Time Synchronization Method and Device

Abstract

The present application discloses a time synchronization method and apparatus, including: UE1 sends a first reference signal to UE3 at a first moment, and UE3 receives the first reference signal at a second moment; UE3 sends a second reference signal to UE1 at a third moment, and UE1 receives the second reference signal at a fourth moment. UE2 sends a third reference signal to UE3 at a fifth moment, UE3 receives the third reference signal at a sixth moment, UE3 sends a fourth reference signal to UE2 at a seventh moment, and UE2 receives the fourth reference signal at an eighth moment. And UE2 sends second time information and third time information to UE1, where the second time information is used to indicate the round-trip time of the reference signal between UE2 and UE3, and the third time information is used to indicate the eighth moment and the time difference between the eighth moment and the fifth moment. The accuracy of time synchronization is effectively improved.

Description

Technical Field

[0001] This application relates to the field of communication technologies, and in particular, to a time synchronization method and apparatus. Background Art

[0002] Generally, time synchronization methods in a sidelink network include a global navigation satellite system (GNSS)-based time synchronization method and a base station (such as gNB-based or eNB-based)-based time synchronization method. Each base station in a cellular network can complete time synchronization through GNSS or a cascaded precision time protocol (PTP) transmission network. That is to say, time synchronization methods in sidelink or cellular networks are mainly to meet the requirements of the communication functions of devices in the network.

[0003] However, the above methods cannot guarantee the time synchronization accuracy between specified anchor points, resulting in a large time synchronization error between the anchor points. Summary of the Invention

[0004] This application provides a time synchronization method and apparatus, which can effectively improve the time synchronization accuracy.

[0005] The possible implementation manners of the first aspect, the second aspect, the third aspect, and each aspect (such as the first aspect to the third aspect) shown below are all illustrated by taking the first terminal device to determine the time synchronization error as an example. In the fourth aspect, the fifth aspect, the sixth aspect, and various possible implementation manners shown below, the method provided in the embodiments of this application will be described by taking the second terminal device to determine the time synchronization error as an example. And in the seventh aspect, the eighth aspect, the ninth aspect, and various possible implementation manners shown below, the method provided in the embodiments of this application will be described by taking the third terminal device to determine the time synchronization error as an example. In the tenth aspect, the eleventh aspect, the twelfth aspect, the thirteenth aspect, and various possible implementation manners shown below, the method provided in the embodiments of this application will be described by taking the positioning device to determine the time synchronization error as an example.

[0006] In a first aspect, an embodiment of this application provides a time synchronization method, which can be applied to a first terminal device or a chip in the first terminal device. For ease of description, the method provided in the embodiments of this application will be described below by taking the first terminal device as an example. The method includes:

[0007] Send a first reference signal at a first moment; receive a second reference signal at a fourth moment; receive first time information, second time information, and third time information; the first time information is used to indicate the time difference between a third moment and a second moment, the second moment is the receiving moment of the first reference signal, and the third moment is the sending moment of the second reference signal. The second time information is used to indicate the round-trip time of the reference signal between a second terminal device and a third terminal device, and the third time information is used to indicate an eighth moment and the time difference between the eighth moment and a fifth moment, the fifth moment is the sending moment of a third reference signal, the eighth moment is the receiving moment of a fourth reference signal, the third reference signal is a reference signal sent by the second terminal device to the third terminal device, and the fourth reference signal is a reference signal sent by the third terminal device to the second terminal device.

[0008] Optionally, the first terminal device may receive the second reference signal and the first time information simultaneously. That is, when the third terminal device sends the second reference signal to the first terminal device, the third terminal device may send the first time information to the first terminal device simultaneously. Optionally, the first terminal device may also receive the second reference signal first and then receive the first time information. Optionally, the first terminal device may also receive the first time information first and then receive the second reference signal. The embodiments of the present application do not limit the receiving order of the second reference signal and the first time information. At the same time, the sending order of the second reference signal and the first time information is not limited either.

[0009] Exemplarily, the above method may also be replaced with:

[0010] Receive first time information, where the first time information is used to indicate the time difference between a third moment and a second moment, the second moment is the receiving moment of a first reference signal, the first reference signal is a reference signal sent by the first terminal device to the third terminal device, the third moment is the sending moment of the second reference signal, and the second reference signal is a reference signal sent by the third terminal device to the first terminal device;

[0011] Receive second time information and third time information, where the second time information is used to indicate the round-trip time of the reference signal between a second terminal device and the third terminal device, and the third time information is used to indicate an eighth moment and the time difference between the eighth moment and a fifth moment, the fifth moment is the sending moment of a third reference signal, the eighth moment is the receiving moment of a fourth reference signal, the third reference signal is a reference signal sent by the second terminal device to the third terminal device, and the fourth reference signal is a reference signal sent by the third terminal device to the second terminal device.

[0012] It is understandable that the method described above is illustrated by taking the second terminal device sending the second time information to the first terminal device as an example. That is to say, the third terminal device receives the third reference signal, sends the fourth reference signal, and feeds back the fifth time information to the second terminal device. However, the embodiments of the present application are not limited thereto. For example, the third terminal device may also directly indicate the time difference between the sixth moment and the seventh moment to the first terminal device, and / or indicate the seventh moment, etc.

[0013] In the embodiments of the present application, the first terminal device can determine the time synchronization error between it and the second terminal device by receiving the third time information and combining the first time information and the second time information. Thus, through the third terminal device and the third time information, the calibration of the time synchronization error between the first terminal device and the second terminal device can be completed. The number of intermediate nodes for time synchronization between the anchors (such as the first terminal device and the second terminal device) is effectively reduced, the propagation of the synchronization error is reduced, and thus the time synchronization accuracy between the first terminal device and the second terminal device is improved.

[0014] In a possible implementation manner, the method further includes: determining the time synchronization error between the first terminal device and the second terminal device according to the first moment, the fourth moment, the first time information, the second time information, and the third time information.

[0015] Exemplarily, in combination with the above method, the above method can also be replaced by: receiving the first time information; receiving the second time information and the third time information; determining the time synchronization error between the first terminal device and the second terminal device according to the first time information, the second time information, and the third time information.

[0016] It is understandable that the descriptions of the first time information, the second time information, and the third time information can refer to the above text and will not be elaborated here.

[0017] Exemplarily, the above method can also be replaced by: receiving the third time information; determining the time synchronization error between the first terminal device and the second terminal device according to the third time information.

[0018] It is understandable that for the specific descriptions of the replacement of the above method, reference can also be made to the following text, which will not be elaborated one by one here.

[0019] In a possible implementation manner, the method further includes: receiving the fourth time information, where the fourth time information is used to indicate the time difference between the seventh moment and the second moment, and the seventh moment is the sending moment of the fourth reference signal.

[0020] In a possible implementation, the method further includes: receiving fourth time information, where the fourth time information is used to indicate the time difference between a seventh moment and the third moment, and the seventh moment is the transmission moment of a fourth reference signal.

[0021] In a possible implementation, the method further includes: receiving fourth time information, where the fourth time information is used to indicate the time difference between a sixth moment and the second moment, and the sixth moment is the reception moment of a third reference signal.

[0022] In a possible implementation, the method further includes: receiving fourth time information, where the fourth time information is used to indicate the time difference between a sixth moment and the third moment, and the sixth moment is the transmission moment of a third reference signal.

[0023] In a possible implementation, the method further includes: determining a time synchronization error between the first terminal device and the second terminal device according to the first moment, the fourth moment, the first time information, the second time information, the third time information, and the fourth time information.

[0024] In a possible implementation, the first reference signal is a reference signal sent by the first terminal device to the third terminal device, and the second reference signal is a reference signal sent by the third terminal device to the first terminal device.

[0025] In a possible implementation, the first reference signal includes a reference signal for positioning; or, the second reference signal includes a reference signal for positioning; or, the third reference signal includes a reference signal for positioning; or, the fourth reference signal includes a reference signal for positioning.

[0026] Exemplarily, the first reference signal, the second reference signal, the third reference signal, and the fourth reference signal may all be reference signals for positioning. For example, the reference signal for positioning includes positioning reference signals (PRS) or sounding reference signals (SRS), etc., which are not limited in the embodiments of the present application.

[0027] In a possible implementation, the time synchronization error satisfies the following condition:

[0028]

[0029]

[0030] Or, the time synchronization error satisfies the following condition:

[0031]

[0032]

[0033] Alternatively, the time synchronization error satisfies the following condition:

[0034]

[0035]

[0036] Alternatively, the time synchronization error satisfies the following condition:

[0037]

[0038]

[0039] where d 23 is the distance between the second terminal device and the third terminal device, T8 is the eighth moment, T5 is the fifth moment, T7 is the seventh moment, T6 is the sixth moment, the sixth moment is the receiving moment of the third reference signal, (T8 - T5)-(T7 - T6) is the round-trip time of the reference signal between the second terminal device and the third terminal device; T1 is the first moment, T2 is the second moment, T4 is the fourth moment, T3 is the third moment, (T4 - T1)-(T3 - T2) is the round-trip time of the reference signal between the first terminal device and the third terminal device, and e 12 is the time synchronization error between the first terminal device and the second terminal device.

[0040] In a possible implementation manner, the method further includes: sending information for indicating the time synchronization error to the second terminal device.

[0041] In a possible implementation manner, the method further includes: determining the location information of the third terminal device according to the first moment, the fourth moment, the first time information, and the second time information.

[0042] In the embodiments of the present application, the calibration of the time synchronization error between the first terminal device and the second terminal device can be performed simultaneously with the positioning process of the third terminal device. That is, through the above first time information and second time information, not only can the calibration of the time synchronization error between the first terminal device and the second terminal device be completed, but also the positioning of the third terminal device can be completed.

[0043] Second aspect, an embodiment of the present application provides a time synchronization method, which is applied to a second terminal device or a chip in the second terminal device. For ease of description, the method provided in the embodiments of the present application will be described below by taking the second terminal device as an example. The method includes:

[0044] Sending a third reference signal at a fifth moment; receiving a fourth reference signal at an eighth moment; receiving fifth time information, where the fifth time information is used to indicate the time difference between a seventh moment and a sixth moment, the seventh moment is the sending moment of the fourth reference signal, and the sixth moment is the receiving moment of the third reference signal; sending second time information and third time information, where the second time information is used to indicate the round-trip time of the reference signal between the second terminal device and the third terminal device, and the third time information is used to indicate the eighth moment and the time difference between the eighth moment and the fifth moment.

[0045] Optionally, the fifth time information is further used to indicate the seventh moment.

[0046] Exemplarily, the above method can also be replaced with: receiving fifth time information; sending second time information and third time information. It can be understood that the descriptions of the second time information, the third time information, and the fifth time information can refer to the above, and will not be elaborated here.

[0047] Optionally, the second terminal device can receive the fourth reference signal and the fifth time information simultaneously. That is, when the third terminal device sends the fourth reference signal to the second terminal device, the third terminal device can send the fifth time information to the second terminal device simultaneously. Optionally, the second terminal device can receive the fourth reference signal first and then receive the fifth time information. Optionally, the second terminal device can receive the fifth time information first and then receive the fourth reference signal. The embodiments of the present application do not limit the sending order of the fourth reference signal and the fifth time information. At the same time, the receiving order of the fourth reference signal and the fifth time information is not limited either.

[0048] In a possible implementation manner, the third reference signal is a reference signal sent by the second terminal device to the third terminal device, and the fourth reference signal is a reference signal sent by the third terminal device to the second terminal device.

[0049] Third aspect, an embodiment of the present application provides a time synchronization method, which is applied to a third terminal device or a chip in the third terminal device. For ease of description, the method provided in the embodiments of the present application will be described below by taking the third terminal device as an example. The method includes:

[0050] Receive a first reference signal at a second moment; send a second reference signal at a third moment; send first time information, where the first time information is used to indicate the time difference between the third moment and the second moment; receive a third reference signal at a sixth moment; send a fourth reference signal at a seventh moment; send fifth time information, where the fifth time information is used to indicate the time difference between the seventh moment and the sixth moment.

[0051] Exemplarily, the above method may also be replaced with: sending first time information; and sending fifth time information. It can be understood that the description of the first time information and the fifth time information can refer to the above or each of the embodiments shown below, and will not be elaborated here.

[0052] Optionally, the third terminal device may send the fourth reference signal and the fifth time information simultaneously. Optionally, the third terminal device may also first send the fourth reference signal and then send the fifth time information. Optionally, the third terminal device may also first send the fifth time information and then send the fourth reference signal. The embodiments of the present application do not limit the sending order of the fourth reference signal and the fifth time information. Optionally, the third terminal device may also send the second reference signal and the first time information simultaneously, etc., which are not limited in the embodiments of the present application.

[0053] In a possible implementation, the first reference signal is a reference signal received by the third terminal device from the first terminal device, the second reference signal is a reference signal sent by the third terminal device to the first terminal device, the third reference signal is a reference signal received by the third terminal device from the second terminal device, and the fourth reference signal is a reference signal sent by the third terminal device to the second terminal device.

[0054] In a possible implementation, the method further includes: sending fourth time information, where the fourth time information is used to indicate the time difference between the seventh moment and the second moment.

[0055] Exemplarily, the third terminal device sends the fourth time information to the first terminal device, and the first terminal device receives the fourth time information. Exemplarily, the third terminal device may send the fourth time information to the second terminal device, and the second terminal device receives the fourth time information. And the second terminal device sends the fourth time information to the first terminal device. For example, the third terminal device may send the fourth reference signal, the fifth time information, or the fourth time information simultaneously. For another example, the third terminal device may also first send the fourth reference signal and then send the fourth time information, etc., which will not be elaborated here.

[0056] In a possible implementation, the method further includes: sending fourth time information, where the fourth time information is used to indicate the time difference between a seventh moment and the third moment.

[0057] In a possible implementation, the method further includes: sending fourth time information, where the fourth time information is used to indicate the time difference between a sixth moment and the second moment.

[0058] In a possible implementation, the method further includes: sending fourth time information, where the fourth time information is used to indicate the time difference between a sixth moment and the third moment.

[0059] Fourthly, an embodiment of the present application provides a time synchronization method, and the method is applied to a second terminal device or a chip in the second terminal device. For ease of description, the method provided by the embodiment of the present application will be described below by taking the second terminal device as an example. The method includes:

[0060] Sending a third reference signal at a fifth moment; receiving a fourth reference signal at an eighth moment; receiving sixth time information, where the sixth time information is used to indicate the time difference between a seventh moment and the sixth moment, the sixth moment is the receiving moment of the third reference signal, and the seventh moment is the sending moment of the fourth reference signal;

[0061] Receiving seventh time information and eighth time information, where the seventh time information is used to indicate the round-trip time of the reference signal between the first terminal device and the third terminal device, and the eighth time information is used to indicate a fourth moment and the time difference between the fourth moment and a first moment, the first moment is the sending moment of a first reference signal, the fourth moment is the receiving moment of a second reference signal, the first reference signal is a reference signal sent by the first terminal device to the third terminal device, and the second reference signal is a reference signal sent by the third terminal device to the first terminal device.

[0062] Optionally, the second terminal device may receive the fourth reference signal and the sixth time information simultaneously. Optionally, the second terminal device may first receive the fourth reference signal and then receive the sixth time information. Optionally, the second terminal device may first receive the sixth time information and then receive the fourth reference signal. For the specific description of the fourth reference signal and the sixth time information, reference may be made to the above description of the second reference signal and the first time information, which will not be elaborated here. Optionally, the sixth time information is further used to indicate the seventh moment.

[0063] Exemplarily, the above method can also be replaced with: receiving sixth time information, where the sixth time information is used to indicate the time difference between a seventh moment and a sixth moment, the sixth moment is the receiving moment of a third reference signal, the third reference signal is a reference signal sent by a second terminal device to a third terminal device, the seventh moment is the sending moment of a fourth reference signal, and the fourth reference signal is a reference signal sent by the third terminal device to the second terminal device; receiving seventh time information and eighth time information, where the seventh time information is used to indicate the round-trip time of a reference signal between a first terminal device and the third terminal device, and the eighth time information is used to indicate a fourth moment and the time difference between the fourth moment and a first moment, the first moment is the sending moment of a first reference signal, the fourth moment is the receiving moment of a second reference signal, the first reference signal is a reference signal sent by the first terminal device to the third terminal device, and the second reference signal is a reference signal sent by the third terminal device to the first terminal device.

[0064] It can be understood that the above-described method is illustrated by taking the first terminal device sending seventh time information to the second terminal device as an example. That is, the third terminal device receives the first reference signal, sends the second reference signal, and sends tenth time information to the first terminal device, where the tenth time information is used to indicate the time difference between a third moment and a second moment. However, the embodiments of the present application are not limited thereto. For example, the third terminal device can also directly indicate the time difference between the third moment and the second moment to the second terminal device, and / or indicate the second moment, etc.

[0065] In the embodiments of the present application, by receiving the eighth time information, the second terminal device can determine the time synchronization error between it and the first terminal device in combination with the sixth time information and the seventh time information. Thus, through the third terminal device and the eighth time information, the calibration of the time synchronization error between the first terminal device and the second terminal device can be completed. The number of intermediate nodes for time synchronization between anchors (such as the first terminal device and the second terminal device) is effectively reduced, the propagation of synchronization errors is reduced, and thus the time synchronization accuracy between the first terminal device and the second terminal device is improved.

[0066] In a possible implementation manner, the method further includes: determining the time synchronization error between the first terminal device and the second terminal device according to the fifth moment, the eighth moment, the sixth time information, the seventh time information, and the eighth time information.

[0067] In a possible implementation manner, the method further includes: receiving ninth time information, where the ninth time information is used to indicate the time difference between the seventh moment and the second moment, and the seventh moment is the sending moment of the fourth reference signal.

[0068] In a possible implementation, the method further includes: receiving ninth time information, where the ninth time information is used to indicate the time difference between a seventh moment and the third moment, and the seventh moment is the transmission moment of a fourth reference signal.

[0069] In a possible implementation, the method further includes: receiving ninth time information, where the ninth time information is used to indicate the time difference between a sixth moment and the second moment, and the sixth moment is the reception moment of a third reference signal.

[0070] In a possible implementation, the method further includes: receiving ninth time information, where the ninth time information is used to indicate the time difference between a sixth moment and the third moment, and the sixth moment is the transmission moment of a third reference signal.

[0071] In a possible implementation, the method further includes: determining a time synchronization error between the first terminal device and the second terminal device according to the fifth moment, the eighth moment, the sixth time information, the seventh time information, the eighth time information, and the ninth time information.

[0072] In a possible implementation, the method further includes: sending information for indicating the time synchronization error to the first terminal device.

[0073] In a possible implementation, the method further includes: determining the location information of the third terminal device according to the fifth moment, the eighth moment, the sixth time information, and the seventh time information.

[0074] It can be understood that for specific descriptions of other possible implementations of the fourth aspect, reference can be made to the possible implementations of the first aspect above, which will not be elaborated here one by one. Exemplarily, reference can be made to the descriptions of the first reference signal, the second reference signal, etc. in the first aspect above. For another example, reference can be made to the descriptions of the conditions satisfied by the time synchronization error in the first aspect above. It can be understood that for the convenience of description, the specific descriptions of the first moment to the eighth moment appearing below can refer to the above, and will not be elaborated here one by one.

[0075] In a fifth aspect, an embodiment of the present application provides a time synchronization method, and the method is applied to a first terminal device or a chip in the first terminal device. For the convenience of description, the method provided by the embodiment of the present application will be described below taking the first terminal device as an example. The method includes:

[0076] Sending a first reference signal at a first moment; receiving a second reference signal at a fourth moment; receiving tenth time information, where the tenth time information is used to indicate the time difference between a third moment and a second moment; sending seventh time information and eighth time information.

[0077] Exemplarily, the above method can also be replaced with: receiving tenth time information; sending seventh time information and eighth time information.

[0078] It can be understood that the descriptions of the seventh time information, the eighth time information, and the tenth time information can refer to the above, and will not be elaborated here.

[0079] Optionally, the first terminal device can receive the second reference signal and the tenth time information simultaneously. Optionally, the first terminal device can first receive the second reference signal and then receive the tenth time information. Optionally, the first terminal device can first receive the tenth time information and then receive the second reference signal.

[0080] In a sixth aspect, an embodiment of the present application provides a time synchronization method, which is applied to a third terminal device or a chip in the third terminal device. For ease of description, the method provided by the embodiment of the present application will be described below by taking the third terminal device as an example.

[0081] Receiving a first reference signal at a second moment; sending a second reference signal at a third moment; sending tenth time information, where the tenth time information is used to indicate the time difference between the third moment and the second moment; receiving a third reference signal at a sixth moment; sending a fourth reference signal at a seventh moment; sending sixth time information, where the sixth time information is used to indicate the time difference between the seventh moment and the sixth moment.

[0082] Exemplarily, the above method can also be replaced with: sending tenth time information; and sending sixth time information.

[0083] It can be understood that the specific descriptions of the tenth time information and the sixth time information can refer to the above or the various embodiments shown below, and will not be elaborated here.

[0084] Optionally, the third terminal device can send the second reference signal and the tenth time information simultaneously. Optionally, the third terminal device can send the fourth reference signal and the sixth time information simultaneously. The embodiment of the present application does not limit this.

[0085] In a possible implementation manner, the method further includes: sending ninth time information, where the ninth time information is used to indicate the time difference between the seventh moment and the second moment.

[0086] Exemplarily, the third terminal device sends the ninth time information to the second terminal device, and the second terminal device receives the ninth time information. Exemplarily, the third terminal device can send the ninth time information to the first terminal device, and the first terminal device receives the ninth time information. And the first terminal device sends the ninth time information to the second terminal device.

[0087] In a possible implementation, the method further includes: sending ninth time information for indicating the time difference between a seventh moment and the third moment.

[0088] In a possible implementation, the method further includes: sending ninth time information for indicating the time difference between a sixth moment and the second moment.

[0089] In a possible implementation, the method further includes: sending ninth time information for indicating the time difference between a sixth moment and the third moment.

