Positioning method and apparatus

Abstract

The application discloses a positioning method and device, and belongs to the technical field of communication. The method comprises the following steps: a first terminal transmits an SL positioning reference signal according to a mapping rule and / or sequence definition. The mapping rule is used for determining the mapping configuration of the SL positioning reference signal, and the sequence definition is used for determining the sequence characteristics and / or pattern of the SL positioning reference signal. The SL positioning reference signal is used for determining the position information of the first terminal and / or a second terminal. The second terminal is a counter terminal which performs SL communication or SL positioning with the first terminal.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of communication, and particularly relates to a positioning method and device. BACKGROUND

[0002] The Long Term Evolution (LTE) system supports sidelink transmission, that is, terminals (User Equipment, UE) directly transmit data on the physical layer. The LTE sidelink is based on broadcast communication, which can be used to support basic safety communication of vehicle to everything (V2X), but is not suitable for other more advanced V2X services. The 5G New Radio (NR) system will support more advanced sidelink transmission design, for example, unicast, multicast or groupcast, etc., so as to support more comprehensive service types.

[0003] There are various absolute and relative positioning requirements in SL communication, but how to meet the corresponding requirements has not been defined. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a positioning method and device, which can solve the problem of meeting the positioning requirements in SL communication.

[0005] In a first aspect, a positioning method is provided, comprising:

[0006] The first terminal transmits a SL positioning reference signal according to a mapping rule and / or sequence definition;

[0007] The mapping rule is used to determine the mapping configuration of the SL positioning reference signal, the sequence definition is used to determine the sequence characteristics and / or pattern of the SL positioning reference signal, the SL positioning reference signal is used to determine the position information of the first terminal and / or the second terminal, and the second terminal is a peer terminal for SL communication or SL positioning with the first terminal.

[0008] In a second aspect, a positioning device is provided, which is applied to a terminal and comprises:

[0009] The transmission module is configured to transmit a SL positioning reference signal by a first terminal according to a mapping rule and / or sequence definition;

[0010] The mapping rule is used to determine a mapping configuration of the SL positioning reference signal, and the sequence definition is used to determine a sequence feature and / or a pattern of the SL positioning reference signal, the SL positioning reference signal being used to determine position information of the first terminal and / or the second terminal.

[0011] In a third aspect, a terminal is provided, comprising a processor, a memory, and a program stored in the memory and executable in the processor, the program being executed by the processor to implement the steps of the method according to the first aspect.

[0012] In a fourth aspect, a readable storage medium is provided, the readable storage medium storing a program or instructions, the program or instructions being executed by a processor to implement the method of processing according to the first aspect.

[0013] In a fifth aspect, a program product is provided, the program product being stored in a non-volatile storage medium, the program product being executed by at least one processor to implement the steps of the method of processing according to the first aspect.

[0014] In a sixth aspect, a chip is provided, the chip comprising a processor and a communication interface, the communication interface being coupled to the processor, the processor being configured to execute a program or instructions to implement the method of processing according to the first aspect.

[0015] In the embodiments of the present application, by using the mapping rule for determining the mapping configuration of the SL positioning reference signal and the sequence definition for determining the sequence feature and / or the pattern of the SL positioning reference signal, the SL positioning reference signal is transmitted between the first terminal and the second terminal, and the positioning requirement in the SL communication is met. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1a is a structural schematic diagram of an existing SL communication system;

[0017] Figure 1b is a flowchart of an existing terminal selecting or reselecting a resource;

[0018] Figure 2 is a flowchart of a positioning method provided by the embodiments of the present application;

[0019] Figures 3a-3m is a schematic diagram of an application scenario provided by the embodiments of the present application;

[0020] Figures 4a-4b is a schematic diagram of an application scenario provided by the embodiments of the present application;

[0021] Figure 5 is a schematic diagram of an application scenario provided by the embodiments of the present application;

[0022] Figure 6 is a structural schematic diagram of a positioning device provided by an embodiment of the present application;

[0023] Figure 7 is a structural schematic diagram of a terminal provided by an embodiment of the present application. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0025] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specified order or a preceding and following sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second" are generally of a kind, and are not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the front and rear associated objects are in an "or" relationship.

