, and will not be described in detail here.

[0328] Step 506: The first positioning parameter and the second positioning parameter are sent to the positioning server through the second terminal device, so that the positioning server determines a positioning parameter group based on the obtained first positioning parameter and second positioning parameter. The positioning parameter group contains a first positioning parameter and a second positioning parameter. Based on the first positioning parameter and the second positioning parameter contained in the positioning parameter group, the relative position between the first terminal device and the second terminal device is determined.

[0329] In this embodiment, the first terminal device sends the first positioning parameters and the second positioning parameters to the second terminal device via the SL interface. The second terminal device, being a network-connected device, sends the first positioning parameters and the second positioning parameters to the positioning server via the LPP protocol. The positioning server, based on the obtained first and second positioning parameters, determines a positioning parameter group, which contains one first positioning parameter and one second positioning parameter. Based on the first and second positioning parameters contained in this positioning parameter group, the relative position between the first and second terminal devices is determined.

[0330] It should be noted that the positioning server determines a positioning parameter group based on each obtained first positioning parameter and each second positioning parameter. This positioning parameter group contains one first positioning parameter and one second positioning parameter. The method for determining the relative position between the first terminal device and the second terminal device based on the first positioning parameter and the second positioning parameter contained in this positioning parameter group is similar to the method for the first terminal device to execute the corresponding scheme, and will not be described in detail here.

[0331] Step 507: Receive the relative position sent by the positioning server through the second terminal device.

[0332] In this embodiment, after the positioning server calculates the relative position between the first terminal device and the second terminal device, it sends the relative position to the second terminal device via the LPP protocol. The second terminal device then sends the relative position to the first terminal device via the SL interface.

[0333] The relative positioning method provided in this embodiment, when the first terminal device is a relative positioning terminal that is offline and the second terminal is an online terminal, can send the first positioning parameter and the second positioning parameter to the positioning server through the second terminal device. The positioning server determines a positioning parameter group based on the obtained first positioning parameter and second positioning parameter. The positioning parameter group contains one first positioning parameter and one second positioning parameter. Based on the first positioning parameter and the second positioning parameter contained in the positioning parameter group, the relative position between the first terminal device and the second terminal device is determined and sent to the second terminal device. The second terminal device then sends the relative position to the first terminal device, which can effectively reduce the amount of calculation required for the terminal device to determine the relative position.

[0334] Example 6

[0335] Figure 10 A flowchart illustrating a relative positioning method provided in another embodiment of this application is shown below. Figure 10 As shown, the relative positioning method provided in this application embodiment is based on the relative positioning method provided in Embodiment 1 of this application. In this embodiment, the positioning server groups the first positioning parameters and the second positioning parameters to form a positioning parameter group, and determines the relative position between the first terminal device and the second terminal device for each positioning parameter group. The first terminal device is the terminal requesting relative positioning and is not connected to the network, and the second terminal device is also not connected to the network. Therefore, this application embodiment includes the following steps:

[0336] Step 601: Generate the first relative positioning reference signal.

[0337] Step 602: Send multiple first relative positioning reference signals to the second terminal device.

[0338] Step 603: Receive multiple second relative positioning reference signals sent by the second terminal device.

[0339] Step 604: For each received second relative positioning reference signal, determine the first relative positioning reference signal that is closest to the second relative positioning reference signal, and obtain the first positioning parameter corresponding to the first signal pair containing the second relative positioning reference signal and the determined first relative positioning reference signal based on the second relative positioning reference signal and the determined first relative positioning reference signal.

[0340] Step 605: Receive multiple second positioning parameters from the second terminal device.

[0341] In this embodiment, the implementation of steps 601-605 is similar to that of steps 501-505 in Embodiment 2 of the present invention, and will not be described in detail here.

[0342] Step 606: The first positioning parameter and the second positioning parameter are sent to the positioning server through the third terminal device, so that the positioning server determines a positioning parameter group based on the obtained first positioning parameter and second positioning parameter. The positioning parameter group contains a first positioning parameter and a second positioning parameter. Based on the first positioning parameter and the second positioning parameter contained in the positioning parameter group, the relative position between the first terminal device and the second terminal device is determined.

[0343] In this embodiment, the first terminal device can identify a third terminal device with which it has a direct communication link connection and determine that the third terminal device is an online device. It then first sends the first and second positioning parameters to the third terminal device via the SL interface. The third terminal device then sends the first and second positioning parameters to the positioning server via the LPP protocol. The positioning server, based on the obtained first and second positioning parameters, determines a positioning parameter group, which contains one first positioning parameter and one second positioning parameter. Based on the first and second positioning parameters contained in this positioning parameter group, the relative position between the first and second terminal devices is determined.

[0344] Step 607: Receive the relative position sent by the positioning server through the third terminal device.

[0345] In this embodiment, after the positioning server calculates the relative position between the first terminal device and the second terminal device, it sends the relative position to the third terminal device via the LPP protocol. The third terminal device then sends the relative position to the first and second terminal devices via the SL interface.

[0346] The relative positioning method provided in this embodiment is suitable when both the first and second terminal devices are offline devices, and the first and third terminal devices are connected via a direct communication link. When the third terminal device is an online device, the first and second positioning parameters can be sent to the positioning server. The positioning server determines a positioning parameter group based on the obtained first and second positioning parameters. This positioning parameter group contains one first positioning parameter and one second positioning parameter. Based on the first and second positioning parameters in this positioning parameter group, the relative position between the first and second terminal devices is determined, and the relative position is sent to the third terminal device. The third terminal device then sends the relative position to the first and second terminal devices. This effectively reduces the computational load for determining the relative position of the terminal devices. Furthermore, compared to the first prior art positioning method, which requires all terminal devices to be online for relative positioning, the relative positioning method provided in this embodiment can support relative positioning between offline devices, further weakening the network status restrictions on terminal devices in relative positioning.

[0347] Example 7

[0348] Figure 11 A flowchart illustrating a relative positioning method provided in another embodiment of this application is shown below. Figure 11 As shown, the execution subject of the relative positioning method provided in this embodiment is a relative positioning device, which is located in a positioning server. Therefore, the relative positioning method provided in this embodiment includes the following steps:

[0349] Step 701: Obtain the first positioning parameter and the second positioning parameter.

[0350] Wherein, the first positioning parameter is the positioning parameter corresponding to the second relative positioning reference signal determined by the first terminal device and the first relative positioning reference signal, the second positioning parameter is the positioning parameter corresponding to the first relative positioning reference signal determined by the second terminal device and the second relative positioning reference signal, the first relative positioning reference signal is sent by the first terminal device to the second terminal device, and the second relative positioning reference signal is received by the first terminal device from the second terminal device.