[0090] It can be understood that for the method shown in the fifth aspect or the sixth aspect, reference can also be made to the fourth aspect above, or the embodiments shown below, which will not be elaborated here.

[0091] In a seventh aspect, an embodiment of the present application provides a time synchronization method, which is applied to a third terminal device or a chip in the third terminal device. For ease of description, the method provided by the embodiment of the present application will be described below by taking the third terminal device as an example. The method includes:

[0092] Receiving a first reference signal at a second moment; sending a second reference signal at a third moment; receiving eleventh time information for indicating a fourth time and the time difference between the fourth moment and a first moment, where the fourth moment is the receiving moment of the second reference signal, and the first moment is the sending moment of the first reference signal.

[0093] Receiving a third reference signal at a sixth moment; sending a fourth reference signal at a seventh moment; receiving twelfth time information for indicating an eighth time and the time difference between the eighth moment and a fifth moment, where the eighth moment is the receiving moment of the fourth reference signal, and the fifth moment is the sending moment of the third reference signal.

[0094] In a possible implementation, the method further includes: determining a time synchronization error between the first terminal device and the second terminal device according to the eleventh time information and the twelfth time information.

[0095] In a possible implementation, the method further includes: sending information for indicating the time synchronization error.

[0096] Optionally, sending information for indicating the time synchronization error to the first terminal device. Optionally, sending information for indicating the time synchronization error to the second terminal device.

[0097] In an eighth aspect, an embodiment of the present application provides a time synchronization method, which is applied to a first terminal device or a chip in the first terminal device. For ease of description, the method provided by the embodiment of the present application will be described below by taking the first terminal device as an example. The method includes:

[0098] Send a first reference signal at a first moment; receive a second reference signal at a fourth moment; send an eleventh time information, where the eleventh time information is used to indicate the fourth moment and the time difference between the fourth moment and the first moment.

[0099] In a ninth aspect, an embodiment of the present application provides a time synchronization method, which is applied to a second terminal device or a chip in the second terminal device. For ease of description, the method provided by the embodiment of the present application will be described below by taking the second terminal device as an example. The method includes:

[0100] Send a third reference signal at a fifth moment; receive a fourth reference signal at an eighth moment; send a twelfth time information, where the twelfth time information is used to indicate the eighth moment and the time difference between the eighth moment and the fifth moment.

[0101] It can be understood that for the method shown in the eighth aspect or the ninth aspect, reference can also be made to the seventh aspect, or to the embodiments shown below. Details are not described herein again.

[0102] In a tenth aspect, an embodiment of the present application provides a time synchronization method, which is applied to a positioning device or a chip in the positioning device. The method includes:

[0103] Receive a thirteenth time information, where the thirteenth time information is used to indicate the time difference between a third moment and a second moment; receive a fifteenth time information, where the fifteenth time information is used to indicate the fourth moment and the time difference between the fourth moment and a first moment; receive a sixteenth time information, where the sixteenth time information is used to indicate the time difference between a seventh moment and a sixth moment; receive an eighteenth time information, where the eighteenth time information is used to indicate the eighth moment and the time difference between the eighth moment and a fifth moment.

[0104] Optionally, the thirteenth time information is further used to indicate the third moment. Optionally, the sixteenth time information is further used to indicate the seventh moment.

[0105] In a possible implementation manner, the method further includes:

[0106] Determine the time synchronization error between the first network device and the second network device according to the thirteenth time information, the fifteenth time information, the sixteenth time information, and the eighteenth time information.

[0107] In a possible implementation, the method further includes: receiving information for indicating the time difference between the seventh moment and the second moment. Or, receiving information for indicating the time difference between the sixth moment and the second moment. Or, receiving information for indicating the time difference between the seventh moment and the third moment. Or, receiving information for indicating the time difference between the sixth moment and the third moment.

[0108] Exemplarily, when the thirteenth time information includes the time difference between the third moment and the second moment, the positioning device may further receive information on the time difference between the seventh moment and the second moment. Exemplarily, when the thirteenth time information includes the third moment and the second moment, the positioning device may not receive the above information for indicating the time difference between the seventh moment and the second moment.

[0109] In a possible implementation, the method further includes: sending information for indicating the time synchronization error.

[0110] It can be understood that for the specific description of the tenth aspect, reference can also be made to the embodiments shown below, which will not be elaborated here. At the same time, for the description of the first network device (such as gNB1) or the second network device (gNB2) or the terminal device, reference can also be made to the embodiments shown below, which will not be elaborated here either.

[0111] In an eleventh aspect, an embodiment of the present application provides a communication device for performing the method in the first aspect or any possible implementation of the first aspect. The communication device includes corresponding units for performing the method in the first aspect or any possible implementation of the first aspect, such as a transceiver unit and a processing unit. Exemplarily, the communication device may be a first terminal device or a chip in the first terminal device, etc.

[0112] The transceiver unit is configured to send a first reference signal at a first moment; the transceiver unit is further configured to receive a second reference signal at a fourth moment; the transceiver unit is further configured to receive first time information, second time information, and third time information; the first time information is used to indicate the time difference between a third moment and a second moment, the second moment is the receiving moment of the first reference signal, and the third moment is the sending moment of the second reference signal. The second time information is used to indicate the round-trip time of the reference signal between the second terminal device and the third terminal device, and the third time information is used to indicate an eighth moment and the time difference between the eighth moment and a fifth moment, the fifth moment is the sending moment of a third reference signal, the eighth moment is the receiving moment of a fourth reference signal, the third reference signal is a reference signal sent by the second terminal device to the third terminal device, and the fourth reference signal is a reference signal sent by the third terminal device to the second terminal device.

[0113] Exemplarily, the processing unit may control the transceiver unit to send the first reference signal, or after the processing unit generates the first reference signal, the transceiver unit sends it, etc. The embodiments of the present application do not limit the relationship between the processing unit and the transceiver unit.

[0114] It can be understood that in the embodiments of the present application, the descriptions of each moment or each time information can refer to the above first aspect and will not be elaborated one by one here. It can be understood that to avoid repetition, the descriptions of each moment or each time information, etc. will not be elaborated one by one in the communication devices shown below.

[0115] In a possible implementation manner, the processing unit is configured to determine the time synchronization error between the first terminal device and the second terminal device according to the first moment, the fourth moment, the first time information, the second time information, and the third time information.

[0116] In a possible implementation manner, the transceiver unit is further configured to receive the fourth time information.

[0117] In a possible implementation manner, the processing unit is configured to determine the time synchronization error between the first terminal device and the second terminal device according to the first moment, the fourth moment, the first time information, the second time information, the third time information, and the fourth time information.

[0118] In a possible implementation manner, the processing unit is further configured to determine the location information of the third terminal device according to the first moment, the fourth moment, the first time information, and the second time information.

[0119] In a twelfth aspect, an embodiment of the present application provides a communication device for performing the method in the second aspect or any possible implementation manner of the second aspect. The communication device includes corresponding units for performing the method in the second aspect or any possible implementation manner of the second aspect, such as a transceiver unit and a processing unit. Exemplarily, the communication device may be the second terminal device or a chip in the second terminal device, etc.

[0120] A transceiver unit, configured to send a third reference signal at a fifth moment; the transceiver unit is further configured to receive a fourth reference signal at an eighth moment; the transceiver unit is further configured to receive fifth time information, where the fifth time information is used to indicate a time difference between a seventh moment and a sixth moment, the seventh moment is the sending moment of the fourth reference signal, and the sixth moment is the receiving moment of the third reference signal; the transceiver unit is further configured to send second time information and third time information, where the second time information is used to indicate a round-trip time of a reference signal between a second terminal device and a third terminal device, and the third time information is used to indicate the eighth moment and a time difference between the eighth moment and the fifth moment.

[0121] In a thirteenth aspect, an embodiment of the present application provides a communication device, configured to execute the method in the third aspect or any possible implementation manner of the third aspect. The communication device includes corresponding units having the ability to execute the method in the third aspect or any possible implementation manner of the third aspect, such as a transceiver unit and a processing unit. Exemplarily, the communication device may be a third terminal device or a chip in the third terminal device, etc.

[0122] The transceiver unit is configured to receive a first reference signal at a second moment; the transceiver unit is further configured to send a second reference signal at a third moment; the transceiver unit is further configured to send first time information, where the first time information is used to indicate a time difference between the third moment and the second moment; the transceiver unit is further configured to receive a third reference signal at a sixth moment; the transceiver unit is further configured to send a fourth reference signal at a seventh moment; the transceiver unit is further configured to send fifth time information, where the fifth time information is used to indicate a time difference between the seventh moment and the sixth moment.

[0123] In a possible implementation manner, the transceiver unit is further configured to send fourth time information.

[0124] In a fourteenth aspect, an embodiment of the present application provides a communication device, configured to execute the method in the fourth aspect or any possible implementation manner of the fourth aspect. The communication device includes corresponding units having the ability to execute the method in the fourth aspect or any possible implementation manner of the fourth aspect, such as including a transceiver unit and a processing unit. Exemplarily, the communication device may be a second terminal device or a chip in the second terminal device, etc.

[0125] The transceiver unit is configured to send a third reference signal at a fifth moment; the transceiver unit is further configured to receive a fourth reference signal at an eighth moment; the transceiver unit is further configured to receive sixth time information, where the sixth time information is used to indicate the time difference between a seventh moment and a sixth moment, the sixth moment is the reception moment of the third reference signal, and the seventh moment is the transmission moment of the fourth reference signal; the transceiver unit is further configured to receive seventh time information and eighth time information, where the seventh time information is used to indicate the round-trip time of the reference signal between a first terminal device and a third terminal device, and the eighth time information is used to indicate a fourth moment and the time difference between the fourth moment and a first moment, the first moment is the transmission moment of a first reference signal, the fourth moment is the reception moment of a second reference signal, the first reference signal is a reference signal sent by the first terminal device to the third terminal device, and the second reference signal is a reference signal sent by the third terminal device to the first terminal device.

[0126] In a possible implementation, the processing unit is configured to determine the time synchronization error between the first terminal device and the second terminal device according to the fifth moment, the eighth moment, the sixth time information, the seventh time information, and the eighth time information.

[0127] In a possible implementation, the transceiver unit is further configured to receive ninth time information.

[0128] In a possible implementation, the processing unit is further configured to determine the time synchronization error between the first terminal device and the second terminal device according to the fifth moment, the eighth moment, the sixth time information, the seventh time information, the eighth time information, and the ninth time information.

[0129] In a possible implementation, the transceiver unit is further configured to send information indicating the time synchronization error to the first terminal device.

[0130] In a possible implementation, the processing unit is further configured to determine the location information of the third terminal device according to the fifth moment, the eighth moment, the sixth time information, and the seventh time information.

[0131] In a fifteenth aspect, an embodiment of the present application provides a communication device for performing the method in the fifth aspect or any possible implementation of the fifth aspect. The communication device includes corresponding units for performing the method in the fifth aspect or any possible implementation of the fifth aspect, such as a transceiver unit and a processing unit. Exemplarily, the communication device may be a first terminal device or a chip in the first terminal device, etc.

[0132] The transceiver unit is configured to send a first reference signal at a first moment; the transceiver unit is further configured to receive a second reference signal at a fourth moment; the transceiver unit is further configured to receive a tenth time information, where the tenth time information is used to indicate a time difference between a third moment and a second moment; the transceiver unit is further configured to send a seventh time information and an eighth time information.

[0133] In a sixteenth aspect, an embodiment of the present application provides a communication device, configured to execute the method in the sixth aspect or any possible implementation manner of the sixth aspect. The communication device includes corresponding units configured to execute the method in the sixth aspect or any possible implementation manner of the sixth aspect, such as a transceiver unit and a processing unit. Exemplarily, the communication device may be a third terminal device or a chip in the third terminal device, etc.

[0134] The transceiver unit is configured to receive a first reference signal at a second moment; the transceiver unit is further configured to send a second reference signal at a third moment; the transceiver unit is further configured to send a tenth time information, where the tenth time information is used to indicate a time difference between the third moment and the second moment; the transceiver unit is further configured to receive a third reference signal at a sixth moment; the transceiver unit is further configured to send a fourth reference signal at a seventh moment; the transceiver unit is further configured to send a sixth time information, where the sixth time information is used to indicate a time difference between the seventh moment and the sixth moment.

[0135] In a possible implementation manner, the transceiver unit is further configured to send a ninth time information.

[0136] In a seventeenth aspect, an embodiment of the present application provides a communication device, configured to execute the method in the seventh aspect or any possible implementation manner of the seventh aspect. The communication device includes corresponding units configured to execute the method in the seventh aspect or any possible implementation manner of the seventh aspect, such as including a transceiver unit and a processing unit. Exemplarily, the communication device may be a third terminal device or a chip in the third terminal device, etc.

[0137] The transceiver unit is configured to receive a first reference signal at a second moment; send a second reference signal at a third moment; receive an eleventh time information, where the eleventh time information is used to indicate a fourth time and a time difference between the fourth moment and a first moment, the fourth moment being the receiving moment of the second reference signal, and the first moment being the sending moment of the first reference signal. Receive a third reference signal at a sixth moment; send a fourth reference signal at a seventh moment; receive a twelfth time information, where the twelfth time information is used to indicate an eighth time and a time difference between the eighth moment and a fifth moment, the eighth moment being the receiving moment of the fourth reference signal, and the fifth moment being the sending moment of the third reference signal.

[0138] In a possible implementation, the processing unit is configured to determine the time synchronization error between the first terminal device and the second terminal device according to the eleventh time information and the twelfth time information.

[0139] In a possible implementation, the transceiver unit is further configured to send information for indicating the time synchronization error.

[0140] In a eighteenth aspect, an embodiment of the present application provides a communication device, configured to execute the method in the eighth aspect or any possible implementation manner of the eighth aspect. The communication device includes corresponding units for executing the method in the eighth aspect or any possible implementation manner of the eighth aspect, such as a transceiver unit and a processing unit. Exemplarily, the communication device may be a first terminal device or a chip in the first terminal device, etc.

[0141] The transceiver unit is configured to send a first reference signal at a first moment; receive a second reference signal at a fourth moment; and send eleventh time information, where the eleventh time information is used to indicate the fourth moment and the time difference between the fourth moment and the first moment.

[0142] In a nineteenth aspect, an embodiment of the present application provides a communication device, configured to execute the method in the ninth aspect or any possible implementation manner of the ninth aspect. The communication device includes corresponding units for executing the method in the ninth aspect or any possible implementation manner of the ninth aspect, such as a transceiver unit and a processing unit. Exemplarily, the communication device may be a second terminal device or a chip in the second terminal device, etc.

[0143] The transceiver unit is configured to send a third reference signal at a fifth moment; receive a fourth reference signal at an eighth moment; and send twelfth time information, where the twelfth time information is used to indicate the eighth moment and the time difference between the eighth moment and the fifth moment.

[0144] In a twentieth aspect, an embodiment of the present application provides a communication device, configured to execute the method in the tenth aspect or any possible implementation manner of the tenth aspect. The communication device includes corresponding units for executing the method in the tenth aspect or any possible implementation manner of the tenth aspect, such as a transceiver unit and a processing unit. Exemplarily, the communication device may be a positioning device or a chip in the positioning device, etc.

[0145] The transceiver unit is configured to: receive the thirteenth time information, which is used to indicate the third moment and the time difference between the third moment and the second moment; receive the fifteenth time information, which is used to indicate the fourth moment and the time difference between the fourth moment and the first moment; receive the sixteenth time information, which is used to indicate the seventh moment and the time difference between the seventh moment and the sixth moment; receive the eighteenth time information, which is used to indicate the eighth moment and the time difference between the eighth moment and the fifth moment.

[0146] In a possible implementation, the processing unit is configured to determine the time synchronization error between the first network device and the second network device according to the thirteenth time information, the fifteenth time information, the sixteenth time information, and the eighteenth time information.

[0147] In a possible implementation, the transceiver unit is further configured to send information indicating the time synchronization error.

[0148] In a twenty-first aspect, an embodiment of the present application provides a communication device, which includes a processor configured to execute the method shown in any possible implementation of the first aspect or the first aspect (or the fifth aspect or the eighth aspect) above. Alternatively, the processor is configured to execute a program stored in a memory, and when the program is executed, the method shown in the first aspect or any possible implementation of the first aspect above is executed.

[0149] In the process of executing the above method, the process of sending a signal (such as a reference signal or time information) in the above method can be understood as the process of the processor outputting the above signal. When the processor outputs the above signal, the processor outputs the above signal to a transceiver so that the transceiver can transmit it. After the above signal is output by the processor, other processing may be required before it reaches the transceiver. Similarly, when the processor receives an input signal (such as a reference signal or time information, etc.), the transceiver receives the above signal and inputs it to the processor. Further, after the transceiver receives the above signal, the above signal may need to be processed otherwise before it is input to the processor.

[0150] For operations such as transmission, sending, and receiving involved by the processor, if there is no special description, or if it does not conflict with its actual role or internal logic in the relevant description, they can generally be understood as operations of the processor outputting, receiving, and inputting, rather than the operations of transmission, sending, and receiving directly performed by the radio frequency circuit and the antenna.

[0151] In the implementation process, the above-mentioned processor can be a processor specifically designed to execute these methods, or a processor that executes computer instructions in the memory to execute these methods, such as a general-purpose processor. The above-mentioned memory can be a non-transitory memory, such as a Read Only Memory (ROM), which can be integrated with the processor on the same chip, or can be separately provided on different chips. The embodiments of the present application do not limit the type of the memory and the setting manner of the memory and the processor. It can be understood that the description of the processor and the memory also applies to the following text.

[0152] In a possible implementation manner, the memory is located outside the above-mentioned communication device.

[0153] In a possible implementation manner, the memory is located inside the above-mentioned communication device.

[0154] In the embodiments of the present application, the processor and the memory can also be integrated into one device, that is, the processor and the memory can also be integrated together.

[0155] In a possible implementation manner, the communication device further includes a transceiver, which is used to receive signals or send signals.

[0156] In the embodiments of the present application, the communication device can be a first terminal device or a chip in the first terminal device, etc.

[0157] In a twenty-second aspect, the embodiments of the present application provide a communication device, which includes a processor for executing the method shown in any possible implementation manner of the above-mentioned second aspect or the second aspect (or the fourth aspect or the ninth aspect). Alternatively, the processor is used to execute a program stored in the memory, and when the program is executed, the method shown in any possible implementation manner of the above-mentioned second aspect is executed.

[0158] In a possible implementation manner, the memory is located outside the above-mentioned communication device.

[0159] In a possible implementation manner, the memory is located inside the above-mentioned communication device.

[0160] In the embodiments of the present application, the processor and the memory can also be integrated into one device, that is, the processor and the memory can also be integrated together.

[0161] In a possible implementation manner, the communication device further includes a transceiver, which is used to receive signals or send signals.

[0162] In the embodiments of the present application, the communication device can be a second terminal device or a chip in the second terminal device, etc.

[0163] In a twenty-third aspect, an embodiment of the present application provides a communication device, which includes a processor configured to execute the method shown in any possible implementation manner of the above-mentioned third aspect or the third aspect (or the sixth aspect or the seventh aspect). Alternatively, the processor is configured to execute a program stored in a memory, and when the program is executed, the method shown in any possible implementation manner of the above-mentioned third aspect is executed.

[0164] In a possible implementation manner, the memory is located outside the above-mentioned communication device.

[0165] In a possible implementation manner, the memory is located inside the above-mentioned communication device.

[0166] In an embodiment of the present application, the processor and the memory may also be integrated into one device, that is, the processor and the memory may also be integrated together.

[0167] In a possible implementation manner, the communication device further includes a transceiver configured to receive or transmit signals.

[0168] In an embodiment of the present application, the communication device may be a third terminal device or a chip in the third terminal device, etc.

[0169] In a twenty-fourth aspect, an embodiment of the present application provides a communication device, which includes a processor configured to execute the method shown in any possible implementation manner of the above-mentioned tenth aspect or the tenth aspect. Alternatively, the processor is configured to execute a program stored in a memory, and when the program is executed, the method shown in any possible implementation manner of the above-mentioned tenth aspect is executed.

[0170] In a possible implementation manner, the memory is located outside the above-mentioned communication device.

[0171] In a possible implementation manner, the memory is located inside the above-mentioned communication device.

[0172] In an embodiment of the present application, the processor and the memory may also be integrated into one device, that is, the processor and the memory may also be integrated together.

[0173] In a possible implementation manner, the communication device further includes a transceiver configured to receive or transmit signals.

[0174] In an embodiment of the present application, the communication device may be a positioning device or a chip in the positioning device, etc.

[0175] It can be understood that for the specific descriptions of the devices shown in the twenty-first to twenty-fourth aspects, reference may be made to the above-mentioned first to tenth aspects, or reference may also be made to the above-mentioned eleventh to twentieth aspects. Embodiments of the present application will not be elaborated one by one.

[0176] In the twenty-fifth aspect, an embodiment of the present application provides a communication device, which includes a logic circuit and an interface, and the logic circuit is coupled to the interface; the interface is used to input a reference signal or time information; and / or output a reference signal or time information, etc.; the logic circuit is used to determine a time synchronization error.

[0177] It can be understood that the descriptions of the logic circuit and the interface are only examples here, and for the sake of brevity, they will not be elaborated one by one here.

[0178] Exemplarily, when the communication device is used to execute the steps performed by the first terminal device, the interface is used to output a first reference signal and a second reference signal. The interface is also used to input first time information, second time information, and third time information. For another example, the logic circuit is used to determine a time synchronization error.

[0179] Exemplarily, when the communication device is used to execute the steps performed by the second terminal device, the interface is used to output a third reference signal and input a fourth reference signal. The interface is also used to input fifth time information and output second time information and third time information.

[0180] It can be understood that for the descriptions of the logic circuit and the interface, reference can also be made to the following text.

[0181] In the twenty-sixth aspect, an embodiment of the present application provides a computer-readable storage medium, which is used to store a computer program. When it runs on a computer, the methods shown in the above aspects or any possible implementation manners of the corresponding aspects are executed.