[0026] It is worth noting that the technologies described in this application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA), and other systems. The terms "system" and "network" in this application are often used interchangeably, and the described technologies can be used with the systems and radio technologies mentioned above, as well as with other systems and radio technologies. However, the following description describes New Radio (NR) systems for illustrative purposes, and NR terminology is used in most of the following description. These technologies can also be applied to applications beyond NR systems, such as 6th generation (6G) radio systems. th Generation 6G communication system.

[0027] To better understand the solutions of the embodiments of this application, the following content will be introduced first:

[0028] V2X Introduction

[0029] Long Term Evolution (LTE) systems support sidelink transmission, meaning that data transmission between user equipment (UEs) occurs directly at the physical layer. Figure 1a This illustrates a communication system incorporating SL communication. LTE sidelink communication is broadcast-based, and while it can be used to support basic safety-related communications in vehicle-to-everything (V2X) networks, it is not suitable for other more advanced V2X services. 5G NR (New Radio) systems will support more advanced sidelink transmission designs, such as unicast, multicast, or multicast, thus enabling support for a wider range of service types.

[0030] Long Term Evolution (LTE) system supports sidelink from Release 12, which is used for direct data transmission between User Equipment (UE) without going through network equipment.

[0031] Resource allocation

[0032] NR V2X defines two modes of resource allocation, one is mode 1, which is base station scheduling resource; the other is mode 2, UE decides to use what resource for transmission or other UE scheduling the above UE. At this time, the resource information may come from the broadcast message of the base station or the pre-configured information. If the UE works in the range of the base station and has RRC connection with the base station, it can be mode 1 and / or mode 2. If the UE works in the range of the base station but does not have RRC connection with the base station, it can only work in mode 2. If the UE is out of the range of the base station, it can only work in mode 2, and V2X transmission is made according to the pre-configured information.

[0033] For mode 2, the specific working way is as follows: 1) After the resource selection is triggered, the transmitting terminal (TX UE) first determines the resource selection window, the lower boundary of the resource selection window is T1 time after the resource selection trigger, and the upper boundary of the resource selection is T2 time after the trigger, wherein T2 is a value selected by the UE implementation within the packet delay budget (PDB) of its TB transmission, and T2 is not earlier than T1. 2) Before the resource selection, the UE needs to determine the candidate resource set of the resource selection, and compare the measured reference signal receiving power (RSRP) in the resource selection window with the corresponding RSRP threshold. If the RSRP is lower than the RSRP threshold, the resource can be included in the candidate resource set. 3) After the resource set is determined, the UE randomly selects the transmission resource in the candidate resource set. In addition, the UE can reserve transmission resources for the next transmission in this transmission. The specific process is shown in Figure 1b

[0034] The related signals supported by V2X are compared with the UU positioning reference signal, which is shown in Table 1

[0035]

[0036]

[0037] ​

[0038]

[0039]

[0040] Table 1

[0041] The method and device provided by the embodiments of the present application are described in detail below with reference to the specific embodiments and application scenarios.

[0042] It should be noted that the terminal in the embodiments of the present application can be a terminal-side device such as a mobile phone, a tablet personal computer (Tablet Personal Computer), a laptop computer (Laptop Computer), a personal digital assistant (Personal Digital Assistant, PDA), a palm computer, a netbook, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a mobile Internet device (Mobile Internet Device, MID), a wearable device (Wearable Device), or a vehicle-mounted device (VUE), a pedestrian terminal (PUE), etc. The wearable device includes a bracelet, a headset, glasses, etc. It should be noted that the specific type of the terminal is not limited in the embodiments of the present application.