[0351] In this embodiment, if either the first terminal device or the second terminal device is a network-connected device, the positioning server receives the first positioning parameter and the second positioning parameter sent by the network-connected device. If neither the first terminal device nor the second terminal device is a network-connected device, the first terminal device sends the first positioning parameter and the second positioning parameter to the positioning server through a network-connected third terminal device, and the positioning server receives the first positioning parameter and the second positioning parameter sent by the third terminal device.

[0352] Step 702: Determine the relative position between the first terminal device and the second terminal device based on the first positioning parameter and the second positioning parameter.

[0353] In this embodiment, if there are multiple first relative positioning reference signals and multiple second relative positioning reference signals, then step 702 specifically includes:

[0354] For each obtained first positioning parameter and each second positioning parameter, a positioning parameter group is determined, which contains one first positioning parameter and one second positioning parameter. Based on the first positioning parameter and the second positioning parameter contained in the positioning parameter group, the relative position between the first terminal device and the second terminal device is determined.

[0355] The specific implementation of step 702 is similar to the implementation of steps 208-209 by the first terminal device in Embodiment 2 of this application, and will not be described in detail here.

[0356] As an optional implementation, this embodiment also includes the following technical solutions.

[0357] Obtain the relative position between the first terminal device and the second terminal device as determined by the first terminal device; store the relative position.

[0358] In this embodiment, if the first terminal device or the second terminal device is an online device, the positioning server receives the relative position between the first terminal device and the second terminal device determined by the first terminal device through an external network device, and stores the relative position. This is so that when there is a business requirement to obtain the relative position between the terminal devices, the relative position between the terminal devices can be provided. For example, in the field of vehicle networking technology, when a cloud server has a business requirement to obtain the relative position between terminal devices, it obtains the relative position between the terminal devices from the positioning server.

[0359] Alternatively, in this embodiment, the first terminal device and the third terminal device are connected via a direct communication link. The third terminal device is a network-connected device. Therefore, obtaining the relative position between the first terminal device and the second terminal device determined by the first terminal device includes:

[0360] The relative position between the first terminal device and the second terminal device that receive the data sent by the third terminal device.

[0361] In this embodiment, if both the first terminal device and the second terminal device are offline devices, and the third terminal device is an online terminal device, the relative position between the first terminal device and the second terminal device can be obtained by receiving the relative position between the first terminal device and the second terminal device sent by the third terminal device.

[0362] The relative positioning method provided in this embodiment obtains a first positioning parameter and a second positioning parameter, and determines the relative position between a first terminal device and a second terminal device based on the first positioning parameter and the second positioning parameter, which can effectively reduce the amount of calculation required for the terminal devices to determine the relative position. Furthermore, storing the relative positions between the first terminal device and the second terminal device can meet the business requirements of obtaining the relative positions between all first terminal devices and second terminal devices.

[0363] Example 8

[0364] Figure 12 This is a schematic diagram of the structure of a relative positioning device provided in an embodiment of this application, as shown below. Figure 12 As shown, the relative positioning device provided in this embodiment is located in a first terminal device, and the first terminal device and a second terminal device are connected via a direct communication link. Therefore, the relative positioning device provided in this embodiment includes a transceiver 800, used to receive and transmit data under the control of a processor 810.

[0365] Among them, Figure 12In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 810) and memory (memory 820). The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 800 can be multiple elements, including transmitters and receivers, providing units for communicating with various other devices over transmission media, including wireless channels, wired channels, optical fibers, etc. The processor 810 is responsible for managing the bus architecture and general processing, and the memory 820 can store data used by the processor 810 during operation.

[0366] The processor 810 can 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). The processor can also adopt a multi-core architecture.

[0367] In this embodiment, the memory 820 is used to store computer programs; the transceiver 800 is used to send and receive data under the control of the processor 810; the processor 810 is used to read the computer programs in the memory and perform the following operations:

[0368] Send a first relative positioning reference signal to a second terminal device and receive a second relative positioning reference signal sent by the second terminal device; determine a first positioning parameter corresponding to the received second relative positioning reference signal and the first relative positioning reference signal; receive a second positioning parameter sent by the second terminal device, the second positioning parameter being determined by the second terminal based on the received first relative positioning reference signal and the second relative positioning reference signal; determine the relative position between the first terminal device and the second terminal device based on the first positioning parameter and the second positioning parameter.

[0369] Optionally, if there are multiple first relative positioning reference signals and multiple second relative positioning reference signals, then when the processor 810 determines the first positioning parameter corresponding to the received second relative positioning reference signal and the first relative positioning reference signal, it specifically includes:

[0370] For each received second relative positioning reference signal, determine the first relative positioning reference signal that is closest to the second relative positioning reference signal;

[0371] Based on the second relative positioning reference signal and the determined first relative positioning reference signal, a first positioning parameter corresponding to a first signal pair containing the second relative positioning reference signal and the determined first relative positioning reference signal is obtained.

[0372] Optionally, the first positioning parameters include: a first time difference and a first timestamp, wherein the first time difference is the time difference between the reception time of the second relative positioning reference signal in the first signal pair and the transmission time of the first relative positioning reference signal; and the first timestamp is the moment at which the first time difference is determined.

[0373] Optionally, the first orientation angle measurement parameters may further include: first orientation angle measurement parameters and first power aperture related parameters;

[0374] The first azimuth angle measurement parameters include: the first receiving antenna azimuth angle and the first transmitting antenna azimuth angle; the first power aperture related parameters include: the first receiving power, the first multipath receiving power, the first NLOS aperture, and the first LOS aperture.

[0375] Optionally, when the processor 810 determines the relative position between the first terminal device and the second terminal device based on the first positioning parameter and the second positioning parameter, it specifically includes:

[0376] For each obtained first positioning parameter and each second positioning parameter, a positioning parameter group is determined, which contains one first positioning parameter and one second positioning parameter; based on the first positioning parameter and the second positioning parameter contained in the positioning parameter group, the relative position between the first terminal device and the second terminal device is determined.

[0377] Optionally, the processor 810, when determining the positioning parameter set, specifically includes:

[0378] For each obtained second positioning parameter, determine the first positioning parameter corresponding to the first time stamp that is closest to the timestamp in the second positioning parameter; and determine the second positioning parameter and the first positioning parameter corresponding to the determined first timestamp as a positioning parameter group.