[0182] In the twenty-seventh aspect, an embodiment of the present application provides a computer program product, which includes a computer program (which can also be referred to as computer code or instructions, etc.). When it runs on a computer, the methods shown in the above aspects or any possible implementation manners of the corresponding aspects are executed.

[0183] In the twenty-eighth aspect, an embodiment of the present application provides a wireless communication system, which includes a first terminal device, a second terminal device, and a third terminal device. It can be understood that for the specific descriptions of the first terminal device, the second terminal device, and the third terminal device, reference can be made to the above aspects or the following text, and details are not elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0184] Figure 1a 、 Figure 1b and Figure 2 are respectively a schematic diagram of a communication system provided by an embodiment of the present application;

[0185] Figure 3a and Figure 3b are respectively a schematic diagram of the signal transmission direction provided by an embodiment of the present application;

[0186] Figure 4a and Figure 4b are respectively a schematic diagram of the signal transmission direction provided by an embodiment of the present application;

[0187] Figures 5 to 7 are respectively a schematic flow diagram of a time synchronization method provided by an embodiment of the present application;

[0188] Figure 8a and Figure 8b are respectively a schematic flow diagram of a time synchronization method provided by an embodiment of the present application;

[0189] Figures 9 to 11 are respectively a schematic flow diagram of a time synchronization method provided by an embodiment of the present application;

[0190] Figure 12a and Figure 12b are respectively a schematic flow diagram of a time synchronization method provided by an embodiment of the present application;

[0191] Figures 13 to 15 are respectively a schematic structural diagram of a communication device provided by an embodiment of the present application. Detailed implementation manners

[0192] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described below with reference to the accompanying drawings.

[0193] Terms such as "first" and "second" in the specification, claims and drawings of the present application are only used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device, etc. that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices, etc.

[0194] The phrase "in an embodiment" mentioned herein means that a specific feature, structure or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase at various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art can explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0195] In this application, "at least one (item)" means one or more, "a plurality" means two or more, "at least two (items)" means two, three or more, and "and / or" is used to describe the relationship between associated objects and indicates that three relationships can exist. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist simultaneously. Here, A and B can be singular or plural. The character " / " generally indicates an "or" relationship between the associated objects before and after. "At least one (item) of the following" or a similar expression means any combination of these items. For example, at least one (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c".

[0196] The method provided in this application can be applied to various communication systems. For example, it can be an Internet of Things (IoT) system, a Narrow Band Internet of Things (NB-IoT) system, a Long Term Evolution (LTE) system, or a 5th-generation (5G) communication system, as well as new communication systems (such as 6G) emerging in the future development of communications, etc.

[0197] The technical solution provided in this application can also be applied to Machine Type Communication (MTC), Long Term Evolution - Machine (LTE-M), Device-to-Device (D2D) networks, Machine-to-Machine (M2M) networks, Internet of Things (IoT) networks, or sidelink networks, etc. Among them, the IoT network can include, for example, a vehicle-to-everything (V2X) network. Among them, the communication methods in the V2X system are collectively referred to as vehicle-to-everything (V2X, where X can represent anything). For example, the V2X can include: vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-pedestrian (V2P) communication, or vehicle-to-network (V2N) communication, etc.

[0198] Exemplarily, as shown below Figure 1a orFigure 1b Among them, communication can be carried out between terminal devices through D2D technology, M2M technology, V2X technology communication, etc.

[0199] First, the introduction of the access network device, terminal device, and positioning device involved in this application is as follows:

[0200] Exemplarily, the access network device can be a next-generation node B (gNB), a next-generation evolved node B (ng-eNB), or an access network device in future 6G communication, etc. The access network device can be any device with wireless transceiver functions, including but not limited to the base stations shown above. The base station can also be a base station in a future communication system such as the sixth-generation communication system. Optionally, the access network device can be an access node, a wireless relay node, a wireless backhaul node, etc. in a wireless fidelity (WiFi) system. Optionally, the access network device can be a wireless controller in a cloud radio access network (CRAN) scenario. Optionally, the access network device can be a wearable device or a vehicle-mounted device, etc. Optionally, the access network device can also be a small station, a transmission reception point (TRP) (or can also be called a transmission point), etc. It can be understood that the access network device can also be a base station in a future evolved public land mobile network (PLMN), etc. For ease of description, in the following, the access network device will be taken as an example of a base station to introduce the method involved in this application.

[0201] Exemplarily, the terminal device may also be referred to as a user equipment (UE), a terminal, etc. A terminal device is a device with wireless transceiver capabilities that can be deployed on land, including indoors or outdoors, handheld, wearable, or vehicle-mounted; it can also be deployed on water, such as on a ship; or it can be deployed in the air, for example, on an airplane, a balloon, or a satellite. The terminal device can be a mobile phone, a tablet (Pad), a computer with wireless transceiver capabilities, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, and so on. It can be understood that the terminal device can also be a terminal device in a future 6G network or a terminal device in a future evolved PLMN, etc.

[0202] It can be understood that the terminal device shown in this application may not only include vehicles (such as a whole vehicle) in the vehicle network, but also include in-vehicle devices or in-vehicle terminals in the vehicle network, etc. This application does not limit the specific form of the terminal device when it is applied to the vehicle network. For ease of description, in the following, the terminal device will be taken as an example of a UE to introduce the method involved in this application.

[0203] Exemplarily, the positioning device shown in this application may include a Location Management Function (LMF) or a Location Management Component (LMC). Exemplarily, the LMF is responsible for supporting different types of location services related to the UE, including positioning the UE and transmitting assistance data to the UE, etc. For example, the LMF interacts with the base station through New Radio (NR) Positioning Protocol Annex (NRPPa) messages to obtain positioning reference signals (PRS), sounding reference signal (SRS) configuration information, cell timing, cell location information, etc. For another example, the LMF and the UE exchange UE capability information, assistance information, measurement information, etc. through Long Term Evolution (LTE) Positioning Protocol (LPP) messages.

[0204] Combined with the above base station, UE, and LMF, the communication system involved in this application is introduced below.

[0205] Figure 1a It is a schematic diagram of a communication system provided by an embodiment of this application. As Figure 1a shown, the communication system may include at least two UEs, such as UE1 and UE2. Optionally, Figure 1a the shown communication system may further include UE3. In the embodiments of this application, UE1 and UE2 can perform time synchronization through UE3. Optionally, UE1 or UE2 can also achieve positioning of UE3.

[0206] In some embodiments of this application, exemplarily, UE1, UE2, and UE3 can all be vehicle-mounted terminals. Optionally, during driving, UE1 can directly interact with UE2 through V2X. Or, UE2 can directly interact with UE3 through V2X. Optionally, UE3 can directly interact with UE1 through V2X, etc., which will not be elaborated one by one here.

[0207] Exemplarily, UE3 can be a UE that is close to UE1 and / or UE2. For example, the distance between UE3 and UE1 can be less than or equal to a first threshold. Again, for example, the distance between UE3 and UE2 can be less than or equal to a second threshold. For example, the first threshold can be equal to the second threshold, such as both being equal to 100 meters. Again, for example, the first threshold can be equal to 100 meters and the second threshold can be equal to 80 meters. Again, for example, the first threshold can be equal to 90 meters and the second threshold can be equal to 100 meters. It can be understood that the embodiments of the present application do not limit the specific values of the first threshold and the second threshold.

[0208] For example, UE1 and UE2 can determine the time synchronization error between UE1 and UE2 through UE3. Again, for example, UE3 can also locate its position through UE1 and UE2. Exemplarily, UE1 and UE2 can be used as anchor points to determine the relative position between UE3 and UE1, and / or determine the relative position between UE3 and UE2. It can be understood that Figure 1a is illustrated by taking a vehicle-mounted terminal as an example.

[0209] In some other embodiments of the present application, both UE1 and UE2 can be smart home devices. For example, both UE1 and UE2 are speakers. UE3 is a mobile phone. For example, UE1 and UE2 can be used as anchor points to determine the position of UE3 according to the method provided in the present application.

[0210] It can be understood that whenever there is a scenario where two devices are used as anchor points and a third device performs time synchronization on the anchor points, the method provided in the present application can be applied. Whenever there is a scenario where two devices are used as anchor points to locate a third device, the method provided in the present application can be applied.

[0211] Figure 1b is a schematic diagram of another communication system provided by the embodiments of the present application. As Figure 1b shown, the communication system can include at least one access network device and at least one terminal device.

[0212] Optionally, Figure 1b in the shown communication system, there is a base station, such as base station 1; and six UEs, such as Figure 1b UE1 to UE6 in

[0213] Exemplarily, Figure 1b UE4 in Figures 5 to 7 can directly interact with UE5 through V2X, or UE4 can also directly interact with UE6 through V2X, etc. For example, UE4 and UE5 can apply the method provided in the present application (such as UE4 and UE5 being used as anchor points), such as the method shown in Figures 9 to 11The method shown. It can be understood that for the communication method between UEs, reference can be made to the above description and will not be elaborated here.

[0214] Exemplarily, Figure 1b A base station 2 is also shown. UE1 and UE2 are within the common coverage area of base station 1 and base station 2. That is to say, UE1 and UE2 are both within the coverage area of base station 1 and within the coverage area of base station 2. For example, base station 1 and base station 2 can apply the method provided in this application, such as Figure 8a and Figure 8b or Figure 12a and Figure 12b the method shown.

[0215] It should be understood that Figure 1b Exemplarily, base station 1, base station 2 and six UEs are shown, as well as the communication links between each communication device. Optionally, the communication system may include multiple base stations, and the coverage area of each base station may include other numbers of UEs, such as more or fewer UEs, etc., which are not limited in this application.

[0216] Figure 2 is a schematic diagram of a positioning architecture based on wireless communication provided by an embodiment of this application, as Figure 2 shown, the positioning architecture mainly includes: a radio access network (RAN) (exemplified by Figure 2 the next generation RAN (NG-RAN)), UEs and the core network. Exemplarily, the core network includes a location management function (LMF), an access and mobility management function (AMF), a service location protocol (SLP), and an evolved serving mobile location centre (E-SMLC).

[0217] Exemplarily, the AMF can receive a location service request related to the UE from a 5th generation core network location services (5GC LCS) entity; or, the AMF itself can also initiate some location services on behalf of the UE and send the location service request to the LMF. After obtaining the location information of the UE, the AMF returns the location information of the UE to the 5GC LCS entity. Exemplarily, the RAN includes base stations, such as Figure 2As shown, the gNB and ng-eNB can be connected through the Xn interface (or Xn-C interface), the LMF and ng-eNB / gNB can be connected through the NG-C interface, and the UE and gNB can be connected through the NR-Uu interface, and the UE and ng-eNB can be connected through the LTE-Uu interface. It can be understood that this application does not limit the Figure 2 shown interfaces, and for the description of each interface, etc., relevant standards or protocols, etc. can also be referred to.

[0218] It can be understood that Figure 2 the shown positioning architecture schematic diagram is only an example, and for other forms of positioning architecture schematic diagrams, relevant standards or protocols, etc. can be referred to, and will not be elaborated one by one here.

[0219] It can be understood that the Figure 8a and Figure 8b 、or Figure 12a and Figure 12b methods shown in this application can be applied to the Figure 2 shown communication system.

[0220] Each of the embodiments shown below can be applicable to the Figure 1a shown communication system, and can also be applicable to the Figure 1b shown communication system, and can also be applicable to the Figure 2 shown communication system. In this regard, it will not be elaborated below.

[0221] Table 1 shows the GNSS-based time synchronization method and the base station-based time synchronization method respectively. Exemplarily, the gNB / eNB-based synchronization method is taken as an example for description. In the gNB / eNB-based synchronization method, the gNB / eNB is the highest priority synchronization source. If time synchronization cannot be completed through the gNB / eNB, then a UE that can directly complete time synchronization with the gNB / eNB can be selected as the synchronization source, which is the second priority. The third priority synchronization source is a UE that indirectly completes time synchronization with the gNB / eNB. If the synchronization methods in the above priorities cannot all be satisfied, then the GNSS in the fourth priority is selected as the time synchronization source. The fifth priority synchronization source is a UE that directly completes time synchronization with the GNSS. The sixth priority synchronization source is a UE that indirectly completes time synchronization with the GNSS. The lowest priority is other UEs.

[0222] Table 1

[0223]

[0224] It can be seen from Table 1 that the synchronization sources of each UE may be difficult to be consistent, thus it is difficult to ensure the time synchronization accuracy between specified UEs, and there is a large time synchronization error.

[0225] In view of this, the present application provides a time synchronization method and apparatus, which effectively reduces the number of intermediate nodes for time synchronization between anchors (such as the first terminal device and the second terminal device), reduces the propagation of synchronization errors, and thus improves the time synchronization accuracy between the first terminal device and the second terminal device. Further, the solution provided by the present application can improve the time synchronization accuracy between specified UEs without affecting the positioning process of other UEs. Alternatively, the method provided by the present application can also effectively improve the time synchronization accuracy between specified base stations, and can effectively improve the time synchronization accuracy between specified base stations (such as the base stations of positioning anchors). Further, it is possible to improve the time synchronization accuracy between specified base stations without affecting the positioning process of UEs.

[0226] Each reference signal involved in the present application will be introduced in detail below.

[0227] Figure 3a and Figure 3b is a signal transmission schematic diagram provided by an embodiment of the present application.

[0228] As Figure 3a shown, the first reference signal is the reference signal sent by UE1 to UE3, the second reference signal is the reference signal sent by UE3 to UE1, the third reference signal is the reference signal sent by UE2 to UE3, and the fourth reference signal is the reference signal sent by UE3 to UE2.

[0229] Exemplarily, UE3 shown in the present application can be understood as being within the common coverage range of UE1 and UE2. For example, the location where UE3 is located can both interact with UE1 and can also interact with UE2. Exemplarily, UE3 can also be the UE with the strongest signal strength within the common coverage range of UE1 and UE2. Exemplarily, UE3 can also be a UE that can send and receive signals, is within the coverage range of UE1 and UE2, and has strong signal strength between UE1 and UE2 at the same time. For example, the signal strength between UE3 and UE1 is greater than or equal to the first strength value, and the signal strength between UE3 and UE2 is greater than or equal to the second strength value. It can be understood that the specific values of the first strength value and the second strength value are not limited in the present application.

[0230] As Figure 3b shown, the first reference signal is the reference signal sent by gNB1 to the UE, the second reference signal is the reference signal sent by the UE to gNB1, the third reference signal is the reference signal sent by gNB2 to the UE, and the fourth reference signal is the reference signal sent by the UE to gNB2. It can be understood that Figure 3bThe UE shown can be understood as any one of the above-mentioned UE1 to UE3, or can also be understood as other UEs other than UE1 to UE3, etc. The embodiments of the present application do not limit this UE.

[0231] Exemplarily, the UE shown in the present application can be understood as being within the common coverage range of gNB1 and gNB2 (such as Figure 1b the shown UE1 and UE2).

[0232] It can be understood that the present application does not limit the specific selection rules for the above-mentioned UE or UE3.

[0233] Combined with Figure 3a and Figure 3b , the first moment can be understood as the transmission moment of the first reference signal. For example, the first moment can be denoted as T1. The second moment can be understood as the reception moment of the first reference signal. For example, the second moment can be denoted as T2. The third moment can be understood as the transmission moment of the second reference signal. For example, the third moment can be denoted as T3. The fourth moment can be understood as the reception moment of the second reference signal. For example, the fourth moment can be denoted as T4. The fifth moment can be understood as the transmission moment of the third reference signal. For example, the fifth moment can be denoted as T5. The sixth moment can be understood as the reception moment of the third reference signal. For example, the sixth moment can be denoted as T6. The seventh moment can be understood as the transmission moment of the fourth reference signal. For example, the seventh moment can be denoted as T7. The eighth moment can be understood as the reception moment of the fourth reference signal. For example, the eighth moment can be denoted as T8.

[0234] It can be understood that the above-mentioned Nth moment is only an example, where N is an integer greater than or equal to 1 and less than or equal to 8. For example, the Nth moment can also be referred to as the Nth time, etc. The embodiments of the present application do not limit the specific description of the Nth moment.

[0235] Figure 4a and Figure 4b are a signal transmission schematic diagram provided by the embodiments of the present application.

[0236] Such as Figure 4a shown, the fifth reference signal is the reference signal sent by UE3 to UE1, the sixth reference signal is the reference signal sent by UE1 to UE3, the seventh reference signal is the reference signal sent by UE3 to UE2, and the eighth reference signal is the reference signal sent by UE2 to UE3.

[0237] Such as Figure 4b shown, the fifth reference signal is the reference signal sent by the UE to gNB1, the sixth reference signal is the reference signal sent by gNB1 to the UE, the seventh reference signal is the reference signal sent by the UE to gNB2, and the eighth reference signal is the reference signal sent by gNB2 to the UE. It can be understood that Figure 4bThe UE shown can be understood as any one of the above-mentioned UE1 to UE3, or can also be understood as other UEs except UE1 to UE3, etc. The embodiments of the present application do not limit this UE.

[0238] Combined with Figure 4a and Figure 4b , the eleventh moment can be understood as the transmission moment of the fifth reference signal. For example, the eleventh moment can be denoted as T 11 . The twelfth moment can be understood as the reception moment of the fifth reference signal. For example, the twelfth moment can be denoted as T 12 . The thirteenth moment can be understood as the transmission moment of the sixth reference signal. For example, the thirteenth moment can be denoted as T 13 . The fourteenth moment can be understood as the reception moment of the sixth reference signal. For example, the fourteenth moment can be denoted as T 14 . The fifteenth moment can be understood as the transmission moment of the seventh reference signal. For example, the fifteenth moment can be denoted as T 15 . The sixteenth moment can be understood as the reception moment of the seventh reference signal. For example, the sixteenth moment can be denoted as T 16 . The seventeenth moment can be understood as the transmission moment of the eighth reference signal. For example, the seventeenth moment can be denoted as T 17 . The eighteenth moment can be understood as the reception moment of the eighth reference signal. For example, the eighteenth moment can be denoted as T 18 .

[0239] It can be understood that the reference signals shown in the present application may include reference signals for positioning. Exemplarily, the reference signals include positioning reference signals (PRS) or sounding reference signals (SRS), etc.

[0240] Figure 5 is a schematic flowchart of a time synchronization method provided by an embodiment of the present application. This method can be used by a first terminal device (such as UE1) or a chip in the first terminal device to determine the time synchronization error between the first terminal device and the second terminal device. For ease of description, the method provided by the embodiments of the present application will be described below using UE1 as an example. As Figure 5 shown, this method includes:

[0241] 501. UE1 sends a first reference signal at a first moment.

[0242] Exemplarily, UE1 sends a first reference signal to UE3 at a first moment (such as T1). Correspondingly, UE3 receives the first reference signal sent by UE1 at a second moment (such as T2).

[0243] 502. UE1 receives a second reference signal at a fourth moment.

[0244] Exemplarily, UE3 sends a second reference signal to UE1 at a third moment (such as T3). Correspondingly, UE1 receives the second reference signal sent by UE3 at a fourth moment (such as T4).

[0245] 503. UE1 receives first time information, which is used to indicate the time difference between the third moment and the second moment.

[0246] Exemplarily, UE3 sends the first time information to UE1, and UE1 receives the first time information from UE3. The first time information is used to indicate T3 - T2. Exemplarily, the first time information can be understood as information related to the reception moment of the first reference signal and the transmission moment of the second reference signal. Alternatively, the first time information can also be understood as the information reported by UE3 to UE1.

[0247] Optionally, UE1 can receive the second reference signal and the first time information simultaneously. For example, when UE3 sends the second reference signal to UE1, UE3 can send the first time information to UE1 simultaneously.

[0248] Optionally, UE1 can also receive the second reference signal first and then receive the first time information. Optionally, UE1 can also receive the first time information first and then receive the second reference signal. For example, UE3 sends the second reference signal and the first time information to UE1 at different moments respectively. The embodiments of the present application do not limit the reception order of the second reference signal and the first time information. At the same time, the transmission order of the second reference signal and the first time information is not limited either.

[0249] In a possible implementation manner, Figure 5 The method shown may further include steps 504 to 506.

[0250] 504. UE2 sends a third reference signal at a fifth moment.

[0251] Exemplarily, UE2 sends the third reference signal to UE3 at a fifth moment (such as T5). Correspondingly, UE3 receives the third reference signal from UE2 at a sixth moment (such as T6).

[0252] 505. UE2 receives a fourth reference signal at an eighth moment.

[0253] Exemplarily, UE3 sends the fourth reference signal to UE2 at a seventh moment (such as T7). Correspondingly, UE2 receives the fourth reference signal from UE3 at an eighth moment (such as T8).

[0254] 506. UE2 receives fifth time information, which is used to indicate the time difference between the seventh moment and the sixth moment.

[0255] Exemplarily, UE3 sends the fifth time information to UE2, and UE2 receives the fifth time information from UE3. For example, the fifth time information is used to indicate T7 - T6. Exemplarily, the fifth time information can be understood as the information related to the reception time of the third reference signal and the transmission time of the fourth reference signal. Alternatively, the fifth time information can also be understood as the time information reported by UE3 to UE2.

[0256] Optionally, UE2 can receive the fourth reference signal and the fifth time information simultaneously. For example, when UE3 sends the fourth reference signal to UE2, UE3 can send the fifth time information to UE2 simultaneously. Optionally, UE2 can receive the fourth reference signal first and then receive the fifth time information. Optionally, UE2 can receive the fifth time information first and then receive the fourth reference signal. For example, UE3 sends the fourth reference signal and the fifth time information to UE2 at different times respectively. The embodiments of the present application do not limit the reception order of the fourth reference signal and the fifth time information. Meanwhile, the reception order of the fourth reference signal and the fifth time information is not limited either.

[0257] 507. UE1 receives the second time information and the third time information. The second time information is used to indicate the round - trip time of the reference signal between UE2 and UE3, and the third time information is used to indicate the eighth moment and the time difference between the eighth moment and the fifth moment.

