Sidelink positioning method and related apparatus

Abstract

The present application discloses a positioning method for a sidelink. In the method, a first terminal receives a first sidelink (SL) synchronization signal sent by a second terminal, and determines the distance between the first terminal and the second terminal when the first terminal is at a first position based on the first SL synchronization signal; the first terminal receives a first signal sent by the second terminal, and determines the distance between the first terminal and the second terminal when the first terminal is at a second position based on the first signal; the first terminal receives a second signal sent by the second terminal, and determines the distance between the first terminal and the second terminal when the first terminal is at a third position based on the second signal; based on the distances between the first terminal and the second terminal at the three different positions, namely the first position, the second position and the third position, the first terminal determines the relative position of the second terminal. In this way, even when the second terminal is not covered by network signals and satellite signals and cannot perform self-positioning, the first terminal can accurately locate the relative position of the second terminal through the SL.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of communications, and in particular, to a positioning method for sidelink and related devices. Background Art

[0002] Currently, the common positioning method between terminal devices is usually self-positioning. That is, when the target terminal is not covered by the signals of at least one wireless communication technology among GNSS, GPS, WIFI, and cellular networks, the target terminal can obtain its current position through the positioning technology of the above at least one wireless communication technology, and then can also inform the addressing terminal of the current position through various communication methods via social software, positioning applications, etc.

[0003] However, in the usage scenarios of the positioning function in reality, there are many usage scenarios where there is no signal coverage of wireless communication technologies such as GNSS, GPS, WIFI, and cellular networks. The target terminal cannot use the existing wireless signal positioning technology for self-positioning, and the addressing terminal cannot obtain the position of the target terminal. Summary of the Invention

[0004] The present application provides a positioning method for sidelink. In a scenario where the target terminal has no network signal and satellite signal coverage, the addressing terminal can obtain the relative position of the target terminal.

[0005] In a first aspect, the present application provides a positioning method for sidelink, including: a first terminal receives a first sidelink (SL) synchronization signal sent by a second terminal, and determines the distance between the first terminal and the second terminal when the first terminal is at a first position based on the first SL synchronization signal; the first terminal receives a first signal sent by the second terminal, and determines the distance between the first terminal and the second terminal when the first terminal is at a second position based on the first signal; the first terminal receives a second signal sent by the second terminal, and determines the distance between the first terminal and the second terminal when the first terminal is at a third position based on the second signal; based on the distances between the first terminal and the second terminal at the three different positions of the first position, the second position, and the third position, the first terminal determines the relative position of the second terminal.

[0006] Wherein, the first signal and the second signal can be SL synchronization signals or data signals.

[0007] By implementing the embodiments of the present application, the first terminal can obtain the distances between the first terminal and the second terminal at three different positions through SL; and then can determine the relative position of the second terminal based on the distances at the above three different positions. In this way, even when the second terminal has no network signal and satellite signal coverage and cannot perform self-positioning, the first terminal can accurately locate the relative position of the second terminal through SL.

[0008] In one implementation, before the first terminal determines the relative position of the second terminal based on the distances between the first terminal and the second terminal at three different positions, namely the first position, the second position, and the third position, it further includes: the first terminal obtains the coordinates of the first position, the second position, and the third position; based on the distances between the first terminal and the second terminal at the three different positions, the first terminal determines the relative position of the second terminal, which specifically includes: based on the distances between the first terminal and the second terminal at the three different positions and the coordinates of the three different positions, the first terminal determines the relative position of the second terminal. In this way, based on the distances at the three different positions and the coordinates of the three different positions, the first terminal can accurately locate the relative position of the second terminal.

[0009] In one implementation, the first terminal obtaining the coordinates of the first position, the second position, and the third position includes: obtaining the first displacement information from the first position to the second position along the first coordinate system, and obtaining the second displacement information from the second position to the third position along the first coordinate system; based on the first displacement information and the second displacement information, obtaining the coordinates of the three different positions. In this way, based on the displacement information between the three different positions, the first terminal can determine the coordinates of the three different positions.

[0010] In one implementation, the first displacement information includes the displacements of each coordinate axis from the first position to the second position along the first coordinate system, and the second displacement information includes the displacements of each coordinate axis from the second position to the third position along the first coordinate system.

[0011] In one implementation, the first terminal obtaining the coordinates of the first position, the second position, and the third position includes: obtaining the coordinates of the three different positions through self-positioning.

[0012] In one implementation, before the first terminal receives the first SL synchronization signal sent by the second terminal, it further includes: the first terminal sends a second SL synchronization signal to the second terminal, and the second SL synchronization signal is used to instruct the second terminal to perform SL timing synchronization with the first terminal; the first synchronization signal is determined by the second terminal based on the second SL synchronization signal.

[0013] In one implementation, after the first terminal receives the first SL synchronization signal sent by the second terminal and before the first terminal receives the first signal sent by the second terminal, it further includes: determining, based on the first SL synchronization signal, that the timing advance amount for the second terminal to send an SL signal to the first terminal is the first timing advance amount; sending the first timing advance amount to the second terminal.

[0014] In one implementation, before the first terminal receives the first signal sent by the second terminal, it further includes: the first terminal sending a third signal to the second terminal, where the third signal is used to instruct the second terminal to assist the first terminal in measuring the distance between the second terminal and the first terminal; the first signal is determined by the second terminal based on the third signal, the first signal is a data signal or a synchronization signal, and the third signal is a data signal or a synchronization signal.

[0015] In one implementation, the above-mentioned second SL synchronization signal includes first synchronization source information, and the first synchronization source information is used to indicate that the first terminal can be used as a synchronization source for the second terminal; the first SL synchronization signal includes second synchronization source information, and the second synchronization source information is used to indicate that the second terminal uses the first terminal as a synchronization source.

[0016] In one implementation, the above-mentioned first terminal detects first displacement information and second displacement information through a sensor.

[0017] In one implementation, the second synchronization source information is carried by the reserved bit of the physical sidelink broadcast channel (PSBCH) in the first SL synchronization signal, and the first synchronization source information is carried by the reserved bit of the PSBCH in the second SL synchronization signal.

[0018] In a second aspect, the present application provides a sidelink positioning method, including: the second terminal sending a first sidelink (SL) synchronization signal to the first terminal, where the first SL synchronization signal is used for the first terminal at the first position to determine the distance between the first terminal and the second terminal; the second terminal sending a first signal to the first terminal, where the first signal is used for the first terminal at the second position to determine the distance between the first terminal and the second terminal; the second terminal sending a second signal to the first terminal, where the second signal is used for the first terminal at the third position to determine the distance between the first terminal and the second terminal; the distances between the first terminal and the second terminal at the three different positions of the first position, the second position, and the third position are used for the first terminal to determine the relative position of the second terminal.

[0019] Implementing the embodiments of the present application, the second terminal can send signals to the first terminal through the SL to assist the first terminal in measuring the distance between the second terminal and the first terminal, so that the first terminal can determine the relative position of the second terminal based on the distances between the first terminal and the second terminal at three different positions. In this way, even when the second terminal is not covered by network signals and satellite signals and cannot perform self-positioning, the first terminal can accurately locate the relative position of the second terminal through the SL.

[0020] In one implementation, the distances between the first terminal and the second terminal at the above three different positions, and the coordinates of the above three different positions are used for the first terminal to determine the relative position of the second terminal. In this way, based on the distances at the above three different positions and the coordinates of the above three different positions, the first terminal can accurately locate the relative position of the second terminal.

[0021] In one implementation, before the second terminal sends the first sidelink (SL) synchronization signal to the first terminal, it further includes: the second terminal receives the second SL synchronization signal sent by the first terminal; the second terminal sends the first SL synchronization signal to the first terminal, specifically including: in response to the second SL synchronization signal, the second terminal sends the first SL synchronization signal to the first terminal.

[0022] In one implementation, after the second terminal sends the first sidelink (SL) synchronization signal to the first terminal and before the second terminal sends the first signal to the first terminal, it further includes: receiving the first timing advance sent by the first terminal, and configuring the timing advance for sending the SL signal to the first terminal as the first timing advance.

[0023] In one implementation, before the second terminal sends the first signal to the first terminal, it further includes: the second terminal receives the third signal sent by the first terminal, where the third signal is used to instruct the second terminal to assist the first terminal in measuring the distance of the second terminal, the first signal is a data signal or a synchronization signal, and the third signal is a data signal or a synchronization signal; the second terminal sends the first signal to the first terminal, specifically including: in response to the third signal, the second terminal sends the first signal to the first terminal based on the first timing advance.

[0024] In one implementation, the second SL synchronization signal includes first synchronization source information, where the first synchronization source information is used to indicate that the first terminal can be used as a synchronization source of the second terminal; the first SL synchronization signal includes second synchronization source information, where the second synchronization source information is used to indicate that the second terminal uses the first terminal as a synchronization source.

[0025] In one implementation, when the second terminal uses the first terminal as a synchronization source and the second terminal sends the first SL synchronization signal to the first terminal, it specifically includes: in response to the second SL synchronization signal, the second terminal adjusts the time reference of the second terminal based on the reception time of the second SL synchronization signal, and sends the first SL synchronization signal to the first terminal based on the adjusted time reference.

[0026] In a third aspect, the present application provides a positioning method for a sidelink, including: the first terminal receives the third sidelink (SL) synchronization signal sent by the second terminal, and determines the first distance between the first terminal and the second terminal when the first terminal is at the fourth position based on the third SL synchronization signal; the first terminal receives the second distance between the third terminal and the second terminal when the third terminal is at the fifth position sent by the third terminal; the first terminal receives the third distance between the fourth terminal and the second terminal when the fourth terminal is at the sixth position sent by the fourth terminal; based on the first distance, the second distance, and the third distance, the first terminal determines the relative position of the second terminal.

[0027] In the implementation of the embodiments of the present application, the first terminal can obtain the distance between this terminal and the second terminal through SL; the third terminal and the fourth terminal can also obtain the distance between this terminal and the second terminal through SL and send it to the first terminal; the first terminal can determine the relative position of the second terminal based on the distances between the first terminal, the third terminal, and the fourth terminal and the second terminal at three different positions. In this way, even when the second terminal is not covered by network signals and satellite signals and cannot perform self-positioning, the first terminal can accurately locate the relative position of the second terminal through SL.

[0028] In one implementation manner, before the first terminal determines the relative position of the second terminal based on the first distance, the second distance, and the third distance, it further includes: the first terminal obtains the coordinates of three different positions, namely the fourth position, the fifth position, and the sixth position; determining the relative position of the second terminal based on the first distance, the second distance, and the third distance specifically includes: the first terminal determines the relative position of the second terminal based on the first distance, the second distance, the third distance, and the coordinates of the above three different positions. In this way, based on the distances at the above three different positions and the coordinates of the above three different positions, the first terminal can accurately locate the relative position of the second terminal.

[0029] In one implementation manner, the coordinates of the fourth position are obtained by the first terminal through self-positioning, the coordinates of the fifth position are obtained by the third terminal through self-positioning and sent to the first terminal, and the coordinates of the sixth position are obtained by the fourth terminal through self-positioning and sent to the first terminal.

[0030] In one implementation manner, before the first terminal receives the third SL synchronization signal sent by the second terminal, it further includes: the first terminal sends a fourth SL synchronization signal to the second terminal, and the fourth SL synchronization signal is used to instruct the second terminal to perform SL timing synchronization with the first terminal; the third SL synchronization signal is determined by the second terminal based on the fourth synchronization signal.

[0031] In one implementation manner, after the first terminal receives the third SL synchronization signal sent by the second terminal, it further includes: determining that the timing advance amount for the second terminal to send an SL signal to the first terminal based on the third SL synchronization signal is the second timing advance amount; sending the second timing advance amount to the second terminal.

[0032] In one implementation manner, before the first terminal receives the distance between the third terminal and the second terminal when the third terminal is at the fifth position sent by the third terminal, it further includes: the first terminal sends a fourth signal to the third terminal, and the fourth signal is used to instruct the third terminal to obtain the distance between it and the second terminal, and the fourth signal is a data signal or a synchronization signal.

[0033] In one implementation, the above-mentioned fourth SL synchronization signal includes third synchronization source information, and the third synchronization source information is used to indicate that the first terminal can be used as a synchronization source for the second terminal; the third SL synchronization signal includes fourth synchronization source information, and the fourth synchronization source information is used to indicate that the second terminal uses the first terminal as a synchronization source.

[0034] In one implementation, the fourth synchronization source information is carried by the reserved bit of the physical sidelink broadcast channel (PSBCH) in the third SL synchronization signal, and the third synchronization source information is carried by the reserved bit of the PSBCH in the fourth SL synchronization signal.

[0035] In a fourth aspect, the present application provides a positioning method for a sidelink, including: the second terminal sends a third sidelink (SL) synchronization signal to the first terminal, and the third SL synchronization signal is used for the first terminal at the fourth position to determine a first distance from the second terminal; the second terminal sends a fifth SL synchronization signal to the third terminal, and the fifth SL synchronization signal is used for the third terminal at the fifth position to determine a second distance from the second terminal; the second terminal sends a sixth SL synchronization signal to the fourth terminal, and the sixth SL synchronization signal is used for the fourth terminal at the sixth position to determine a third distance from the second terminal; the first distance, the second distance, and the third distance are used for the first terminal to determine the relative position of the second terminal.

[0036] By implementing the embodiments of the present application, the second terminal can send signals to the first terminal, the third terminal, and the fourth terminal respectively through the SL to assist the first terminal, the third terminal, and the fourth terminal in measuring the distance to the second terminal respectively. The first terminal can obtain the distances between the first terminal, the third terminal, and the fourth terminal and the second terminal at three different positions, and then can determine the relative position of the second terminal. In this way, even when the second terminal is not covered by network signals and satellite signals and cannot perform self-positioning, the first terminal can accurately locate the relative position of the second terminal through the SL.

[0037] In one implementation, the above-mentioned first distance, second distance, and third distance, as well as the coordinates of the three different positions of the fourth position, the fifth position, and the sixth position, are used for the first terminal to determine the relative position of the second terminal. In this way, based on the distances at the above three different positions and the coordinates of the above three different positions, the first terminal can accurately locate the relative position of the second terminal.

[0038] In one implementation, before the second terminal sends the third SL synchronization signal to the first terminal, it further includes: the second terminal receives a fourth SL synchronization signal sent by the first terminal; the second terminal sending the third SL synchronization signal to the first terminal specifically includes: in response to the fourth SL synchronization signal, the second terminal sends the third SL synchronization signal to the first terminal.

[0039] In one implementation, after the second terminal sends the third SL synchronization signal to the first terminal, the following steps are further included: receiving the second timing advance sent by the first terminal, and configuring the timing advance for sending the SL signal to the first terminal as the second timing advance.

[0040] In one implementation, the above fourth SL synchronization signal includes third synchronization source information, and the third synchronization source information is used to indicate that the first terminal can be used as a synchronization source for the second terminal; the third SL synchronization signal includes fourth synchronization source information, and the fourth synchronization source information is used to indicate that the second terminal uses the first terminal as a synchronization source.

[0041] In one implementation, when the second terminal uses the first terminal as a synchronization source and the second terminal sends the third SL synchronization signal to the first terminal, it specifically includes: in response to the fourth SL synchronization signal, the second terminal adjusts the time reference of the second terminal based on the reception time of the fourth SL synchronization signal, and sends the third SL synchronization signal to the first terminal based on the adjusted time reference.

[0042] In a fifth aspect, the present application provides a terminal, including one or more processors and one or more memories. The one or more memories are coupled to the one or more processors, and the one or more memories are used to store computer program code. The computer program code includes computer instructions. When the one or more processors execute the computer instructions, the communication device is enabled to execute the sidelink positioning method in any possible implementation manner of any aspect above.

[0043] In a sixth aspect, an embodiment of the present application provides a computer storage medium, including computer instructions. When the computer instructions run on an electronic device, the communication device is enabled to execute the sidelink positioning method in any possible implementation manner of any aspect above.