[0043] Referring to Figure 2 The embodiments of the present application provide a positioning method;

[0044] It should be noted that the embodiments of the present application are applied to an SL communication scenario, and the communication device involved is a pair of terminals in SL communication, i.e., a first terminal and a second terminal. The first terminal and the second terminal can be a sending terminal or a receiving terminal, that is, the first terminal can be a sending terminal and the second terminal can be a receiving terminal, or the first terminal can be a receiving terminal and the second terminal can be a sending terminal. In another application scenario, a scheduling terminal can also be set in the SL communication system, and accordingly, the first terminal and the second terminal can be a scheduling terminal and a sending terminal, or a scheduling terminal and a receiving terminal, or a third terminal as a scheduling terminal scheduling the first terminal and / or the second terminal.

[0045] The method of the embodiments of the present application can be used for the above-mentioned various cases. The following describes the method with the execution subject being the first terminal. It can be understood that the first terminal can be a sending terminal, a receiving terminal, or a scheduling terminal in SL communication.

[0046] The method includes the following steps.

[0047] Step 201: The first terminal transmits the SL positioning reference signal according to the mapping rule and / or the sequence definition;

[0048] In the embodiments of the present application, the SL positioning reference signal (which can be abbreviated as SL-PRS) is used to determine the position information of the first terminal and / or the second terminal, which is a peer terminal for SL communication or SL positioning with the first terminal.

[0049] As described in the above application scenarios, the communication between the first terminal and the second terminal can be specifically 1) data transmission between the sending terminal and the receiving terminal; 2) information interaction between the scheduling terminal and the sending terminal; 3) information interaction between the scheduling terminal and the receiving terminal, which is not limited in the embodiments of the present application.

[0050] It should be noted that the second terminal can be one or more terminals, for example, the first terminal as a sending terminal can have multiple terminals for receiving, and each terminal can be a second terminal. Alternatively, the first terminal as a receiving terminal can have multiple sending terminals, and each terminal can be a second terminal.

[0051] The mapping rule is used to determine the mapping configuration of the SL positioning reference signal, and the sequence definition is used to determine the sequence characteristics and / or pattern of the SL positioning reference signal. In this way, the first terminal can transmit the SL positioning reference signal to the peer terminal according to the mapping rule and / or the sequence definition, and the first terminal can receive the SL positioning reference signal from the peer terminal according to the mapping rule and / or the sequence definition.

[0052] It should be noted that the mapping rule described in the present application can be used to determine the SL positioning reference signal according to the protocol constraint, or can be used to determine the SL positioning reference signal according to the configuration information (such as the network side sending to the first terminal, the high layer sending to the first terminal or the second terminal, or the high layer sending to the first terminal), or can be used to determine the SL positioning reference signal in combination with the protocol and the configuration information.

[0053] In the embodiments of the present application, the mapping rule for determining the mapping configuration of the SL positioning reference signal and the sequence definition for determining the sequence characteristics and / or pattern of the SL positioning reference signal are used to realize or determine the transmission of the SL positioning reference signal between the first terminal and the second terminal, so as to meet the positioning requirement in the SL communication.

[0054] In a possible implementation, the SL positioning reference signal includes one or more of the following:

[0055] (1) Group SL PRS, SL PRS for one or more groups, the SL PRS of the one or more groups satisfying a pre-set rule, which can be consistent group ID (under one embodiment, the positioning server or application service determines the same ID for the same service, which can be understood as group ID; or alternatively, multiple vehicles can form a vehicle fleet, and the vehicles in the pre-determined vehicle fleet can have the same group ID), or can be the same SL PRS, and the embodiments of the present application do not specifically limit the content of the pre-set rule;

[0056] (2) Area SL PRS, SL PRS for one or more areas, the one or more areas being areas that can resolve the SL PRS;

[0057] Further, the above-mentioned area can be determined in the following ways:

[0058] (a) configured by the network side, for example, allocation of area ID (zone ID);

[0059] (b) determined according to signal coverage range, for example, range of receiving Hybrid Automatic Repeat reQuest (HARQ) and the like;

[0060] (c) pre-set fixed range, for example, diameter of 100m and the like.