[0258] Exemplarily, UE2 sends second time information and third time information to UE1, and UE1 receives the second time information and the third time information from UE2. Exemplarily, the second time information can be understood as information related to the third reference signal and the fourth reference signal. The third time information can be understood as information related to the third reference signal and the fourth reference signal. However, the third time information is different from the second time information. The second time information and / or the third time information can be understood as information reported by UE2 to UE1. Optionally, UE2 can send the second time information and the third time information to UE1 simultaneously, such as the second time information and the third time information being included in the same message. Optionally, UE2 can send the second time information and the third time information to UE1 at different times, etc., and this application does not limit this. Optionally, the time information included in the second time information can be different from the third time information. Optionally, the time information included in the second time information can partially overlap with the time information included in the third time information, etc., and this application does not limit this. Optionally, when the second time information already includes the content indicated by the third time information, UE2 can send the second time information to UE1. Optionally, when the second time information cannot include the content indicated by the third time information, UE2 can send the second time information and the third time information to UE1.

[0259] It can be understood that the method shown above is illustrated by UE2 sending the second time information and the third time information to UE1. However, the embodiments of this application are not limited to this. For example, UE3 can also indicate the time difference between the sixth moment and the seventh moment to UE1, and / or indicate the seventh moment, etc. Also for example, UE2 indicates the time difference between the eighth moment and the fifth moment to UE1, and / or indicates the eighth moment, etc.

[0260] In a possible implementation manner, Figure 5 the method shown can further include:

[0261] 508. UE1 determines the time synchronization error between UE1 and UE2 according to the first moment, the fourth moment, the first time information, the second time information, and the third time information.

[0262] In a possible implementation manner, Figure 5 the method shown can further include:

[0263] UE1 receives fourth time information.

[0264] Exemplarily, this fourth time information can be sent by UE3 to UE1. Or, this fourth time information can be sent by UE3 to UE2 and then sent by UE2 to UE1. The embodiments of this application do not limit the transmission direction of the fourth time information.

[0265] Exemplarily, the fourth time information is time information related to at least one of the reception time of the first reference signal, the transmission time of the second reference signal, the reception time of the third reference signal, or the transmission time of the fourth reference signal. Exemplarily, the fourth time information is time information related to two of the reception time of the first reference signal, the transmission time of the second reference signal, the reception time of the third reference signal, or the transmission time of the fourth reference signal. Optionally, the fourth time information is used to indicate the time difference between the seventh moment and the second moment, such as T7 - T2, or T2 - T7, or T2, T7. Optionally, the fourth time information is used to indicate the time difference between the sixth moment and the third moment, such as T6 - T3, or T6, T3, or T3 - T6. Optionally, the fourth time information is used to indicate the time difference between the seventh moment and the third moment, such as T7 - T3, or T7, T3, or T3 - T7. Optionally, the fourth time information is used to indicate the time difference between the sixth moment and the second moment, such as T6 - T2, or T6, T2, or T2 - T6.

[0266] Optionally, UE1 determines the time synchronization error between UE1 and UE2 according to the first moment, the fourth moment, the first time information, the second time information, the third time information, and the fourth time information.

[0267] Exemplarily, after UE1 determines the time synchronization error, it can adjust the time information of UE1 according to the time synchronization error, so as to ensure the time synchronization between UE1 and UE2. Exemplarily, after UE1 determines the time synchronization error, it can also send information for indicating the time synchronization error to UE2. Thus, UE2 adjusts the time information of UE2 according to the time synchronization error, ensuring the time synchronization between UE2 and UE1. Exemplarily, UE2 can save the time synchronization error. Exemplarily, UE1 can save the time synchronization error. Thus, when positioning next time, it is provided to the positioning system as real time difference (RTD) information to assist the positioning system in completing positioning. It can be understood that the time synchronization error shown in the embodiments of the present application can be time information, such as time in minutes and seconds; or, information such as frames or time slots, and the embodiments of the present application do not limit this. Regarding the description of the time synchronization error, the same applies to other embodiments shown in the present application. To avoid repetition, it will not be elaborated further below.

[0268] In a possible implementation manner, Figure 5 The method shown may further include:

[0269] UE1 determines the location information of UE3 according to the first moment, the fourth moment, the first time information, and the second time information.

[0270] Exemplarily, UE1 can determine the location information of UE3 according to Formula (1) and Formula (6) shown below. For example, UE1 can determine the location of UE3 by the distance between UE1 and UE3 and the distance between UE2 and UE3 respectively. The specific method for UE1 to determine the location of UE3 will not be elaborated in the embodiments of this application.

[0271] In the embodiments of this application, the calibration of the time synchronization error between UE1 and UE2 can be carried out simultaneously with the positioning process of UE3. That is, through the above first time information, second time information, third time information, and fourth time information, not only can the calibration of the time synchronization error between UE1 and UE2 be completed, but also the positioning of UE3 can be completed.

[0272] It can be understood that the method provided by the embodiments of this application can be applied not only to the positioning of UE3, but also to the positioning of UE4, etc. For example, through the time synchronization error provided by the embodiments of this application, when the location of UE4 needs to be determined, the location of UE4 can be determined by this time synchronization error. That is to say, after determining the time synchronization error between UE1 and UE2 by the method provided by the embodiments of this application, other devices to be located (such as UE4, etc.) can use the time difference of arrival (TDOA) to complete the positioning, effectively reducing the resource overhead.

[0273] The method provided by the embodiments of this application can also be applied to the following situation: If some devices do not have the roundtrip time (RTT) capability, a UE with the RTT capability can calibrate the time synchronization error between the anchor devices, so as to be used for the TDOA-based positioning of other UEs without the RTT capability. The RTT capability shown here can be understood as: having the ability to send uplink signals and the ability to receive downlink signals.

[0274] The following will introduce in detail each time information involved in the embodiments of this application.

[0275] Examples of the first time information to the fifth time information can be shown as follows respectively:

[0276] The first time information is used to indicate the time difference between the third moment and the second moment. For example, the first time information is used to indicate T3 - T2. For example, the first time information includes the third moment and the second moment, that is, T3, T2. Another example is that the first time information includes the time difference between the third moment and the second moment, that is, T3 - T2. It can be understood that the present application does not limit the specific method for the first time information to indicate the above time difference. Optionally, the first time information can also be used to indicate the second moment or the third moment. For example, the first time information includes T3, T3 - T2. Another example is that the first time information includes T2, T3 - T2.

[0277] The second time information is used to indicate the round-trip time of the reference signal between UE2 and UE3. Exemplarily, the round-trip time of the reference signal between UE2 and UE3 can be T8 - T5 - (T7 - T6). Exemplarily, the second time information can include a value, that is, the operation result value of T8 - T5 - (T7 - T6). Exemplarily, the second time information can include two values. For example, the second time information includes the time difference between the eighth moment and the fifth moment, and the time difference between the seventh moment and the sixth moment, that is, T8 - T5, T7 - T6. Another example is that the second time information includes the operation result value of T8 - T5 - T7 and T6. Another example is that the second time information includes the time sum of T8 + T6 and the time sum of T5 + T7. Exemplarily, the second time information can include three values. For example, the second time information includes the eighth moment, the fifth moment, and the time difference between the seventh moment and the sixth moment, that is, T8, T5, (T7 - T6). Another example is that the second time information includes the time sum of the eighth moment and the sixth moment, and the fifth moment and the seventh moment, that is, T8 + T6, T5, T7. Exemplarily, the second time information can include four values. For example, the second time information includes the fifth moment, the sixth moment, the seventh moment, and the eighth moment, that is, T8, T6, T5, T7. It can be understood that the present application does not limit the specific method for the second time information to indicate the above round-trip time.

[0278] The third time information is used to indicate the eighth moment and the time difference between the eighth moment and the fifth moment. For example, the third time information is used to indicate T8, T8 - T5. Exemplarily, the third time information includes the eighth moment and the time difference between the eighth moment and the fifth moment, that is, T8, T8 - T5. Exemplarily, the third time information includes the fifth moment and the time difference between the eighth moment and the fifth moment, that is, T5, T8 - T5. Exemplarily, the third time information includes the fifth moment and the eighth moment, that is, T8, T5. It can be understood that the present application does not limit the specific method for the third time information to indicate the eighth moment and the time difference between the eighth moment and the fifth moment.

[0279] The fourth time information is used to indicate the time difference between the seventh moment and the second moment, i.e., T7 - T2. Exemplarily, the fourth time information includes the seventh moment and the second moment, i.e., T7, T2. Exemplarily, the fourth time information includes the time difference between the seventh moment and the second moment, i.e., T7 - T2, or, T2 - T7.

[0280] The fifth time information is used to indicate the time difference between the seventh moment and the sixth moment, i.e., T7 - T6. Exemplarily, the fifth time information includes the sixth moment and the seventh moment, i.e., T7, T6. Exemplarily, the fifth time information includes the time difference between the seventh moment and the sixth moment, i.e., T7 - T6.

[0281] It can be understood that the content included in each of the above - shown time information is only an example. For example, the fifth time information including T7, T6 can be understood as the fifth time information including the information corresponding to T7 and the information corresponding to T6. For example, the fifth time information includes the index corresponding to T7 and the index corresponding to T6. Another example is that the fifth time information includes the coding information corresponding to T7 and the coding information corresponding to T6. This application does not limit the specific implementation manner of each time information.

[0282] In a possible implementation manner, UE1 can determine the time synchronization error between UE1 and UE2 according to the above - mentioned first time information, second time information, and third time information.

[0283] Optionally, it can also be understood that: UE1 determines the time synchronization error between UE1 and UE2 based on the first moment, the fourth moment, the first time information, the second time information, and the third time information. Optionally, it can also be understood that: UE1 determines the time synchronization error between UE1 and UE2 based on (T8 - T5) - (T7 - T6), T1, T8, T7 - T2 (or T2 - T7), and (T4 - T1) - (T3 - T2). Optionally, it can also be understood that: UE1 determines the time synchronization error between UE1 and UE2 based on (T8 - T5) - (T7 - T6), T4, T5, T6 - T3 (or T3 - T6), and (T4 - T1) - (T3 - T2). Optionally, it can also be understood that: UE1 determines the time synchronization error between UE1 and UE2 based on (T8 - T5) - (T7 - T6), T8, T4, T7 - T3 (or T3 - T7), and (T4 - T1) - (T3 - T2). Optionally, it can also be understood that: UE1 determines the time synchronization error between UE1 and UE2 based on (T8 - T5) - (T7 - T6), T1, T5, T6 - T2 (or T2 - T6), and (T4 - T1) - (T3 - T2). Optionally, it can also be understood that: UE1 determines the time synchronization error between UE1 and UE2 according to the first formula and the second formula shown below. Optionally, it can also be understood that: UE1 determines the time synchronization error between UE1 and UE2 according to the third formula and the fourth formula shown below.

[0284] For example, the first time information includes T3, T2, or T3, T3 - T2, or T2, T3 - T2; the second time information includes T8 + T6, T5 + T7; the third time information includes T8, T5, or T8, T8 - T5, or T5, T8 - T5.

[0285] For another example, the first time information includes T3, T2, or T3, T3 - T2, or T2, T3 - T2; the second time information includes T8 - T5 - T7, T6; the third time information includes T8, T5 (or T8, T8 - T5, or T5, T8 - T5).

[0286] For another example, the first time information includes T3, T2, or T3, T3 - T2, or T2, T3 - T2; the second time information includes T8 + T6, T5, T7; the third time information includes T8, T5 (or T8, T8 - T5, or T5, T8 - T5).

[0287] For another example, the first time information includes T3, T2, or T3, T3 - T2, or T2, T3 - T2; the second time information includes T8, T6, T5, T7; the third time information includes T8, T5, or T8, T8 - T5, or T5, T8 - T5.

[0288] That is to say, the UE1 can obtain T2, T3, T5, T6, T7, and T8 through the above first time information, second time information, and third time information.

[0289] In another possible implementation manner, the UE1 can determine the time synchronization error between the UE1 and the UE2 according to the above first time information, second time information, third time information, and fourth time information. Optionally, it can also be understood that: the UE1 determines the time synchronization error between the UE1 and the UE2 according to the first moment, the fourth moment, the first time information, the second time information, the third time information, and the fourth time information. Optionally, it can also be understood that: the UE1 determines the time synchronization error between the UE1 and the UE2 according to (T8 - T5) - (T7 - T6), T1, T8, T7 - T2 (or T2 - T7), and (T4 - T1) - (T3 - T2). Optionally, it can also be understood that: the UE1 determines the time synchronization error between the UE1 and the UE2 according to (T8 - T5) - (T7 - T6), T4, T5, T6 - T3 (or T3 - T6), and (T4 - T1) - (T3 - T2). Optionally, it can also be understood that: the UE1 determines the time synchronization error between the UE1 and the UE2 according to (T8 - T5) - (T7 - T6), T8, T4, T7 - T3 (or T3 - T7), and (T4 - T1) - (T3 - T2). Optionally, it can also be understood that: the UE1 determines the time synchronization error between the UE1 and the UE2 according to (T8 - T5) - (T7 - T6), T1, T5, T6 - T2 (or T2 - T6), and (T4 - T1) - (T3 - T2). Optionally, it can also be understood that: the UE1 determines the time synchronization error between the UE1 and the UE2 according to the first formula and the second formula shown below. Optionally, it can also be understood that: the UE1 determines the time synchronization error between the UE1 and the UE2 according to the third formula and the fourth formula shown below.

[0290] For example, the first time information includes T3, T2, or T3, T3 - T2, or T2, T3 - T2; the second time information includes T8 - T5 - (T7 - T6); the third time information includes T8, T5, or T8, T8 - T5, or T5, T8 - T5; the fourth time information includes T7 - T2 (or T2 - T7), or T7, T2.

[0291] For another example, the first time information includes T3, T2, or T3, T3 - T2, or T2, T3 - T2; the second time information includes T8 - T5, T7 - T6; the third time information includes T8, T5 (or T8, T8 - T5, or T5, T8 - T5); the fourth time information includes T7 - T2 (or T2 - T7), or T7, T2.

[0292] For another example, the first time information includes T3, T2, or T3, T3 - T2, or T2, T3 - T2; the second time information includes T8, T5, (T7 - T6); the third time information includes T8, T5 (or T8, T8 - T5, or T5, T8 - T5); the fourth time information includes T7 - T2 (or T2 - T7), or T7, T2.

[0293] For another example, the first time information includes T3 - T2; the second time information includes T8 + T6, T5 + T7; the third time information includes T8, T5, or T8, T8 - T5, or T5, T8 - T5; the fourth time information includes T7 - T2 (or T2 - T7), or T7, T2.

[0294] For another example, the first time information includes T3 - T2; the second time information includes T8 - T5 - T7, T6; the third time information includes T8, T5, or T8, T8 - T5, or T5, T8 - T5; the fourth time information includes T7 - T2 (or T2 - T7), or T7, T2.

[0295] For another example, the first time information includes T3 - T2; the second time information includes T8 + T6, T5, T7; the third time information includes T8, T5, or T8, T8 - T5, or T5, T8 - T5; the fourth time information includes T7 - T2 (or T2 - T7), or T7, T2.

[0296] For another example, the first time information includes T3 - T2; the second time information includes T8, T6, T5, T7; the third time information includes T8, T5, or T8, T8 - T5, or T5, T8 - T5; the fourth time information includes T7 - T2 (or T2 - T7), or T7, T2.

[0297] It can be understood that through the above examples of the first time information, the second time information, the third time information, or the fourth time information, UE1 can obtain T3, T2, T8, T5, as well as T6 and T7. Thus, in combination with T1 and T4, the time synchronization error between UE1 and UE2 can be determined. That is to say, UE1 can determine the time synchronization error between UE1 and UE2 by combining the above various time information, and the first formula and the second formula shown below, or the third formula and the fourth formula shown below.

[0298] It can be understood that the above-mentioned first time information, second time information, third time information, or fourth time information are only examples. For other examples of the first time information, second time information, third time information, or fourth time information, this application will not elaborate one by one. Exemplarily, the first time information includes T3 - T2; the second time information includes T8 - T5 - (T7 - T6); the third time information includes T8, T5, or T8, T8 - T5, or T5, T8 - T5; the fourth time information includes T7 - T2 (or T2 - T7).

[0299] It can be understood that the above is an example shown with the fourth time information used to indicate the time difference between the seventh moment and the second moment. Optionally, the fourth time information can also be replaced with: the fourth time information is used to indicate the time difference between the sixth moment and the third moment. For example, the fourth time information includes T6 - T3, or T6, T3, or T3 - T6. Optionally, the fourth time information can also be replaced with: the fourth time information is used to indicate the time difference between the seventh moment and the third moment. For example, the fourth time information includes T7 - T3, or T7, T3, or T3 - T7. Optionally, the fourth time information can also be replaced with: the fourth time information is used to indicate the time difference between the sixth moment and the second moment. For example, the fourth time information includes T6 - T2, or T6, T2, or T2 - T6.

[0300] Exemplarily, the fourth time information includes T6 - T3, or T3 - T6, or T6, T3, the first time information includes T3 - T2; the second time information includes T8 - T5 - (T7 - T6); the third time information includes T8, T5, or T8, T8 - T5, or T5, T8 - T5.

[0301] Exemplarily, the fourth time information includes T7 - T3, or T3 - T7, or T7, T3, the first time information includes T3 - T2; the second time information includes T8 - T5 - (T7 - T6); the third time information includes T8, T5, or T8, T8 - T5, or T5, T8 - T5.

[0302] Exemplarily, the fourth time information includes T6 - T2, or T2 - T6, or T6, T2; the first time information includes T3 - T2; the second time information includes T8 - T5 - (T7 - T6); the third time information includes T8, T5, or T8, T8 - T5, or T5, T8 - T5.

[0303] It can be understood that the descriptions of the first to fifth time information in this application are only examples. For example, based on the deformation of the second formula shown below, such as the content deformation of the first to fifth time information, all fall within the protection scope of this application.

[0304] It should be noted that this application embodiment does not limit the sequence of the transmission time of the first reference signal and the reception time of the fourth reference signal. This application embodiment also does not limit the sequence of UE1 sending the first reference signal and UE2 sending the third reference signal.

[0305] By introducing a third - party device and leveraging a multi - round trip time (Multi - RTT) architecture, it is possible to effectively calibrate the time synchronization error between each anchor point (such as UE1 or UE2), and effectively ensure the time synchronization accuracy between the positioning anchor points.

[0306] Figure 6 It is a schematic flowchart of another time synchronization method provided by this application embodiment. This method can be used by the second terminal device (such as UE2) or a chip in the second terminal device to determine the time synchronization error between the first terminal device and the second terminal device. For ease of description, the following will use UE2 as an example to illustrate the method provided by this application embodiment. As Figure 6 shown, the method includes:

[0307] 601. UE2 sends a third reference signal at the fifth moment.

[0308] Exemplarily, UE2 sends a fifth reference signal to UE3 at the fifth moment (such as T5). Correspondingly, UE3 receives the third reference signal sent by UE2 at the sixth moment (such as T6).

[0309] 602. UE2 receives a fourth reference signal at the eighth moment.

[0310] Exemplarily, UE3 sends a third reference signal to UE2 at the seventh moment (such as T7). Correspondingly, UE2 receives the fourth reference signal sent by UE3 at the eighth moment (such as T8).

[0311] 603. UE2 receives sixth time information, which is used to indicate the time difference between the seventh moment and the sixth moment.

[0312] Exemplarily, UE3 sends the sixth time information to UE2, and UE2 receives the sixth time information from UE3. The sixth time information is used to indicate T7 - T6. Exemplarily, the sixth time information is information related to the reception time of the third reference signal and the transmission time of the fourth reference signal. Alternatively, the sixth time information can also be understood as the information reported by UE3 to UE2.

[0313] Optionally, UE2 can receive the fourth reference signal and the sixth time information simultaneously. For example, when UE3 sends the fourth reference signal to UE2, UE3 can simultaneously send the sixth time information to UE2.

[0314] Optionally, UE2 can also receive the fourth reference signal first and then receive the sixth time information. Optionally, UE2 can also receive the sixth time information first and then receive the fourth reference signal. For example, UE3 sends the fourth reference signal and the sixth time information to UE2 at different times. The embodiments of the present application do not limit the reception order of the fourth reference signal and the sixth time information. At the same time, the transmission order of the fourth reference signal and the sixth time information is also not limited.

[0315] In a possible implementation manner, Figure 6 the method shown may further include steps 604 to 606.

[0316] 604. UE1 sends the first reference signal at the first moment.

[0317] Exemplarily, UE1 sends the first reference signal to UE3 at the first moment (such as T1). Correspondingly, UE3 receives the first reference signal from UE1 at the second moment (such as T2).

[0318] 605. UE1 receives the second reference signal at the fourth moment.

[0319] Exemplarily, UE3 sends the second reference signal to UE1 at the third moment (such as T3). Correspondingly, UE1 receives the second reference signal from UE3 at the fourth moment (such as T4).

[0320] 606. UE1 receives the tenth time information, and the tenth time information is used to indicate the time difference between the third moment and the second moment.

[0321] Exemplarily, UE3 sends the tenth time information to UE1, and UE1 receives the tenth time information from UE3. For example, the tenth time information is used to indicate T3 - T2. Exemplarily, the tenth time information can be understood as information related to the reception time of the first reference signal and the transmission time of the second reference signal. Alternatively, the tenth time information can also be understood as the time information reported by UE3 to UE1.

[0322] Optionally, UE1 can receive the second reference signal and the tenth time information simultaneously. For example, when UE3 sends the second reference signal to UE1, UE3 can send the tenth time information to UE1 simultaneously. Optionally, UE1 can receive the second reference signal first and then receive the tenth time information. Optionally, UE1 can receive the tenth time information first and then receive the second reference signal. For example, UE3 sends the second reference signal and the tenth time information to UE1 at different times. The embodiments of the present application do not limit the receiving order of the second reference signal and the tenth time information. At the same time, the receiving order of the second reference signal and the tenth time information is also not limited.