[0379] Optionally, the processor 810, when determining the relative position between the first terminal device and the second terminal device based on the first positioning parameter and the second positioning parameter included in the positioning parameter group, includes:

[0380] The system acquires the first time difference and first power aperture related parameters of the first positioning parameter in the positioning parameter group, as well as the second time difference and second power aperture related parameters of the second positioning parameter. Based on the first time difference, second time difference, first power aperture related parameters, and second power aperture related parameters, the system determines the relative distance between the first and second terminal devices corresponding to the positioning parameter group. It also acquires the first orientation angle measurement parameters and first power aperture related parameters of the first positioning parameter in the positioning parameter group, as well as the second orientation angle measurement parameters and second power aperture related parameters of the second positioning parameter. Based on the first orientation angle measurement parameters and second orientation angle measurement parameters, first power aperture related parameters, and second power aperture related parameters, the system determines the relative angle between the first and second terminal devices corresponding to the positioning parameter group. The relative angle is the angle obtained by rotating counterclockwise from due north to the position of the terminal device participating in the relative positioning, with the relative positioning terminal device as the center. The relative distance and relative angle are then used to determine the relative position between the first and second terminal devices corresponding to the positioning parameter group.

[0381] Optionally, after determining the first positioning parameters, the processor 810 further includes:

[0382] Send a first positioning parameter to the second terminal device so that the second terminal device can determine the relative position between the first terminal device and the second terminal device based on the first positioning parameter and the second positioning parameter;

[0383] After determining the relative position between the first terminal device and the second terminal device, the processor 810 further includes:

[0384] The relative position is sent to the second terminal device so that the second terminal device can correct the determined relative position.

[0385] Optionally, the processor 810 is also used for;

[0386] Receive a relative position report sent by the second terminal device; correct the relative position based on the relative position report.

[0387] Optionally, after receiving the second positioning parameter, the processor 810 further includes:

[0388] The first positioning parameter and the second positioning parameter are sent to the positioning server so that the positioning server can determine the relative position between the first terminal device and the second terminal device based on the received first positioning parameter and second positioning parameter.

[0389] Optionally, the first terminal device and the third terminal device are connected via a direct communication link, and the third terminal device is a device already on the network.

[0390] The processor 810, after receiving the second positioning parameter, also includes:

[0391] The first positioning parameter and the second positioning parameter are sent to the positioning server through the third terminal device, so that the positioning server can determine the relative position between the first terminal device and the second terminal device based on the received first positioning parameter and second positioning parameter.

[0392] Optionally, after determining the relative position between the first terminal device and the second terminal device, the processor 810 further includes:

[0393] The relative location is sent to the location server so that the location server can store the relative location.

[0394] Optionally, the first terminal device and the third terminal device are connected via a direct communication link, and the third terminal device is a device already on the network.

[0395] After determining the relative position between the first terminal device and the second terminal device, the processor 810 further includes:

[0396] The relative location is sent to the positioning server via a third-party terminal device so that the positioning server can store the relative location.

[0397] Optionally, before sending the first relative positioning reference signal to the second terminal device, the processor 810 further includes:

[0398] Send a relative positioning request to the network-side device, the relative positioning request being used to instruct the network-side device to send relative positioning reference signal configuration information to the first terminal device and the second terminal device; receive the relative positioning reference signal configuration information sent by the network-side device; and generate a first relative positioning reference signal based on the relative positioning reference signal configuration information.

[0399] Optionally, when the processor 810 sends the first relative positioning reference signal to the second terminal device, it includes:

[0400] Obtain pre-authorized spectrum resource information; based on the spectrum resource information, send a first relative positioning reference signal.

[0401] It should be noted that the apparatus provided in this application can implement all the method steps implemented in the corresponding method embodiments and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiments will not be described in detail here.

[0402] Example 9

[0403] Figure 13 This is a schematic diagram of the structure of a relative positioning device provided in another embodiment of this application, as shown below. Figure 13As shown, the relative positioning device provided in this embodiment is located in a first terminal device, and the first terminal device and a second terminal device are connected via a direct communication link. The relative positioning device 900 provided in this embodiment includes: a sending unit 901, a receiving unit 902, and a determining unit 903.

[0404] The system includes a transmitting unit 901, used to transmit a first relative positioning reference signal to a second terminal device. A receiving unit 902, used to receive a second relative positioning reference signal transmitted by the second terminal device. A determining unit 903, used to determine a first positioning parameter corresponding to the received second relative positioning reference signal and the first relative positioning reference signal. The receiving unit 902 is also used to receive a second positioning parameter transmitted by the second terminal device, the second positioning parameter being determined by the second terminal based on the received first and second relative positioning reference signals. The determining unit 903 is also used to determine the relative position between the first and second terminal devices based on the first and second positioning parameters.

[0405] Optionally, if there are multiple first relative positioning reference signals and multiple second relative positioning reference signals, then the determining unit 903, when determining the first positioning parameters corresponding to the received second relative positioning reference signal and the first relative positioning reference signal, is specifically used for:

[0406] For each received second relative positioning reference signal, a first relative positioning reference signal that is closest to the second relative positioning reference signal is determined; based on the second relative positioning reference signal and the determined first relative positioning reference signal, a first positioning parameter corresponding to a first signal pair containing the second relative positioning reference signal and the determined first relative positioning reference signal is obtained.

[0407] Optionally, the first positioning parameters include: a first time difference and a first timestamp, wherein the first time difference is the time difference between the reception time of the second relative positioning reference signal in the first signal pair and the transmission time of the first relative positioning reference signal; and the first timestamp is the moment at which the first time difference is determined.

[0408] Optionally, the first orientation angle measurement parameters may further include: first orientation angle measurement parameters and first power aperture related parameters;

[0409] The first azimuth angle measurement parameters include: the first receiving antenna azimuth angle and the first transmitting antenna azimuth angle; the first power aperture related parameters include: the first receiving power, the first multipath receiving power, the first NLOS aperture, and the first LOS aperture.

[0410] Optionally, the determining unit 903, when determining the relative position between the first terminal device and the second terminal device based on the first positioning parameters and the second positioning parameters, is specifically used for:

[0411] For each obtained first positioning parameter and each second positioning parameter, a positioning parameter group is determined, which contains one first positioning parameter and one second positioning parameter; based on the first positioning parameter and the second positioning parameter contained in the positioning parameter group, the relative position between the first terminal device and the second terminal device is determined.

[0412] Optionally, the determining unit 903, when determining the positioning parameter set, is specifically used for:

[0413] For each obtained second positioning parameter, determine the first positioning parameter corresponding to the first time stamp that is closest to the timestamp in the second positioning parameter; and determine the second positioning parameter and the first positioning parameter corresponding to the determined first timestamp as a positioning parameter group.