[0044] In a seventh aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a computer, the computer is enabled to execute the sidelink positioning method in any possible implementation manner of any aspect above. Description of the Drawings

[0045] Figure 1A It is a schematic hardware structure diagram of a terminal device provided by an embodiment of the present application;

[0046] Figure 1B It is a schematic diagram of a ground coordinate system provided by an embodiment of the present application;

[0047] Figure 1C It is a schematic diagram of a terminal device coordinate system provided by an embodiment of the present application;

[0048] Figures 2A to 2BSchematic diagram of the communication system provided by the embodiments of the present application;

[0049] Figure 3A Schematic diagram of the frame format of a synchronization subframe provided by the embodiments of the present application;

[0050] Figure 3B Schematic diagram of the frame format of a data subframe provided by the embodiments of the present application;

[0051] Figure 3C Timing diagram of a signal transmission provided by the embodiments of the present application;

[0052] Figures 4A to 4E Exemplary user interface provided by the embodiments of the present application;

[0053] Figure 5A Flowchart of a positioning method for a sidelink provided by the embodiments of the present application;

[0054] Figure 5B Signal timing diagram of a positioning method provided by the embodiments of the present application;

[0055] Figure 6A Two-dimensional displacement schematic diagram of an addressing terminal provided by the embodiments of the present application;

[0056] Figure 6B Three-dimensional displacement schematic diagram of an addressing terminal provided by the embodiments of the present application;

[0057] Figure 6C Curve graph provided by the embodiments of the present application;

[0058] Figure 7A Flowchart of another positioning method for a sidelink provided by the embodiments of the present application;

[0059] Figures 7B to 7D Signal timing diagram of another positioning method provided by the embodiments of the present application;

[0060] Figure 8A Two-dimensional coordinate schematic diagram of an addressing terminal provided by the embodiments of the present application;

[0061] Figure 8B Three-dimensional coordinate schematic diagram of an addressing terminal provided by the embodiments of the present application;

[0062] Figure 9A Structural schematic diagram of an addressing terminal provided by the embodiments of the present application;

[0063] Figure 9B Structural schematic diagram of an inertial navigation module provided by the embodiments of the present application;

[0064] Figure 9CSchematic diagram of the structure of a position calculation module provided by an embodiment of the present application. Detailed implementation manners

[0065] Next, the technical solutions in the embodiments of the present application will be clearly and elaborately described with reference to the accompanying drawings. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B; "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B may mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two.

[0066] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0067] In the positioning method of the sidelink provided by the embodiment of the present application, when the target terminal cannot achieve self-positioning through wireless communication technologies such as satellite communication, cellular network, and wifi, the addressing terminal can accurately locate the relative position of the target terminal through the sidelink. Next, the positioning method of the sidelink provided by the embodiment of the present application will be introduced.

[0068] First, the hardware structures of terminal devices such as the target terminal and the addressing terminal involved in the embodiments of the present application will be introduced.

[0069] The terminal devices involved in the embodiments of the present application (such as the addressing terminal and the target terminal) can be terminal devices equipped with iOS, Android, Microsoft, or other operating systems. The terminal device can also be referred to as a user equipment (UE), access terminal, user unit, user station, mobile station, mobile terminal, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent, or user device. Exemplarily, the terminal device can be a mobile phone, tablet computer, desktop computer, laptop computer, handheld computer, notebook computer, ultra-mobile personal computer (UMPC), netbook, as well as a drone, cellular phone, personal digital assistant (PDA), augmented reality (AR) device, virtual reality (VR) device, artificial intelligence (AI) device, wearable device, vehicle-mounted device, smart home device (such as a smart TV), and / or smart city device. The embodiments of the present application do not impose special restrictions on the specific type of the terminal device.

[0070] As Figure 1A shown, the terminal device may include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, a headphone interface 170D, a sensor module 180, a key 190, a motor 191, an indicator 192, a camera 193, a display screen 194, and a subscriber identification module (SIM) card interface 195, etc. Among them, the sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, a barometric pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, etc.

[0071] Among them, some of the illustrated components (such as the processor 110 and the internal memory 121) may be integrated in a system-on-chip (SOC).

[0072] It can be understood that the structure illustrated in the embodiments of the present invention does not constitute a specific limitation on the terminal device. In other embodiments of the present application, the terminal device may include more or fewer components than those illustrated, or combine certain components, or split certain components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0073] The processor 110 may include one or more processing units. For example, the processor 110 may include an application processor (AP), a modem processor, a central processing unit (CPU), a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Among them, different processing units may be independent devices or integrated in one or more processors.

[0074] The controller may generate operation control signals according to the instruction operation code and timing signals to complete the control of fetching and executing instructions.

[0075] A memory may also be provided in the processor 110 for storing instructions and data. In some embodiments, the memory in the processor 110 is a cache memory. This memory may save the instructions or data that the processor 110 has just used or recycled. If the processor 110 needs to use the instruction or data again, it can directly call it from the memory. This avoids repeated accesses, reduces the waiting time of the processor 110, and thus improves the efficiency of the system.

[0076] In some embodiments, the processor 110 may include one or more interfaces. The interfaces may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface, etc.

[0077] The charging management module 140 is configured to receive a charging input from a charger. The charger may be a wireless charger or a wired charger.

[0078] The power management module 141 is used to connect the battery 142, the charging management module 140, and the processor 110. The power management module 141 receives inputs from the battery 142 and / or the charging management module 140 and powers the processor 110, the internal memory 121, the display screen 194, the camera 193, the wireless communication module 160, etc.

[0079] The wireless communication function of the terminal device can be implemented by the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modulation and demodulation processor, and the baseband processor, etc.

[0080] The antenna 1 and the antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in the terminal device can be used to cover a single or multiple communication frequency bands. Different antennas can also be multiplexed to improve the utilization rate of the antennas. For example, the antenna 1 can be multiplexed as a diversity antenna for a wireless local area network. In some other embodiments, the antenna can be used in combination with a tuning switch.

[0081] The mobile communication module 150 may provide solutions for wireless communications such as 2G / 3G / 4G / 5G applied to the terminal device. The mobile communication module 150 may include at least one filter, switch, power amplifier, low noise amplifier (LNA), etc. The mobile communication module 150 may receive electromagnetic waves through the antenna 1, and perform processing such as filtering and amplification on the received electromagnetic waves, and then transmit them to the modulation and demodulation processor for demodulation. The mobile communication module 150 may also amplify the signal modulated by the modulation and demodulation processor, and convert it into electromagnetic waves through the antenna 1 and radiate it out. In some embodiments, at least some functional modules of the mobile communication module 150 may be provided in the processor 110. In some embodiments, at least some functional modules of the mobile communication module 150 and at least some modules of the processor 110 may be provided in the same device.

[0082] The modulation and demodulation processor may include a modulator and a demodulator. Among them, the modulator is used to modulate the low-frequency baseband signal to be transmitted into a medium-high frequency signal. The demodulator is used to demodulate the received electromagnetic wave signal into a low-frequency baseband signal. Subsequently, the demodulator transmits the demodulated low-frequency baseband signal to the baseband processor for processing. After being processed by the baseband processor, the low-frequency baseband signal is transmitted to the application processor. The application processor outputs a sound signal through an audio device (not limited to the speaker 170A, receiver 170B, etc.), or displays an image or video through the display screen 194. In some embodiments, the modulation and demodulation processor may be an independent device. In other embodiments, the modulation and demodulation processor may be independent of the processor 110 and be provided in the same device as the mobile communication module 150 or other functional modules.

[0083] The wireless communication module 160 may provide wireless communication solutions applied to terminal devices, including wireless local area networks (WLANs) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite systems (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), etc. The wireless communication module 160 may be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2, demodulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 110. The wireless communication module 160 may also receive signals to be sent from the processor 110, frequency-modulate and amplify them, and convert them into electromagnetic waves through the antenna 2 for radiation.

[0084] In some embodiments, antenna 1 of the terminal device is coupled to the mobile communication module 150, and antenna 2 is coupled to the wireless communication module 160, enabling the terminal device to communicate with the network and other devices through wireless communication technologies. The wireless communication technologies may include Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Time-Division Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technologies, etc. The GNSS may include Global Positioning System (GPS), Global Navigation Satellite System (GLONASS), Beidou Navigation Satellite System (BDS), Quasi-Zenith Satellite System (QZSS), and / or Satellite Based Augmentation Systems (SBAS).

[0085] The terminal device realizes the display function through the GPU, the display screen 194, and the application processor, etc. The GPU is a microprocessor for image processing, connected to the display screen 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor 110 may include one or more GPUs, which execute program instructions to generate or change the display information.

[0086] The display screen 194 is used to display images, videos, etc. The display screen 194 includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), a Miniled, a MicroLed, a Micro-oLed, a quantum dot light-emitting diode (QLED), etc. In some embodiments, the terminal device may include one or N display screens 194, where N is a positive integer greater than 1.

[0087] The terminal device can implement the shooting function through the ISP, the camera 193, the video codec, the GPU, the display screen 194, and the application processor, etc.

[0088] The ISP is used to process the data fed back by the camera 193. For example, when taking a photo, the shutter is opened, and the light passes through the lens and is transmitted to the camera photosensitive element. The optical signal is converted into an electrical signal, and the camera photosensitive element transmits the electrical signal to the ISP for processing and converts it into an image visible to the naked eye. The ISP can also perform algorithm optimization on the noise, brightness, and skin color of the image. The ISP can also optimize parameters such as the exposure and color temperature of the shooting scene. In some embodiments, the ISP can be set in the camera 193.

[0089] The camera 193 is used to capture static images or videos. An object generates an optical image through the lens and projects it onto the photosensitive element. The photosensitive element can be a charge-coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the optical signal into an electrical signal, and then transmits the electrical signal to the ISP to convert it into a digital image signal. The ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into an image signal in standard RGB, YUV, etc. formats. In some embodiments, the terminal device may include one or N cameras 193, where N is a positive integer greater than 1.

[0090] The digital signal processor is used to process digital signals. In addition to processing digital image signals, it can also process other digital signals. For example, when the terminal device selects a frequency point, the digital signal processor is used to perform Fourier transform on the frequency point energy, etc.

[0091] The video codec is used to compress or decompress digital videos. The terminal device can support one or more video codecs. In this way, the terminal device can play or record videos in multiple coding formats, such as: Moving Picture Experts Group (MPEG) 1, MPEG2, MPEG3, MPEG4, etc.

[0092] The NPU is a neural-network (NN) computing processor. By learning from the structure of biological neural networks, such as learning from the transmission mode between human brain neurons, it can quickly process the input information and can also continuously self-learn. Through the NPU, applications such as intelligent cognition of the terminal device can be realized, such as: image recognition, face recognition, speech recognition, text understanding, etc.

[0093] The internal memory 121 may include one or more random access memories (RAM) and one or more non-volatile memories (NVM).

[0094] The random access memory may include static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM, for example, the fifth generation of DDR SDRAM is generally called DDR5 SDRAM), etc.; the non-volatile memory may include disk storage devices, flash memory.

[0095] Flash memory can be classified into NOR Flash, NAND Flash, 3D NAND Flash, etc. according to the operating principle, and can be classified into single-level cell (SLC), multi-level cell (MLC), triple-level cell (TLC), quad-level cell (QLC), etc. according to the number of potential levels of storage cells. According to the storage specification, it can be classified into universal flash storage (UFS), embedded multi media Card (eMMC), etc.

[0096] The random access memory can be directly read and written by the processor 110. It can be used to store the operating system or the executable programs of other running programs (such as machine instructions), and can also be used to store the data of users and application programs, etc.

[0097] The non-volatile memory can also store executable programs and the data of users and application programs, etc. It can be pre-loaded into the random access memory for the processor 110 to directly read and write.

[0098] The external memory interface 120 can be used to connect to an external non-volatile memory to expand the storage capacity of the terminal device. The external non-volatile memory communicates with the processor 110 through the external memory interface 120 to implement the data storage function. For example, files such as music and videos are saved in the external non-volatile memory.

[0099] The terminal device can implement audio functions through the audio module 170, speaker 170A, receiver 170B, microphone 170C, headphone interface 170D, and the application processor, etc. For example, music playback, recording, etc.

[0100] The touch sensor 180K, also known as the "touch control device". The touch sensor 180K can be set on the display screen 194. The touch sensor 180K and the display screen 194 form a touch screen, also known as the "touch control screen". The touch sensor 180K is used to detect the touch operation acting on it or nearby. The touch sensor can transmit the detected touch operation to the application processor to determine the type of touch event. Visual output related to the touch operation can be provided through the display screen 194. In some other embodiments, the touch sensor 180K can also be set on the surface of the terminal device, at a different position from the display screen 194.

[0101] The gyroscope sensor 180B is an angular motion detection sensor and can be used to determine the motion posture of the terminal device. In some embodiments, the angular velocity of the terminal device around the three axes of the reference coordinate system can be determined by the gyroscope sensor 180B. The gyroscope sensor 180B can be used for anti-shake during shooting. Exemplarily, when the shutter is pressed, the gyroscope sensor 180B detects the angle of jitter of the terminal device, calculates the distance that the lens module needs to compensate according to the angle, and enables the lens to offset the jitter of the terminal device through reverse movement to achieve anti-shake. The gyroscope sensor 180B can also be used for navigation and somatosensory game scenarios.

[0102] It should be noted that the reference coordinate system of the gyroscope sensor is usually the ground coordinate system. Figure 1B The shown three-axis (Xg axis, Yg axis, and Zg axis) coordinate system is a ground coordinate system exemplarily shown in the embodiments of the present application. Among them, the Xg axis points east along the local latitude line, the Yg axis points north along the local meridian line, and the Zg axis points upward along the geographical vertical line and forms a right-handed rectangular coordinate system with the Xg axis and the Yg axis. Among them, the plane formed by the Xg axis and the Yg axis is the local horizontal plane, and the plane formed by the Y axis and the Zg axis is the local meridian plane. Taking a smart phone as an example, Figure 1C The shown three-axis (X axis, Y axis, and Z axis) coordinate system is a terminal device coordinate system exemplarily shown in the embodiments of the present application. Among them, the origin of the terminal device coordinate system is usually taken at the centroid of the terminal device. The X axis points from the centroid of the terminal device to the right side of the terminal device; the Y axis points from the centroid of the terminal device to the top of the terminal device, and the Y axis is perpendicular to the X axis; and the Z axis points from the centroid of the terminal device to the front of the terminal device and is perpendicular to the X axis and the Y axis. Usually, the XY plane formed by the X axis and the Y axis of the smart phone is parallel to the screen of the smart phone.

[0103] The posture of the terminal device can be determined by the three posture angles of pitch angle, yaw angle, and roll angle. The pitch angle, yaw angle, and roll angle usually refer to the angles of rotation of the terminal device around the three axes of the ground coordinate system. In one implementation, the pitch angle can be the angle between the Y axis of the terminal device coordinate system and the local horizontal plane; the yaw angle can be the angle between the projection of the Y axis of the terminal device coordinate system on the local horizontal plane and the Yg axis of the ground coordinate system, and the roll angle can be the angle between the XY plane of the terminal device coordinate system and the Zg axis of the ground coordinate system. In the embodiments of the present application, the terminal device can determine the three posture angles of the terminal device based on the angular velocity around the three axes of the ground coordinate system collected by the gyroscope, and further determine the current posture of the terminal device.

[0104] In the embodiments of the present application, it is not limited to the gyroscope sensor 180B, and the posture angle of the terminal device can also be determined by other hardware devices, which will not be specifically limited here.

[0105] The acceleration sensor 180E can detect the magnitude of the acceleration of the terminal device in all directions (generally the three axes of the reference coordinate system). When the terminal device is stationary, the magnitude and direction of gravity can be detected. It can also be used to identify the posture of the electronic device and is applied to applications such as horizontal and vertical screen switching and pedometers.

[0106] In one implementation, the reference coordinate system of the acceleration sensor 180E is the above-mentioned terminal device coordinate system. The acceleration sensor 180E can detect the acceleration of the terminal device 100 in the three-axis directions of the terminal device coordinate system, and then can convert the acceleration in the three-axis directions of the terminal device coordinate system into the acceleration in the three-axis directions of the ground coordinate system. Based on the converted acceleration data and the timestamp of the acceleration data, the terminal device can determine the displacement of the terminal device in the three-axis directions of the ground coordinate system. In one implementation, the reference coordinate system of the acceleration sensor 180E is the above-mentioned ground coordinate system. The acceleration sensor 180E can detect the acceleration of the terminal device 100 in the three-axis directions of the ground coordinate system. Based on the acceleration data collected by the acceleration sensor 180E and the timestamp of the acceleration data, the terminal device can determine the displacement of the terminal device in the three-axis directions of the ground coordinate system.

[0107] The following specifically introduces two communication systems involved in the positioning method of the sidelink provided by the embodiments of the present application.

[0108] As Figure 2A and Figure 2B shown, both of the two communication systems provided by the embodiments of the present application may include one or more addressing terminals (such as the addressing terminal 100 shown in Figure 1A and Figure 1B ) and one or more target terminals (such as the target terminal 200 shown in Figure 2A and Figure 2B ). Among them, the target terminal 200 is stationary or slowly moving, and the target terminal 200 has no coverage of network signals (such as cellular network signals, wifi signals) and satellite signals (such as GNSS signals), or the signal quality of the network signals and satellite signals covering the target terminal 200 is very poor, and it is impossible to achieve self-positioning through the network signals and satellite signals and effective communication with network devices. Figure 2A In the communication system 10 shown in Figure 2B , the addressing terminal 100 also has no coverage of network signals and satellite signals and cannot perform self-positioning. And

[0109] The network device involved in the embodiments of this application is an access device that accesses the communication system wirelessly and has wireless transceiver functions. The device includes, but is not limited to: evolved Node B (eNB), radio network controller (RNC), Node B (NB), base station controller (BSC), base transceiver station (BTS), home base station (for example, home evolved Node B, or home Node B, HNB), baseband unit (BBU), next Generation Node B (gNB) in the 5G NR network, transmission point (TRP or TP), or network nodes constituting the gNB or transmission point, such as baseband unit (BBU), or, distribution unit (DU), etc. The embodiments of this application do not limit the specific wireless access technology and specific device form adopted by the network device.