[0323] 607. UE2 receives the seventh time information and the eighth time information. The seventh time information is used to indicate the round-trip time of the reference signal between UE1 and UE3, and the eighth time information is used to indicate the fourth moment and the time difference between the fourth moment and the first moment.

[0324] Exemplarily, UE1 sends the seventh time information and the eighth time information to UE2, and UE2 receives the seventh time information and the eighth time information from UE1. The seventh time information is information related to the first reference signal and the second reference signal. The eighth time information is information related to the first reference signal and the second reference signal. However, the seventh time information and the eighth time information are different. The seventh time information and / or the eighth time information can be understood as the information reported by UE1 to UE2. Optionally, UE1 can send the seventh time information and the eighth time information to UE2 simultaneously, such as the seventh time information and the eighth time information are included in the same message. Optionally, UE1 can send the seventh time information and the eighth time information to UE2 at different times, etc., and the present application does not limit this. Optionally, the time information included in the seventh time information can be different from the eighth time information. Optionally, the time information included in the seventh time information can partially overlap with the time information included in the eighth time information, etc., and the present application does not limit this. Optionally, when the seventh time information already includes the content to be indicated by the eighth time information, UE1 can send the seventh time information to UE2. Optionally, when the seventh time information cannot include the content to be indicated by the eighth time information, UE2 can send the seventh time information and the eighth time information to UE1.

[0325] It can be understood that the above-described method is illustrated by taking UE1 sending the seventh time information and the eighth time information to UE2 as an example. However, the embodiments of the present application are not limited thereto. For example, UE3 can also indicate the time difference between the second moment and the third moment to UE2, and / or indicate the second moment, etc. For another example, UE1 indicates the time difference between the fourth moment and the first moment to UE2, and / or indicates the fourth moment, etc.

[0326] In a possible implementation, Figure 6 The method shown may further include:

[0327] 608. UE2 determines the time synchronization error between UE1 and UE2 according to the fifth moment, the eighth moment, the sixth time information, the seventh time information, and the eighth time information.

[0328] Exemplarily, after UE2 determines the time synchronization error, it may adjust the time information of UE2 according to the time synchronization error to ensure time synchronization between UE1 and UE2. Exemplarily, UE2 may save the time synchronization error.

[0329] Optionally, UE2 may further send information indicating the time synchronization error to UE1, and UE1 receives the information indicating the time synchronization error. Thus, UE1 may adjust the time information of UE1 according to the time synchronization error to ensure time synchronization between UE1 and UE2. Exemplarily, UE1 may also save the time synchronization error.

[0330] In a possible implementation, Figure 6 The method shown may further include:

[0331] UE2 receives the ninth time information.

[0332] Exemplarily, the ninth time information may be sent by UE3 to UE2. Or, the ninth time information may be sent by UE3 to UE1 and then sent by UE1 to UE2. The embodiments of the present application do not limit the transmission direction of the ninth time information.

[0333] Exemplarily, the ninth time information is time information related to at least one of the reception moment of the first reference signal, the transmission moment of the second reference signal, the reception moment of the third reference signal, or the transmission moment of the fourth reference signal. Exemplarily, the ninth time information is time information related to two of the reception moment of the first reference signal, the transmission moment of the second reference signal, the reception moment of the third reference signal, or the transmission moment of the fourth reference signal. Optionally, the ninth time information is used to indicate the time difference between the seventh moment and the second moment, such as T7 - T2, or T2 - T7, or T2, T7. Optionally, the ninth time information is used to indicate the time difference between the sixth moment and the third moment, such as T6 - T3, or T6, T3, or T3 - T6. Optionally, the ninth time information is used to indicate the time difference between the seventh moment and the third moment, such as T7 - T3, or T7, T3, or T3 - T7. Optionally, the ninth time information is used to indicate the time difference between the sixth moment and the second moment, such as T6 - T2, or T6, T2, or T2 - T6.

[0334] Optionally, UE2 determines the time synchronization error between UE1 and UE2 according to the fifth moment, the eighth moment, the sixth time information, the seventh time information, the eighth time information, and the ninth time information.

[0335] In a possible implementation, Figure 6 The method shown may further include:

[0336] UE2 determines the location information of UE3 according to the fifth moment, the eighth moment, the sixth time information, and the seventh time information.

[0337] Exemplarily, UE2 may determine the location information of UE3 according to Formula (1) and Formula (6) shown below. For example, UE2 may determine the location of UE3 by the distance between UE1 and UE3 and the distance between UE2 and UE3 respectively. The specific method for UE2 to determine the location of UE3 is not elaborated in the embodiments of this application.

[0338] Each time information involved in the embodiments of this application will be introduced in detail below.

[0339] Examples of the sixth time information to the tenth time information may be shown as follows respectively:

[0340] The sixth time information is used to indicate the time difference between the seventh moment and the sixth moment, such as the sixth time information is used to indicate T7 - T6. For example, the sixth time information includes the seventh moment and the sixth moment, that is, T7, T6. Another example is that the sixth time information includes the time difference between the seventh moment and the sixth moment, that is, T7 - T6. It can be understood that the specific method for the sixth time information to indicate the above time difference is not limited in this application. Optionally, the sixth time information may also be used to indicate the sixth moment or the seventh moment. Such as the sixth time information includes T7, T7 - T6. Another example is that the sixth time information includes T6, T7 - T6.

[0341] The seventh time information is used to indicate the round-trip time of the reference signal between UE1 and UE3. Exemplarily, the round-trip time of the reference signal between UE1 and UE3 can be T4 - T1 - (T3 - T2). Exemplarily, the seventh time information may include a value, i.e., the operation result value of T4 - T1 - (T3 - T2). Exemplarily, the seventh time information may include two values. For example, the seventh time information includes the time difference between the fourth moment and the first moment, and the time difference between the third moment and the second moment, i.e., T4 - T1, T3 - T2. Another example is that the seventh time information includes the operation result value of T4 - T1 - T3 and T2. Another example is that the seventh time information includes the time sum of T4 + T2 and the time sum of T1 + T3. Exemplarily, the seventh time information may include three values. For example, the seventh time information includes the fourth moment, the first moment, and the time difference between the third moment and the second moment, i.e., T4, T1, (T3 - T2). Another example is that the seventh time information includes the time sum of the fourth moment and the sixth moment, and the first moment and the seventh moment, i.e., T4 + T2, T1, T3. Exemplarily, the seventh time information may include four values. For example, the seventh time information includes the first moment, the second moment, the third moment, and the fourth moment, i.e., T1, T2, T3, T4. It can be understood that the embodiments of this application do not limit the specific method for the seventh time information to indicate the above-mentioned round-trip time.

[0342] The eighth time information is used to indicate the fourth moment and the time difference between the fourth moment and the first moment, such as the eighth time information is used to indicate T4, T4 - T1. Exemplarily, the eighth time information includes the fourth moment and the time difference between the fourth moment and the first moment, i.e., T4, T4 - T1. Exemplarily, the eighth time information includes the first moment and the time difference between the fourth moment and the first moment, i.e., T1, T4 - T1. Exemplarily, the eighth time information includes the first moment and the fourth moment, i.e., T1, T4. It can be understood that the embodiments of this application do not limit the specific method for the eighth time information to indicate the fourth moment and the time difference between the fourth moment and the first moment.

[0343] The ninth time information is used to indicate the time difference between the seventh moment and the second moment, i.e., T7 - T2. Exemplarily, the ninth time information includes the seventh moment and the second moment, i.e., T7, T2. Exemplarily, the ninth time information includes the time difference between the seventh moment and the second moment, i.e., T7 - T2, or, T2 - T7. It can be understood that for the specific description of the ninth time information, reference can be made to the above-mentioned fourth time information.

[0344] The tenth time information is used to indicate the time difference between the third moment and the second moment, i.e., T3 - T2. Exemplarily, the tenth time information includes the second moment and the third moment, i.e., T2, T3. Exemplarily, the tenth time information includes the time difference between the third moment and the second moment, i.e., T3 - T2.

[0345] It is understandable that the content included in each of the above time information is only an example. For example, if the tenth time information includes T3 and T2, it can be understood that the tenth time information includes the information corresponding to T3 and the information corresponding to T2. For example, the tenth time information includes the index corresponding to T3 and the index corresponding to T2. Another example is that the tenth time information includes the coding information corresponding to T3 and the coding information corresponding to T2. This application does not limit the specific implementation manner of each time information.

[0346] In a possible implementation manner, UE2 can determine the time synchronization error between UE1 and UE2 according to the above sixth time information, seventh time information, and eighth time information.

[0347] Optionally, it can also be understood that: UE2 determines the time synchronization error between UE1 and UE2 according to the fifth moment, the eighth moment, the sixth time information, the seventh time information, and the eighth time information. Optionally, it can also be understood that: UE2 determines the time synchronization error between UE1 and UE2 according to (T8 - T5) - (T7 - T6), T1, T8, T7 - T2 (or T2 - T7), and (T4 - T1) - (T3 - T2). Optionally, it can also be understood that: UE2 determines the time synchronization error between UE1 and UE2 according to (T8 - T5) - (T7 - T6), T4, T5, T6 - T3 (or T3 - T6), and (T4 - T1) - (T3 - T2). Optionally, it can also be understood that: UE2 determines the time synchronization error between UE1 and UE2 according to (T8 - T5) - (T7 - T6), T8, T4, T7 - T3 (or T3 - T7), and (T4 - T1) - (T3 - T2). Optionally, it can also be understood that: UE2 determines the time synchronization error between UE1 and UE2 according to (T8 - T5) - (T7 - T6), T1, T5, T6 - T2 (or T2 - T6), and (T4 - T1) - (T3 - T2). Optionally, it can also be understood that: UE2 determines the time synchronization error between UE1 and UE2 according to the first formula and the second formula shown below. Optionally, it can also be understood that: UE2 determines the time synchronization error between UE1 and UE2 according to the third formula and the fourth formula shown below.

[0348] For example, the sixth time information includes T7, T6, or T7, T7 - T6, or T6, T7 - T6; the seventh time information includes T4 + T2, T1 + T3; the eighth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1.

[0349] For another example, the sixth time information includes T7, T6, or T7, T7 - T6, or T6, T7 - T6; the seventh time information includes T4 - T1 - T3, T2; the eighth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1.

[0350] For another example, the sixth time information includes T7, T6, or T7, T7 - T6, or T6, T7 - T6; the seventh time information includes T4 + T2, T1, T3; the eighth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1.

[0351] For another example, the sixth time information includes T6, T6, or T7, T7 - T6, or T6, T7 - T6; the seventh time information includes T4, T2, T1, T3; the eighth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1.

[0352] In another possible implementation, UE2 can determine the time synchronization error between UE1 and UE2 based on the above sixth time information, seventh time information, eighth time information, and ninth time information. Optionally, it can also be understood that: UE2 determines the time synchronization error between UE1 and UE2 based on the fifth moment, eighth moment, sixth time information, seventh time information, eighth time information, and ninth time information. Optionally, it can also be understood that: UE2 determines the time synchronization error between UE1 and UE2 based on (T8 - T5) - (T7 - T6), T1, T8, T7 - T2 (or T2 - T7), and (T4 - T1) - (T3 - T2). Optionally, it can also be understood that: UE2 determines the time synchronization error between UE1 and UE2 based on (T8 - T5) - (T7 - T6), T4, T5, T6 - T3 (or T3 - T6), and (T4 - T1) - (T3 - T2). Optionally, it can also be understood that: UE2 determines the time synchronization error between UE1 and UE2 based on (T8 - T5) - (T7 - T6), T8, T4, T7 - T3 (or T3 - T7), and (T4 - T1) - (T3 - T2). Optionally, it can also be understood that: UE2 determines the time synchronization error between UE1 and UE2 based on (T8 - T5) - (T7 - T6), T1, T5, T6 - T2 (or T2 - T6), and (T4 - T1) - (T3 - T2). Optionally, it can also be understood that: UE2 determines the time synchronization error between UE1 and UE2 based on the first formula and the second formula shown below. Optionally, it can also be understood that: UE2 determines the time synchronization error between UE1 and UE2 based on the third formula and the fourth formula shown below.

[0353] For example, the sixth time information includes T7, T6, or T7, T7 - T6, or T6, T7 - T6; the seventh time information includes T4 - T1 - (T3 - T2); the eighth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1; the ninth time information includes T7 - T2, or T7, T2.

[0354] For another example, the sixth time information includes T7, T6, or T7, T7 - T6, or T6, T7 - T6; the seventh time information includes T4 - T1, T3 - T2; the eighth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1; the ninth time information includes T7 - T2, or T7, T2.

[0355] For another example, the sixth time information includes T7, T6, or T7, T7 - T6, or T6, T7 - T6; the seventh time information includes T4, T1, (T3 - T2); the eighth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1; the ninth time information includes T7 - T2, or T7, T2.

[0356] For another example, the sixth time information includes T7 - T6; the seventh time information includes T4 + T2, T1 + T3; the eighth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1; the ninth time information includes T7 - T2, or T7, T2.

[0357] For another example, the sixth time information includes T7 - T6; the seventh time information includes T4 - T1 - T3, T2; the eighth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1; the ninth time information includes T7 - T2, or T7, T2.

[0358] For another example, the sixth time information includes T7 - T6; the seventh time information includes T4 + T2, T1, T3; the eighth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1; the ninth time information includes T7 - T2, or T7, T2.

[0359] For another example, the sixth time information includes T7 - T6; the seventh time information includes T4, T2, T1, T3; the eighth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1; the ninth time information includes T7 - T2, or T7, T2.

[0360] It can be understood that through the above examples of the sixth time information, the seventh time information, the eighth time information, or the ninth time information, UE2 can obtain T3, T2, T8, T5, as well as T6 and T7. Thus, by combining T5 and T8, the time synchronization error between UE1 and UE2 can be determined. That is to say, UE2 can combine the above various time information, and the first formula and the second formula shown below, or the third formula and the fourth formula shown below, to determine the time synchronization error between UE1 and UE2.

[0361] It can be understood that the sixth time information, the seventh time information, the eighth time information, or the ninth time information shown above are only examples, and other examples of the sixth time information, the seventh time information, the eighth time information, or the ninth time information will not be elaborated one by one in this application. Exemplarily, the sixth time information includes T7 - T6; the seventh time information includes T4 - T1 - (T3 - T2); the eighth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1; the ninth time information includes T7 - T2.

[0362] It can be understood that the above is shown by taking the ninth time information as indicating the time difference between the seventh moment and the second moment as an example. Optionally, the ninth time information can also be replaced with: the ninth time information is used to indicate the time difference between the sixth moment and the third moment. For example, the ninth time information includes T6 - T3, or T6, T3, or T3 - T6. Optionally, the ninth time information can also be replaced with: the time difference between the seventh moment and the third moment. For example, the ninth time information includes T7 - T3, or T7, T3, or T3 - T7. Optionally, the ninth time information can also be replaced with: the time difference between the sixth moment and the second moment. For example, the ninth time information includes T6 - T2, or T6, T2, or T2 - T6.

[0363] Exemplarily, the ninth time information includes T6 - T3, or T3 - T6, or T6, T3, the sixth time information includes T7 - T6; the seventh time information includes T4 - T1 - (T3 - T2); the eighth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1.

[0364] Exemplarily, the ninth time information includes T7 - T3, or T3 - T7, or T7, T3, the sixth time information includes T7 - T6; the seventh time information includes T4 - T1 - (T3 - T2); the eighth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1.

[0365] Exemplarily, the ninth time information includes T6 - T2, or T2 - T6, or T6, T2; the sixth time information includes T7 - T6; the seventh time information includes T4 - T1 - (T3 - T2); the eighth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1.

[0366] It can be understood that the description of the sixth to tenth time information in this application is only an example. For example, based on the deformation of the second formula shown below, or based on the deformation of the third and fourth formulas shown below, such as the content deformation of the sixth to tenth time information, all belong to the protection scope of this application.

[0367] It should be noted that this application embodiment does not limit the order of the transmission time of the first reference signal and the reception time of the fourth reference signal. This application embodiment also does not limit the order of UE1 sending the first reference signal and UE2 sending the third reference signal.

[0368] Figure 7 It is a schematic flowchart of another time synchronization method provided by this application embodiment. This method can be used by a third terminal device (such as UE3) or a chip in the third terminal device to determine the time synchronization error between the first terminal device and the second terminal device. For the convenience of description, the method provided by this application embodiment will be described below by taking UE3 as an example. As Figure 7 shown, this method includes:

[0369] 701. UE3 receives the first reference signal at the second moment.

[0370] Exemplarily, UE1 sends the first reference signal to UE3 at the first moment, and UE3 receives the first reference signal sent by UE1 at the second moment.

[0371] 702. UE3 sends the second reference signal at the third moment.

[0372] Exemplarily, UE3 sends the second reference signal to UE1 at the third moment, and UE1 receives the second reference signal sent by UE3 at the fourth moment.

[0373] 703. UE3 receives the eleventh time information.

[0374] Exemplarily, UE1 sends the eleventh time information to UE3, and UE3 receives the eleventh time information from UE1. Exemplarily, the eleventh time information is information related to the transmission time of the first reference signal and the reception time of the second reference signal. Alternatively, the eleventh time information can be understood as the information reported by UE1 to UE3. Optionally, the eleventh time information is used to indicate the time difference between the fourth moment and the first moment. For example, the eleventh time information includes T4 - T1, or T4 and T1. Optionally, the eleventh time information is used to indicate the fourth moment and the time difference between the fourth moment and the first moment. For example, the eleventh time information includes T4 and T4 - T1. Another example is that the eleventh time information includes T1 and T4 - T1. It can be understood that the present application does not limit the specific content of the eleventh time information. As long as UE3 can obtain T4 and T1 based on the eleventh time information, it falls within the protection scope of the present application.

[0375] 704. UE3 receives the third reference signal at the sixth moment.

[0376] Exemplarily, UE2 sends the third reference signal to UE3 at the fifth moment, and UE3 receives the third reference signal sent by UE2 at the sixth moment.

[0377] 705. UE3 sends the fourth reference signal at the seventh moment.

[0378] Exemplarily, UE3 sends the fourth reference signal to UE2 at the seventh moment, and UE2 receives the fourth reference signal sent by UE3 at the eighth moment.

[0379] 706. UE3 receives the twelfth time information.

[0380] Exemplarily, UE2 sends the twelfth time information to UE3, and UE3 receives the twelfth time information from UE2. Exemplarily, the twelfth time information is information related to the transmission time of the third reference signal and the reception time of the fourth reference signal. Alternatively, the twelfth time information can be understood as the information reported by UE2 to UE3. Exemplarily, the twelfth time information is used to indicate the time difference between the eighth moment and the fifth moment. For example, the twelfth time information includes T8 - T5, or T8 and T5. Optionally, the twelfth time information is used to indicate the eighth moment and the time difference between the eighth moment and the fifth moment. For example, the twelfth time information includes T8 and T8 - T5. Another example is that the twelfth time information includes T5 and T8 - T5. It can be understood that the present application does not limit the specific content of the twelfth time information. As long as UE3 can obtain T8 and T5 based on the twelfth time information, it falls within the protection scope of the present application.

[0381] In a possible implementation manner, Figure 7 The method shown further includes:

[0382] 707. The UE3 determines the time synchronization error between the UE1 and the UE2 according to the above-mentioned eleventh time information and twelfth time information.

[0383] Exemplarily, the UE3 determines the time synchronization error between the UE1 and the UE2 according to the second moment, the third moment, the sixth moment, the seventh moment, the eleventh time information, and the twelfth time information.

[0384] It can be understood that for the specific method of the UE3 to determine the time synchronization error between the UE1 and the UE2, reference can be made to the first formula and the second formula, or the third formula and the fourth formula shown below, which will not be elaborated here.

[0385] Exemplarily, the UE3 determines the location information of the UE3 according to the second moment, the third moment, the sixth moment, the seventh moment, the eleventh time information, and the twelfth time information.

[0386] In a possible implementation manner, Figure 7 The method shown may further include:

[0387] 708. The UE3 sends information for indicating the time synchronization error to the UE1.

[0388] Exemplarily, the UE3 sends information for indicating the time synchronization error to the UE1, and the UE1 receives the information for indicating the time synchronization error sent by the UE3. Thus, the UE1 can adjust the time information of the UE1 according to the time synchronization error to ensure the time synchronization between the UE1 and the UE2.

[0389] In a possible implementation manner, Figure 7 The method shown may further include:

[0390] 709. The UE3 sends information for indicating the time synchronization error to the UE2.

[0391] Exemplarily, the UE3 sends information for indicating the time synchronization error to the UE2, and the UE2 receives the information for indicating the time synchronization error sent by the UE3. Thus, the UE2 can adjust the time information of the UE2 according to the time synchronization error to ensure the time synchronization between the UE1 and the UE2.

[0392] Optionally, Figure 7 The method shown may not include step 707, but include step 708 and / or step 709. Optionally, Figure 7 The method shown may further include step 707 and step 708, or step 707 and step 709.

[0393] It can be understood that the beneficial effects of the method provided by the embodiments of the present application can be referred to the above description and will not be elaborated here.

[0394] Optionally, for Figures 5 to 7 the method shown, the time synchronization error can satisfy the first formula and the second formula. Exemplarily, the first formula can be as shown in formula (1) below, and the second formula can be any one of formulas (2) to (5) shown below. It can be understood that formulas (1) to (5) shown in this application are only examples, and deformations based on formulas (1) to (5) also belong to the protection scope of the embodiments of this application.

[0395]

[0396]

[0397]

[0398]

[0399]

[0400] d 23 is the distance between UE2 and UE3, and c is the speed of electromagnetic waves. It can be understood as the flight time of the reference signal between UE2 and UE3. For example, (T8 - T5) - (T7 - T6) can be understood as the flight time of the third reference signal and the fourth reference signal. (T4 - T1) - (T3 - T2) can be understood as the flight time of the first reference signal and the second reference signal. For specific descriptions of each moment, reference can be made to the above, which will not be elaborated here.