[0414] Optionally, when determining the relative position between the first terminal device and the second terminal device based on the first positioning parameter and the second positioning parameter included in the positioning parameter group, the determining unit 903 is specifically used for:

[0415] The system acquires the first time difference and first power aperture related parameters of the first positioning parameter in the positioning parameter group, as well as the second time difference and second power aperture related parameters of the second positioning parameter. Based on the first time difference, second time difference, first power aperture related parameters, and second power aperture related parameters, the system determines the relative distance between the first and second terminal devices corresponding to the positioning parameter group. It also acquires the first orientation angle measurement parameters and first power aperture related parameters of the first positioning parameter in the positioning parameter group, as well as the second orientation angle measurement parameters and second power aperture related parameters of the second positioning parameter. Based on the first orientation angle measurement parameters and second orientation angle measurement parameters, first power aperture related parameters, and second power aperture related parameters, the system determines the relative angle between the first and second terminal devices corresponding to the positioning parameter group. The relative angle is the angle obtained by rotating counterclockwise from due north to the position of the terminal device participating in the relative positioning, with the relative positioning terminal device as the center. The relative distance and relative angle are then used to determine the relative position between the first and second terminal devices corresponding to the positioning parameter group.

[0416] Optionally, the sending unit 901 is further configured to send a first positioning parameter to the second terminal device, so that the second terminal device determines the relative position between the first terminal device and the second terminal device based on the first positioning parameter and the second positioning parameter. The sending unit 901 is also configured to send the relative position to the second terminal device, so that the second terminal device can correct the determined relative position.

[0417] Optionally, the relative positioning device provided in this application embodiment further includes: a correction unit.

[0418] The receiving unit 902 is also configured to receive a relative position report sent by the second terminal device. The correction unit is configured to correct the relative position based on the relative position report.

[0419] Optionally, the sending unit 901 is further configured to send the first positioning parameter and the second positioning parameter to the positioning server, so that the positioning server determines the relative position between the first terminal device and the second terminal device based on the received first positioning parameter and the second positioning parameter.

[0420] Optionally, the first terminal device and the third terminal device are connected via a direct communication link, and the third terminal device is a network-connected device. The sending unit 901 is further configured to send the first positioning parameter and the second positioning parameter to the positioning server via the third terminal device, so that the positioning server determines the relative position between the first terminal device and the second terminal device based on the received first positioning parameter and second positioning parameter.

[0421] Optionally, the sending unit 901 is also configured to send the relative position to the positioning server so that the positioning server stores the relative position.

[0422] Optionally, the sending unit 901 is also configured to send the relative position to the positioning server via a third terminal device, so that the positioning server stores the relative position.

[0423] Optionally, the relative positioning device provided in this application embodiment further includes: a generation unit. The sending unit 901 is further configured to send a relative positioning request to the network-side device, the relative positioning request being used to instruct the network-side device to send relative positioning reference signal configuration information to the first terminal device and the second terminal device; the receiving unit 902 is further configured to receive the relative positioning reference signal configuration information sent by the network-side device. The generation unit is configured to generate a first relative positioning reference signal based on the relative positioning reference signal configuration information.

[0424] Optionally, when sending the first relative positioning reference signal to the second terminal device, the sending unit 901 is specifically used to: obtain pre-authorized spectrum resource information; and send the first relative positioning reference signal according to the spectrum resource information.

[0425] The method and apparatus are based on the same concept of the application. Since the methods and apparatus solve problems in similar ways, the implementation of the apparatus and methods can refer to each other, and the repeated parts will not be described again.

[0426] Example 10

[0427] Figure 14 This is a schematic diagram of the structure of a relative positioning device provided in another embodiment of this application, as shown below. Figure 14As shown, the relative positioning device provided in this embodiment is located in a positioning server, and the first terminal device and the second terminal device are connected via a direct communication link. Therefore, the relative positioning device provided in this embodiment includes a transceiver 1000, used to receive and send data under the control of a processor 1010.

[0428] Among them, Figure 14 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 1010) and memory (memory 1020). The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 1000 can be multiple elements, including transmitters and receivers, providing units for communicating with various other devices over transmission media, including wireless channels, wired channels, optical fibers, etc. The processor 1010 is responsible for managing the bus architecture and general processing, and the memory 1020 can store data used by the processor 1010 during operation.

[0429] The processor 1010 can 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). The processor can also adopt a multi-core architecture.

[0430] In this embodiment, the memory 1020 is used to store computer programs; the transceiver 1000 is used to send and receive data under the control of the processor 1010; the processor 1010 is used to read the computer programs in the memory and perform the following operations:

[0431] The system acquires a first positioning parameter and a second positioning parameter. The first positioning parameter is the positioning parameter corresponding to the second relative positioning reference signal determined by the first terminal device and the first relative positioning reference signal. The second positioning parameter is the positioning parameter corresponding to the first relative positioning reference signal determined by the second terminal device and the first relative positioning reference signal. The first relative positioning reference signal is sent by the first terminal device to the second terminal device, and the second relative positioning reference signal is received by the first terminal device from the second terminal device. Based on the first positioning parameter and the second positioning parameter, the system determines the relative position between the first terminal device and the second terminal device.

[0432] Optionally, the processor 1010 is also used for:

[0433] Obtain the relative position between the first terminal device and the second terminal device as determined by the first terminal device; store the relative position.

[0434] Optionally, the first terminal device and the third terminal device are connected via a direct communication link. When the processor 1010 obtains the relative position between the first terminal device and the second terminal device determined by the first terminal device, it includes:

[0435] The relative position between the first terminal device and the second terminal device that receive the data sent by the third terminal device.

[0436] The method and apparatus are based on the same concept of the application. Since the methods and apparatus solve problems in similar ways, the implementation of the apparatus and methods can refer to each other, and the repeated parts will not be described again.

[0437] Example 11

[0438] Figure 15 This is a schematic diagram of the relative positioning device provided in another embodiment of this application, as shown below. Figure 15 As shown, the relative positioning device provided in this embodiment is located on the positioning server. The first terminal device and the second terminal device are connected through a direct communication link. The relative positioning device 1100 provided in this embodiment includes: an acquisition unit 1101 and a determination unit 1102.

[0439] The acquisition unit 1101 is used to acquire a first positioning parameter and a second positioning parameter. The first positioning parameter is the positioning parameter corresponding to the second relative positioning reference signal determined by the first terminal device and the second relative positioning reference signal determined by the second terminal device and the second relative positioning reference signal. The first relative positioning reference signal is sent by the first terminal device to the second terminal device, and the second relative positioning reference signal is received by the first terminal device from the second terminal device. The determination unit 1102 is used to determine the relative position between the first terminal device and the second terminal device based on the first positioning parameter and the second positioning parameter.