[0110] The network device and the terminal device can be deployed on land, including indoor or outdoor, handheld or vehicle-mounted, can also be deployed on the water surface, and can also be deployed on airplanes and artificial satellites in the air. The embodiments of this application do not limit this.

[0111] It should be understood that Figure 2A or Figure 2B is merely a schematic diagram of the system structure of the communication system provided by the embodiments of this application. Other devices may also be included in the communication system. For example, wireless relay devices and wireless backhaul devices may also be included ( Figure 2A or Figure 2B not shown in the figure), which is not limited here.

[0112] In communication system 10 and communication system 20, the addressing terminal 100 and the target terminal 200 have SL communication capabilities, and the addressing terminal 100 and the target terminal 200 can transmit data through SL. In this way, user data is directly transmitted between terminal devices, avoiding the transfer of user data through network devices in cellular communication. Even if the target terminal 200 has no network signal coverage, communication can still be achieved through SL. Optionally, both the addressing terminal 100 and the target terminal 200 have a PC5 interface and can achieve SL communication through the PC5 interface.

[0113] SL is an implementation form of device-to-device (D2D) communication technology. In the embodiments of this application, the communication scenarios of D2D include vehicle-to-any device (V2X), such as vehicle-to-vehicle (V2V), vehicle-to-pedestrian (V2P), vehicle-to-infrastructure (V2I), etc. The embodiments of this application do not make specific limitations on this.

[0114] In the embodiments of this application, when the above two communication systems include multiple addressing terminals 100, the multiple addressing terminals 100 can be within the cell coverage of the same network device; or at least two of the multiple addressing terminals 100 are within the cell coverage of different network devices; or none of the multiple addressing terminals 100 are within the cell coverage of the network device (that is, not within the coverage of the cellular network). No specific limitations are made here.

[0115] To facilitate the understanding of this solution, the following introduces the relevant concepts of SL involved in the embodiments of this application.

[0116] Synchronization subframe: A subframe that carries synchronization information. A synchronization subframe of SL can include PSBCH (physical sidelink broadcast channel), PSSS (primary sidelink synchronization signal), SSSS (secondary sidelink synchronization signal), and SL_DMRS (sidelink Demodulation reference signal). A subframe includes 14 symbols, with a duration of 1 ms, and the occupied bandwidth can be configured according to actual requirements. Optionally, the transmission period of the synchronization subframe is 160 ms.

[0117] Data subframe: A subframe that carries data. A data subframe of SL can include PSCCH (physical sidelink control channel), PSSCH (physical sidelink shared channel), and SL_DMRS. Optionally, the time other than the transmission of the synchronization subframe can be used to transmit the data subframe.

[0118] Exemplarily, Figure 3AShows a schematic diagram of the frame format of a synchronization subframe, Figure 3B Shows a schematic diagram of the frame format of a data subframe, Figure 3A and Figure 3B As shown, a subframe includes 14 symbol positions (i.e., Figure 3A and Figure 3B the symbol positions 0 to 13 shown), where symbol position 13 can be a gap (GAP).

[0119] It should be noted that each symbol position in the above synchronization subframe and data subframe includes a cyclic prefix (CP) and an OFDM (orthogonal frequency division multiplexing) symbol. Among them, the CP is used to ensure the orthogonality of the OFDM symbol within the protection range to prevent inter-symbol interference. The CP in the first symbol position of a subframe is the subframe header of the subframe. Optionally, the CP of the first symbol position in the subframe is longer in duration than the CP of other symbol positions. In the embodiments of the present application, for the convenience of description, the signals corresponding to the synchronization subframe can be collectively referred to as synchronization signals, and the signals corresponding to the data subframe can be collectively referred to as data signals.

[0120] Time reference: For two terminal devices to quickly establish a reliable SL, they first need to establish a common time reference. The local timing of the terminal device can be an offset based on the time reference of one or more external synchronization sources. For example, the external synchronization source can be a global positioning system (GPS), a global navigation satellite system (GNSS), a coordinated universal time (UTC), an evolved NodeB (abbreviated as eNB), etc. Optionally, the terminal device can also use a nearby terminal device as an external synchronization source. For the convenience of description, this type of synchronization source is simply referred to as a reference UE. In addition, the self-synchronization state of the terminal device means that the terminal device has no external synchronization source and uses the clock built into the device as the time reference for data transmission. It can be understood that after two terminal devices establish a common time reference, they can perform reliable SL communication at specific time-frequency positions based on the time reference.

[0121] Timing Synchronization: Multiple downlink and / or sidelink in the above two communication systems (i.e., communication system 10 and communication system 20) may share the same frequency band and / or carrier. To avoid interference between links, it is generally required that the signals from different transmitting end devices in the same subframe but different frequency domain resources arrive at the receiving end device at substantially the same time, ensuring the orthogonality of data transmission on different links. In an LTE network or an NR network, the receiving end device usually uses a unified receiving window to receive signals sent by multiple transmitting end devices. To avoid inter-carrier interference between transmitting end devices, the timing deviation of signals from multiple transmitting end devices in the communication system arriving at the receiving end device must be controlled within a predefined threshold level, and this predefined threshold level can be the duration of the CP of an OFDM symbol. If the above timing deviation exceeds the predefined threshold level, the data received by the receiving end device may have inter-symbol interference (ISI).

[0122] Therefore, in order for two terminal devices to quickly establish a reliable SL, timing synchronization is required. It should be noted that the receiving terminal can receive the synchronization subframe through a sliding receiving window. Therefore, the synchronization subframe is not limited by the length of the CP. However, the reception of the above data subframe is limited by the length of the CP. If the timing deviation exceeds the protection range of the CP, the receiving terminal cannot accurately receive the data in the data subframe sent by the transmitting terminal.

[0123] Exemplarily, as Figure 3C shown, the addressing terminal 100 and the target terminal 200 are not timing synchronized. The addressing terminal 100 sends a data signal 1 based on time reference 1, and the target terminal 200 sends a data signal 2 based on time reference 2. The receiving window 1 of the addressing terminal 100 is determined based on time reference 1. Each symbol bit in the data signal 2 includes a CP and an OFDM symbol. The time difference between the reception time of the subframe header of the data signal 2 (i.e., Figure 3C the CP1 shown) received by the addressing terminal 100 and the reference time 1 is T1, and T1 is greater than the duration of the CP. When the addressing terminal 100 performs reception detection on the data signal 2 through the receiving window 1, the receiving window includes 2 OFDM symbols, that is, there is inter-symbol interference, and the addressing terminal 100 cannot correctly obtain the data carried by the OFDM symbols in the data signal 2.

[0124] It should be noted that in the embodiments of the present application, the scenario where the target terminal 200 cannot achieve self-positioning is used as an example for illustration. The sidelink positioning method provided in the embodiments of the present application is also applicable to the scenario where the target terminal 200 can achieve self-positioning, that is, the target terminal 200 can also be under the coverage of good network signals and / or satellite signals.

[0125] Taking the addressing terminal 100 as a mobile phone and the target terminal 200 as a vehicle as an example, the application scenario of the sidelink positioning method provided by the present application will be exemplarily described through Figures 4A to 4E to the application scenario of the sidelink positioning method provided by the present application.

[0126] In this application scenario, the user holds a mobile phone to search for a vehicle. The network signal and satellite signal in the venue where the vehicle is located (such as an underground garage) are poor. The user's vehicle cannot perform self-positioning through the network signal and satellite signal, nor send the vehicle position to the mobile phone. Both the user's mobile phone and vehicle have SL communication capabilities, and the user's mobile phone has the function of positioning the vehicle position.

[0127] Exemplarily, Figure 4A shows the user interface 11 of the application installed on the mobile phone. The user interface 11 may include: a status bar 201, a tray 202 of common application icons, other application icons 203, and a page indicator 204. Among them:

[0128] The status bar 201 may include: a no-signal indicator 201A of the mobile communication signal (also known as the cellular signal), a battery status indicator, and a time indicator. The no-signal indicator 201A is used to indicate that the terminal device 100 has not established a network connection.

[0129] The other application icons 203 include the icon 203A of the intelligent vehicle APP. The other application icons may be distributed on multiple pages, and the page indicator 204 may be used to indicate which page of application icons the user is currently viewing.

[0130] The icon 203A of the intelligent vehicle APP can receive the input operation of the user (such as a touch operation). In response to the above input operation, the mobile phone can display Figure 4B the user interface 12 shown. The user interface 12 may include one or more controls for controlling the vehicle (such as controlling the vehicle to unlock, open the sunroof, turn on the air conditioner, etc.), and one or more controls for viewing vehicle parameters (such as fuel level, mileage, etc.). The controls for viewing vehicle parameters may include a vehicle positioning control 301.

[0131] The vehicle positioning control 301 can receive the input operation of the user (such as a touch operation). In response to the above input operation, the mobile phone can display Figure 4C the vehicle position search interface 13 shown. The vehicle position search interface 13 includes a prompt message 302, and the prompt message 302 is used to prompt the user to move during the vehicle position search process.

[0132] In the embodiments of the present application, during the movement of the user, the mobile phone can obtain the distances between the mobile phone and the vehicle at multiple different positions and the relative position relationships between the above-mentioned multiple positions through SL communication with the vehicle, and then can obtain the relative position of the vehicle relative to the mobile phone. The relative position of the vehicle may include the distance of the vehicle and the orientation of the vehicle. After the mobile phone searches for the relative position of the vehicle, it can display the relative position of the vehicle.

[0133] Exemplarily, the mobile phone can obtain the attitude angle of the mobile phone through a gyroscope sensor, and then determine the pointing direction of the mobile phone (i.e., the pointing direction of the Y-axis of the mobile phone projected on the ground horizontal plane) according to the attitude angle. After the mobile phone searches for the relative position of the vehicle, it can display Figure 4D the vehicle position navigation interface 14 as shown. The vehicle position navigation interface 14 may include a direction indicator 303, a direction indicator 304, and a vehicle distance 305. The direction indicator 303 is used to indicate the pointing direction of the mobile phone (i.e., the moving direction of the user), and the direction indicator 304 is used to indicate the vehicle direction with reference to the pointing direction of the mobile phone.

[0134] Optionally, the vehicle position navigation interface 14 may further include Figure 4D the estimated duration 306 as shown. The estimated duration 306 may be the duration estimated by the mobile phone for the user to walk to the vehicle position based on the vehicle distance. Optionally, the vehicle position navigation interface 14 may further include Figure 4D the azimuth dial 307 as shown. The azimuth dial 307 can be used to indicate the specific azimuth of the vehicle, for example Figure 4D "22° north" as shown.

[0135] In some embodiments, when the mobile phone is within the coverage of the cellular network, the mobile phone can obtain the absolute position of the device geographically (such as specific longitude and latitude or specific address, etc.). After the mobile phone searches for the relative position of the vehicle, it can obtain the absolute position of the vehicle geographically based on the absolute position of the device geographically.

[0136] Optionally, the mobile phone can obtain the local map and the position of the device in the above map, and then can determine the position of the vehicle in the map based on the position of the device in the map and the relative position of the vehicle. Furthermore, based on the positions of the mobile phone and the vehicle in the map, it can plan and display the navigation route for the user to reach the vehicle.

[0137] Exemplarily, when the mobile phone is within the coverage of the cellular network and the mobile phone searches for the relative position of the vehicle, it displays Figure 4E the vehicle position navigation interface 14 as shown. As Figure 4EAs shown, the vehicle position navigation interface 14 includes an indicator 309, a vehicle position indicator 310, and a navigation route 311. The position of the indicator 309 on the map is used to indicate the position of the mobile phone, the direction of the indicator 309 is used to indicate the direction of the mobile phone (i.e., the direction in which the user moves), and the navigation route 311 is the navigation route for the user to reach the vehicle.

[0138] It should be noted that Figures 4A to 4E The user interface on the mobile phone is merely illustrated as an example and should not constitute a limitation on the embodiments of the present application.

[0139] In combination with the above-mentioned hardware structure, communication system and application scenario, the specific implementation of the side link positioning method provided in the embodiment of the present application is introduced below.

[0140] The embodiment of the present application provides a sidelink positioning method, in which the addressing terminal 100 can obtain the distance between the addressing terminal 100 and the target terminal 200 at at least three different positions, and the displacement information of moving from one of the at least three positions to another position through SL; and then the relative position of the target terminal 200 can be determined based on the distance between the at least three different positions and the displacement information between the at least three different positions. By implementing the embodiment of the present application, when the target terminal 200 does not have the self-positioning capability, the addressing terminal 100 can also accurately locate the relative position of the target terminal 200 through SL.

[0141] In the embodiment of the present application, the addressing terminal 100 may also be referred to as the first terminal, and the target terminal may also be referred to as the second terminal; position 1 may also be referred to as the first position, position 2 may also be referred to as the second position, and position 3 may also be referred to as the third position, displacement information 1 may also be referred to as the first displacement information, and displacement information 2 may also be referred to as the second displacement information.

[0142] For example, Figure 5A A flowchart of a sidelink positioning method provided in an embodiment of the present application is shown. Figure 5B FIG. 4 shows a signal timing diagram of the sidelink positioning method. Figure 5A As shown, the sidelink positioning method provided in the embodiment of the present application includes but is not limited to steps S101 to S117. Among them:

[0143] Phase 1: Initial TA determination phase

[0144] S101 . The addressing terminal 100 sends a SL synchronization signal 1 , and the target terminal 200 receives the SL synchronization signal 1 sent by the addressing terminal 100 .

[0145] In this embodiment of the present application, the SL synchronization signal 1 may also be referred to as the second SL synchronization signal.

[0146] In some embodiments, the addressing terminal 100 periodically sends an SL synchronization signal 1 to the target terminal 200, and the SL synchronization signal 1 is used to instruct the target terminal 200 to perform timing synchronization with the addressing terminal 100 based on this synchronization signal.

[0147] In some embodiments, the addressing terminal 100 periodically broadcasts an SL synchronization signal 1, and the SL synchronization signal 1 is used to instruct the receiving device to perform timing synchronization with the addressing terminal 100 based on this synchronization signal.

[0148] In the 3GPP standard protocol, the transmission period of the synchronization signal is 160 ms, and in the European standard or national standard, the transmission period of the synchronization signal is 256 ms or 100 ms. The embodiments of the present application do not specifically limit the transmission period of the synchronization signal.

[0149] In some embodiments, when the target terminal 200 detects that it cannot perform self-positioning and communicate with the addressing terminal 100 through wireless communication technologies such as satellite communication, cellular network, and wifi, the target terminal 200 invokes the PC5 interface to communicate with other terminal devices through the SL protocol. For example, it can listen to the SL synchronization signal sent by other addressing terminals 100.

[0150] In the embodiments of the present application, the SL synchronization signal 1 may carry the identity document (ID) of the addressing terminal 100.

[0151] It should be noted that the ID of the sending end carried in the synchronization signal (such as the SL synchronization signal 1) sent by the addressing terminal (or target terminal) involved in the embodiments of the present application includes the following two implementation manners.

[0152] Implementation manner 1: The ID of the sending end (such as the addressing terminal 100) is indicated by the SL ID. The signal sequence characteristics of PSSS and SSSS in the SL synchronization signal are determined by the SL ID corresponding to this SL synchronization signal. The SL ID corresponding to this SL synchronization signal can be determined by identifying the PSSS and / or SSSS signal sequences in the SL synchronization signal. Usually, the value range of the SL ID is from 0 to 335.

[0153] Implementation manner 2: The ID of the sending end (such as the addressing terminal 100) is indicated by the reserved bit of the Master Information Block - Sidelink (MIB - SL) in the PSBCH. Optionally, the ID indicated by the reserved bit of the MIB - SL can be an ID pre - defined by both the sending and receiving ends, and the maximum amount of information that the reserved bit of the MIB - SL can carry is 27 bits.

[0154] Not limited to the above two implementation manners, the embodiments of the present application can also carry the ID of the sending end in the synchronization signal in other ways, which are not specifically limited herein.

[0155] In some embodiments, the SL synchronization signal 1 can carry role information, and the role information is used to indicate whether the device sending the SL synchronization signal is an addressing terminal or a target terminal. Optionally, the role information can be indicated by the reserved bit of MIB-SL in the SL synchronization signal 1. Optionally, the role information can be indicated by the SL ID corresponding to the SL synchronization signal 1, and the target terminal 200 and the addressing terminal 100 can obtain the mapping relationship between the SL ID and the role information. For example, the terminal device with the SL ID of 330 is an addressing terminal, and the terminal device with the SL ID of 331 is a target terminal.