[0401] Exemplarily, taking the above formula (2) as an example. Then the time difference between the reception time of the fourth reference signal and the transmission time of the first reference signal includes: the flight time of the first reference signal the time difference (T7 - T2) between the transmission time of the fourth reference signal and the reception time of the first reference signal, and the flight time of the fourth reference signal. Exemplarily, the flight time of the fourth reference signal is equivalent to the ratio of the distance d 23 between UE2 and UE3 to the speed c of electromagnetic waves In addition, considering that there is a time synchronization error e between UE1 and UE2 12 , It can be understood that the time with superscripts on T1 and T8 is the time in the case of synchronization, and the time T8 - T1 without superscripts is the measured time with synchronization error.

[0402] Exemplarily, T1 is 8:01, T2 is 8:03, T3 is 8:05, T4 is 8:05, T5 is 8:06, T6 is 8:06, T7 is 8:08, and T8 is 8:11. Then, according to the above formula (1), it can be known that e can be obtained according to the above formula (2) 12 = -2.5 minutes. Since it is T8 - T1 for formula (2), this e 12 = -2.5 minutes means that UE2 is 2.5 minutes faster than UE1.

[0403] e can be obtained according to the above formula (3) 12 = +2.5 minutes. Since it is T4 - T5 for formula (3), this e 12 = +2.5 minutes means that UE1 is 2.5 minutes slower than UE2. e can be obtained according to the above formula (4) 12 = -2.5 minutes. e can be obtained according to the above formula (5) 12 = +2.5 minutes.

[0404] It can be understood that the respective moments shown here are only examples, and the embodiments of the present application do not limit the time granularity, time length, or accuracy of each moment. Exemplarily, the above respective moments can also be represented with nanoseconds as the granularity, etc., and the embodiments of the present application do not limit this. The same applies to the following description.

[0405] Optionally, for the Figures 5 to 7 method shown, the time synchronization error can satisfy the third formula and the fourth formula. Exemplarily, the third formula can be as shown in formula (6) below, and the fourth formula can be any one of formulas (7) to (10) shown below. It can be understood that formulas (6) to (10) shown in the present application are only examples, and deformations based on formulas (6) to (10) also fall within the protection scope of the embodiments of the present application.

[0406]

[0407]

[0408]

[0409]

[0410]

[0411] d 13 is the distance between UE1 and UE3, and c is the speed of electromagnetic waves. It can be understood as the flight time of the reference signal between UE1 and UE3. For example, (T8 - T5) - (T7 - T6) can be understood as the flight time of the third reference signal and the fourth reference signal. (T4 - T1) - (T3 - T2) can be understood as the flight time of the first reference signal and the second reference signal. For the specific description of each moment, reference can be made to the above text, which will not be elaborated here.

[0412] Exemplarily, T1 is 8:01, T2 is 8:03, T3 is 8:05, T4 is 8:05, T5 is 8:06, T6 is 8:06, T7 is 8:08, and T8 is 8:11. Then, according to the above formula (6), it can be known that According to the above formula (7), e can be obtained 12 = +2.5 minutes. According to the above formula (8), e can be obtained 12 = +2.5 minutes. According to the above formula (9), e can be obtained 12 = -2.5 minutes. According to the above formula (10), e can be obtained 12 = -2.5 minutes.

[0413] Figure 8a It is a schematic flowchart of another time synchronization method provided by an embodiment of the present application. This method can be used by the LMF or the chip in the LMF to determine the time synchronization error between the first network device (taking gNB1 as an example) and the second network device (taking gNB2). For ease of description, the method provided by the embodiment of the present application will be described below taking the LMF as an example. As Figure 8a shown, this method includes:

[0414] In a possible implementation manner, Figure 8a the method shown includes steps 801 to 803.

[0415] 801. gNB1 sends a first reference signal to the UE at a first moment. Correspondingly, the UE receives the first reference signal sent by gNB1 at a second moment.

[0416] 802. The UE sends a second reference signal to gNB1 at a third moment. Correspondingly, gNB1 receives the second reference signal sent by the UE at a fourth moment.

[0417] 803. gNB1 receives the thirteenth time information, which is used to indicate the third moment and the time difference between the third moment and the second moment.

[0418] Exemplarily, the UE sends the thirteenth time information to gNB1. Correspondingly, gNB1 receives the thirteenth time information sent by the UE. For example, the thirteenth time information includes T3, T2, or T3, T3 - T2, or T2, T3 - T2. It can be understood that the embodiments of the present application are exemplified by using the thirteenth time information to indicate the third moment and the time difference between the third moment and the second moment. Exemplarily, when the thirteenth time information is only used to indicate the time difference between the third moment and the second moment, the UE can also report the time difference between the seventh moment and the second moment to the LMF.

[0419] Exemplarily, after receiving the thirteenth time information, gNB1 can encapsulate the thirteenth time information with T1 and T4 into the fourteenth time information, so that the LMF can obtain the round-trip time of the reference signal between gNB1 and the UE. Exemplarily, gNB1 can also parse the thirteenth time information to obtain T3 and T2. The embodiments of the present application do not limit the processing manner of gNB1 for the thirteenth time information. For example, gNB1 can transparently transmit the thirteenth time information. For another example, gNB1 can obtain T3 and T2 according to the thirteenth time information, and then generate the fourteenth time information. It can be understood that the description of the thirteenth time information also applies to the sixteenth time information shown below. To avoid repetition, it will not be elaborated one by one below.

[0420] 804. The LMF receives the fourteenth time information and the fifteenth time information. The fourteenth time information is used to indicate the round-trip time of the reference signal between gNB1 and the UE, and the fifteenth time information is used to indicate the fourth moment and the time difference between the fourth moment and the first moment.

[0421] Exemplarily, gNB1 sends the fourteenth time information and the fifteenth time information to the LMF. Correspondingly, the LMF receives the fourteenth time information and the fifteenth time information. It can be understood that the specific description of the fourteenth time information and the fifteenth time information can refer to the description of the seventh time information and the eighth time information above, and will not be elaborated here.

[0422] Exemplarily, gNB1 may not send the fourteenth time information and the fifteenth time information to the LMF simultaneously, etc., and the embodiments of the present application do not limit this. Optionally, the time information included in the fourteenth time information may be different from the fifteenth time information. Optionally, the time information included in the fourteenth time information may partially overlap with the time information included in the fifteenth time information, etc., and the embodiments of the present application do not limit this. Optionally, when the fourteenth time information already includes the content indicated by the fifteenth time information, gNB1 may send the fourteenth time information to the LMF. Optionally, when the fourteenth time information cannot include the content indicated by the fifteenth time information, gNB1 may send the fourteenth time information and the fifteenth time information to the LMF.

[0423] Exemplarily, the round-trip time of the reference signal between gNB1 and the UE may be T4 - T1 - (T3 - T2). Exemplarily, the fourteenth time information may include two values. For example, the fourteenth time information includes the time difference between the fourth moment and the first moment, and the time difference between the third moment and the second moment, that is, T4 - T1, T3 - T2. Another example is that the fourteenth time information includes the operation result value of T4 - T1 - T3 and T2. Another example is that the fourteenth time information includes the time sum of T4 + T2 and the time sum of T1 + T3. Exemplarily, the fourteenth time information may include three values. For example, the fourteenth time information includes the fourth moment, the first moment, and the time difference between the third moment and the second moment, that is, T4, T1, (T3 - T2). Another example is that the fourteenth time information includes the time sum of the fourth moment and the sixth moment, and the first moment and the seventh moment, that is, T4 + T2, T1, T3. Exemplarily, the fourteenth time information may include four values. For example, the fourteenth time information includes the first moment, the second moment, the third moment, and the fourth moment, that is, T1, T2, T3, T4. It can be understood that the present application does not limit the specific method for the fourteenth time information to indicate the above round-trip time.

[0424] Exemplarily, the fifteenth time information is used to indicate the fourth moment and the time difference between the fourth moment and the first moment. For example, the fifteenth time information is used to indicate T4, T4 - T1. Exemplarily, the fifteenth time information includes the fourth moment and the time difference between the fourth moment and the first moment, that is, T4, T4 - T1. Exemplarily, the fifteenth time information includes the first moment and the time difference between the fourth moment and the first moment, that is, T1, T4 - T1. Exemplarily, the fifteenth time information includes the first moment and the fourth moment, that is, T1, T4. It can be understood that the embodiments of the present application do not limit the specific method for the fifteenth time information to indicate the fourth moment and the time difference between the fourth moment and the first moment.

[0425] It should be understood that the fourteenth time information and the fifteenth time information shown above are only examples. As long as the LMF can obtain T4 - T1 - (T3 - T2), and T1, T2 based on the time information sent by gNB1, or can obtain T4 - T1 - (T3 - T2), and T3, T4, or can obtain T1, T2, T3, T4, all fall within the protection scope of this application.

[0426] In a possible implementation manner, Figure 8a the method shown includes steps 805 to 807.

[0427] 805. gNB2 sends a third reference signal to the UE at a fifth moment. Correspondingly, UE1 receives the third reference signal sent by gNB2 at a sixth moment.

[0428] 806. The UE sends a fourth reference signal to gNB2 at a seventh moment. Correspondingly, gNB2 receives the fourth reference signal sent by the UE at an eighth moment.

[0429] 807. gNB2 receives sixteenth time information, and this sixteenth time information is used to indicate the seventh moment and the time difference between the seventh moment and the sixth moment.

[0430] Exemplarily, the UE sends the sixteenth time information to gNB2. Correspondingly, gNB2 receives the sixteenth time information sent by the UE. For example, this sixteenth time information includes T7, T6, or T7, T7 - T6, or T6, T7 - T6.

[0431] It should be understood that for the specific description of the sixteenth time information, reference can be made to the thirteenth time information.

[0432] 808. The LMF receives seventeenth time information and eighteenth time information. The seventeenth time information is used to indicate the round - trip time of the reference signal between gNB2 and the UE, and the eighteenth time information is used to indicate the eighth moment and the time difference between the eighth moment and the fifth moment.

[0433] Exemplarily, gNB2 sends the seventeenth time information and the eighteenth time information to the LMF. Correspondingly, the LMF receives this seventeenth time information and the eighteenth time information.

[0434] It should be understood that for the specific description of the seventeenth information, reference can be made to the description of the second time information above. For the specific description of the eighteenth time information, reference can be made to the description of the third time information above, and details will not be repeated here. Exemplarily, for the relationship between the seventeenth time information and the second time information, reference can be made to the relationship between the fourteenth time information and the seventh time information above. For the relationship between the eighteenth time information and the third time information, reference can be made to the relationship between the fifteenth time information and the eighth time information above.

[0435] It is understandable that the seventeenth time information and the eighteenth time information shown above are only examples. As long as the LMF can obtain T8 - T5 - (T7 - T6), as well as T5 and T6, or, obtain T8 - T5 - (T7 - T6), as well as T7 and T8, or, obtain T5, T6, T7, and T8 based on the time information sent by gNB2, it falls within the protection scope of this application.

[0436] In a possible implementation, Figure 8a the method shown further includes:

[0437] 809. The LMF determines the time synchronization error between gNB1 and gNB2 according to the fourteenth time information, the fifteenth time information, the seventeenth time information, and the eighteenth time information.

[0438] In a possible implementation, the LMF may also send information for indicating the above time synchronization error to gNB1 and / or gNB2. It is understandable that the specific description of the LMF sending the above information for indicating the time synchronization error can refer to the above, such as Figure 5 the method shown, which will not be elaborated here one by one.

[0439] Figure 8b is another schematic diagram of the time synchronization method provided by the embodiments of this application. This method can be used by the LMF or the chip in the LMF to determine the time synchronization error between the first network device (taking gNB1 as an example) and the second network device (taking gNB2 as an example). For the convenience of description, the method provided by the embodiments of this application will be described below taking the LMF as an example. As Figure 8b shown, this method includes:

[0440] In a possible implementation, Figure 8b the method shown includes step 811 and step 812.

[0441] 811. gNB1 sends a first reference signal to the UE at a first moment. Correspondingly, the UE receives the first reference signal sent by gNB1 at a second moment.

[0442] 812. The UE sends a second reference signal to gNB1 at a third moment. Correspondingly, gNB1 receives the second reference signal sent by the UE at a fourth moment.

[0443] 813. The LMF receives the thirteenth time information, which is used to indicate the third moment and the time difference between the third moment and the second moment.

[0444] Exemplarily, the UE sends the thirteenth time information to the LMF. Correspondingly, the LMF receives the thirteenth time information sent by the UE. Exemplarily, it can also be said that the UE reports the thirteenth time information to the LMF, and the LMF obtains the thirteenth time information. For example, the thirteenth time information includes T3, T2, or T3, T3 - T2, or T2, T3 - T2. It can be understood that in the embodiments of this application, the thirteenth time information is exemplified as being used to indicate the third moment and the time difference between the third moment and the second moment. That is to say, through the thirteenth time information, the LMF can obtain T3 and T2. It can be understood that the sixteenth time information shown below is exemplified as being used to indicate the seventh moment and the time difference between the seventh moment and the sixth moment. That is to say, through the sixteenth time information, the LMF can obtain T7 and T6. Exemplarily, when the thirteenth time information is only used to indicate the time difference between the third moment and the second moment, and the sixteenth time information is only used to indicate the time difference between the seventh moment and the sixth moment, the UE can also report the time difference between the seventh moment and the second moment to the LMF. Or, the UE can also report the time difference between the seventh moment and the third moment to the LMF. Or, the UE can also report the time difference between the sixth moment and the second moment to the LMF. Or, the UE can also report the time difference between the sixth moment and the third moment to the LMF.

[0445] For the signal transmission process between the UE and the LMF, reference can be made to Figure 2 the communication system shown, which will not be elaborated in the embodiments of this application.

[0446] 814. The LMF receives the fifteenth time information, which is used to indicate the fourth moment and the time difference between the fourth moment and the first moment.

[0447] Exemplarily, gNB1 sends the fifteenth time information to the LMF. Correspondingly, the LMF receives the fifteenth time information. It can be understood that for the specific description of the fifteenth time information, reference can be made to the above text, and it will not be elaborated here.

[0448] In a possible implementation manner, Figure 8b the method shown includes step 815 and step 816.

[0449] 815. gNB2 sends the third reference signal to the UE at the fifth moment. Correspondingly, UE1 receives the third reference signal sent by gNB2 at the sixth moment.

[0450] 816. The UE sends the fourth reference signal to gNB2 at the seventh moment. Correspondingly, gNB2 receives the fourth reference signal sent by the UE at the eighth moment.

[0451] 817. The LMF receives the sixteenth time information, which is used to indicate the seventh moment and the time difference between the seventh moment and the sixth moment.

[0452] Exemplarily, the UE sends the sixteenth time information to gNB2. Correspondingly, gNB2 receives the sixteenth time information sent by the UE. For example, the sixteenth time information includes T7, T6, or T7, T7 - T6, or T6, T7 - T6.

[0453] It can be understood that the embodiments of the present application do not limit whether the thirteenth time information and the sixteenth time information are in the same message. For example, after sending the fourth reference signal, the UE may report the content indicated by the thirteenth time information and the sixteenth time information to the LMF. For another example, after sending the second reference signal, the UE reports the thirteenth time information to the LMF. Then, after sending the fourth reference signal, the UE reports the sixteenth time information to the LMF.

[0454] 818. The LMF receives the eighteenth time information, and the eighteenth time information is used to indicate the eighth moment and the time difference between the eighth moment and the fifth moment.

[0455] Exemplarily, gNB2 sends the eighteenth time information to the LMF. Correspondingly, the LMF receives the eighteenth time information. Exemplarily, it can also be said that the UE reports the eighteenth time information to the LMF, and the LMF obtains the eighteenth time information.

[0456] In a possible implementation manner, Figure 8b The method shown further includes:

[0457] 819. The LMF determines the time synchronization error between gNB1 and gNB2 according to the thirteenth time information, the fifteenth time information, the sixteenth time information, and the eighteenth time information.

[0458] In a possible implementation manner, the LMF may also send information for indicating the above time synchronization error to gNB1 and / or gNB2. It can be understood that the specific description of the LMF sending the above information for indicating the time synchronization error can refer to the above, such as Figure 5 the method shown, which will not be elaborated here one by one.

[0459] The following will introduce in detail each time information involved in the embodiments of the present application.

[0460] In a possible implementation manner, the fourteenth time information and the seventeenth time information are respectively as follows:

[0461] For example, the fourteenth time information includes T1, T2, T3, T4, and the seventeenth time information includes T5, T6, T7, T8. In this case, the LMF determines the time synchronization error between gNB1 and gNB2 according to the fourteenth time information and the seventeenth time information.

[0462] For another example, the fourteenth time information includes T4 - T1 - (T3 - T2), T2; the fifteenth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1; the seventeenth time information includes T8 - T5 - (T7 - T6), T7; the eighteenth time information includes T8, T5, or T8, T8 - T5, or T5, T8 - T5.

[0463] For another example, the fourteenth time information includes T4 - T1 - (T3 - T2), T2; the fifteenth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1; the seventeenth time information includes T8 - T5 - (T7 - T6), T6; the eighteenth time information includes T8, T5, or T8, T8 - T5, or T5, T8 - T5.

[0464] For another example, the fourteenth time information includes T4 - T1 - (T3 - T2), T3; the fifteenth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1; the seventeenth time information includes T8 - T5 - (T7 - T6), T7; the eighteenth time information includes T8, T5, or T8, T8 - T5, or T5, T8 - T5.

[0465] For another example, the fourteenth time information includes T4 - T1 - (T3 - T2), T3; the fifteenth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1; the seventeenth time information includes T8 - T5 - (T7 - T6), T7; the eighteenth time information includes T8, T5, or T8, T8 - T5, or T5, T8 - T5.

[0466] For another example, the fourteenth time information includes T4 + T2, T1 + T3; the fifteenth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1; the seventeenth time information includes T8 + T6, T5 + T7; the eighteenth time information includes T8, T5, or T8, T8 - T5, or T5, T8 - T5.

[0467] For another example, the fourteenth time information includes T4 - T1 - T3, T2; the fifteenth time information includes T4, T1, or T4, T4 - T1, or T1, T4 - T1; the seventeenth time information includes T8 - T5 - T7, T6; the eighteenth time information includes T8, T5, or T8, T8 - T5, or T5, T8 - T5.

[0468] For another example, the fourteenth time information includes T4+T2, T1, T3; the fifteenth time information includes T4, T1, or T4, T4-T1, or T1, T4-T1; the seventeenth time information includes T8+T6, T5, T7; the eighteenth time information includes T8, T5, or T8, T8-T5, or T5, T8-T5.

[0469] It can be understood that the above various time information is only an example, and the embodiments of the present application do not limit the specific content of the above various time information.

[0470] Optionally, for Figure 8a and Figure 8b the methods shown, the time synchronization error can satisfy the fifth formula and the sixth formula. Exemplarily, the fifth formula can be as shown in formula (11) below, and the sixth formula can be any one of formulas (12) to (15) shown below. It can be understood that formulas (11) to (15) shown in the present application are only examples, and deformations based on formulas (11) to (15) also belong to the protection scope of the embodiments of the present application.

[0471]

[0472]

[0473]

[0474]

[0475]

[0476] d UE-gNB2 is the distance between gNB2 and the UE, and c is the speed of electromagnetic waves. It can be understood as the flight duration of the reference signal between gNB2 and the UE.

[0477] Optionally, for Figure 8a and Figure 8b the methods shown, the time synchronization error can satisfy the seventh formula and the eighth formula. Exemplarily, the seventh formula can be as shown in formula (16) below, and the eighth formula can be any one of formulas (17) to (20) shown below. It can be understood that formulas (16) to (20) shown in the present application are only examples, and deformations based on formulas (16) to (20) also belong to the protection scope of the present application.

[0478]

[0479]

[0480]

[0481]

[0482]

[0483] d UE-gNB1 d is the distance between gNB1 and the UE, and c is the speed of electromagnetic waves. It can be understood as the flight time of the reference signal between gNB1 and the UE.

[0484] It can be understood that, regarding Figure 8a and Figure 8b For the specific description of the method shown, reference can be made to the above, and details will not be repeated here.

[0485] It can be understood that the method shown above is exemplified by Figure 3a and / or Figure 3b the signal transmission direction shown. However, the method provided in this application can also be applicable to Figure 4a and / or Figure 4b the signal transmission direction shown.

[0486] Figure 9 This is a schematic flowchart of a time synchronization method provided by an embodiment of this application. This method can be used by UE1 or a chip in UE1 to determine the time synchronization error between UE1 and UE2. As Figure 9 shown, this method includes:

[0487] 901. UE1 receives a fifth reference signal at the twelfth moment.

[0488] Exemplarily, UE3 sends a fifth reference signal to UE1 at the eleventh moment. Correspondingly, UE1 receives the fifth reference signal sent by UE3 at the twelfth moment.

[0489] 902. UE1 sends a sixth reference signal at the thirteenth moment.

[0490] Exemplarily, UE1 sends a sixth reference signal to UE3 at the thirteenth moment. Correspondingly, UE3 receives the sixth reference signal sent by UE1 at the fourteenth moment.

[0491] 903. UE1 receives the twenty-first time information, and this twenty-first time information is used to indicate the fourteenth moment and the time difference between the fourteenth moment and the eleventh moment.

[0492] Optionally, the twenty-first time information includes T 11 , T 14 , or T 11 , T 14 - T 11 Or T14 、T 14 -T 11 .

[0493] In one possible implementation, Figure 9 The method may further include steps 904 to 906 .

[0494] 904. UE2 receives the seventh reference signal at the sixteenth time.

[0495] Exemplarily, UE3 sends the seventh reference signal to UE2 at the fifteenth moment, and UE2 receives the seventh reference signal sent by UE3 at the sixteenth moment.

[0496] 905. UE2 sends an eighth reference signal at the seventeenth moment.

[0497] Exemplarily, UE2 sends the eighth reference signal at the seventeenth moment, and UE3 receives the eighth reference signal at the eighteenth moment.

[0498] 906. UE2 receives the twenty-fifth time information, where the twenty-fifth time information is used to indicate the eighteenth moment and the time difference between the eighteenth moment and the fifteenth moment.