[0440] Optionally, the relative positioning device 1100 provided in this application embodiment further includes a storage unit.

[0441] The acquisition unit 1101 is further configured to acquire the relative position between the first terminal device and the second terminal device determined by the first terminal device. The storage unit is configured to store the relative position.

[0442] Optionally, the first terminal device and the third terminal device are connected via a direct communication link. The acquisition unit, used to acquire the relative position between the first terminal device and the second terminal device determined by the first terminal device, specifically includes: receiving the relative position between the first terminal device and the second terminal device sent by the third terminal device.

[0443] The method and apparatus are based on the same concept of the application. Since the methods and apparatus solve problems in similar ways, the implementation of the apparatus and methods can refer to each other, and the repeated parts will not be described again.

[0444] It should be noted that the division of units in the embodiments of this application is illustrative and only represents one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units.

[0445] If the integrated unit is implemented as 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 this application, in essence, 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0446] Example 12

[0447] This application provides a processor-readable storage medium storing a computer program that causes the processor to execute the relative positioning method provided in any one of embodiments one through seven.

[0448] Processor-readable storage media can be any available medium or data storage device that the processor can access, including but not limited to magnetic storage (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MOs), etc.), optical storage (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).

[0449] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take 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) containing computer-usable program code.

[0450] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0451] 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 particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0452] These processors can execute instructions that can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable device for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0453] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method of relative positioning, characterized by, The method is applied to a first terminal device, the first terminal device is connected with a second terminal device through a direct communication link, and the method comprises: obtaining pre-authorized spectrum resource information; sending a first relative positioning reference signal to the second terminal device according to the spectrum resource information, and receiving a second relative positioning reference signal sent by the second terminal device; composing a first signal pair by the received second relative positioning reference signal and the sent first relative positioning reference signal, and determining a first positioning parameter corresponding to the first signal pair; the first positioning parameter comprises a first time difference, a first power aperture related parameter, and a first direction angle measurement parameter; the first time difference is a time difference between a receiving time of the first terminal device receiving the second relative positioning reference signal and a transmitting time of the first terminal device transmitting the first relative positioning reference signal; the first power aperture related parameter comprises a first receiving power, a first multipath receiving power, a first NLOS path and a first LOS path; the first direction angle measurement parameter comprises a first receiving antenna direction angle and a first transmitting antenna direction angle, the first receiving antenna direction angle is a direction angle of an antenna corresponding to the received second relative positioning reference signal, and the first transmitting antenna direction angle is a direction angle of an antenna corresponding to the transmitted first relative positioning reference signal; receiving a second positioning parameter sent by the second terminal device, the second positioning parameter is a positioning parameter corresponding to a second signal pair determined by the second terminal after composing the second signal pair by the received first relative positioning reference signal and the second relative positioning reference signal; the second positioning parameter comprises a second time difference, a second power aperture related parameter, and a second direction angle measurement parameter; the second time difference is a time difference between a receiving time of the second terminal receiving the first relative positioning reference signal and a transmitting time of the second terminal transmitting the second relative positioning reference signal; the second direction angle measurement parameter comprises a second receiving antenna direction angle and a second transmitting antenna direction angle, the second receiving antenna direction angle is a direction angle of an antenna corresponding to the first relative positioning reference signal received by the second terminal, and the second transmitting antenna direction angle is a direction angle of an antenna corresponding to the second relative positioning reference signal transmitted by the second terminal; the second power aperture related parameter comprises a second receiving power, a second multipath receiving power, a second NLOS path and a second LOS path; determining a positioning parameter group according to the first positioning parameter and the second positioning parameter, the positioning parameter group comprises one first positioning parameter and one second positioning parameter; obtaining the first time difference, the first power aperture related parameter, the second time difference and the second power aperture related parameter in the positioning parameter group; determining a relative distance between the first terminal device and the second terminal device corresponding to the positioning parameter group according to the first time difference, the second time difference, the first power aperture related parameter and the second power aperture related parameter. obtaining the first direction angle measurement parameter, the first power aperture related parameter, the second direction angle measurement parameter and the second power aperture related parameter in the positioning parameter group; determining the relative angle between the first terminal device and the second terminal device corresponding to the positioning parameter group according to the first direction angle measurement parameter, the second direction angle measurement parameter, the first power aperture related parameter and the second power aperture related parameter; determining the relative position between the first terminal device and the second terminal device corresponding to the positioning parameter group according to the relative distance and the relative angle; The method further comprises: sending the first positioning parameter to the second terminal device, so that the second terminal device determines the relative position between the first terminal device and the second terminal device according to the first positioning parameter and the second positioning parameter; sending the relative position determined by the first terminal device to the second terminal device; and receiving the relative position report sent by the second terminal device.

2. The method of claim 1, wherein, If the first relative positioning reference signal is multiple and the second relative positioning reference signal is multiple, the first signal pair is formed by the received second relative positioning reference signal and the sent first relative positioning reference signal, and the first positioning parameter corresponding to the first signal pair is determined, comprising: for each received second relative positioning reference signal, determining the first relative positioning reference signal closest to the second relative positioning reference signal; according to the second relative positioning reference signal and the determined first relative positioning reference signal, obtaining the first positioning parameter corresponding to the first signal pair containing the second relative positioning reference signal and the determined first relative positioning reference signal.

3. The method according to claim 1 or 2, characterized in that, The first positioning parameter further comprises a first time stamp; the first time stamp is the time when the first time difference is determined.

4. The method of claim 1, wherein, determining the positioning parameter group, comprising: for each obtained second positioning parameter, determining the first positioning parameter corresponding to the first time stamp closest to the time stamp in the second positioning parameter; determining the first positioning parameter corresponding to the first time stamp as a positioning parameter group.

5. The method of claim 1, wherein, The relative angle is the angle from the positive north direction counterclockwise to the position of the terminal device participating in the relative positioning.

6. The method of claim 2, wherein, After determining the relative position between the first terminal device and the second terminal device, further comprising: sending the relative position to the positioning server, so that the positioning server stores the relative position.

7. The method of claim 2, wherein, The first terminal device and the third terminal device are connected through a direct communication link, and the third terminal device is an in-network device. After determining the relative position between the first terminal device and the second terminal device, further comprising: sending the relative position to the positioning server through the third terminal device, so that the positioning server stores the relative position.