[0156] In some embodiments, the SL synchronization signal 1 can include synchronization source information 1, and the synchronization source information 1 is used to indicate the synchronization source of the addressing terminal 100. For example, the synchronization source of the addressing terminal 100 is GNSS, a base station, a reference UE, or self-synchronization, etc., and the synchronization source information can be transmitted according to the protocol standard. In some embodiments, the SL synchronization signal 1 can include synchronization source information 2, and the synchronization source information 2 is used to indicate that the addressing terminal 100 can be used as the synchronization source of the target terminal. Optionally, the addressing terminal 100 carries the synchronization source information by the reserved bit of MIB-SL in the SL synchronization signal 1. Optionally, the addressing terminal 100 carries the synchronization source information by PSSS or SSSS in the SL synchronization signal 1. Specifically, the synchronization source of the addressing terminal 100 can be indicated by the SL ID corresponding to PSSS and / or SSSS, and the target terminal 200 and the addressing terminal 100 can obtain the mapping relationship between the SL ID and the synchronization source.

[0157] In the embodiments of the present application, the synchronization source information 2 can also be referred to as the first synchronization source information.

[0158] Exemplarily, referring to Figure 5B the timing diagram shown, the addressing terminal 100 sends the SL synchronization signal 1 to the target terminal 200 based on the time reference 1 of this device.

[0159] It should be noted that, for the convenience of display, Figure 5B the schematic diagram of each signal in the timing diagram shown only shows some symbols of the signal to illustrate the implementation process of the positioning method for the sidelink. The signals shown in the diagram also include more symbols, which are not limited in the present application. For example, referring to Figure 3A the schematic diagram of the frame structure of the synchronization subframe shown, the SL synchronization signal can include the symbol bits of signals such as PSBCH, PSSS, and SSSH, Figure 5B the SL synchronization signal 1 shown only shows the first two symbol bits, where the CP of the first symbol bit is the subframe header of this synchronization signal.

[0160] S102. Based on the reception time of the SL synchronization signal 1, the target terminal 200 adjusts the time reference of the target terminal 200.

[0161] In some embodiments, the target terminal 200 has no coverage of network signals and satellite signals. Before step S102, the target terminal 200 performs self-synchronization. After receiving the SL synchronization signal 1, the target terminal 200 uses the addressing terminal 100 as the synchronization source. If the frame start position of the received SL synchronization signal 1 (i.e., the reception time of the SL synchronization signal 1) is not aligned with the current time reference of the target terminal 200, the time reference of the target terminal 200 is adjusted based on the frame start position of the SL synchronization signal 1; if the frame start position of the received SL synchronization signal 1 is aligned with the current time reference of the target terminal 200, there is no need to adjust the time reference of the target terminal 200.

[0162] Exemplarily, referring to Figure 5B the timing diagram shown, the frame start position of the SL synchronization signal 1 differs from the current time reference 2-0 of the target terminal 200 by T1. The target terminal 200 adjusts the time reference 2-0 to the time reference 2-1, and the time difference between the time reference 2-0 and the time reference 2-1 is T1.

[0163] In some embodiments, the SL synchronization signal 1 carries the identity identifier ID of the addressing terminal 100. When the target terminal 200 determines that the ID carried by the SL synchronization signal 1 is the ID of a preset device (such as the addressing terminal 100), the target terminal 200 uses the addressing terminal 100 as the synchronization source and adjusts the time reference of the target terminal 200; when the target terminal 200 determines that the ID carried by the SL synchronization signal 1 is not the ID of a preset device, the target terminal 200 continues to perform self-synchronization.

[0164] Exemplarily, referring to Figures 4A to 4E the application scenario shown, the user can add vehicle information in the smart vehicle APP of the mobile phone to establish a binding relationship between the mobile phone and the vehicle; after binding, the vehicle stores the ID of the mobile phone. When the ID in the received synchronization signal is the ID of this mobile phone, the vehicle can use this mobile phone as the synchronization source.

[0165] In the embodiments of the present application, the frame start (beginning of frame, BOF) position or symbol start (beginning of symbol, BOS) position of the SL synchronization signal 1 can be estimated by detecting predefined synchronization information (such as PSSS, SSSS) in the SL synchronization signal 1. Optionally, the above BOF position or BOS position can refer to the start position of the CP of the first symbol bit of the SL synchronization signal 1.

[0166] In some embodiments, the target terminal 200 performs a sliding cross-correlation between the pre-stored PSSS sequence and the signal sequence of the received SL synchronization signal 1 to obtain multiple time-domain correlation peaks of the cross-correlation. Among them, the position corresponding to the largest time-domain correlation peak is the starting position of the PSSS in the SL synchronization signal 1. Furthermore, based on the position of the PSSS in the frame structure of the synchronization signal, the starting position of the CP of the first symbol of the SL synchronization signal 1 is determined, that is, the frame starting position of the SL synchronization signal 1.

[0167] In some embodiments, similar to the above PSSS, the target terminal 200 can also perform a sliding cross-correlation between the pre-stored SSSS sequence and the signal sequence of the received SL synchronization signal 1 to obtain the starting position of the SSSS in the SL synchronization signal 1. Furthermore, based on the position of the SSSS in the frame structure of the synchronization signal, the starting position of the CP of the first symbol of the SL synchronization signal 1 is determined, that is, the frame starting position of the SL synchronization signal 1.

[0168] In some embodiments, the target terminal 200 can also perform a sliding cross-correlation between the pre-stored PSSS sequence and the SSSS sequence and the signal sequence of the received SL synchronization signal 1 respectively, to obtain the starting positions of the PSSS and the SSSS in the SL synchronization signal 1 respectively, and respectively based on the positions of the PSSS and the SSSS in the frame structure of the synchronization signal, determine a starting position of the CP of the first symbol of the SL synchronization signal 1 respectively. Then, based on these two starting positions of the CP, the frame starting position of the SL synchronization signal 1 is determined. For example, it is determined that the frame starting position of the SL synchronization signal 1 is the intermediate value of the above two starting positions of the CP.

[0169] The error in determining the frame starting position of the synchronization signal through the PSSS sequence or the SSSS sequence is usually within the range of ±16Ts. By jointly determining the frame starting position of the synchronization signal through the PSSS sequence and the SSSS sequence, the error of the frame starting position can be reduced. In the embodiments of the present application, the frame starting position of the synchronization signal can also be referred to as the position of the sub-frame header of the synchronization signal, which is not specifically limited here.

[0170] S103. The target terminal 200 sends an SL response synchronization signal 2 to the addressing terminal 100 based on the SL synchronization signal 1, and the addressing terminal 100 receives the SL response synchronization signal 2 sent by the target terminal 200 at position 1.

[0171] In the embodiments of the present application, the SL response synchronization signal 2 can also be referred to as the first SL synchronization signal.

[0172] Specifically, refer to Figure 5BIn the signal timing diagram shown, the target terminal 200 sends an SL response synchronization signal 2 to the addressing terminal 100 at time reference 2-1. The SL response synchronization signal 2 carries the ID of the target terminal 200. The ID of the target terminal 200 can refer to the relevant description of the ID of the sending end in the foregoing step S101, which will not be elaborated here.

[0173] In some embodiments, the SL response synchronization signal 2 can also carry role information. Specifically, reference can be made to the role information of the SL synchronization signal 1, which will not be elaborated here.

[0174] In some embodiments, the SL response synchronization signal 2 can carry synchronization source information 3, which is used to indicate that the current synchronization source of the target terminal 200 is the reference UE, i.e., the addressing terminal 100. Specifically, reference can be made to the synchronization source information of the SL synchronization signal 1, which will not be elaborated here. In the embodiments of the present application, the synchronization source information 3 can also be referred to as the second synchronization source information.

[0175] S104. The addressing terminal 100 determines that the timing advance of the target terminal 200 is TA1 based on the SL response synchronization signal 2, and the distance between the addressing terminal 100 and the target terminal 200 when the addressing terminal 100 is at position 1 is d1.

[0176] In the embodiments of the present application, TA1 can also be referred to as the first timing advance.

[0177] Specifically, the addressing terminal 100 determines the frame start position of the received SL response synchronization signal 2, and determines the time difference between the frame start position of the SL response synchronization signal 2 and the time reference 1 of the addressing terminal 100. This time difference is the round trip delay (RTD) between the addressing terminal 100 and the target terminal 200; then, the addressing terminal 100 calculates the initial value of the timing advance of the target terminal 200 as TA1 based on the above RTD, and determines the initial distance between the addressing terminal 100 and the target terminal 200 when the addressing terminal 100 is at position 1 as d1.

[0178] Among them, for the acquisition of the frame start position of the SL response synchronization signal 2, reference can be made to the relevant description of the frame start position of the foregoing SL synchronization signal 1, which will not be elaborated here.

[0179] Exemplarily, referring to Figure 5B the signal timing diagram shown, the time difference between the frame start position of the SL response synchronization signal 2 and the time reference 1 of the addressing terminal 100 is RTD1.

[0180] In the embodiments of the present application, the adjustment granularity (or adjustment step, or unit) of TA can be 16Ts, 1Ts = 1 / 30.72 MHz = 32.552 nanoseconds (ns), and 16Ts = 0.5208 microseconds (us). Accordingly, the transmission distance corresponding to the adjustment granularity of TA is: 0.5208 us × c = 78.12 meters (m), where c is the speed of light. In the embodiments of the present application, the unit of RTD1 can be seconds (s), milliseconds (ms), Ts, or 16Ts, and no specific limitation is made here. Taking the unit of RTD1 as 16Ts as an example below, how to determine TA and distance d1 will be described.

[0181] Optionally, the addressing terminal 100 determines that the value of the timing advance TA1 of the target terminal 200 is RTD1.

[0182] Optionally, the addressing terminal 100 determines that the value of the timing advance TA1 of the target terminal 200 is RTD1 - Tcp. Among them, the offset Tcp can take a value of one-half, one-third, or other preset values of the CP duration. Exemplarily, referring to Figure 5B , by introducing the offset Tcp into TA, the OFDM symbol can fall into the receiving window more accurately, so as to reduce the possibility of inter-symbol interference. The subsequent embodiments will be described by taking the value of Tcp equal to one-half of the CP duration as an example.

[0183] In the embodiments of the present application, TA can also have other determination methods, and no specific limitation is made here. The subsequent embodiments will be described by taking the timing advance with the introduced offset Tcp as an example.

[0184] Optionally, when the addressing terminal 100 is at position 1, the distance d1 between the addressing terminal 100 and the target terminal 200 is 0.5 × RTD1 × 0.5208 us × c meters.

[0185] It can be understood that if RTD1 is in other units, only simple conversion is required to obtain the corresponding timing advance TA1 and distance d1 of this RTD1.

[0186] S105. The addressing terminal 100 continuously detects the displacement information of the addressing terminal 100 by using a sensor.

[0187] In the embodiments of the present application, the addressing terminal 100 can measure the displacement information of the addressing terminal 100 by using an acceleration sensor, and can also sense information such as the attitude and direction of the addressing terminal 100 by using a gyroscope sensor.

[0188] Optionally, the addressing terminal 100 uses an acceleration sensor to detect the displacement information of the addressing terminal 100 on two coordinate axes in a two-dimensional coordinate system. Exemplarily, taking the addressing terminal 100 as a mobile phone and the target terminal 200 as a vehicle as an example, Figure 6AFIG. 0 shows a two-dimensional displacement diagram of an addressing terminal 100 provided by an embodiment of the present application. The two-dimensional coordinate system therein is composed of the Xg axis and the Yg axis in the ground coordinate system. The addressing terminal 100 can use an acceleration sensor to detect the moving distances of the addressing terminal 100 on the Xg axis and the Yg axis. The above position 1 can be represented as a two-dimensional coordinate point (x1, y1).

[0189] Optionally, the addressing terminal 100 uses an acceleration sensor to detect displacement information of the addressing terminal 100 on three coordinate axes in a three-dimensional coordinate system. Exemplarily, taking the addressing terminal 100 as a drone and the target terminal 200 as a vehicle as an example, Figure 6B FIG. 5 shows a three-dimensional displacement diagram of an addressing terminal 100 provided by an embodiment of the present application. The reference coordinate system is the ground coordinate system. The addressing terminal 100 can use an acceleration sensor to detect the moving distances of the addressing terminal 100 on the Xg axis, the Yg axis, and the Zg axis. The above position 1 can be represented as a three-dimensional coordinate point (x1, y1, z1).

[0190] It can be understood that the addressing terminal 100 can use an acceleration sensor to measure the moving distances of the addressing terminal 100 on each coordinate axis. Based on the moving distances on the above coordinate axes, the distance between the position of the addressing terminal 100 after moving and position 1, as well as the moving direction of the addressing terminal 100, can also be determined.

[0191] Specifically, reference can be made to the relevant descriptions of the gyroscope sensor and the acceleration sensor in the foregoing Figures 1A to 1C related embodiments, which will not be elaborated here. It should be noted that in the embodiments of the present application, it is not limited to the gyroscope sensor and the acceleration sensor. The addressing terminal 100 can also detect the displacement information and attitude of the addressing terminal 100 through other sensors.

[0192] The first coordinate system involved in the embodiments of the present application can be the above-mentioned ground coordinate system.

[0193] Phase II: Initial TA Configuration Phase

[0194] S106. The addressing terminal 100 sends a signal 3 to the target terminal 200, and the target terminal 200 receives the signal 3 sent by the addressing terminal 100. The signal 3 carries a timing advance TA1.

[0195] In some embodiments, signal 3 is a synchronization signal, and the addressing terminal 100 may carry TA1 through the PSBCH in the synchronization signal. Optionally, the addressing terminal 100 carries TA1 through the reserved bit positions of the PSBCH. Exemplarily, the length of the reserved bit positions in the MIB-SL-V2X (Master Information Block-Sidelink-Vehicle-to-Everything) of the PSBCH is 27 bits, and the length of the TA that can be carried is the same as the length of the TA in traditional LTE (Long Term Evolution).

[0196] In some embodiments, signal 3 is a data signal, and the addressing terminal 100 may carry TA1 through the PSCCH or PSSCH in the data signal. Optionally, the addressing terminal 100 carries TA1 through the reserved bit positions of the PSCCH. Exemplarily, the length of the reserved bit positions in the PSCCH is 6 bits, and the length of the TA that can be carried is 64 * 16Ts.

[0197] In some embodiments, referring to Figure 5B the timing diagram shown, during steps S101 to S106, the addressing terminal 100 is stationary or moving slowly, and the frame start position of the signal 3 received by the target terminal 200 can be substantially aligned with the current time reference 2-1 of the target terminal 200.

[0198] In some embodiments, signal 3 may carry the ID of the addressing terminal 100. Optionally, if signal 3 is a synchronization signal, the ID of the sending end (i.e., the addressing terminal 100) carried by signal 3 may refer to the relevant description of the ID of the sending end in the foregoing step S101, which will not be elaborated here; if signal 3 is a data signal, the ID of the sending end (i.e., the addressing terminal 100) carried by signal 3 may be carried in a specified field of the data signal. This ID may be the card number of a Subscriber Identity Module (SIM), or an ID customized by both the sending and receiving ends, and no specific limitation is made here.

[0199] In some embodiments, signal 3 carries the IDs of the addressing terminal 100 and the target terminal 200. Optionally, if signal 3 is a synchronization signal, the ID of the sending end (i.e., the addressing terminal 100) carried by signal 3 can be the SL ID corresponding to this signal, and the ID of the receiving end (i.e., the target terminal 100) carried by signal 3 can be indicated by the reserved bit of MIB-SL, and the amount of information of the ID of the receiving end is less than or equal to 27 bits; if signal 3 is a data signal, the ID of the sending end (i.e., the addressing terminal 100) and the ID of the receiving end (i.e., the target terminal 100) carried by signal 3 can be carried in different specified fields in the data signal. The ID can be a SIM card number or a custom ID defined by both the sending and receiving ends, and no specific limitation is made here.

[0200] S107. The target terminal 200 configures the timing advance for sending the SL signal to the addressing terminal 100 as TA1.

[0201] S108. The target terminal 200 establishes an SL connection with the addressing terminal 100.

[0202] After the target terminal 200 configures the timing advance for sending the SL signal to the addressing terminal 100, the target terminal 200 and the addressing terminal 100 complete the initial timing synchronization, an SL link is established between the target terminal 200 and the addressing terminal 100, and the target terminal 200 and the addressing terminal 100 can perform SL communication through the PC5 interface.

[0203] It can be understood that after the target terminal 200 configures the timing advance for sending the SL signal to the addressing terminal 100 as TA1, when the target terminal 200 sends a data signal to the addressing terminal 100, it needs to send the data signal with a time amount advanced by TA1 based on the current time reference 2-1. In this way, the above data signal can reach the addressing terminal 100 within the preset error of the time reference 1 of the addressing terminal 100, ensuring that the addressing terminal 100 can accurately receive the data sent by the target terminal 200.