[0499] Optionally, the twenty-first time information includes T 18 、T 15 , or T 18 、T 18 -T 15 , or T 15 、T 18 -T 15 .

[0500] 907. UE1 receives the 22nd time information and the 23rd time information. The 22nd time information is used to indicate the round trip time between UE2 and UE3 (eg, T 18 -T 15 -(T 17 -T 16 )), the twenty-third time information is used to indicate the eighteenth moment and the time difference between the eighteenth moment and the fifteenth moment.

[0501] It can be understood that the specific description of the twelfth time information can refer to the description of the second time information above, and the description of the twenty-third time information can refer to the description of the third time information above, and the embodiments of the present application will not be described in detail one by one.

[0502] In one possible implementation, Figure 9 The method shown may also include:

[0503] 908. UE1 determines the time synchronization error between UE1 and UE2 based on the twelfth moment, the thirteenth moment, the twenty-first time information, the twenty-second time information, and the twenty-third time information.

[0504] In a possible implementation, Figure 9 the method shown may further include:

[0505] UE1 receives the twenty-fourth time information.

[0506] Exemplarily, the twenty-fourth time information may be information related to at least one of the reception moment of the fifth reference signal, the transmission moment of the sixth reference signal, the reception moment of the seventh reference signal, or the transmission moment of the eighth reference signal. Exemplarily, the twenty-fourth time information is time information related to two of the reception moment of the fifth reference signal, the transmission moment of the sixth reference signal, the reception moment of the seventh reference signal, or the transmission moment of the eighth reference signal. For the specific description of the twenty-fourth time information, reference may be made to the description of the fourth time information or the ninth time information above, which will not be elaborated here one by one.

[0507] Optionally, UE1 determines the time synchronization error between UE1 and UE2 based on the twelfth moment, the thirteenth moment, the twenty-first time information, the twenty-second time information, the twenty-third time information, and the twenty-fourth time information.

[0508] It can be understood that the method for UE1 to determine the time synchronization error may refer to the above embodiments, or the above first formula and second formula, or the third formula and fourth formula, etc.

[0509] It can be understood that for the Figure 9 specific description, reference may be made to the embodiments shown above, such as the method shown in Figure 5 which will not be elaborated here one by one.

[0510] Figure 10 is a schematic flowchart of a time synchronization method provided by an embodiment of the present application. This method can be used by UE2 or the chip in UE2 to determine the time synchronization error between UE1 and UE2. As Figure 10 shown, this method includes:

[0511] 1001. UE2 receives the seventh reference signal at the sixteenth moment.

[0512] Exemplarily, UE3 sends the seventh reference signal to UE2 at the fifteenth moment. Correspondingly, UE2 receives the seventh reference signal sent by UE3 at the fifteenth moment.

[0513] 1002. UE2 sends the eighth reference signal at the seventeenth moment.

[0514] Exemplarily, UE2 sends the eighth reference signal to UE3 at the seventeenth moment. Correspondingly, UE3 receives the eighth reference signal sent by UE2 at the eighteenth moment.

[0515] 1003. UE2 receives the twenty-sixth time information, which is used to indicate the eighteenth moment and the time difference between the eighteenth moment and the fifteenth moment.

[0516] Optionally, the twenty-sixth time information includes T 18 , T 15 , or T 18 , T 18 - T 15 , or T 15 , T 18 - T 15 .

[0517] In a possible implementation, Figure 10 the method shown may further include steps 1004 to 1006.

[0518] 1004. UE1 receives the fifth reference signal at the twelfth moment.

[0519] Exemplarily, UE3 sends the fifth reference signal to UE1 at the eleventh moment, and UE1 receives the fifth reference signal sent by UE3 at the twelfth moment.

[0520] 1005. UE1 sends the sixth reference signal at the thirteenth moment.

[0521] Exemplarily, UE1 sends the sixth reference signal to UE3 at the thirteenth moment, and UE3 receives the sixth reference signal sent by UE1 at the fourteenth moment.

[0522] 1006. UE1 receives the thirtieth time information, which is used to indicate the fourteenth moment and the time difference between the fourteenth moment and the eleventh moment.

[0523] Optionally, the thirtieth time information includes T 14 , T 11 , or T 14 , T 14 - T 11 , or T 11 , T 14 - T 11 .

[0524] 1007. The UE2 receives the twenty-seventh time information and the twenty-eighth time information. The twenty-seventh time information is used to indicate the round-trip time of the reference signal between the UE1 and the UE3, and the twenty-eighth time information is used to indicate the fourteenth moment and the time difference between the fourteenth moment and the eleventh moment.

[0525] It can be understood that for the description of the twenty-seventh time information, reference can be made to the above-mentioned seventh time information, and for the description of the twenty-eighth time information, reference can be made to the above-mentioned eighth time information, which will not be elaborated here one by one.

[0526] In a possible implementation manner, Figure 10 The method shown may further include:

[0527] 1008. The UE2 determines the time synchronization error between the UE1 and the UE2 according to the sixteenth moment, the seventeenth moment, the twenty-sixth time information, the twenty-seventh time information, and the twenty-eighth time information.

[0528] It can be understood that the method for the UE2 to determine the time synchronization error can refer to the above-mentioned embodiments, or the above-mentioned first formula and second formula, or the third formula and fourth formula, etc.

[0529] In a possible implementation manner, Figure 10 The method shown may further include:

[0530] The UE2 receives the twenty-ninth time information.

[0531] Exemplarily, the twenty-ninth time information may be information related to at least one of the reception moment of the fifth reference signal, the transmission moment of the sixth reference signal, the reception moment of the seventh reference signal, or the transmission moment of the eighth reference signal. Exemplarily, the twenty-ninth time information is time information related to two of the reception moment of the fifth reference signal, the transmission moment of the sixth reference signal, the reception moment of the seventh reference signal, or the transmission moment of the eighth reference signal. For the specific description of the twenty-ninth time information, reference can be made to the description of the above-mentioned fourth time information or ninth time information, which will not be elaborated here one by one.

[0532] It can be understood that for Figure 10 the specific description, reference can be made to the embodiments shown above, such as the method shown in Figure 6 which will not be elaborated here one by one.

[0533] Figure 11 is a schematic flowchart of a time synchronization method provided by an embodiment of the present application. This method can be used by the UE3 or the chip in the UE3 to determine the time synchronization error between the UE1 and the UE2. As Figure 11 shown, this method includes:

[0534] 1101. The UE3 sends a fifth reference signal at the eleventh moment.

[0535] Exemplarily, the UE3 sends a fifth reference signal to the UE1 at the eleventh moment, and the UE1 receives the fifth reference signal sent by the UE3 at the twelfth moment.

[0536] 1102. The UE3 receives a sixth reference signal at the fourteenth moment.

[0537] Exemplarily, the UE1 sends a sixth reference signal to the UE3 at the thirteenth moment, and the UE3 receives the sixth reference signal sent by the UE1 at the fourteenth moment.

[0538] 1103. The UE3 receives a thirty-first time information, which is used to indicate the time difference between the thirteenth moment and the twelfth moment.

[0539] Optionally, the thirty-first time information is further used to indicate the twelfth moment.

[0540] 1104. The UE3 sends a seventh reference signal at the fifteenth moment.

[0541] Exemplarily, the UE3 sends a seventh reference signal to the UE2 at the fifteenth moment, and the UE2 receives the seventh reference signal sent by the UE3 at the sixteenth moment.

[0542] 1105. The UE3 receives an eighth reference signal at the eighteenth moment.

[0543] Exemplarily, the UE2 sends an eighth reference signal to the UE3 at the seventeenth moment, and the UE3 receives the eighth reference signal sent by the UE2 at the eighteenth moment.

[0544] 1106. The UE3 receives a thirty-second time information, which is used to indicate the time difference between the seventeenth moment and the sixteenth moment.

[0545] Optionally, the thirty-second time information is further used to indicate the seventeenth moment.

[0546] It can be understood that the UE3 can obtain the twelfth moment and the thirteenth moment according to the above-mentioned thirty-first time information, and can obtain the seventeenth moment and the sixteenth moment according to the thirty-second time information.

[0547] In a possible implementation manner, Figure 11 The method shown further includes:

[0548] 1107. The UE3 determines the time synchronization error between the UE1 and the UE2 according to the thirty-first time information and the thirty-second time information.

[0549] Exemplarily, UE3 may determine the time synchronization error between UE1 and UE2 according to the eleventh moment, the fourteenth moment, the thirty-first time information, the fifteenth moment, the eighteenth moment, and the thirty-second time information.

[0550] It can be understood that for the method by which UE3 determines the time synchronization error, reference may be made to the above Figure 7 , or the first formula and the second formula, or the third formula and the fourth formula, etc., which will not be elaborated here.

[0551] Exemplarily, optionally, for Figures 9 to 11 the method shown, the time synchronization error may satisfy formula (21) and any one of formulas (22) to (25). It can be understood that the formulas (21) to (25) shown in this application are only examples. For example, the variations based on formulas (21) to (25) also fall within the protection scope of the embodiments of this application.

[0552]

[0553]

[0554]

[0555]

[0556]

[0557] d 23 is the distance between UE2 and UE3, and c is the speed of electromagnetic waves. It can be understood as the flight duration of the reference signal between UE2 and UE3. For example, (T 18 -T 15 )-(T 17 -T 16 ) can be understood as the flight duration of the seventh reference signal and the eighth reference signal. (T 14 -T 11 )-(T 13 -T 12 ) can be understood as the flight duration of the fifth reference signal and the sixth reference signal. For the specific descriptions of each moment, reference may be made to the above, which will not be elaborated here.

[0558] It can be understood that for the specific descriptions of formulas (21) to (25), reference may be made to the above, which will not be elaborated here.

[0559] In a possible implementation manner, Figure 11 the method shown may further include:

[0560] 1108. Send information for indicating the time synchronization error.

[0561] It can be understood that for the specific description of Figure 11 , reference can be made to the embodiments shown above, such as the method shown in Figure 7 , which will not be elaborated here one by one.

[0562] Figure 12a FIG. is a schematic flowchart of a time synchronization method provided by an embodiment of the present application. This method can determine the time synchronization error between gNB1 and gNB2 by an LMF or a chip in the LMF. As Figure 12a shown, this method includes:

[0563] In a possible implementation, Figure 12a the method shown in

[0564] 1201. The UE sends a fifth reference signal to gNB1 at the eleventh moment, and gNB1 receives the fifth reference signal sent by the UE at the twelfth moment.

[0565] 1202. gNB1 sends a sixth reference signal to the UE at the thirteenth moment, and the UE receives the sixth reference signal sent by gNB1 at the fourteenth moment.

[0566] 1203. gNB1 receives the thirty-third time information, which is used to indicate the time difference between the fourteenth moment and the eleventh moment.

[0567] Optionally, the thirty-third time information is also used to indicate the fourteenth moment.

[0568] 1204. The LMF receives the thirty-fourth time information and the thirty-fifth time information. The thirty-fourth time information is used to indicate the round-trip time of the reference signal between gNB1 and the UE, and the thirty-fifth time information is used to indicate the time difference between the fourteenth moment and the eleventh moment.

[0569] Optionally, the thirty-fifth time information is also used to indicate the fourteenth moment.

[0570] In a possible implementation, Figure 12a the method shown in

[0571] 1205. The UE sends a seventh reference signal to gNB2 at the fifteenth moment, and gNB2 receives the seventh reference signal sent by the UE at the seventeenth moment.

[0572] 1206. gNB2 sends an eighth reference signal to the UE at the seventeenth moment, and the UE receives the eighth reference signal sent by gNB2 at the eighteenth moment.

[0573] 1207. The gNB2 receives the thirty-sixth time information, which is used to indicate the time difference between the eighteenth moment and the fifteenth moment.

[0574] Optionally, the thirty-sixth time information is further used to indicate the eighteenth moment.

[0575] 1208. The LMF receives the thirty-seventh time information and the thirty-eighth time information. The thirty-seventh time information is used to indicate the round-trip time of the reference signal between the gNB2 and the UE, and the thirty-eighth time information is used to indicate the time difference between the eighteenth moment and the fifteenth moment.

[0576] Optionally, the thirty-eighth time information is further used to indicate the eighteenth moment.

[0577] In a possible implementation, Figure 12a the method shown further includes:

[0578] 1209. The LMF determines the time synchronization error between the gNB1 and the gNB2 according to the thirty-fourth time information, the thirty-fifth time information, the thirty-seventh time information, and the thirty-eighth time information.

[0579] It can be understood that for the specific description of Figure 12a , reference can be made to the embodiments shown above, such as the method shown in Figure 8a , such as the fifth formula and the sixth formula, and also such as the seventh formula and the eighth formula, etc. Details are not described herein one by one.

[0580] Figure 12b is a schematic flowchart of a time synchronization method provided by an embodiment of the present application. This method can be used by the LMF or a chip in the LMF to determine the time synchronization error between the gNB1 and the gNB2. As Figure 12b shown, this method includes:

[0581] In a possible implementation, Figure 12b the method shown includes step 1211 and step 1212.

[0582] 1211. The UE sends the fifth reference signal to the gNB1 at the eleventh moment, and the gNB1 receives the fifth reference signal sent by the UE at the twelfth moment.

[0583] 1212. The gNB1 sends the sixth reference signal to the UE at the thirteenth moment, and the UE receives the sixth reference signal sent by the gNB1 at the fourteenth moment.

[0584] 1213. The LMF receives the thirty-third time information, which is used to indicate the time difference between the fourteenth moment and the eleventh moment.

[0585] Optionally, the thirty-third time information is further used to indicate the fourteenth moment.

[0586] 1214. The LMF receives the thirty-fifth time information, which is used to indicate the time difference between the fourteenth moment and the eleventh moment.

[0587] Optionally, the thirty-fifth time information is further used to indicate the fourteenth moment.

[0588] In a possible implementation, Figure 12b the method shown includes step 1215 and step 1216.

[0589] 1215. The UE sends the seventh reference signal to gNB2 at the fifteenth moment, and gNB2 receives the seventh reference signal sent by the UE at the seventeenth moment.

[0590] 1216. gNB2 sends the eighth reference signal to the UE at the seventeenth moment, and the UE receives the eighth reference signal sent by gNB2 at the eighteenth moment.

[0591] 1217. The LMF receives the thirty-sixth time information, which is used to indicate the time difference between the eighteenth moment and the fifteenth moment.

[0592] Optionally, the thirty-sixth time information is further used to indicate the eighteenth moment.

[0593] 1218. The LMF receives the thirty-eighth time information, and the thirty-eighth time information is used to indicate the time difference between the eighteenth moment and the fifteenth moment.

[0594] Optionally, the thirty-eighth time information is further used to indicate the eighteenth moment.

[0595] In a possible implementation, Figure 12b the method shown further includes:

[0596] 1219. The LMF determines the time synchronization error between gNB1 and gNB2 according to the thirty-third time information, the thirty-fifth time information, the thirty-sixth time information, and the thirty-eighth time information.

[0597] It can be understood that for the Figure 12b specific description, reference can be made to the embodiments shown above, such as the method shown in Figure 8b such as the fifth formula and the sixth formula, and also such as the seventh formula and the eighth formula, etc., which will not be elaborated here one by one.

[0598] Exemplarily, optionally, for Figure 12a and Figure 12bFor the method shown, the time synchronization error can satisfy Equation (26) and any one of Equations (27) to (30). It can be understood that Equations (26) to (30) shown in this application are only examples. Modifications based on Equations (26) to (30) also fall within the protection scope of the embodiments of this application.

[0599]

[0600]

[0601]

[0602]

[0603]

[0604] d UE-gNB2 is the distance between gNB2 and the UE, and c is the speed of electromagnetic waves. It can be understood as the flight duration of the reference signal between gNB2 and the UE. For specific descriptions of each moment, reference can be made to the above text and will not be elaborated here.

[0605] It can be understood that for Figure 4a and / or Figure 4b the time synchronization method shown, reference can be made to the above Figures 5 to 8a and Figure 8b , and will not be elaborated one by one. The above only exemplarily shows the method for determining the time synchronization error between UE1 and UE2 and the method for the LMF to determine the time synchronization error between gNB1 and gNB2. For Figure 4a , the method for UE1 or UE2 or UE3 to determine the time synchronization error between UE1 and UE2 can refer to the above Figures 5 to 7 . For Figure 4b , the method for the LMF to determine the time synchronization error between gNB1 and gNB2 can refer to the above Figure 8a or Figure 8b .

[0606] The communication device provided by the embodiments of this application will be introduced below.

[0607] This application divides the communication device into functional modules according to the above method embodiments. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. It should be noted that the division of modules in this application is illustrative, only a logical function division, and there can be other division methods in actual implementation. The following will be combined with Figures 13 to 15Describe the communication device according to the embodiments of the present application in detail.

[0608] Figure 13 is a schematic structural diagram of a communication device provided by an embodiment of the present application, as Figure 13 shown, the communication device includes a processing unit 1301 and a transceiver unit 1302.

[0609] In some embodiments of the present application, the communication device may be the first terminal device shown above or a chip in the first terminal device, etc. That is, the communication device may be used to execute the steps or functions performed by the first terminal device (such as UE1) in the above method embodiments.

[0610] Example 1:

[0611] The transceiver unit 1302 is configured to send a first reference signal at a first moment;

[0612] The transceiver unit 1302 is further configured to receive a second reference signal at a fourth moment;

[0613] The transceiver unit 1302 is further configured to receive first time information, second time information, and third time information.

[0614] Exemplarily, the processing unit 1301 may control the transceiver unit 1302 to send the first reference signal, or after the processing unit 1301 generates the first reference signal, the transceiver unit 1302 sends it, etc. The embodiments of the present application do not limit the relationship between the processing unit 1301 and the transceiver unit 1302.

[0615] In a possible implementation manner, the processing unit 1301 is configured to determine the time synchronization error between the first terminal device and the second terminal device according to the first moment, the fourth moment, the first time information, the second time information, and the third time information.

[0616] In a possible implementation manner, the transceiver unit 1302 is further configured to receive fourth time information.

[0617] In a possible implementation manner, the processing unit 1301 is configured to determine the time synchronization error between the first terminal device and the second terminal device according to the first moment, the fourth moment, the first time information, the second time information, the third time information, and the fourth time information.

[0618] In a possible implementation manner, the processing unit 1301 is further configured to determine the position information of the third terminal device according to the first moment, the fourth moment, the first time information, and the second time information.

[0619] It can be understood that for the specific descriptions of the transceiver unit and the processing unit shown in the first example, as well as the specific descriptions of each moment or time information, reference can be made to the first aspect shown above, or to the eleventh aspect shown above, or to the description about Figure 5 etc. The embodiments of the present application will not elaborate on this.

[0620] Example 2

[0621] The transceiver unit 1302 is configured to send a first reference signal at a first moment; the transceiver unit 1302 is further configured to receive a second reference signal at a fourth moment; the transceiver unit 1302 is further configured to receive tenth time information, where the tenth time information is used to indicate the time difference between a third moment and a second moment; the transceiver unit 1302 is further configured to send seventh time information and eighth time information.

[0622] It can be understood that for the specific descriptions of the transceiver unit and the processing unit shown in the second example, as well as the specific descriptions of each moment or time information, reference can be made to the fifth aspect shown above, or to the fifteenth aspect shown above, or to the description about Figure 6 etc. The embodiments of the present application will not elaborate on this.

[0623] Example 3

[0624] The transceiver unit 1302 is configured to send a first reference signal at a first moment; receive a second reference signal at a fourth moment; send eleventh time information, where the eleventh time information is used to indicate the fourth moment and the time difference between the fourth moment and the first moment.

[0625] It can be understood that for the specific descriptions of the transceiver unit and the processing unit shown in the third example, as well as the specific descriptions of each moment or time information, reference can be made to the eighth aspect shown above, or to the eighteenth aspect shown above, or to the description about Figure 7 etc. The embodiments of the present application will not elaborate on this.

[0626] In some other embodiments of the present application, the communication device may be the second terminal device shown above or a chip in the second terminal device, etc. That is, the communication device may be used to execute the steps or functions performed by the second terminal device (such as UE2) in the method embodiments above.

[0627] Example 4

[0628] The transceiver unit 1302 is configured to send a third reference signal at a fifth moment; the transceiver unit 1302 is further configured to receive a fourth reference signal at an eighth moment; the transceiver unit 1302 is further configured to receive fifth time information, where the fifth time information is used to indicate the time difference between a seventh moment and a sixth moment, the seventh moment is the sending moment of the fourth reference signal, and the sixth moment is the receiving moment of the third reference signal; the transceiver unit 1302 is further configured to send second time information and third time information, where the second time information is used to indicate the round-trip time of the reference signal between the second terminal device and the third terminal device, and the third time information is used to indicate the eighth moment and the time difference between the eighth moment and the fifth moment.

[0629] It can be understood that for the specific descriptions of the transceiver unit and the processing unit shown in Example 4, as well as the specific descriptions of each moment or time information, reference can be made to the second aspect shown above, or to the twelfth aspect shown above, or to the description of Figure 5 above, etc., which will not be elaborated in the embodiments of the present application.

[0630] Example 5.

[0631] The transceiver unit 1302 is configured to send a third reference signal at a fifth moment; the transceiver unit 1302 is further configured to receive a fourth reference signal at an eighth moment; the transceiver unit 1302 is further configured to receive sixth time information, where the sixth time information is used to indicate the time difference between a seventh moment and a sixth moment, the sixth moment is the receiving moment of the third reference signal, and the seventh moment is the sending moment of the fourth reference signal; the transceiver unit 1302 is further configured to receive seventh time information and eighth time information, where the seventh time information is used to indicate the round-trip time of the reference signal between the first terminal device and the third terminal device, and the eighth time information is used to indicate the fourth moment and the time difference between the fourth moment and the first moment, the first moment is the sending moment of the first reference signal, the fourth moment is the receiving moment of the second reference signal, the first reference signal is the reference signal sent by the first terminal device to the third terminal device, and the second reference signal is the reference signal sent by the third terminal device to the first terminal device.