[0061] (3) UE-specific SL PRS, SL PRS for a specified terminal;

[0062] Further, the above-mentioned UE-specific SL PRS can be determined in the following ways:

[0063] (a) the network side configures the ID of the UE-specific PRS;

[0064] (b) the UE selects the ID of the SL PRS according to a specific rule;

[0065] (c) using scrambling ID;

[0066] (d) using Cyclic Redundancy Check (CRC) check code;

[0067] (e) The above ID is combined with other IDs, which may be group ID, cell ID, sidelink synchronization signal block (S-SS blocks) ID, and / or physical sidelink broadcast channel block (PSBCH blocks) ID (e.g., (scrambling code ID + cell ID) mode1024).

[0068] (4) Cell, Transmission and Reception Point (TRP) or Road Side Unit (RSU) specific SL positioning reference signal, the SL positioning reference signal is associated with a geographic location, and one geographic location is associated with one or more SL positioning reference signals.

[0069] In one possible implementation, the SL positioning reference signal and the UU positioning reference signal have partially or completely the same mapping rules and / or sequence definitions;

[0070] The aforementioned UU positioning reference signal may include LTE positioning reference signal (LTE-PRS), NR PRS, NR SRS, etc.

[0071] In this embodiment, the SL positioning reference signal may be partially or completely identical to the UU positioning reference signal. For cases where they are completely identical, for example, in certain special scenarios where the content of the SL positioning reference signal is consistent with the UU positioning reference signal, the UU positioning reference signal can be directly reused as the SL positioning reference signal. For cases where they are partially identical, for example, if the bands in their communication scenarios are different, the content of the SL positioning reference signal is inconsistent with the UU positioning reference signal, and the UU positioning reference signal cannot be reused as the SL positioning reference signal. Another example is that the SL positioning reference signal may carry Automatic Gain Control (AGC) characters, which are not present in the UU positioning reference signal; in this case, the content of the SL positioning reference signal is inconsistent with the UU positioning reference signal, and the UU positioning reference signal cannot be reused as the SL positioning reference signal.

[0072] As described above, in one embodiment, the SRS can serve as the SL positioning reference signal; or the SL positioning reference signal can be received by a network-side device.

[0073] In another embodiment, the SL-PRS may use the same band as the UU positioning reference signal, or have the same numberology time-frequency resource configuration, etc.

[0074] In another embodiment, the SL-PRS can use the same sequence definition as the UU positioning reference signal, such as ID, sequence type, sequence initial value cinit, etc.

[0075] In one possible implementation, there may be multiple SL positioning reference signals. For example, there may be multiple SL positioning reference signals of the first device, or the first device may be scheduled to send multiple SL positioning reference signals or be scheduled to receive multiple SL positioning reference signals. These multiple SL positioning reference signals may be the same or different.

[0076] For cases where there are multiple SL positioning reference signals, and these multiple SL positioning reference signals have partially or completely identical mapping rules and / or sequence definitions, this method further includes any one of the following:

[0077] (1) The first terminal sends or measures multiple SL positioning reference signals according to the first instruction information;

[0078] The aforementioned first indication information can be configured on the network side, or it can be configured by the first terminal, the second terminal, or other scheduling terminals. It can also be configured by a higher layer of the first terminal, such as the PC5-LPP layer or the PC5-RRC layer. The specific implementation method is as follows:

[0079] (a) Through network-side configuration and time-frequency configuration, multiple SL positioning reference signals can be transmitted at different time frequencies, such as having the same transmission symbols but different frequency domain resource elements (REs), such as different starting positions of the REs;

[0080] (b) Through the configuration of the first terminal or the second terminal, or other scheduling terminal, the higher-level configuration of the first terminal (optionally the first terminal is a scheduling terminal), through time-frequency configuration, multiple SL positioning reference signals can be transmitted at different time frequencies, such as having the same transmission symbols but different frequency domain REs.

[0081] (2) The first terminal does not expect to send or measure SL positioning reference signals; in one embodiment, the first terminal is scheduled to send / measure multiple SL positioning reference signals simultaneously, and the first terminal does not send / measure any SL positioning reference signal.