8. The method of claim 1 or 2, wherein, Before sending the first relative positioning reference signal to the second terminal device, further comprising: sending, to a network-side device, a relative positioning request, the relative positioning request being used to instruct the network-side device to send relative positioning reference signal configuration information to the first terminal device and the second terminal device; receiving relative positioning reference signal configuration information sent by the network-side device; generating a first relative positioning reference signal according to the relative positioning reference signal configuration information.

9. A method of relative positioning, characterized by The method is applied to a positioning server, and a first terminal device and a second terminal device are connected through a direct communication link. The method comprises the following steps: obtaining a first positioning parameter and a second positioning parameter, the first positioning parameter being a positioning parameter corresponding to a first signal pair after the first terminal device forms the first signal pair by combining a second relative positioning reference signal from the second terminal device with a first relative positioning reference signal sent to the second terminal device, the second positioning parameter being a positioning parameter corresponding to a second signal pair after the second terminal device forms the second signal pair by combining a first relative positioning reference signal from the first terminal device with a second relative positioning reference signal sent to the first terminal device, the first relative positioning reference signal being sent to the second terminal device by the first terminal device according to pre-authorized spectrum resource information, the first positioning parameter comprising a first time difference, a first power aperture related parameter and a first direction angle measurement parameter, the first time difference being a time difference between a receiving time of the second relative positioning reference signal received by the first terminal device and a transmitting time of the first relative positioning reference signal transmitted by the first terminal device, the first power aperture related parameter comprising a first receiving power, a first multipath receiving power, a first NLOS path and a first LOS path, the first direction angle measurement parameter comprising a first receiving antenna direction angle and a first transmitting antenna direction angle, the first receiving antenna direction angle being a direction angle of an antenna corresponding to the received second relative positioning reference signal, and the first transmitting antenna direction angle being a direction angle of an antenna corresponding to the transmitted first relative positioning reference signal, the second positioning parameter comprising a second time difference, a second power aperture related parameter and a second direction angle measurement parameter, the second time difference being a time difference between a receiving time of the first relative positioning reference signal received by the second terminal and a transmitting time of the second relative positioning reference signal transmitted by the second terminal, the second direction angle measurement parameter comprising a second receiving antenna direction angle and a second transmitting antenna direction angle, the second receiving antenna direction angle being a direction angle of an antenna corresponding to the received first relative positioning reference signal of the second terminal, and the second transmitting antenna direction angle being a direction angle of an antenna corresponding to the transmitted second relative positioning reference signal of the second terminal, and the second power aperture related parameter comprising a second receiving power, a second multipath receiving power, a second NLOS path and a second LOS path; determining a positioning parameter group according to the first positioning parameter and the second positioning parameter, the positioning parameter group containing one first positioning parameter and one second positioning parameter. acquire the first time difference, the first power aperture related parameter, the second time difference and the second power aperture related parameter in the positioning parameter set; determine the relative distance between the first terminal device and the second terminal device corresponding to the positioning parameter set according to the first time difference, the second time difference, the first power aperture related parameter and the second power aperture related parameter; acquire the first direction angle measurement parameter, the first power aperture related parameter, the second direction angle measurement parameter and the second power aperture related parameter in the positioning parameter set; determine the relative angle between the first terminal device and the second terminal device corresponding to the positioning parameter set according to the first direction angle measurement parameter, the second direction angle measurement parameter, the first power aperture related parameter and the second power aperture related parameter; and determine the relative distance and the relative angle as the relative position between the first terminal device and the second terminal device corresponding to the positioning parameter set; acquire the relative position between the first terminal device and the second terminal device determined by the first terminal device.

10. The method of claim 9, wherein, Further comprising: store the relative position.

11. The method of claim 9, wherein, The relative angle is the angle from the positive north direction counterclockwise to the position of the terminal device participating in the relative positioning.

12. A relative positioning device, characterized by The device is located in the first terminal device, the first terminal device and the second terminal device are connected through a direct communication link, and the device comprises: a memory, a transceiver and a processor: the memory is used for storing a computer program; the transceiver is used for transceiving data under the control of the processor; and the processor is used for reading the computer program in the memory and performing the following operations: acquire the pre-authorized spectrum resource information; send a first relative positioning reference signal to the second terminal device and receive a second relative positioning reference signal sent by the second terminal device according to the spectrum resource information; determine a first positioning parameter corresponding to a first signal pair composed of the received second relative positioning reference signal and the sent first relative positioning reference signal; the first positioning parameter comprises a first time difference, a first power aperture related parameter and a first direction angle measurement parameter; the first time difference is the time difference between the reception time of the first terminal device receiving the second relative positioning reference signal and the transmission time of the first terminal device transmitting the first relative positioning reference signal; the first power aperture related parameter comprises a first reception power, a first multipath reception power, a first NLOS path and a first LOS path; and the first direction angle measurement parameter comprises a first reception antenna direction angle and a first transmission antenna direction angle, the first reception antenna direction angle being the direction angle of the corresponding antenna of the received second relative positioning reference signal, and the first transmission antenna direction angle being the direction angle of the corresponding antenna of the transmitted first relative positioning reference signal. receive the second positioning parameter sent by the second terminal device, the second positioning parameter being determined by the second terminal after the second terminal receives the first relative positioning reference signal and the second relative positioning reference signal to form a second signal pair, the second positioning parameter corresponding to the positioning parameter of the second signal pair; the second positioning parameter includes a second time difference, a second power aperture related parameter, and a second direction angle measurement parameter; the second time difference is a time difference between a receiving time of the first relative positioning reference signal received by the second terminal and a transmitting time of the second relative positioning reference signal transmitted by the second terminal; the second direction angle measurement parameter includes a second receiving antenna direction angle and a second transmitting antenna direction angle, the second receiving antenna direction angle being a direction angle of an antenna corresponding to the first relative positioning reference signal received by the second terminal, and the second transmitting antenna direction angle being a direction angle of an antenna corresponding to the second relative positioning reference signal transmitted by the second terminal; and the second power aperture related parameter includes a second receiving power, a second multipath receiving power, a second NLOS path, and a second LOS path; determine a positioning parameter group according to the first positioning parameter and the second positioning parameter, the positioning parameter group including one first positioning parameter and one second positioning parameter; obtain the first time difference, the first power aperture related parameter, the second time difference, and the second power aperture related parameter in the positioning parameter group; determine a relative distance between the first terminal device and the second terminal device corresponding to the positioning parameter group according to the first time difference, the second time difference, the first power aperture related parameter, and the second power aperture related parameter; obtain the first direction angle measurement parameter, the first power aperture related parameter, the second direction angle measurement parameter, and the second power aperture related parameter in the positioning parameter group; determine a relative angle between the first terminal device and the second terminal device corresponding to the positioning parameter group according to the first direction angle measurement parameter, the second direction angle measurement parameter, the first power aperture related parameter, and the second power aperture related parameter; determine a relative position between the first terminal device and the second terminal device corresponding to the positioning parameter group according to the relative distance and the relative angle; the processor is further configured to: send the first positioning parameter to the second terminal device, so that the second terminal device determines the relative position between the first terminal device and the second terminal device according to the first positioning parameter and the second positioning parameter; send the relative position determined by the processor to the second terminal device; and receive the relative position report sent by the second terminal device.