[0204] Phase three: Connection phase, the addressing terminal 100 moves its position

[0205] In the sidelink positioning method provided by the embodiments of the present application, the addressing terminal 100 needs to move its position multiple times and obtain the distances from the target terminal 200 at at least 3 different positions, as well as the displacement information between the above 3 different positions. Exemplarily, referring to Figures 4A to 4E the application scenario shown, the mobile phone (i.e., the addressing terminal 100) displays a prompt message 302 to prompt the user to move the position of the mobile phone.

[0206] S109. The addressing terminal 100 sends signal 4 to the target terminal 200, and the target terminal 200 receives the signal 4 sent by the addressing terminal 100.

[0207] In the embodiments of the present application, signal 4 may also be referred to as the third signal, and signal 4 is used to instruct the target terminal 200 to assist the addressing terminal 100 in measuring the distance between the target terminal 200 and the addressing terminal 100.

[0208] Exemplarily, referring to Figure 5B the timing diagram shown, the addressing terminal 100 sends signal 4 to the target terminal 200 based on time reference 1.

[0209] Among them, signal 4 may be a data signal or a synchronization signal, and no specific limitation is made here. In some embodiments, signal 4 carries the ID of the addressing terminal 100. Optionally, signal 4 also carries the ID of the target terminal 200. Specifically, reference may be made to the relevant description of the ID carried by signal 3 in step S106, which will not be elaborated here.

[0210] Optionally, when the addressing terminal 100 determines that the moving distance between the addressing terminal 100 and position 1 is greater than the preset distance value 1, it sends signal 4 to the target terminal 200. Signal 4 is used to obtain the distance between the addressing terminal 100 and the target terminal 200 at different positions outside position 1 (such as position 2). If the distance between position 2 and position 1 is relatively close, it may cause a large error in the finally calculated relative position of the target terminal 200.

[0211] S110. The target terminal 200 adjusts the time reference of the target terminal 200 based on the reception time of signal 4.

[0212] It can be understood that during the movement of the addressing terminal 100, the distance between the target terminal 200 and the addressing terminal 100 may change. After the target terminal 200 sets the addressing terminal 100 as the synchronization source, in order to avoid the timing synchronization failure caused by the change in the distance between the target terminal 200 and the addressing terminal 100, it is necessary to continue to adjust the time reference of the target terminal 200 according to the signal sent by the addressing terminal 100.

[0213] Exemplarily, referring to Figure 5B the timing diagram shown, the time difference between the frame start position of signal 4 received by the target terminal 200 (i.e., the reception time of signal 4) and the current time reference 2-1 of the target terminal 200 is T2. The target terminal 200 adjusts the time reference of the target terminal 200 to time reference 2-2 based on the frame start position of signal 4, and the time difference between time reference 2-1 and time reference 2-2 is T2.

[0214] In some embodiments, if the frame start position of signal 4 is aligned with the current time reference 2-1 of the target terminal 200, or the frame start position of signal 4 is within the preset error range of time reference 2-1, then after the target terminal 200 receives signal 4, it is not necessary to adjust the time reference of the target terminal 200.

[0215] S111. The target terminal 200 sends signal 5 to the addressed terminal 100 based on the current timing advance, and the addressed terminal 100 receives signal 5 sent by the target terminal 200 at location 2.

[0216] In the embodiments of the present application, signal 5 may also be referred to as the first signal.

[0217] Among them, signal 5 may be a data signal or a synchronization signal. In some embodiments, signal 5 carries the ID of the target terminal 200 (i.e., the sending end). Optionally, signal 5 also carries the ID of the addressed terminal 100 (i.e., the receiving end). Specifically, reference may be made to the relevant description of the ID carried by signal 3 in step S106, which will not be elaborated here.

[0218] Specifically, based on the current time reference 2-2 of the target terminal 100, signal 5 is sent to the addressed terminal 100 in advance based on the timing advance of the target terminal 100.

[0219] Optionally, between step S107 and step S111, the target terminal 200 does not update the timing advance, and the current timing advance of the target terminal 200 is still the above initial value TA1. Optionally, between step S107 and step S111, the target terminal 200 updates the timing advance, and the current timing advance of the target terminal 200 is updated to TA2, where TA2 is equal to the two-way transmission delay RTD2, or TA2 is equal to RTD2 - Tcp.

[0220] Exemplarily, taking the case where the current timing advance of the target terminal 200 is updated to TA2 and TA2 is equal to RTD2 - Tcp as an example for illustration. Refer to Figure 5B the shown timing diagram. Relative to the time reference 2-2, the target terminal 200 sends signal 5 to the addressed terminal 100 in advance by a time amount of RTD2 - Tcp. Correspondingly, the receiving time (i.e., the frame start position) when the addressed terminal 100 receives signal 5 differs from the reference time 1 of the addressed terminal 100 by Tcp + △t1. Among them, △t1 is the delay deviation value caused by calculation error and / or channel change. The time difference between the left border of the receiving window of the addressed terminal 100 (as shown by the dashed box) and the midpoint of the first CP of signal 5 is △t1; if △t1 is equal to zero, then the above left border is aligned with the midpoint of the first CP of signal 5, where the position of the receiving window is determined based on the time reference 1 of the addressed terminal 100.

[0221] Optionally, the value range of △t1 is from -Tcp to Tcp. Within this range, the addressing terminal 100 can accurately receive the data sent by the target terminal 200. When △t1 is greater than -Tcp, the arrival time of signal 5 is on the right side of time reference 1, and the time difference between the arrival time of signal 5 and reference time 1 (i.e., Tcp + △t1) is positive; when △t1 is less than -Tcp, the arrival time of signal 5 is on the left side of time reference 1, and the time difference between the arrival time of signal 5 and reference time 1 is negative. Optionally, the value range of △t1 can also be set to other values according to the actual situation, and no specific limitation is made here.

[0222] It can be understood that if the timing advance of the target terminal 200 does not introduce Tcp, the reception time of the addressing terminal 100 for receiving signal 5 and reference time 1 differ by △t1, and the reception time of signal 5 and reference time 1 are basically aligned.

[0223] S112. The addressing terminal 100 determines the distance d2 between the addressing terminal 100 and the target terminal 200 when the addressing terminal 100 is at position 2 based on signal 5, and obtains the displacement information 1 of the addressing terminal 100 from position 1 to position 2.

[0224] Specifically, the addressing terminal 100 determines the frame start position of the received signal 5, and determines the time difference (such as Tcp + △t1) between the frame start position of signal 5 and the time reference 1 of the addressing terminal 100. The sum of this time difference and the timing advance of the target terminal 200 (such as the current timing advance is updated to TA2, and TA2 is equal to RTD2 - Tcp) is the current RTD between the addressing terminal 100 and the target terminal 200 at position 2; then, the addressing terminal 100 determines the distance d2 between the addressing terminal 100 and the target terminal 100 at position 2 based on the above current RTD.

[0225] Optionally, referring to Figure 5B , if the timing advance of the target terminal 200 is updated to TA2, and TA2 is equal to RTD2 - Tcp or RTD2, then at position 2, the RTD between the addressing terminal 100 and the target terminal 200 is equal to RTD2 + △t1, and the distance d2 is equal to 0.5×(RTD2 + △t1)×0.5208us×c meters. Optionally, if the timing advance of the target terminal 200 remains TA1, the distance d2 is equal to 0.5×(RTD1 + △t1)×0.5208us×c meters.

[0226] Optionally, the target terminal 200 can also determine the distance d2 from itself to the addressing terminal 100 based on the reception time of signal 4, and send the distance d2 to the addressing terminal 100, and no specific limitation is made here.

[0227] It should be noted that in the embodiments of the present application, after the addressing terminal 100 and the target terminal 200 are synchronized at regular intervals, the addressing terminal 100 and the target terminal 200 can determine the receiving moments of the synchronization signal and the data signal (such as signal 5), as well as the sending moments of the synchronization signal and the data signal, based on the time reference, the sending period of the synchronization signal, and the sending period of the data signal. When signal 5 is a synchronization signal, the acquisition of the frame start position (i.e., the receiving moment) of signal 5 can also refer to the relevant description of the frame start position of the aforementioned SL synchronization signal 1, which will not be elaborated here.

[0228] Exemplarily, referring to Figure 6A , in a two-dimensional coordinate system, the coordinates of the addressing terminal 100 at position 2 can be expressed as (x2, y2). The displacement information 1 from position 1 to position 2 may include: from position 1 to position 2, the moving distance delatX(1,2) of the addressing terminal 100 on the Xg axis and the moving distance delatY(1,2) on the Yg axis.

[0229] Exemplarily, referring to Figure 6B , in a three-dimensional coordinate system, the coordinates of the addressing terminal 100 at position 2 can be expressed as (x2, y2, z2). The displacement information 1 from position 1 to position 2 may include: from position 1 to position 2, the moving distance delatX(1,2) of the addressing terminal 100 on the Xg axis, the moving distance delatY(1,2) on the Yg axis, and the moving distance delatY(1,2) on the Zg axis.

[0230] S113. The addressing terminal 100 sends signal 6 to the target terminal 200, and the target terminal 200 receives signal 6 sent by the addressing terminal 100.

[0231] Exemplarily, referring to Figure 5B the timing diagram shown, the addressing terminal 100 sends signal 6 to the target terminal 200 based on time reference 1.

[0232] Among them, signal 6 can be a data signal or a synchronization signal, which is not specifically limited here. In some embodiments, signal 6 carries the ID of the addressing terminal 100 (i.e., the sending end). Optionally, signal 6 also carries the ID of the target terminal 200 (i.e., the receiving end). Specifically, reference can be made to the relevant description of the ID carried by signal 3 in step S106, which will not be elaborated here.

[0233] Optionally, when the addressing terminal 100 determines that the moving distance between it and position 2 is greater than the preset distance value 1, it sends signal 6 to the target terminal 200. It can be understood that if the distance between position 3 and position 2 is relatively close, it may cause a large error in the finally calculated relative position of the target terminal 200.

[0234] S114. The target terminal 200 adjusts the time reference of the target terminal 200 based on the reception time of signal 6.

[0235] Exemplarily, referring to Figure 5B the timing diagram shown, the time difference between the frame start position of signal 6 received by the target terminal 200 (i.e., the reception time of signal 6) and the current time reference 2-2 of the target terminal 200 is T3. The target terminal 200 adjusts the time reference of the target terminal 200 to time reference 2-3 based on the frame start position of signal 6, and the time difference between time reference 2-3 and time reference 2-2 is T3.

[0236] In some embodiments, if the frame start position of signal 6 is aligned with the current time reference 2-2 of the target terminal 200, or the frame start position of signal 6 is within the preset error range of time reference 2-2, then after receiving signal 6, the target terminal 200 does not need to adjust the time reference of the target terminal 200.

[0237] S115. The target terminal 200 sends signal 7 to the addressed terminal 100 based on the current timing advance, and the addressed terminal 100 receives signal 7 sent by the target terminal 200 at position 3.

[0238] In the embodiments of the present application, signal 7 can also be referred to as the second signal.

[0239] Among them, signal 7 can be a data signal or a synchronization signal. In some embodiments, signal 7 carries the ID of the target terminal 200 (i.e., the sending end). Optionally, signal 7 also carries the ID of the addressed terminal 100 (i.e., the receiving end). Specifically, reference can be made to the relevant description of the ID carried by signal 3 in step S106, which will not be elaborated here.

[0240] Specifically, based on the current time reference 2-3 of the target terminal 200, the target terminal 200 sends signal 7 to the addressed terminal 100 in advance based on the current timing advance.

[0241] In some embodiments, the timing advance of the target terminal 200 in step S111 is TA2. Optionally, between step S112 and step S115, the target terminal 200 does not update the timing advance, and the current timing advance is still the above TA2. Optionally, between step S112 and step S115, the target terminal 200 updates the timing advance, and the current timing advance is updated to TA3, and TA3 is equal to the two-way transmission delay RTD3, or equal to RTD3 - Tcp.

[0242] Exemplarily, taking the timing advance of the target terminal 200 being updated to TA3 and TA3 being equal to RTD3 - Tcp as an example for illustration. Referring to Figure 5BIn the timing diagram shown, relative to the time reference 2-3, the target terminal 200 sends signal 7 to the addressing terminal 100 in advance by the time amount of RTD3-Tcp. Correspondingly, the receiving time of the addressing terminal 100 when receiving signal 7 (i.e., the frame start position) differs from the reference time 1 of the addressing terminal 100 by Tcp+△t2. Wherein, △t2 is the delay deviation value caused by calculation error and / or transmission delay, and the time difference between the left border of the receiving window and the midpoint of the first CP of signal 5 is △t2.

[0243] Optionally, the value range of △t2 is from -Tcp to Tcp. Within this value range, the addressing terminal 100 can accurately receive the data sent by the target terminal 200. The value range of △t2 can also be set to other values according to the actual situation, and this application does not make any limitations.

[0244] S116. The addressing terminal 100 determines that the distance between the addressing terminal 100 and the target terminal 200 at position 3 is d3 based on signal 7, and obtains the displacement information 2 of the addressing terminal 100 from position 2 to position 3.

[0245] Specifically, the addressing terminal 100 determines the frame start position of the received signal 7, and determines the time difference (such as Tcp+△t2) between the frame start position of signal 7 and the time reference 1 of the addressing terminal 100. The sum of this time difference and the timing advance of the target terminal 200 (such as the current timing advance is updated to TA3, and TA3 is equal to RTD3-Tcp) is the current RTD between the addressing terminal 100 and the target terminal 200 at position 3; then, the addressing terminal 100 determines that the distance between the addressing terminal 100 and the target terminal 200 at position 3 is d3 based on the above current RTD.

[0246] Optionally, referring to Figure 5B , if the timing advance of the target terminal 200 is updated to TA3, and TA3 is equal to RTD3-Tcp or RTD3, then at position 3, the round-trip transmission delay between the addressing terminal 100 and the target terminal 200 is equal to RTD3+△t2, and the distance d2 is equal to 0.5×(RTD3+△t2)×0.5208us×c meters.

[0247] Wherein, when signal 7 is a synchronization signal, for the acquisition of the frame start position of signal 7, reference can be made to the relevant description of the frame start position of the aforementioned SL synchronization signal 1, and details are not described herein again.

[0248] Exemplarily, referring to Figure 6A, in a two-dimensional coordinate system, the coordinates of the addressing terminal 100 at position 3 can be represented as (x3, y3). The displacement information 2 from position 2 to position 3 may include: from position 2 to position 3, the moving distance delatX(2,3) of the addressing terminal 100 on the Xg axis and the moving distance delatY(2,3) on the Yg axis.

[0249] Exemplarily, referring to Figure 6B , in a three-dimensional coordinate system, the coordinates of the addressing terminal 100 at position 3 can be represented as (x3, y3, z3). The displacement information 2 from position 2 to position 3 may include: from position 2 to position 3, the moving distance delatX(2,3) of the addressing terminal 100 on the Xg axis, the moving distance delatY(2,3) on the Yg axis, and the moving distance delatZ(2,3) on the Zg axis.

[0250] Stage Four: The addressing terminal 100 obtains the relative position of the target terminal 200

[0251] S117. Based on the distances between the addressing terminal 100 and the target terminal 200 at the above three positions, and the displacement information of the addressing terminal 100 between the above three positions, determine the relative position of the target terminal 200.

[0252] In some embodiments, referring to Figure 6A , positions 1, 2, and 3 of the addressing terminal 100 are two-dimensional coordinate points, that is, the displacement information 1 and displacement information 2 between the above three positions are the moving distances of the addressing terminal 100 on the two-dimensional coordinate system. Represent the position of the target terminal 200 as (xt, yt), then (xt, yt), the coordinates of the above three positions (i.e., (x1, y1), (x2, y2), (x3, y3)), the distances at the above three positions (i.e., d1, d2, d3), displacement information 1 (i.e., delatX(1,2), delatY(1,2)) and displacement information 2 (i.e., delatX(2,3), delatY(2,3)) satisfy the following formulas:

[0253] x2 = x1 + delatX(1,2) (1)

[0254] y2 = y1 + delatY(1,2) (2)

[0255] x3 = x1 + delatX(1,2) + delatX(2,3) (3)

[0256] y3 = t1 + delatY(1,2) + delatY(2,3) (4)

[0257]

[0258]

[0259]

[0260] In the embodiments of the present application, the addressing terminal 100 may set the initial value of the coordinates (x1, y1) of position 1, and then the two-dimensional coordinates (xt, yt) of the target terminal 200 can be solved through the above formulas (1) to (7).

[0261] In some embodiments, the addressing terminal 100 is not under the coverage of network signals and / or satellite signals and cannot perform self-positioning. The addressing terminal 100 sets the initial value of the coordinates (x1, y1) of position 1 to (0, 0). Based on this initial value, through the above formulas (1) to (4), the coordinates (x2, y2) of position 2 and the coordinates (x3, y3) of position 3 can be determined. Then, through the above formulas (5) to (7), the relative coordinates of the target terminal 200 in the two-dimensional ground coordinate system can be solved.