[0082] (3) The first terminal determines whether to send or measure the SL positioning reference signal according to the priority rules.

[0083] In one possible implementation, when multiple SL positioning reference signals exist, the first terminal sends / measures one or N SL positioning reference signals with higher priority.

[0084] In one possible implementation, when multiple SL positioning reference signals exist, these signals share the same target terminal, which can be either a transmitting terminal or a receiving terminal. Specifically, when the first terminal is the transmitting terminal and the target terminal is the second terminal, the target terminal is the receiving terminal; or, the first device is the target terminal and is configured to transmit or measure multiple SL positioning reference signals. For example, multiple first terminals could transmit multiple SL positioning reference signals to the target terminal; or, when the first terminal is the receiving terminal, the target terminal could transmit multiple SL positioning reference signals to multiple first terminals.

[0085] When the first terminal is the sending terminal and the second terminal is the target terminal (i.e., the target terminal is the receiving terminal), the target terminal has one or more of the following behaviors:

[0086] (1) Measure an SL positioning reference signal;

[0087] (2) Based on the capability, measure A1 SL positioning reference signals, where A1 is not greater than the capability;

[0088] (3) Measure A2 SL positioning reference signals according to priority, and A1 corresponds to priority.

[0089] It should be noted that the first terminal can know whether the target terminal has the above-mentioned behavior through existing methods. For example, after the target terminal performs the measurement behavior, it will generate some feedback information according to existing methods. The first terminal can know whether the target terminal has the above-mentioned behavior based on the feedback information.

[0090] When the first terminal is the receiving terminal and the second terminal is the target terminal (i.e., the target terminal is the sending terminal), the target terminal has one or more of the following behaviors:

[0091] (1) Send an SL positioning reference signal;

[0092] (2) Based on the capability, send A1 SL positioning reference signals, where A1 is not greater than the capability;

[0093] (3) Send A2 SL positioning reference signals according to priority, and A1 corresponds to the priority.

[0094] In one possible implementation, when there are multiple SL positioning reference signals, and these multiple SL positioning reference signals come from different carriers or frequency layers,

[0095] When the first terminal is a receiving terminal, this method further includes any one of the following:

[0096] (1) The first terminal measures the SL positioning reference signal of a carrier or frequency layer;

[0097] (2) The first terminal measures the SL positioning reference signal of B1 carriers or frequency layers according to its capability, where B1 is not greater than the capability.

[0098] (3) The first terminal measures the SL positioning reference signal of B2 carriers or frequency layers according to the priority, and B1 corresponds to the priority.

[0099] When the first terminal is a sending terminal, the method further includes any one of the following:

[0100] (1) The first terminal sends a carrier or frequency layer SL positioning reference signal;

[0101] (2) The first terminal sends B1 carrier or frequency layer SL positioning reference signals according to its capability, where B1 is not greater than the capability.

[0102] (3) The first terminal sends B2 carrier or frequency layer SL positioning reference signals according to the priority, and B1 corresponds to the priority.

[0103] In one possible implementation, the method further includes any one of the following:

[0104] (1) The first terminal measures the SL positioning reference information;

[0105] (2) The first terminal does not expect to send or measure the SL positioning reference signal;

[0106] (3) The first terminal does not expect to send or measure multiple SL positioning reference signals;

[0107] (4) The first terminal does not expect to send or measure SL positioning reference signals of multiple carriers or frequency layers;

[0108] (5) The first terminal determines to send or measure the SL positioning reference signal and / or the UU positioning reference signal according to the priority rules.

[0109] In one possible implementation, the method further includes:

[0110] The first terminal receives the second instruction information, which is used to instruct the first terminal to send or measure the SL positioning reference signal.