13. The apparatus of claim 12, wherein, if the first relative positioning reference signal is a plurality of, and the second relative positioning reference signal is a plurality of, the processor, when determining the first positioning parameter corresponding to the first signal pair by receiving the second relative positioning reference signal and sending the first relative positioning reference signal to form the first signal pair, specifically includes: For each of the received second relative positioning reference signals, determine a first relative positioning reference signal closest to the second relative positioning reference signal; According to the second relative positioning reference signal and the determined first relative positioning reference signal, obtain a first positioning parameter corresponding to a first signal pair containing the second relative positioning reference signal and the determined first relative positioning reference signal.

14. The apparatus of claim 12 or 13, wherein, The first positioning parameter includes a first time difference and a first timestamp; the first timestamp is the time when the first time difference is determined.

15. The apparatus of claim 12, wherein, The processor, when determining the positioning parameter group, specifically includes: For each of the obtained second positioning parameters, determine a first positioning parameter corresponding to a first timestamp closest to the timestamp in the second positioning parameter; Determine the first positioning parameter corresponding to the first timestamp as a positioning parameter group.

16. The apparatus of claim 12, wherein, The relative angle is the angle from the center of the application relative positioning terminal device counterclockwise to the position of the terminal device participating in the relative positioning.

17. The apparatus of claim 13, wherein, The processor, after determining the relative position between the first terminal device and the second terminal device, further includes: Send the relative position to a positioning server, so that the positioning server stores the relative position.

18. The apparatus of claim 13, wherein, The first terminal device and a third terminal device are connected through a direct communication link, and the third terminal device is an in-network device. The processor, after determining the relative position between the first terminal device and the second terminal device, further includes: Send the relative position to a positioning server through the third terminal device, so that the positioning server stores the relative position.

19. The apparatus of claim 12 or 13, wherein, The processor, before sending the first relative positioning reference signal to the second terminal device, further includes: Send a relative positioning request to a network side device, the relative positioning request being used to instruct the network side device to send relative positioning reference signal configuration information to the first terminal device and the second terminal device; Receive the relative positioning reference signal configuration information sent by the network side device; Generate the first relative positioning reference signal according to the relative positioning reference signal configuration information.

20. A relative positioning device, characterized by The device is located in a positioning server, and the first terminal device and the second terminal device are connected through a direct communication link, and the device includes: A memory, a transceiver, and a processor: The memory is used to store a computer program; the transceiver is used to transceive data under the control of the processor; and the processor is used to read the computer program in the memory and perform the following operations: obtaining a first positioning parameter and a second positioning parameter, the first positioning parameter being determined by a first terminal device after forming a first signal pair by a second relative positioning reference signal from the second terminal device and a first relative positioning reference signal sent to the second terminal device, the second positioning parameter being determined by a second terminal device after forming a second signal pair by a first relative positioning reference signal from the first terminal device and a second relative positioning reference signal sent to the first terminal device, the first relative positioning reference signal being sent by the first terminal device to the second terminal device according to pre-authorized spectrum resource information obtained by the first terminal device; the first positioning parameter comprising a first time difference, a first power aperture related parameter and a first direction angle measurement parameter; the first time difference being a time difference between a receiving time of the second relative positioning reference signal received by the first terminal device and a transmitting time of the first relative positioning reference signal transmitted by the first terminal device; the first power aperture related parameter comprising a first receiving power, a first multipath receiving power, a first NLOS path and a first LOS path; the first direction angle measurement parameter comprising a first receiving antenna direction angle and a first transmitting antenna direction angle, the first receiving antenna direction angle being a direction angle of an antenna corresponding to the second relative positioning reference signal received, and the first transmitting antenna direction angle being a direction angle of an antenna corresponding to the first relative positioning reference signal transmitted; the second positioning parameter comprising a second time difference, a second power aperture related parameter and a second direction angle measurement parameter; the second time difference being a time difference between a receiving time of the first relative positioning reference signal received by the second terminal device and a transmitting time of the second relative positioning reference signal transmitted by the second terminal device; the second direction angle measurement parameter comprising a second receiving antenna direction angle and a second transmitting antenna direction angle, the second receiving antenna direction angle being a direction angle of an antenna corresponding to the first relative positioning reference signal received by the second terminal device, and the second transmitting antenna direction angle being a direction angle of an antenna corresponding to the second relative positioning reference signal transmitted by the second terminal device; the second power aperture related parameter comprising a second receiving power, a second multipath receiving power, a second NLOS path and a second LOS path; determining a positioning parameter group according to the first positioning parameter and the second positioning parameter, the positioning parameter group comprising one first positioning parameter and one second positioning parameter; obtaining the first time difference, the first power aperture related parameter, the second time difference and the second power aperture related parameter in the positioning parameter group; determining a relative distance between the first terminal device and the second terminal device corresponding to the positioning parameter group according to the first time difference, the second time difference, the first power aperture related parameter and the second power aperture related parameter; obtaining the first direction angle measurement parameter, the first power aperture related parameter, the second direction angle measurement parameter and the second power aperture related parameter in the positioning parameter group; determining a relative angle between the first terminal device and the second terminal device corresponding to the positioning parameter group according to the first direction angle measurement parameter, the second direction angle measurement parameter, the first power aperture related parameter and the second power aperture related parameter; determining a relative position between the first terminal device and the second terminal device corresponding to the positioning parameter group according to the relative distance and the relative angle; acquiring the relative position between the first terminal device and the second terminal device determined by the first terminal device.

21. The apparatus of claim 20, wherein, The processor is further configured to: store the relative position.

22. The apparatus of claim 20, wherein, The relative angle is an angle from a positive north direction counterclockwise to a position of a terminal device participating in relative positioning.