[0262] Exemplarily, taking Figure 4D the application scenario shown as an example, after the addressing terminal 100 determines the relative coordinates of the target terminal 200, it detects the displacement change of the addressing terminal 100 in real time, determines the relative coordinates of the latest position of the addressing terminal 100, and then determines the current distance between the two terminals and the current azimuth of the target terminal 200 relative to the addressing terminal 100 according to the relative coordinates of the addressing terminal 100 and the target terminal 200; in addition, the addressing terminal 100 also uses sensors to obtain the current pointing of the target terminal 200 in real time. For example, the above current distance is 150 m, the above current azimuth is 22° north, and the above current pointing is 0° north. Then, the addressing terminal 100 generates Figure 4D the vehicle navigation interface 14 shown. Among them, the 22° north displayed on the azimuth dial 307 is the above current azimuth, and the included angle between the pointing directions of the direction indicator 303 and the direction indicator 304 on the display screen is equal to the included angle between the above current azimuth and the current pointing, that is, 22°.

[0263] In some embodiments, when the addressing terminal 100 is under the coverage of network signals and / or satellite signals, the addressing terminal 100 can perform self-positioning. Without detecting displacement information through sensors, the absolute coordinates of the terminal in the ground coordinate system can be obtained through the above network signals and / or satellite signals, that is, the coordinates (x1, y1), (x2, y2), and (x3, y3) are all known. Then, through the above formulas (5) to (7), the absolute coordinates of the target terminal 200 in the two-dimensional ground coordinate system can be solved.

[0264] Exemplarily, taking Figure 4ETaking the application scenario shown as an example, the addressing terminal 100 can obtain the map of the current area where it is located, as well as the positions of the absolute coordinates of the addressing terminal 100 and the target terminal 200 in the above map. Then, based on the positions of the two terminals in the above map, a navigation route can be planned and navigation can be carried out. In one implementation, the above map can be a map obtained online through the server corresponding to the map APP. The addressing terminal 100 can plan a navigation route online through the above server, track the real-time position of the addressing terminal 100, and perform navigation. In one implementation, the above map can be a downloaded and stored local map. The addressing terminal 100 can intelligently plan a navigation route offline based on the positions of the two terminals in the above map, and use the acceleration sensor to track the real-time position of the addressing terminal 100, thereby realizing offline navigation. Without being limited to the above two implementation manners, in the embodiments of the present application, the addressing terminal 100 can also perform navigation in other ways, which is not specifically limited herein.

[0265] Reference Figure 6C , it can be understood that the above formulas (5) to (7) can be represented by the circle 1 curve, the circle 2 curve, and the circle 3 curve respectively. Based on the 3 circles, an intersection point can be located, and this intersection point is the coordinate (xt, yt) of the target terminal 200. Therefore, the coordinate of the target terminal 200 can be solved through the above formulas (5) to (7).

[0266] Optionally, the least squares method, the weighted least squares method, or the Newton iteration method can be used to solve the above formulas (5) to (7). Without being limited to the above three solution algorithms, in the embodiments of the present application, the above formulas (5) to (7) can also be solved by other algorithms, which is not specifically limited herein.

[0267] In some embodiments, reference Figure 6B , the positions 1, 2, and 3 of the addressing terminal 100 are three-dimensional coordinate points, that is, the displacement information 1 and displacement information 2 between the above 3 positions are the moving distances of the addressing terminal 100 in the three-dimensional coordinate system. Representing the position of the target terminal 200 as (xt, yt, zt), then (xt, yt, zt), the coordinates of the above 3 positions (i.e., (x1, y1, z1), (x2, y2, z2), (x3, y3, z3)), the distances at the above 3 positions (i.e., d1, d2, d3), the displacement information 1 (i.e., delatX(1,2,), delatY(1,2), delatZ(1,2)) and the displacement information 2 (i.e., delatX(2,3), delatY(2,3), delatZ(2,3)) satisfy the following formulas:

[0268] x2 = x1 + delatX(1,2) (8)

[0269] y2 = y1 + delatY(1,2) (9)

[0270] z2 = z1 + delatZ(1,2) (10)

[0271] x3 = x1 + delatX(1,2) + delatX(2,3) (11)

[0272] y3 = y1 + delatY(1,2) + delatY(2,3) (12)

[0273] z3 = z1 + delatZ(1,2) + delatZ(2,3) (13)

[0274]

[0275]

[0276]

[0277] In the embodiments of the present application, the addressing terminal 100 may set the initial value of the coordinates (x1, y1) of position 1, and then the three-dimensional coordinates (xt, yt, zt) of the target terminal 200 can be solved through the above formulas (8) to (16).

[0278] In some embodiments, the addressing terminal 100 is not under the coverage of network signals and / or satellite signals and cannot perform self-positioning. The initial value of the coordinates (x1, y1, z1) of position 1 set by the addressing terminal 100 is (0, 0, 0). Based on this initial value, through the above formulas (8) to (13), the coordinates (x2, y2, z2) of position 2 and the coordinates (x3, y3, z3) of position 3 can be determined. Then, through the above formulas (14) to (16), the relative coordinates of the target terminal 200 in the three-dimensional ground coordinate system can be solved.

[0279] In some embodiments, the addressing terminal 100 is under the coverage of network signals and / or satellite signals. The addressing terminal 100 can perform self-positioning. Without detecting displacement information through sensors, the absolute coordinates of the terminal in the ground coordinate system can be obtained through the above network signals and / or satellite signals, that is, the coordinates (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3) are all known. Then, through the above formulas (14) to (16), the absolute coordinates of the target terminal 200 in the three-dimensional ground coordinate system can be solved.

[0280] Optionally, the least squares method, weighted least squares method, or Newton iteration method can be used to solve the above formulas (14) to (16). The present application is not limited to the above three solution algorithms, and other algorithms can also be used to solve the above formulas (14) to (16) in the embodiments of the present application, and no specific limitation is made here.

[0281] In some embodiments, the addressing terminal 100 can obtain the distances between the addressing terminal 100 and the target terminal 200 at N positions, and the displacement information of the addressing terminal 100 between the above N positions, where N is a positive integer greater than 3; furthermore, based on the distances at the above N positions and the displacement information between the above N positions, the coordinates of the target terminal 100 in the reference coordinate system can be determined. It can be understood that the larger N is, the more accurate the coordinates of the target terminal 200 obtained are. Exemplarily, referring to Figure 6A and Figure 6B , the addressing terminal 100 can obtain the distances from the target terminal 200 at 4 positions and the displacement information between the 4 positions.

[0282] In the embodiments of the present application, after the target terminal 200 configures the initial value of the timing advance (i.e., TA1) in step S107, the addressing terminal 100 can update the timing advance of the target terminal 200. The specific implementation method of updating the timing advance is introduced below.

[0283] In one implementation, after step S107, the target terminal 200 periodically sends signal 8 to the addressing terminal 100 (signal 8 can be a synchronization signal or a timing subframe); when the addressing terminal 100 determines that the time difference 1 between the reception time of signal 8 (e.g., the frame start position of signal 8) and the time reference 1 is not within the preset range 1, the addressing terminal 100 updates the timing advance of the target terminal 200 and sends the updated timing advance to the target terminal 200, and then the target terminal 200 reconfigures the timing advance for data transmission with the addressing terminal 100. For example, the above preset range 1 can be [-Tcp, Tcp] or [-0.5×Tcp, 0.5×Tcp].

[0284] Optionally, the acquisition method of the updated timing advance can refer to the acquisition process of the foregoing TA1, which will not be elaborated here.

[0285] Optionally, the addressing terminal 100 updates the timing advance of the target terminal 200 based on the above time difference 1. Exemplarily, the current timing advance is the foregoing TA1, the timing advance introduces Tcp, and TA1 is equal to RTD1 - Tcp; if the time difference 1 is equal to Tcp + △T and the time difference 1 is not within the preset range 1, the addressing terminal 100 updates the timing advance of the target terminal 200 to TA1 - △T, that is, RTD1 - Tcp - △T.

[0286] In another implementation, the addressing terminal 100 may configure a timer for the target terminal 200, and this timer is used to determine whether the target terminal 200 needs to update the timing advance. When the target terminal 200 receives the TA (such as TA1) sent by the addressing terminal 100, it will start (in the case where the target terminal 200 receives the TA sent by the addressing terminal 100 for the first time) or restart (in the case where the target terminal 200 is not receiving the TA sent by the addressing terminal 100 for the first time) the timer. When the timer is running, it indicates that the target terminal 200 and the addressing terminal 100 maintain SL timing synchronization and do not need to update the timing advance; when the timer stops running (times out), it indicates that the SL timing synchronization between the target terminal 200 and the addressing terminal 100 fails and the timing advance needs to be updated. In this case, the target terminal 200 may execute steps S101 to S104, and S106 again to obtain the SL timing synchronization with the addressing terminal 100 again.

[0287] In addition, it should be noted that in another application scenario, the target terminal 200 has network signal or satellite signal coverage, and before step 101, the target terminal 200 has a specific external synchronization source. In some embodiments, in this application scenario, the synchronization source information sent by the addressing terminal 100 in step 101 is used to indicate the synchronization source of the addressing terminal 100. After receiving the synchronization source information sent by the addressing terminal 100, the target terminal 200 determines whether the synchronization source of the target terminal 200 is the same as that of the addressing terminal 100. If the target terminal 200 determines based on the above synchronization source information that the synchronization source of the target terminal 200 is different from that of the addressing terminal 100, the target terminal 200 will switch the external synchronization source to the addressing terminal 100 and execute steps S102 to S117. Specifically, reference can be made to the foregoing embodiments and will not be elaborated here. If the target terminal 200 determines based on the above synchronization source information that the synchronization source of the target terminal 200 is the same as that of the addressing terminal 100, steps S102, S109, S110, S113, and S114 are all optional; this is because the synchronization source of the target terminal 200 is the same as that of the addressing terminal 100, and the time bases of the target terminal 200 and the addressing terminal 100 are also the same, and there is no need to adjust the time base based on the reception time of the signal sent by the addressing terminal 100.

[0288] The embodiments of the present application also provide a positioning method for sidelink. In the proposed method, there are at least three addressing terminals. The addressing terminals can perform self-positioning to obtain the position of their own terminals. The above at least three addressing terminals include a main addressing terminal (e.g., addressing terminal 100-1) and multiple auxiliary addressing terminals (e.g., auxiliary addressing terminal 100-2, auxiliary addressing terminal 100-3). The positions of the above at least three addressing terminals are all different. Each addressing terminal can obtain the distance to the target terminal 200 through SL; each auxiliary addressing terminal can send the current position of its own terminal and the distance to the target terminal 200 to the main addressing terminal 100-1. The main addressing terminal 100-1 can determine the relative position of the target terminal 200 based on the positions of each addressing terminal, the distances between each addressing terminal and the target terminal 200, and the displacement information between different addressing terminals. Implementing the embodiments of the present application, when the target terminal 200 does not have the self-positioning ability, the main addressing terminal 100-1 can also accurately locate the relative position of the target terminal 200 through SL.

[0289] It should be noted that, in the embodiments of the present application, in order to obtain the relative position of the target terminal 200, the main addressing terminal 100-1 and multiple auxiliary addressing terminals have all established SL connections and can perform SL communication with each auxiliary addressing terminal. Specifically, in the embodiments of the present application, how the addressing terminals establish SL connections can refer to Figure 5A the establishment of the SL connection between the addressing terminal 100 and the target terminal 200 in the relevant embodiments, which will not be elaborated here.

[0290] In the embodiments of the present application, the main addressing terminal 100-1 can also be referred to as the first terminal, the target terminal 200 can also be referred to as the second terminal, the auxiliary addressing terminal 100-2 can also be referred to as the third terminal, and the auxiliary addressing terminal 100-3 can also be referred to as the fourth terminal; position 4 can also be referred to as the fourth position, position 5 can also be referred to as the fifth position, and position 6 can also be referred to as the sixth position; d4 can also be referred to as the first distance, d5 can also be referred to as the second distance, and d6 can also be referred to as the third distance.

[0291] Exemplarily, Figure 7A FIG. shows a flowchart of a positioning method for sidelink provided by the embodiments of the present application. Figures 7B to 7D FIG. shows a signal timing diagram of the positioning method for sidelink. As Figure 7A shown, the positioning method for sidelink provided by the embodiments of the present application includes but is not limited to steps S201 to S217. Among them:

[0292] Phase 1: The main addressing terminal 100-1 obtains the distance between its own terminal and the target terminal 200

[0293] S201. The master addressing terminal 100-1 sends the SL synchronization signal 9, and the target terminal 200 receives the SL synchronization signal 9 broadcast by the master addressing terminal 100-1.

[0294] In the embodiments of the present application, the SL synchronization signal 9 can also be referred to as the fourth SL synchronization signal.

[0295] In some embodiments, the master addressing terminal 100-1 periodically sends the SL synchronization signal 9 to the target terminal 200, and the SL synchronization signal 9 is used to instruct the target terminal 200 to perform timing synchronization with the master addressing terminal 100-1 based on this synchronization signal.

[0296] In some embodiments, the master addressing terminal 100-1 periodically broadcasts and sends the SL synchronization signal 9, and the SL synchronization signal 9 is used to instruct the receiving device to perform timing synchronization with the master addressing terminal 100-1 based on this synchronization signal.

[0297] In some embodiments, when the target terminal 200 detects that it cannot perform self-positioning and communicate with the master addressing terminal 100-1 through communication technologies such as satellites, cellular networks, and wifi, the target terminal 200 calls the PC5 interface to communicate with other terminal devices through the SL protocol. For example, it can listen to the SL synchronization signals sent by other addressing terminals.

[0298] In the embodiments of the present application, the SL synchronization signal 9 can also carry the ID of the master addressing terminal 100-1. It should be noted that in the embodiments of the present application, for the specific implementation of the ID of the sending end and the ID of the receiving end carried by the synchronization signal or data signal, reference can be made to Figure 5A the relevant description of the ID in the provided sidelink positioning method. The subsequent embodiments will not be elaborated.

[0299] In some embodiments, the SL synchronization signal 9 can carry role information, and the role information is used to characterize that the device sending the SL synchronization signal is the master addressing terminal, the secondary addressing terminal, or the target terminal. Optionally, the role information can be indicated by the reserved bit of MIB-SL in the SL synchronization signal 9. Optionally, the role information can be indicated by the SL ID corresponding to the SL synchronization signal 9, and the target terminal 200 and the master addressing terminal 100-1 can obtain the mapping relationship between the SL ID and the role information.

[0300] In some embodiments, the SL synchronization signal 9 includes synchronization source information 4. The synchronization source information 4 is used to indicate the synchronization source of the primary addressed terminal 100-1. For example, the synchronization source of the primary addressed terminal 100-1 is GNSS, base station, reference UE, or self-synchronization, etc. The synchronization source information can be transmitted according to the protocol standard. In some embodiments, the SL synchronization signal 9 includes synchronization source information 5. The synchronization source information 5 is used to indicate that the primary addressed terminal 100-1 can be used as the synchronization source of the target terminal 200. Optionally, the primary addressed terminal 100-1 carries the synchronization source information through PSSS or SSSS in the SL synchronization signal 9. Specifically, the synchronization source of the addressed terminal 100 can be indicated by the SL ID corresponding to PSSS and / or SSSS. The target terminal 200 and the primary addressed terminal 100-1 can obtain the mapping relationship between the SL ID and the synchronization source. No specific limitation is made here. In the embodiments of the present application, the synchronization source information 5 can also be referred to as the third synchronization source information.

[0301] Exemplarily, referring to Figure 7B the timing diagram shown, the primary addressed terminal 100-1 sends the SL synchronization signal 9 to the target terminal 200 based on the time reference 3 of this device.

[0302] It should be noted that for the convenience of display, Figures 7B to 7D the schematic diagram of each signal in the timing diagram shown only shows some symbols of the signal to illustrate the implementation process of the positioning method for the sidelink. The signals shown in the diagram also include more symbols, which are not limited in this application.

[0303] S202. Based on the reception time of the SL synchronization signal 9, the target terminal 200 adjusts the time reference of the target terminal 200.

[0304] In some embodiments, when the target terminal 200 has no coverage of network signals and satellite signals, the target terminal 200 performs self-synchronization before step S202; after receiving the SL synchronization signal 9, the target terminal 200 uses the primary addressed terminal 100-1 as the synchronization source. If the frame start position of the received SL synchronization signal 9 (i.e., the reception time of the SL synchronization signal 9) is not aligned with the current time reference of the target terminal 200, the time reference of the target terminal 200 is adjusted based on the frame start position of the SL synchronization signal 9; if the frame start position of the received SL synchronization signal 9 is aligned with the current time reference of the target terminal 200, there is no need to adjust the time reference of the target terminal 200.