[0632] In a possible implementation manner, the processing unit 1301 is configured to determine the time synchronization error between the first terminal device and the second terminal device according to the fifth moment, the eighth moment, the sixth time information, the seventh time information, and the eighth time information.

[0633] In a possible implementation manner, the transceiver unit 1302 is further configured to receive ninth time information.

[0634] In a possible implementation, the processing unit 1301 is further configured to determine the time synchronization error between the first terminal device and the second terminal device according to the fifth moment, the eighth moment, the sixth time information, the seventh time information, the eighth time information, and the ninth time information.

[0635] In a possible implementation, the transceiver unit 1302 is further configured to send information indicating the time synchronization error to the first terminal device.

[0636] In a possible implementation, the processing unit 1301 is further configured to determine the location information of the third terminal device according to the fifth moment, the eighth moment, the sixth time information, and the seventh time information.

[0637] It can be understood that for the specific descriptions of the transceiver unit and the processing unit shown in Example 5, as well as the specific descriptions of each moment or time information, reference can be made to the fourth aspect shown above, or to the fourteenth aspect shown above, or to the descriptions about Figure 6 above, etc. The embodiments of the present application will not be elaborated in detail.

[0638] Example 6

[0639] The transceiver unit 1302 is configured to send a third reference signal at the fifth moment; receive a fourth reference signal at the eighth moment; send the twelfth time information, where the twelfth time information is used to indicate the eighth moment and the time difference between the eighth moment and the fifth moment.

[0640] It can be understood that for the specific descriptions of the transceiver unit and the processing unit shown in Example 6, as well as the specific descriptions of each moment or time information, reference can be made to the ninth aspect shown above, or to the nineteenth aspect shown above, or to the descriptions about Figure 7 above, etc. The embodiments of the present application will not be elaborated in detail.

[0641] In still some other embodiments of the present application, the communication device may be the third terminal device shown above or a chip in the third terminal device, etc. That is, the communication device may be used to execute the steps or functions performed by the third terminal device (such as UE3) in the above method embodiments.

[0642] Example 7

[0643] A transceiver unit 1302 is configured to receive a first reference signal at a second moment; the transceiver unit 1302 is further configured to send a second reference signal at a third moment; the transceiver unit 1302 is further configured to send first time information, where the first time information is used to indicate a time difference between the third moment and the second moment; the transceiver unit 1302 is further configured to receive a third reference signal at a sixth moment; the transceiver unit 1302 is further configured to send a fourth reference signal at a seventh moment; the transceiver unit 1302 is further configured to send fifth time information, where the fifth time information is used to indicate a time difference between the seventh moment and the sixth moment.

[0644] In a possible implementation, the transceiver unit 1302 is further configured to send fourth time information.

[0645] It can be understood that for the specific descriptions of the transceiver unit and the processing unit shown in Example 7, as well as the specific descriptions of each moment or time information, reference can be made to the third aspect shown above, or to the thirteenth aspect shown above, or to the description of Figure 5 above, etc., which will not be elaborated in the embodiments of this application.

[0646] Example 8

[0647] A transceiver unit 1302 is configured to receive a first reference signal at a second moment; the transceiver unit 1302 is further configured to send a second reference signal at a third moment; the transceiver unit 1302 is further configured to send tenth time information, where the tenth time information is used to indicate a time difference between the third moment and the second moment; the transceiver unit 1302 is further configured to receive a third reference signal at a sixth moment; the transceiver unit 1302 is further configured to send a fourth reference signal at a seventh moment; the transceiver unit 1302 is further configured to send sixth time information, where the sixth time information is used to indicate a time difference between the seventh moment and the sixth moment.

[0648] In a possible implementation, the transceiver unit 1302 is further configured to send ninth time information.

[0649] It can be understood that for the specific descriptions of the transceiver unit and the processing unit shown in Example 8, as well as the specific descriptions of each moment or time information, reference can be made to the sixth aspect shown above, or to the sixteenth aspect shown above, or to the description of Figure 6 above, etc., which will not be elaborated in the embodiments of this application.

[0650] Example 9

[0651] A transceiver unit 1302 is configured to receive a first reference signal at a second moment; transmit a second reference signal at a third moment; receive an eleventh time information, where the eleventh time information is used to indicate a fourth time and a time difference between the fourth moment and a first moment, the fourth moment is a receiving moment of the second reference signal, and the first moment is a transmitting moment of the first reference signal. The transceiver unit 1302 is further configured to receive a third reference signal at a sixth moment; transmit a fourth reference signal at a seventh moment; receive a twelfth time information, where the twelfth time information is used to indicate an eighth time and a time difference between the eighth moment and a fifth moment, the eighth moment is a receiving moment of the fourth reference signal, and the fifth moment is a transmitting moment of the third reference signal.

[0652] In a possible implementation manner, a processing unit 1301 is configured to determine a time synchronization error between a first terminal device and a second terminal device according to the eleventh time information and the twelfth time information.

[0653] In a possible implementation manner, the transceiver unit 1302 is further configured to transmit information for indicating the time synchronization error.

[0654] It can be understood that for the specific descriptions of the transceiver unit and the processing unit shown in Example 9, as well as the specific descriptions of each moment or time information, reference can be made to the seventh aspect shown above, or to the seventeenth aspect shown above, or to the descriptions about Figure 7 and so on. The embodiments of the present application will not be elaborated herein.

[0655] In some other embodiments of the present application, the communication device may be the positioning device or a chip in the positioning device shown above. That is, the communication device may be used to execute the steps or functions performed by the positioning device (such as the LMF) in the method embodiments above.

[0656] The transceiver unit 1302 is configured to: receive a thirteenth time information; receive a fifteenth time information; receive a sixteenth time information; receive an eighteenth time information.

[0657] In a possible implementation manner, the processing unit 1301 is configured to determine a time synchronization error between a first network device and a second network device according to the thirteenth time information, the fifteenth time information, the sixteenth time information, and the eighteenth time information.

[0658] In a possible implementation manner, the transceiver unit 1302 is further configured to transmit information for indicating the time synchronization error.

[0659] It can be understood that for the specific descriptions of the transceiver unit and the processing unit shown in Example 9, as well as the specific descriptions of each moment or time information, reference can be made to the tenth aspect shown above, or to the twentieth aspect shown above, or to the descriptions about Figure 8a and / orFigure 8b Descriptions thereof, etc., are not elaborated in the embodiments of the present application.

[0660] The terminal device and the positioning device in the embodiments of the present application are introduced above. The following introduces possible product forms of the terminal device and the positioning device. It should be understood that any product form that has the functions of the terminal device described above, or any product form that has the functions of the positioning device described above, falls within the protection scope of the embodiments of the present application. It should also be understood that the following introduction is only for example and does not limit the product forms of the terminal device and the positioning device in the embodiments of the present application to this. Figure 13 Any product form that has the functions of the terminal device described above, or Figure 13 any product form that has the functions of the positioning device described above, falls within the protection scope of the embodiments of the present application. It should also be understood that the following introduction is only for example and does not limit the product forms of the terminal device and the positioning device in the embodiments of the present application to this.

[0661] In a possible implementation manner, Figure 13 In the communication device shown, the processing unit 1301 may be one or more processors, the transceiver unit 1302 may be a transceiver, or the transceiver unit 1302 may also be a sending unit and a receiving unit. The sending unit may be a transmitter, and the receiving unit may be a receiver. The sending unit and the receiving unit are integrated in a device, such as a transceiver. In the embodiments of the present application, the processor and the transceiver may be coupled, etc. The connection manner between the processor and the transceiver is not limited in the embodiments of the present application.

[0662] As Figure 14 shown, the communication device 140 includes one or more processors 1420 and a transceiver 1410.

[0663] Exemplarily, when the communication device is used to execute the steps, methods or functions executed by the above terminal device (such as UE1 or UE2 or UE3), the transceiver 1410 is used to receive reference signals and / or time information; and the transceiver 1410 is also used to send reference signals and / or time information. It can be understood that the received reference signal and the sent reference signal shown here are not the same reference signal. The received time information and the sent time information shown here may also not be the same time information.

[0664] Optionally, the processor 1420 is used to determine the time synchronization error.

[0665] Exemplarily, when the communication device is used to execute the steps, methods or functions executed by the above positioning device, the transceiver 1410 is used to receive time information. Optionally, the processor 1420 is used to determine the time synchronization error.

[0666] It can be understood that for the specific descriptions of the transceiver and the processor, reference can be made to the above transceiver unit and processing unit. Reference can also be made to the method embodiments shown above. It can be understood that for the descriptions of each time information, reference signal, etc., reference can be made to the above description and will not be elaborated here.

[0667] In Figure 14 In each implementation of the communication device shown, the transceiver may include a receiver and a transmitter. The receiver is used to perform the receiving function (or operation), and the transmitter is used to perform the transmitting function (or operation). And the transceiver is used to communicate with other devices / units through a transmission medium.

[0668] Optionally, the communication device 140 may further include one or more memories 1430 for storing program instructions and / or data. The memory 1430 is coupled to the processor 1420. The coupling in the embodiments of the present application is an indirect coupling or communication connection between devices, units or modules, which may be electrical, mechanical or other forms for information interaction between devices, units or modules. The processor 1420 may cooperate with the memory 1430. The processor 1420 may execute the program instructions stored in the memory 1430. Optionally, at least one of the above one or more memories may be included in the processor.

[0669] In the embodiments of the present application, the specific connection medium between the transceiver 1410, the processor 1420 and the memory 1430 is not limited. In the embodiments of the present application Figure 14 it is shown that the memory 1430, the processor 1420 and the transceiver 1410 are connected through a bus 1450. The bus is represented by a thick line in Figure 14 and the connection manners between other components are only for illustrative purposes and are not limiting. The bus may be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 14 only one thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0670] In the embodiments of the present application, the processor may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., which can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application may be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor, etc.

[0671] In the embodiments of the present application, the memory may include, but is not limited to, non-volatile memories such as hard disk drives (HDDs) or solid-state drives (SSDs), random access memories (RAMs), erasable programmable read-only memories (EPROMs), read-only memories (ROMs), or compact disc read-only memories (CD-ROMs), etc. The memory is any storage medium that can be used to carry or store program code in the form of instructions or data structures and can be read and / or written by a computer (such as the communication device shown in the present application), but is not limited thereto. The memory in the embodiments of the present application may also be a circuit or any other device capable of implementing a storage function, for storing program instructions and / or data.

[0672] The processor 1420 is mainly used for processing communication protocols and communication data, controlling the entire communication device, executing software programs, and processing the data of software programs. The memory 1430 is mainly used for storing software programs and data. The transceiver 1410 may include a control circuit and an antenna. The control circuit is mainly used for converting baseband signals into radio frequency signals and processing radio frequency signals. The antenna is mainly used for transmitting and receiving radio frequency signals in the form of electromagnetic waves. Input / output devices, such as touchscreens, displays, keyboards, etc., are mainly used for receiving data input by users and outputting data to users.

[0673] After the communication device is powered on, the processor 1420 can read the software program in the memory 1430, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be wirelessly transmitted, the processor 1420 performs baseband processing on the data to be transmitted and then outputs a baseband signal to the radio frequency circuit. The radio frequency circuit performs radio frequency processing on the baseband signal and then transmits the radio frequency signal in the form of electromagnetic waves through the antenna. When data is sent to the communication device, the radio frequency circuit receives the radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor 1420. The processor 1420 converts the baseband signal into data and processes the data.

[0674] In another implementation, the radio frequency circuit and the antenna may be provided independently of the processor performing baseband processing. For example, in a distributed scenario, the radio frequency circuit and the antenna may be independent of the communication device and arranged in a remote manner.

[0675] It can be understood that the communication device shown in the embodiments of the present application may also have more Figure 14More components and the like are not limited in the embodiments of the present application. The methods executed by the above-mentioned processor and transceiver are only examples, and for the specific steps executed by the processor and transceiver, reference may be made to the methods described above.

[0676] In another possible implementation, Figure 13 In the communication device shown, the processing unit 1301 may be one or more logic circuits, and the transceiver unit 1302 may be an input / output interface, or also referred to as a communication interface, or an interface circuit, or an interface, etc. Or the transceiver unit 1302 may also be a sending unit and a receiving unit. The sending unit may be an output interface, and the receiving unit may be an input interface. The sending unit and the receiving unit are integrated into one unit, such as an input / output interface. As Figure 15 shown, Figure 15 The communication device shown includes a logic circuit 1501 and an interface 1502. That is, the above-mentioned processing unit 1301 may be implemented by the logic circuit 1501, and the transceiver unit 1302 may be implemented by the interface 1502. Among them, the logic circuit 1501 may be a chip, a processing circuit, an integrated circuit, or a system on chip (SoC) chip, etc., and the interface 1502 may be a communication interface, an input / output interface, a pin, etc. Exemplarily, Figure 15 is exemplified by the above-mentioned communication device being a chip. The chip includes a logic circuit 1501 and an interface 1502.

[0677] In the embodiments of the present application, the logic circuit and the interface may also be coupled to each other. For the specific connection manner between the logic circuit and the interface, the embodiments of the present application do not make a limitation.

[0678] It can be understood that for the specific description of the logic circuit and the interface, reference may be made to Figure 13 or Figure 14 the device shown.

[0679] Exemplarily, when the communication device is used to execute the functions or steps performed by UE1, for the above Example 1, the interface is used to input a first reference signal and output a second reference signal; input a first time information, and input a second time information and a third time information. It can be understood that the second reference signal output by the interface may be a reference signal obtained after being processed by the logic circuit. Optionally, the logic circuit may also be used to determine the time synchronization error between UE1 and UE2.

[0680] Multiplex Figure 15 , the communication device is used to execute the functions or steps performed by UE2. Multiplex Figure 15 , the communication device is used to execute the functions or steps performed by UE3. Multiplex Figure 15, the communication device is used to perform the functions or steps executed by the LMF. It can be understood that, to avoid repetition, the specific functions of the logic circuit and the interface are not elaborated here.

[0681] It can be understood that the communication device shown in the embodiments of the present application can implement the method provided in the embodiments of the present application in the form of hardware, or can also implement the method provided in the embodiments of the present application in the form of software, etc. The embodiments of the present application do not make any limitations in this regard.

[0682] For Figure 15 The specific implementation manners of the various embodiments shown can also refer to the above-mentioned various embodiments, which will not be elaborated here.

[0683] In addition, the present application also provides a computer program, which is used to implement the operations and / or processes executed by the first terminal device or UE1 in the method provided by the present application.

[0684] The present application also provides a computer program, which is used to implement the operations and / or processes executed by the second terminal device or UE2 in the method provided by the present application.

[0685] The present application also provides a computer program, which is used to implement the operations and / or processes executed by the third terminal device or UE3 in the method provided by the present application.

[0686] The present application also provides a computer program, which is used to implement the operations and / or processes executed by the positioning device or LMF in the method provided by the present application.

[0687] The present application also provides a computer-readable storage medium, in which computer code is stored. When the computer code runs on a computer, the computer is caused to execute the operations and / or processes executed by the first terminal device or UE1 in the method provided by the present application.

[0688] The present application also provides a computer-readable storage medium, in which computer code is stored. When the computer code runs on a computer, the computer is caused to execute the operations and / or processes executed by the second terminal device or UE2 in the method provided by the present application.

[0689] The present application also provides a computer-readable storage medium, in which computer code is stored. When the computer code runs on a computer, the computer is caused to execute the operations and / or processes executed by the third terminal device or UE3 in the method provided by the present application.

[0690] The present application also provides a computer-readable storage medium storing computer code which, when run on a computer, causes the computer to perform the operations and / or processes performed by the positioning device or the LMF in the method provided by the present application.

[0691] In several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed coupling or direct coupling or communication connection between each other can be an indirect coupling or communication connection through some interfaces, devices, or units, and can also be in the form of electrical, mechanical, or other connections.

[0692] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the technical effects of the solutions provided by the embodiments of the present application.

[0693] In addition, in each embodiment of the present application, the functional units can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0694] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present 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. The computer software product is stored in a readable storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The foregoing readable storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0695] As described above, it is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the said claims.

Claims

1. A time synchronization method, which is applied to a first terminal device, characterized in that, The method includes: Sending a first reference signal at a first moment; Receiving a second reference signal at a fourth moment; Receiving first time information, where the first time information is used to indicate the time difference between a third moment and a second moment, the second moment is the receiving moment of the first reference signal, and the third moment is the sending moment of the second reference signal; Receiving second time information and third time information, where the second time information is used to indicate the round-trip time of a reference signal between a second terminal device and a third terminal device, the third time information is used to indicate an eighth moment and the time difference between the eighth moment and a fifth moment, the fifth moment is the sending moment of a third reference signal, the eighth moment is the receiving moment of a fourth reference signal, the third reference signal is a reference signal sent by the second terminal device to the third terminal device, and the fourth reference signal is a reference signal sent by the third terminal device to the second terminal device; Determining the time synchronization error between the first terminal device and the second terminal device according to the first moment, the fourth moment, the first time information, the second time information, and the third time information.

2. The method according to claim 1, wherein The method further includes: Receiving fourth time information, where the fourth time information is used to indicate the time difference between a seventh moment and the second moment, and the seventh moment is the sending moment of the fourth reference signal.

3. The method according to claim 2, characterized in that, The method further includes: Determining the time synchronization error between the first terminal device and the second terminal device according to the first moment, the fourth moment, the first time information, the second time information, the third time information, and the fourth time information.

4. The method according to any one of claims 1 to 3, characterized in that, The first reference signal is a reference signal sent by the first terminal device to the third terminal device, and the second reference signal is a reference signal sent by the third terminal device to the first terminal device.

5. The method according to any one of claims 1 to 3, characterized in that The first reference signal includes a reference signal for positioning; or, The second reference signal includes a reference signal for positioning; or, The third reference signal includes a reference signal for positioning; or, The fourth reference signal includes a reference signal for positioning.

6. The method according to any one of claims 1 to 3, characterized in that, The time synchronization error satisfies the following condition: wherein, the d 23 is the distance between the second terminal device and the third terminal device, T8 is the eighth moment, T5 is the fifth moment, T7 is the seventh moment, T6 is the sixth moment, the sixth moment is the receiving moment of the third reference signal, and (T8 - T5) - (T7 - T6) is the round-trip time of the reference signal between the second terminal device and the third terminal device; Let T1 be the first moment, T2 be the second moment, T4 be the fourth moment, T3 be the third moment, and (T4 - T1) - (T3 - T2) be the round-trip time of the reference signal between the first terminal device and the third terminal device. Let e 12 be the time synchronization error between the first terminal device and the second terminal device; c is the speed of electromagnetic waves.

7. The method according to claim 3, characterized in that, The time synchronization error satisfies the following condition: wherein, the d 23 is the distance between the second terminal device and the third terminal device, T8 is the eighth moment, T5 is the fifth moment, T7 is the seventh moment, T6 is the sixth moment, the sixth moment is the receiving moment of the third reference signal, and (T8 - T5) - (T7 - T6) is the round-trip time of the reference signal between the second terminal device and the third terminal device; where T4 is the fourth moment, T3 is the third moment, T1 is the first moment, T2 is the second moment, (T4 - T1) - (T3 - T2) is the round-trip time of the reference signal between the first terminal device and the third terminal device, and e 12 is the time synchronization error between the first terminal device and the second terminal device; c is the speed of electromagnetic waves.

8. The method according to any one of claims 1 to 3, characterized in that, The method further includes: Sending information for indicating the time synchronization error to the second terminal device.

9. A time synchronization method, which is applied to a second terminal device, characterized in that, The method includes: Sending a third reference signal at a fifth moment; Receiving a fourth reference signal at an eighth moment; Receiving fifth time information, where the fifth time information is used to indicate the time difference between a seventh moment and a sixth moment, the seventh moment is the sending moment of the fourth reference signal, and the sixth moment is the receiving moment of the third reference signal; Sending second time information and third time information, where the second time information is used to indicate the round-trip time of a reference signal between the second terminal device and the third terminal device, and the third time information is used to indicate the eighth moment and the time difference between the eighth moment and the fifth moment.

10. The method according to claim 9, wherein The third reference signal is a reference signal sent by the second terminal device to the third terminal device, and the fourth reference signal is a reference signal sent by the third terminal device to the second terminal device.

11. A time synchronization method, which is applied to a third terminal device, characterized in that, The method includes: Receiving a first reference signal at a second moment; Sending a second reference signal at a third moment; Sending first time information, where the first time information is used to indicate the time difference between the third moment and the second moment; Receiving a third reference signal at a sixth moment; Sending a fourth reference signal at a seventh moment; Sending fifth time information, where the fifth time information is used to indicate the time difference between the seventh moment and the sixth moment; Sending fourth time information, where the fourth time information is used to indicate the time difference between the seventh moment and the second moment; Wherein, the first reference signal is a reference signal received by the third terminal device from the first terminal device, the second reference signal is a reference signal sent by the third terminal device to the first terminal device, the third reference signal is a reference signal received by the third terminal device from the second terminal device, and the fourth reference signal is a reference signal sent by the third terminal device to the second terminal device.

12. A communication device, characterized in that, Comprising a processor and a memory; The memory is used to store a computer program; The processor is used to execute the computer program so that the method according to any one of claims 1-8 is executed; or, The processor is used to execute the computer program so that the method according to claim 9 or 10 is executed; or, The processor is used to execute the computer program so that the method according to claim 11 is executed.

13. A communication device, characterized in that, Comprising a logic circuit and an interface, and the logic circuit and the interface are coupled; The interface is used to input and / or output code instructions, and the logic circuit is used to execute the code instructions so that the method according to any one of claims 1-8 is executed; or, The logic circuit is used to execute the code instructions so that the method according to claim 9 or 10 is executed; or, The logic circuit is used to execute the code instructions so that the method according to claim 11 is executed.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, and when the computer program is executed, the method according to any one of claims 1-8 is executed; or, When the computer program is executed, the method according to claim 9 or 10 is executed; or, When the computer program is executed, the method according to claim 11 is executed.

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