23. A relative positioning device, characterized by The apparatus is located in a first terminal device, the first terminal device is connected to a second terminal device through a direct communication link, and the apparatus comprises: a sending unit configured to acquire pre-authorized spectrum resource information; send a first relative positioning reference signal to the second terminal device according to the spectrum resource information; a receiving unit configured to receive a second relative positioning reference signal sent by the second terminal device; a determining unit configured to form a first signal pair by combining the received second relative positioning reference signal and the sent first relative positioning reference signal, and determine a first positioning parameter corresponding to the first signal pair; the first positioning parameter comprises a first time difference, a first power aperture related parameter and a first direction angle measurement parameter; the first time difference is a time difference between a receiving time of the first terminal device receiving the second relative positioning reference signal and a transmitting time of the first terminal device transmitting the first relative positioning reference signal; the first power aperture related parameter comprises a first receiving power, a first multipath receiving power, a first NLOS path and a first LOS path; the first direction angle measurement parameter comprises a first receiving antenna direction angle and a first transmitting antenna direction angle, the first receiving antenna direction angle is a direction angle of an antenna corresponding to the received second relative positioning reference signal, and the first transmitting antenna direction angle is a direction angle of an antenna corresponding to the transmitted first relative positioning reference signal. The receiving unit is further configured to receive second positioning parameters sent by the second terminal device, the second positioning parameters being determined by the second terminal after the second terminal receives the first relative positioning reference signal and the second relative positioning reference signal to form a second signal pair, and correspond to the second signal pair; the second positioning parameters include a second time difference, second power-aperture-related parameters, and second direction angle measurement parameters; the second time difference is a time difference between a receiving time of the first relative positioning reference signal received by the second terminal and a transmitting time of the second relative positioning reference signal transmitted by the second terminal; the second direction angle measurement parameters include a second receiving antenna direction angle and a second transmitting antenna direction angle, the second receiving antenna direction angle being a direction angle of an antenna corresponding to the first relative positioning reference signal received by the second terminal, and the second transmitting antenna direction angle being a direction angle of an antenna corresponding to the second relative positioning reference signal transmitted by the second terminal; and the second power-aperture-related parameters include a second receiving power, a second multipath receiving power, a second NLOS path, and a second LOS path. The determining unit is further configured to determine a positioning parameter group according to the first positioning parameters and the second positioning parameters, the positioning parameter group including one first positioning parameter and one second positioning parameter. The first time difference, the first power-aperture-related parameters, the second time difference, and the second power-aperture-related parameters in the positioning parameter group are obtained. The relative distance between the first terminal device and the second terminal device corresponding to the positioning parameter group is determined according to the first time difference, the second time difference, the first power-aperture-related parameters, and the second power-aperture-related parameters. The first direction angle measurement parameters, the first power-aperture-related parameters, the second direction angle measurement parameters, and the second power-aperture-related parameters in the positioning parameter group are obtained. The relative angle between the first terminal device and the second terminal device corresponding to the positioning parameter group is determined according to the first direction angle measurement parameters, the second direction angle measurement parameters, the first power-aperture-related parameters, and the second power-aperture-related parameters. The relative distance and the relative angle are determined as the relative position between the first terminal device and the second terminal device corresponding to the positioning parameter group. The sending unit is further configured to send the first positioning parameters to the second terminal device, so that the second terminal device determines the relative position between the first terminal device and the second terminal device according to the first positioning parameters and the second positioning parameters. The relative position determined by the determining unit is sent to the second terminal device. The receiving unit is further configured to receive a relative position report sent by the second terminal device.

24. A relative positioning device, characterized by The device is located in a positioning server, a first terminal device and a second terminal device are connected through a direct communication link, and the device includes: The acquisition unit is used for acquiring a first positioning parameter and a second positioning parameter, the first positioning parameter is a positioning parameter corresponding to a first signal pair after a first terminal device forms the first signal pair by combining a second relative positioning reference signal from the second terminal device with a first relative positioning reference signal sent to the second terminal device, the second positioning parameter is a positioning parameter corresponding to a second signal pair after the second terminal device forms the second signal pair by combining a first relative positioning reference signal from the first terminal device with a second relative positioning reference signal sent to the first terminal device, the first relative positioning reference signal is sent to the second terminal device according to spectrum resource information of pre-grant after the first terminal device acquires the spectrum resource information, the first positioning parameter includes a first time difference, first power aperture related parameters and first direction angle measurement parameters; the first time difference is a time difference between a receiving time of the first terminal device receiving the second relative positioning reference signal and a transmitting time of the first terminal device transmitting the first relative positioning reference signal; the first power aperture related parameters include a first receiving power, a first multipath receiving power, a first NLOS path and a first LOS path; the first direction angle measurement parameters include a first receiving antenna direction angle and a first transmitting antenna direction angle, the first receiving antenna direction angle is a direction angle of an antenna corresponding to the received second relative positioning reference signal, and the first transmitting antenna direction angle is a direction angle of an antenna corresponding to the transmitted first relative positioning reference signal; the second positioning parameter includes a second time difference, second power aperture related parameters and second direction angle measurement parameters; the second time difference is a time difference between a receiving time of the second terminal receiving the first relative positioning reference signal and a transmitting time of the second terminal transmitting the second relative positioning reference signal; the second direction angle measurement parameters include a second receiving antenna direction angle and a second transmitting antenna direction angle, the second receiving antenna direction angle is a direction angle of an antenna corresponding to the received first relative positioning reference signal of the second terminal, and the second transmitting antenna direction angle is a direction angle of an antenna corresponding to the transmitted second relative positioning reference signal of the second terminal; the second power aperture related parameters include a second receiving power, a second multipath receiving power, a second NLOS path and a second LOS path; The determination unit is used for determining a positioning parameter group according to the first positioning parameter and the second positioning parameter, and the positioning parameter group includes one first positioning parameter and one second positioning parameter; The first time difference, the first power aperture related parameters, the second time difference and the second power aperture related parameters in the positioning parameter group are acquired; The relative distance between the first terminal device and the second terminal device corresponding to the positioning parameter group is determined according to the first time difference, the second time difference, the first power aperture related parameters and the second power aperture related parameters. obtaining the first direction angle measurement parameter, the first power aperture related parameter, the second direction angle measurement parameter and the second power aperture related parameter in the positioning parameter set; determining a relative angle between the first terminal device and the second terminal device corresponding to the positioning parameter set according to the first direction angle measurement parameter, the second direction angle measurement parameter, the first power aperture related parameter and the second power aperture related parameter; determining a relative position between the first terminal device and the second terminal device corresponding to the positioning parameter set according to the relative distance and the relative angle; the obtaining unit is further configured to obtain a relative position between the first terminal device and the second terminal device determined by the first terminal device.

25. A processor-readable storage medium, comprising: The processor readable storage medium stores a computer program, and the computer program is configured to make the processor execute the method in any one of claims 1-10 or any one of claims 11-13.

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