[0305] Exemplarily, referring to Figure 7B the timing diagram shown, the frame start position of the SL synchronization signal 9 differs from the current time reference 2-0 of the target terminal 200 by T4. The target terminal 200 adjusts the time reference 2-0 to the time reference 2-4, and the time difference between the time reference 2-0 and the time reference 2-4 is T4.

[0306] In some embodiments, the SL synchronization signal 9 carries the ID of the main addressed terminal 100-1. When the target terminal 200 determines that the ID carried by the SL synchronization signal 9 is the ID of a preset device (such as the main addressed terminal 100-1), the target terminal 200 uses the main addressed terminal 100-1 as the synchronization source and adjusts the time reference of the target terminal 200.

[0307] Exemplarily, referring to Figures 4A to 4E the application scenario shown, the user can add vehicle information in the smart vehicle APPs of multiple mobile phones to establish a binding relationship between the mobile phones and the vehicle; after binding, the vehicle stores the IDs of multiple mobile phones. When the ID in the received synchronization signal is the ID of one of the multiple mobile phones, the vehicle can use this mobile phone as the synchronization source.

[0308] Among them, for the acquisition of the frame start position of the SL synchronization signal 9, reference can be made to the relevant description of the frame start position of the aforementioned SL synchronization signal 1, which will not be elaborated here.

[0309] S203. The target terminal 200 sends an SL response synchronization signal 10 to the main addressed terminal 100-1 based on the SL synchronization signal 9, and the main addressed terminal 100-1 receives the SL response synchronization signal 10 sent by the target terminal 200 at position 5.

[0310] In the embodiments of the present application, the SL response synchronization signal 10 can also be referred to as the third SL synchronization signal.

[0311] Specifically, referring to Figure 7B the signal timing diagram shown, the target terminal 200 sends the SL response synchronization signal 10 to the main addressed terminal 100-1 at the time reference 2-4. The SL response synchronization signal 10 carries the ID of the target terminal 200. Optionally, the SL response synchronization signal 10 also carries the ID of the main addressed terminal 100-1.

[0312] In some embodiments, the SL response synchronization signal 10 also carries synchronization source information 6, and the synchronization source information 6 is used to indicate that the current synchronization source of the target terminal 200 is the reference UE, that is, the main addressed terminal 100-1. Optionally, the synchronization source information is carried by PSSS or SSSS in the SL response synchronization signal 10. In the embodiments of the present application, the synchronization source information 6 can also be referred to as the fourth synchronization source information.

[0313] S204. The main addressed terminal 100-1 determines the distance d4 between the main addressed terminal 100-1 and the target terminal 200 at position 4 based on the SL response synchronization signal 10, and obtains the coordinates of position 4.

[0314] Optionally, the primary addressing terminal 100-1 can perform self-positioning, and the primary addressing terminal 100-1 obtains the coordinates of position 4 through self-positioning technology.

[0315] Specifically, the primary addressing terminal 100-1 determines the frame start position of the received SL response synchronization signal 10, and determines the time difference between the frame start position of the SL response synchronization signal 10 and the time reference 3 of the primary addressing terminal 100-1. This time difference is the current RTD between the primary addressing terminal 100-1 and the target terminal 200. Then, the primary addressing terminal 100-1 determines the initial distance d4 between the primary addressing terminal 100-1 at position 4 and the target terminal 200 based on the above current RTD.

[0316] Among them, for the acquisition of the frame start position of the SL response synchronization signal 10, reference can be made to the relevant description of the frame start position of the SL synchronization signal 1 mentioned above, which will not be elaborated here.

[0317] Exemplarily, referring to Figure 7B the shown signal timing diagram, the time difference between the frame start position of the SL response synchronization signal 10 and the time reference 3 of the primary addressing terminal 100-1 is RTD4.

[0318] Optionally, taking the unit of RTD4 as 16Ts as an example, the distance d4 between the primary addressing terminal 100-1 at position 4 and the target terminal 200 is 0.5×RTD4×0.5208us×c meters.

[0319] In the embodiment of the present application, in order for the primary addressing terminal 100-1 to continuously obtain the relative position of the target terminal 200, it is necessary to continuously detect the distance between the primary addressing terminal 100-1 and the target terminal 200. Therefore, after step S203, the above method further includes: the primary addressing terminal 100-1 determines the timing advance TA4 for the target terminal 200 to send the SL signal to the primary addressing terminal 100-1 based on the SL response synchronization signal 10; the primary addressing terminal 100-1 sends the timing advance TA4 to the target terminal 200; the target terminal 200 configures the timing advance for sending the SL signal to the primary addressing terminal 100-1 as TA4; in this way, an SL connection is established between the target terminal 200 and the primary addressing terminal 100-1, and the primary addressing terminal 100-1 can measure the distance of the target terminal 200 in real time through SL. In addition, the primary addressing terminal 100-1 can also update the timing advance of the target terminal 200. The update method of the timing advance can refer to Figure 5A the relevant description in the shown sidelink positioning method, which will not be elaborated here.

[0320] In the embodiment of the present application, TA4 can also be referred to as the second timing advance.

[0321] Phase 2: The primary addressing terminal 100-1 obtains the distance between the secondary addressing terminal 100-2 and the target terminal 200

[0322] S205. The primary addressing terminal 100-1 sends a signal 11 to the secondary addressing terminal 100-2. The secondary addressing terminal 100-2 receives the signal 11 sent by the primary addressing terminal 100-1. The signal 11 is used to obtain the distance between the secondary addressing terminal 100-2 and the target terminal 200, as well as the position of the secondary addressing terminal 100-2.

[0323] Among them, the signal 11 can be a synchronization signal or a data signal. The signal 11 can also be referred to as the fourth signal.

[0324] Exemplarily, referring to Figure 7C the shown timing diagram, the primary addressing terminal 100-1 sends the signal 11 to the secondary addressing terminal 100-2 based on the time reference 3 of this device.

[0325] S206. In response to the signal 11, the secondary addressing terminal 100-2 sends an SL synchronization signal 12 to the target terminal 200. The target terminal 200 receives the SL synchronization signal 12 sent by the secondary addressing terminal 100-2.

[0326] Exemplarily, referring to Figure 7C the shown timing diagram, the secondary addressing terminal 100-2 sends the SL synchronization signal 12 to the target terminal 200 based on the time reference 4 of this device.

[0327] S207. Based on the reception time of the SL synchronization signal 12, the target terminal 200 adjusts the time reference of the target terminal 200.

[0328] Exemplarily, referring to Figure 7C the shown timing diagram, the frame start position of the SL synchronization signal 12 differs from the current time reference 2-4 of the target terminal 200 by T5. The target terminal 200 adjusts the time reference 2-4 to the time reference 2-5, and the time difference between the time reference 2-4 and the time reference 2-5 is T5.

[0329] S208. The target terminal 200 sends an SL response synchronization signal 13 to the secondary addressing terminal 100-2 based on the SL synchronization signal 12. The secondary addressing terminal 100-2 receives the SL response synchronization signal 13 sent by the target terminal 200 at position 5.

[0330] Exemplarily, referring to Figure 7C the shown signal timing diagram, the target terminal 200 sends the SL response synchronization signal 13 to the secondary addressing terminal 100-2 based on the time reference 2-5.

[0331] S209. The auxiliary addressing terminal 100-2 determines the distance d5 between the auxiliary addressing terminal 100-2 and the target terminal 200 when the auxiliary addressing terminal 100-2 is at position 5 based on the SL response synchronization signal 13, and obtains the coordinates of position 5.

[0332] Optionally, the auxiliary addressing terminal 100-2 can perform self-positioning, and the auxiliary addressing terminal 100-2 obtains the coordinates of position 5 through self-positioning technology.

[0333] Exemplarily, referring to Figure 7C the signal timing diagram shown, the time difference between the frame start position of the SL response synchronization signal 13 and the time reference 3 of the auxiliary addressing terminal 100-2 is RTD5.

[0334] Optionally, taking the unit of RTD5 as 16Ts as an example, the distance d5 between the auxiliary addressing terminal 100-2 and the target terminal 200 when the auxiliary addressing terminal 100-2 is at position 5 is 0.5×RTD5×0.5208us×c meters.

[0335] S210. The auxiliary addressing terminal 100-2 sends a signal 14 to the primary addressing terminal 100-1. The primary addressing terminal 100-1 receives the signal 14 sent by the auxiliary addressing terminal 100-2. The signal 14 carries the distance d5 and the coordinates of position 5.

[0336] Among them, the signal 14 can be a synchronization signal or a data signal.

[0337] Exemplarily, referring to Figure 7C the signal timing diagram shown, the auxiliary addressing terminal 100-2 sends a signal 14 to the primary addressing terminal 100-1 based on the time reference 4 of this terminal.

[0338] In some embodiments, in order for the primary addressing terminal 100-1 to continuously obtain the relative position of the target terminal 200, it is necessary for the auxiliary addressing terminal 100-2 to continuously feedback the distance from the target terminal 200. Therefore, after step S208, the above method further includes: The target terminal 200 and the auxiliary addressing terminal 100-2 establish an SL connection, and the auxiliary addressing terminal 100-2 can measure the distance of the target terminal 200 in real time through SL.

[0339] Specifically, the specific implementation manners of steps S206 to S209 can refer to the relevant descriptions of steps S201 to S204, and will not be elaborated here.

[0340] Phase three: The primary addressing terminal 100-1 obtains the distance between the auxiliary addressing terminal 100-3 and the target terminal 200

[0341] S211. The master addressing terminal 100-1 sends a signal 15 to the auxiliary addressing terminal 100-3. The auxiliary addressing terminal 100-3 receives the signal 15 sent by the master addressing terminal 100-1. The signal 15 is used to obtain the distance between the auxiliary addressing terminal 100-3 and the target terminal 200, as well as the position of the auxiliary addressing terminal 100-3.

[0342] Among them, the signal 15 can be a synchronization signal or a data signal.

[0343] Exemplarily, referring to Figure 7D the shown signal timing diagram, the master addressing terminal 100-1 sends the signal 15 to the auxiliary addressing terminal 100-3 based on the time reference 3 of this terminal.

[0344] S212. In response to the signal 15, the auxiliary addressing terminal 100-3 sends an SL synchronization signal 16 to the target terminal 200. The target terminal 200 receives the SL synchronization signal 16 sent by the auxiliary addressing terminal 100-3.

[0345] Exemplarily, referring to Figure 7D the shown timing diagram, the auxiliary addressing terminal 100-3 sends the SL synchronization signal 16 to the target terminal 200 based on the time reference 5 of this device.

[0346] S213. Based on the reception time of the SL synchronization signal 16, the target terminal 200 adjusts the time reference of the target terminal 200.

[0347] Exemplarily, referring to Figure 7D the shown timing diagram, the frame start position of the SL synchronization signal 16 differs from the current time reference 2-5 of the target terminal 200 by T6. The target terminal 200 adjusts the time reference 2-5 to the time reference 2-6, and the time difference between the time reference 2-5 and the time reference 2-6 is T6.

[0348] S214. The target terminal 200 sends an SL response synchronization signal 17 to the auxiliary addressing terminal 100-3 based on the SL synchronization signal 16. The auxiliary addressing terminal 100-3 receives the SL response synchronization signal 17 sent by the target terminal 200 at position 6.

[0349] Exemplarily, referring to Figure 7D the shown signal timing diagram, the target terminal 200 sends the SL response synchronization signal 17 to the auxiliary addressing terminal 100-3 at the time reference 2-6.

[0350] S215. The auxiliary addressing terminal 100-3 determines that the distance between the auxiliary addressing terminal 100-3 and the target terminal 200 at position 6 is d6 based on the SL response synchronization signal 17, and obtains the coordinates of position 6.

[0351] Optionally, the auxiliary addressing terminal 100-3 can perform self-positioning, and the auxiliary addressing terminal 100-2 obtains the coordinates of position 6 through self-positioning technology.

[0352] Exemplarily, referring to Figure 7D the signal timing diagram shown, the time difference between the frame start position of the SL response synchronization signal 17 and the time reference 5 of the auxiliary addressing terminal 100-3 is RTD6.

[0353] Optionally, taking the unit of RTD6 as 16Ts as an example, the distance d6 between the auxiliary addressing terminal 100-3 and the target terminal 200 at position 6 is 0.5×RTD6×0.5208us×c meters.

[0354] S216. The auxiliary addressing terminal 100-3 sends a signal 18 to the main addressing terminal 100-1, and the main addressing terminal 100-1 receives the signal 18 sent by the auxiliary addressing terminal 100-3. The signal 18 carries the distance d6 and the coordinates of position 6.

[0355] Among them, the signal 18 can be a synchronization signal or a data signal.

[0356] In some embodiments, in order for the main addressing terminal 100-1 to continuously obtain the relative position of the target terminal 200, it is necessary for the auxiliary addressing terminal 100-3 to continuously feedback the distance from the target terminal 200. Therefore, after step S214, the above method further includes: The target terminal 200 establishes an SL connection with the auxiliary addressing terminal 100-3, and the auxiliary addressing terminal 100-3 can measure the distance of the target terminal 200 in real time through SL.

[0357] Specifically, the specific implementation manners of steps S213 to S216 can refer to the relevant descriptions of steps S201 to S204, which will not be elaborated here.

[0358] Stage Four: The main addressing terminal 100-1 obtains the relative position of the target terminal 200

[0359] S217. The main addressing terminal 100-1 determines the relative position of the target terminal 200 based on the distances between each addressing terminal and the target terminal 200 at the above three positions, and the coordinates of the above three positions.

[0360] In some embodiments, the positions of each addressing terminal (i.e., position 4, position 5, and position 6) are coordinate points in a two-dimensional coordinate system. Exemplarily, taking each addressing terminal as a mobile phone and the target terminal 200 as a vehicle as an example, Figure 8AThe figure shows a schematic diagram of the positional relationship between each addressing terminal and the target terminal 200 provided by an embodiment of the present application. The two-dimensional coordinate system therein is composed of the Xg axis and the Yg axis in the ground coordinate system. The coordinates of the above-mentioned positions 4, 5, and 6 can be respectively expressed as: (x4, y4), (x5, y5), (x6, y6), and the position of the target terminal 200 is expressed as (xt, yt). The coordinates of the above-mentioned 3 positions are all known quantities, and the (xt, yt) of the target terminal 200 is an unknown quantity.

[0361] Specifically, for how to solve the two-dimensional coordinate point of the target terminal 200 based on the coordinates of the above-mentioned 3 positions (i.e., (x4, y4), (x5, y5), (x6, y6)) and the distances at the above-mentioned 3 positions (i.e., d4, d5, d6), reference can be made to the relevant description in step S117, which will not be elaborated here.

[0362] In some embodiments, the positions of each addressing terminal (i.e., positions 4, 5, and 6) are coordinate points in a three-dimensional coordinate system. Exemplarily, taking the addressing terminal 100 as a drone and the target terminal 200 as a vehicle as an example, Figure 8B The figure shows a schematic diagram of the positional relationship between each addressing terminal and the target terminal 200 provided by an embodiment of the present application. The reference coordinate system is the ground coordinate system. The coordinates of the above-mentioned positions 3, 4, and 5 can be respectively expressed as: (x4, y4, z4), (x5, y5, z5), (x6, y6, z6), and the position of the target terminal 200 is expressed as (xt, yt, zt). The coordinates of the above-mentioned 3 positions are all known quantities, and the (xt, yt, zt) of the target terminal 200 is an unknown quantity.

[0363] Specifically, for how to solve the three-dimensional coordinate point of the target terminal 200 based on the coordinates of the above-mentioned 3 positions (i.e., (x4, y4, z4), (x5, y5, z5), (x6, y6, z6)) and the distances at the above-mentioned 3 positions (i.e., d4, d5, d6), reference can be made to the relevant description in step S117, which will not be elaborated here.

[0364] In the embodiment of the present application, based on the coordinates of the current position of the main addressing terminal 100-1 and the coordinates of the target terminal 200, the relative position of the target terminal 200 relative to the main addressing terminal 100-1 (such as distance, azimuth, etc. information) can be obtained. Specifically, reference can be made to the relevant description in step S117, which will not be elaborated here.

[0365] In addition, it should be noted that the present application embodiment does not specifically limit the execution order of the above-mentioned stage one, stage two, and stage three. In some embodiments, steps S205 and S211 are optional. The auxiliary addressing terminal can actively obtain the distance of the target terminal 200 and its own position and send them to the main addressing terminal 100-1.

[0366] Not limited to the auxiliary addressing terminals 100-2 and 100-3, there may be more addressing terminals in the embodiments of the present application. For example Figure 8A and Figure 8B the auxiliary addressing terminal 100-4 shown. It can be understood that the more auxiliary addressing terminals there are, the more accurate the coordinates of the target terminal can be obtained.

[0367] In addition, in some application scenarios, each addressing terminal cannot perform self-positioning either. After the main addressing terminal 100-1 and each auxiliary addressing terminal (auxiliary addressing terminals 100-2 and 100-3) establish an SL connection, the main addressing terminal 100-1 can initialize the coordinates of this terminal and obtain the relative coordinates of each auxiliary addressing terminal relative to the main addressing terminal 100-1. Specifically, reference can be made to Figure 5A the implementation manner of the addressing terminal 100 obtaining the relative coordinates of the target terminal 200 in the related embodiments, which will not be elaborated here. In this way, based on the relative coordinates of the main addressing terminal 100-1, the auxiliary addressing terminal 100-2, and the auxiliary addressing terminal 100-3, and the distances between each addressing terminal and the target terminal 200, the main addressing terminal 100-1 can solve the relative coordinates of the target terminal 200.

[0368] The embodiments of the present application can divide the functional modules of the addressing terminal and the target terminal 200 according to the above examples of the sidelink positioning method. For example, each function of the terminal device can be divided into each functional module, or two or more functions of the terminal device 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 the embodiments of the present application is illustrative, only a logical function division, and there may be other division methods in actual implementation.

[0369] Exemplarily, taking the addressing terminal 100 as an example, Figure 9A shows a schematic structural diagram of the addressing terminal involved in the embodiments of the present application. As Figure 9A shown, the addressing terminal 100 may include: a communication module, a processor, and a display module. Optionally, the communication module may be a modem (modulator-demodulator), and the processor may be an AP. Among them, the communication module may include a sending module and a receiving module, and the processor may include an inertial navigation module and a position calculation module.

[0370] The sending module is used to send SL synchronization signals and SL data signals, and the receiving module is used to receive SL synchronization signals and SL data signals. Exemplarily, based on the signals received from the target terminal 200, the receiving module can determine the delay information (such as RTD) between the addressing terminal 100 and the target terminal 200, and send it to the position calculation module.

[0371] The inertial navigation module is used to obtain the displacement information of the addressing terminal 100 (such as the moving distances along the axes of the reference coordinate), and can also be used to obtain the attitude angles of the addressing terminal 100. The inertial navigation module can also send the above displacement information and attitude angles to the position calculation module.

[0372] The position calculation module is used to calculate the position of the target terminal 200 based on the delay information sent by the communication module and the displacement information sent by the inertial navigation module.

[0373] Exemplarily, Figure 9B shows a schematic structural diagram of an inertial navigation module involved in an embodiment of the present application. As Figure 9B shown, the inertial navigation module can include an acceleration sensor, a coordinate transformation module, a navigation calculation module, a gyroscope sensor, and an attitude calculation module.

[0374] Among them, the acceleration sensor is used to collect the acceleration of the addressing terminal 100 along the coordinate axes of the terminal coordinate system of this terminal; the coordinate transformation module is used to transform the acceleration of the coordinate axes of the terminal coordinate system into the acceleration of the coordinate axes of the reference coordinate system (such as the ground coordinate system); the navigation calculation module is used to obtain the speed and displacement information of the addressing terminal 100 (such as the moving distances of the addressing terminal 100 on the coordinate axes of the reference coordinate system) based on the acceleration of the coordinate axes of the reference coordinate system. The gyroscope sensor is used to collect the angular velocities of the addressing terminal 100 along the coordinate axes of the ground coordinate system; the attitude calculation module is used to calculate the attitude angles of the addressing terminal 100 (such as pitch angle, heading angle, and roll angle) based on the above angular velocities of the coordinate axes.

[0375] Exemplarily, Figure 9C shows a schematic structural diagram of a position calculation module involved in an embodiment of the present application. As Figure 9C shown, the position calculation module can include a sampling management module, an inertial navigation data management module, a distance data management module, and a relative position calculation module.

[0376] Among them, the sampling management module is used to manage the displacement information sent by the inertial navigation module and the time delay information sent by the communication module; the inertial navigation data management module is used to manage the displacement information of the addressing terminal 100 at multiple specified positions (such as the aforementioned first position, position 2, and position 3); the distance data management module is used to manage the distance between the addressing terminal 100 and the target terminal 200 at the above-mentioned multiple specified positions; the relative position calculation module is used to calculate the relative position of the target terminal 200 based on the displacement information at the above-mentioned multiple specified positions and the distance at the above-mentioned multiple specified positions.

[0377] In the embodiments of the present application, the module structure of the target terminal 200 may refer to Figure 9A the addressing terminal 100 shown, which will not be elaborated here. Optionally, the target terminal 200 may not include an inertial navigation module, a position calculation module, and a display module.

[0378] The various embodiments of the present application can be combined arbitrarily to achieve different technical effects.

[0379] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the present application are generated in whole or in part. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more integrated available media.

[0380] Those of ordinary skill in the art can understand all or part of the processes in the methods of the above embodiments. These processes can be completed by relevant hardware instructed by a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments. The aforementioned storage medium includes: ROM or random access memory RAM, magnetic disk, or optical disc and other media that can store program codes.

Claims

1. A positioning method for a sidelink, characterized in that The method includes: The first terminal receives a first sidelink (SL) synchronization signal sent by the second terminal, and determines the distance between the first terminal and the second terminal when the first terminal is at a first position based on the first SL synchronization signal; The first terminal receives a first signal sent by the second terminal, and determines the distance between the first terminal and the second terminal when the first terminal is at a second position based on the first signal; The first terminal receives a second signal sent by the second terminal, and determines the distance between the first terminal and the second terminal when the first terminal is at a third position based on the second signal; Based on the distances between the first terminal and the second terminal at the three different positions of the first position, the second position, and the third position, the first terminal determines the relative position of the second terminal.

2. The method according to claim 1, wherein Before the first terminal determines the relative position of the second terminal based on the distances between the first terminal and the second terminal at the three different positions of the first position, the second position, and the third position, it further includes: The first terminal obtains the coordinates of the first position, the second position, and the third position; The first terminal determines the relative position of the second terminal based on the distances between the first terminal and the second terminal at the three different positions, specifically including: Based on the distances between the first terminal and the second terminal at the three different positions and the coordinates of the three different positions, the first terminal determines the relative position of the second terminal.

3. The method according to claim 2, wherein The first terminal obtains the coordinates of the first position, the second position, and the third position, including: Obtaining first displacement information from the first position to the second position along a first coordinate system, and obtaining second displacement information from the second position to the third position along the first coordinate system; Based on the first displacement information and the second displacement information, obtaining the coordinates of the three different positions.

4. The method according to claim 3, characterized in that, The first displacement information includes displacements of each coordinate axis from the first position to the second position along the first coordinate system, and the second displacement information includes displacements of each coordinate axis from the second position to the third position along the first coordinate system.

5. The method according to claim 2, characterized in that, The first terminal obtains the coordinates of the first position, the second position, and the third position, including: Obtaining the coordinates of the three different positions through self-positioning.

6. The method according to claim 1, wherein Before the first terminal receives the first SL synchronization signal sent by the second terminal, it further includes: The first terminal sends a second SL synchronization signal to the second terminal, where the second SL synchronization signal is used to instruct the second terminal to perform SL timing synchronization with the first terminal; the first SL synchronization signal is determined by the second terminal based on the second SL synchronization signal.

7. The method according to claim 6, characterized in that, After the first terminal receives the first SL synchronization signal sent by the second terminal and before the first terminal receives the first signal sent by the second terminal, it further includes: Based on the first SL synchronization signal, determining that the timing advance amount for the second terminal to send an SL signal to the first terminal is a first timing advance amount; Send the first timing advance to the second terminal.

8. The method according to claim 1, wherein Before the first terminal receives the first signal sent by the second terminal, it further includes: The first terminal sends a third signal to the second terminal, where the third signal is used to instruct the second terminal to assist the first terminal in measuring the distance of the second terminal; the first signal is determined by the second terminal based on the third signal, the first signal is a data signal or a synchronization signal, and the third signal is a data signal or a synchronization signal.

9. The method according to claim 6, wherein The second SL synchronization signal includes first synchronization source information, where the first synchronization source information is used to indicate that the first terminal can be used as a synchronization source for the second terminal; the first SL synchronization signal includes second synchronization source information, where the second synchronization source information is used to indicate that the second terminal uses the first terminal as a synchronization source.

10. The method according to claim 3, characterized in that, The first terminal detects the first displacement information and the second displacement information through a sensor.

11. The method according to claim 9, wherein The second synchronization source information is carried by the reserved bit of the physical sidelink broadcast channel (PSBCH) in the first SL synchronization signal, and the first synchronization source information is carried by the reserved bit of the PSBCH in the second SL synchronization signal.

12. A positioning method for a sidelink, characterized in that, The method includes: The second terminal sends a first sidelink (SL) synchronization signal to the first terminal, where the first SL synchronization signal is used for the first terminal at the first position to determine the distance from the second terminal; The second terminal sends a first signal to the first terminal, where the first signal is used for the first terminal at the second position to determine the distance from the second terminal; The second terminal sends a second signal to the first terminal, where the second signal is used for the first terminal at the third position to determine the distance from the second terminal; The distances between the first terminal and the second terminal at the three different positions of the first position, the second position, and the third position are used for the first terminal to determine the relative position of the second terminal.

13. The method according to claim 12, wherein The distances between the first terminal and the second terminal at the three different positions of the first position, the second position, and the third position, and the coordinates of the three different positions of the first position, the second position, and the third position are used for the first terminal to determine the relative position of the second terminal.

14. The method according to claim 12, wherein Before the second terminal sends the first sidelink (SL) synchronization signal to the first terminal, it further includes: The second terminal receives the second SL synchronization signal sent by the first terminal; The second terminal sending the first SL synchronization signal to the first terminal specifically includes: In response to the second SL synchronization signal, the second terminal sends the first SL synchronization signal to the first terminal.

15. The method according to claim 14, wherein After the second terminal sends the first sidelink (SL) synchronization signal to the first terminal and before the second terminal sends the first signal to the first terminal, it further includes: Receiving the first timing advance sent by the first terminal and configuring the timing advance for sending the SL signal to the first terminal as the first timing advance.

16. The method according to claim 15, wherein Before the second terminal sends the first signal to the first terminal, it further includes: The second terminal receives a third signal sent by the first terminal, where the third signal is used to instruct the second terminal to assist the first terminal in measuring the distance to the second terminal, the first signal is a data signal or a synchronization signal, and the third signal is a data signal or a synchronization signal; The second terminal sending the first signal to the first terminal specifically includes: In response to the third signal, the second terminal sends the first signal to the first terminal based on the first timing advance.

17. The method according to claim 14, wherein The second SL synchronization signal includes first synchronization source information, where the first synchronization source information is used to indicate that the first terminal can be used as a synchronization source for the second terminal; the first SL synchronization signal includes second synchronization source information, where the second synchronization source information is used to indicate that the second terminal uses the first terminal as a synchronization source.

18. The method according to claim 14, wherein The second terminal using the first terminal as a synchronization source and the second terminal sending the first SL synchronization signal to the first terminal specifically includes: In response to the second SL synchronization signal, the second terminal adjusts the time reference of the second terminal based on the reception time of the second SL synchronization signal, and sends the first SL synchronization signal to the first terminal based on the adjusted time reference.

19. A positioning method for a sidelink, characterized in that, The method includes: The first terminal receives a third sidelink (SL) synchronization signal sent by the second terminal, and determines a first distance between the first terminal at a fourth position and the second terminal based on the third SL synchronization signal; The first terminal receives a second distance between the third terminal at a fifth position and the second terminal sent by the third terminal; The first terminal receives a third distance between the fourth terminal at a sixth position and the second terminal sent by the fourth terminal; Based on the first distance, the second distance, and the third distance, the first terminal determines the relative position of the second terminal.

20. The method according to claim 19, wherein Before the first terminal determines the relative position of the second terminal based on the first distance, the second distance, and the third distance, it further includes: The first terminal obtains the coordinates of the three different positions, namely the fourth position, the fifth position, and the sixth position; The first terminal determining the relative position of the second terminal based on the first distance, the second distance, and the third distance specifically includes: Based on the first distance, the second distance, and the third distance, and the coordinates of the three different positions, the first terminal determines the relative position of the second terminal.

21. The method according to claim 20, wherein The coordinates of the fourth position are obtained by the first terminal through self-positioning, the coordinates of the fifth position are obtained by the third terminal through self-positioning and sent to the first terminal, and the coordinates of the sixth position are obtained by the fourth terminal through self-positioning and sent to the first terminal.

22. The method according to claim 19, wherein Before the first terminal receives the third SL synchronization signal sent by the second terminal, it further includes: The first terminal sends a fourth SL synchronization signal to the second terminal, and the fourth SL synchronization signal is used to instruct the second terminal to perform SL timing synchronization with the first terminal; the third SL synchronization signal is determined by the second terminal based on the fourth SL synchronization signal.

23. The method according to claim 22, wherein After the first terminal receives the third SL synchronization signal sent by the second terminal, it further includes: Determining, based on the third SL synchronization signal, that the timing advance amount for the second terminal to send an SL signal to the first terminal is a second timing advance amount; Sending the second timing advance amount to the second terminal.

24. The method according to claim 19, characterized in that, Before the first terminal receives the distance between the third terminal and the second terminal when the third terminal is at a fifth position sent by the third terminal, it further includes: The first terminal sends a fourth signal to the third terminal, and the fourth signal is used to instruct the third terminal to obtain the distance from the second terminal, and the fourth signal is a data signal or a synchronization signal.

25. The method according to claim 22, wherein The fourth SL synchronization signal includes third synchronization source information, and the third synchronization source information is used to indicate that the first terminal can be a synchronization source of the second terminal; the third SL synchronization signal includes fourth synchronization source information, and the fourth synchronization source information is used to instruct the second terminal to use the first terminal as a synchronization source.

26. The method according to claim 25, characterized in that, The fourth synchronization source information is carried by reserved bit positions of a physical sidelink broadcast channel (PSBCH) in the third SL synchronization signal, and the third synchronization source information is carried by reserved bit positions of the PSBCH in the fourth SL synchronization signal.

27. A positioning method for a sidelink, characterized in that, The method includes: The second terminal sends a third sidelink (SL) synchronization signal to the first terminal, and the third SL synchronization signal is used for the first terminal at a fourth position to determine the first distance from the second terminal; The second terminal sends a fifth SL synchronization signal to the third terminal, and the fifth SL synchronization signal is used for the third terminal at a fifth position to determine the second distance from the second terminal; The second terminal sends a sixth SL synchronization signal to the fourth terminal, and the sixth SL synchronization signal is used for the fourth terminal at a sixth position to determine the third distance from the second terminal; The first distance, the second distance, and the third distance are used for the first terminal to determine the relative position of the second terminal.

28. The method according to claim 27, wherein The first distance, the second distance, and the third distance, as well as the coordinates of the three different positions of the fourth position, the fifth position, and the sixth position, are used for the first terminal to determine the relative position of the second terminal.

29. The method according to claim 27, wherein Before the second terminal sends the third SL synchronization signal to the first terminal, it further includes: The second terminal receives the fourth SL synchronization signal sent by the first terminal; The second terminal sending the third SL synchronization signal to the first terminal specifically includes: In response to the fourth SL synchronization signal, the second terminal sends the third SL synchronization signal to the first terminal.

30. The method according to claim 29, wherein After the second terminal sends the third SL synchronization signal to the first terminal, it further includes: Receive the second timing advance sent by the first terminal, and configure the timing advance for sending the SL signal to the first terminal as the second timing advance.

31. The method according to claim 29, wherein The fourth SL synchronization signal includes third synchronization source information, and the third synchronization source information is used to indicate that the first terminal can be used as a synchronization source for the second terminal; the third SL synchronization signal includes fourth synchronization source information, and the fourth synchronization source information is used to indicate that the second terminal uses the first terminal as a synchronization source.

32. The method according to claim 29, wherein When the second terminal uses the first terminal as a synchronization source, the second terminal sends a third SL synchronization signal to the first terminal, which specifically includes: In response to the fourth SL synchronization signal, the second terminal adjusts the time reference of the second terminal based on the reception time of the fourth SL synchronization signal, and sends the third SL synchronization signal to the first terminal based on the adjusted time reference.

33. A terminal device, characterized in that, Includes: One or more processors, one or more memories; wherein, the one or more memories are coupled to the one or more processors, and the one or more memories are used to store computer program code, and the computer program code includes computer instructions. When the one or more processors execute the computer instructions, the terminal device executes the method described in any one of claims 1-11 or claims 12-18 or claims 19-26 or claims 27-32.

34. A computer storage medium, characterized in that, The computer storage medium stores a computer program, and the computer program includes program instructions. When the program instructions run on the terminal device, the terminal device executes the method described in any one of claims 1-11 or claims 12-18 or claims 19-26 or claims 27-32.

35. A computer program product, characterized in that, When the computer program product runs on a computer, the computer executes the method described in any one of claims 1-11 or claims 12-18 or claims 19-26 or claims 27-32.

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