[0111] The aforementioned second indication information can be indication information sent by the network side, and correspondingly, the second indication information can indicate the following:

[0112] (a) Indicates the transmission or measurement of the UU positioning reference signal or the SL positioning reference signal, and further, the second indication information includes the configuration information of the SL positioning reference signal;

[0113] (b) Instructing the transmission or measurement of multiple SL positioning reference signals, further, the second instruction information includes configuration information of the SL positioning reference signals;

[0114] (c) Instructing the transmission or measurement of SL positioning reference signals for multiple carriers, further, the second instruction information includes configuration information of the SL positioning reference signals;

[0115] The aforementioned second indication information may also be indication information sent by the scheduling terminal or the second terminal, or indication information sent by the higher layer of the first terminal. Accordingly, the second indication information may indicate the following:

[0116] (a) Indicates the transmission or measurement of the UU positioning reference signal or the SL positioning reference signal, and further, the second indication information includes the configuration information of the SL positioning reference signal;

[0117] (b) Instructing the transmission or measurement of multiple SL positioning reference signals, further, the second instruction information includes configuration information of the SL positioning reference signals;

[0118] (c) Instructing the transmission or measurement of SL positioning reference signals for multiple carriers, further, the second instruction information includes configuration information of the SL positioning reference signals.

[0119] It is understood that, specifically, when the first terminal acts as the transmitting terminal, the second indication information indicates the transmission of the positioning reference signal; when the first terminal acts as the receiving terminal, the second indication information indicates the measurement of the positioning reference signal.

[0120] Alternatively, the method may include: the first terminal sending second indication information to the second terminal, the second indication information being used to instruct the second terminal to send or measure the SL positioning reference signal. Similarly, when the second terminal acts as a sending terminal, the second indication information indicates the transmission of the positioning reference signal; when the second terminal acts as a receiving terminal, the second indication information indicates the measurement of the positioning reference signal.

[0121] In one possible implementation, the mapping rule includes a first time-domain mapping rule;

[0122] The first time-domain mapping rule includes one or more of the following:

[0123] (1) The number of orthogonal frequency division multiplexing (OFDM) symbols of the SL positioning reference signal, for example, LN symbols;

[0124] (2) The maximum number of OFDM symbols for the SL positioning reference signal, for example, M symbols, such as 1, 6, 11, 12 or 13.

[0125] (3) The first OFDM symbol of the SL positioning reference signal is located in the Xth symbol of the time slot, where X is a positive integer. For example, the first OFDM symbol in the S-SS / PSBCH block is the first OFDM symbol in the time slot. Another example is that the OFDM symbols of the SL positioning reference signal are consecutive (e.g., the SL positioning reference signal goes from the Xth symbol to the X+M-1(X+LN-1)th symbol).

[0126] In one possible implementation, the mapping rule includes a second time-domain mapping rule;

[0127] The second time-domain mapping rule includes one or more of the following:

[0128] (1) The SL positioning reference signal is continuously transmitted on OFDM symbols except for the first position;

[0129] (2) The SL positioning reference signal is transmitted on the OFDM symbol after the first position;

[0130] (3) The SL positioning reference signal is transmitted on OFDM symbols other than the first position;

[0131] (4) The SL positioning reference signal is not transmitted on the OFDM symbol corresponding to the first position;

[0132] (5) The SL positioning reference signal is multiplexed at the second position, or the SL positioning reference signal is punched at the second position;

[0133] The aforementioned first position includes one or more of the following;

[0134] (a) The time-domain location of S-SS blocks and / or PSBCH blocks, or the time-frequency location of S-SS blocks and / or PSBCH blocks, for example, the SL positioning reference signal from the Xth symbol to the X+M-1th symbol;

[0135] (b) The time-domain location of the Primary Synchronization Signal (PSS), Secondary Synchronization Signal (SSS), and / or Physical Broadcast Synchronization Channel (PBSCH), or the time-frequency location of the PSS, SSS, and / or PBSCH, for example, the SL positioning reference signal from the Xth symbol to the X+M-1th symbol;

[0136] (c) The time-domain location of the second-level sidelink control information (SCI), or the time-frequency location of the second-level SCI, for example, the SL positioning reference signal from the Xth symbol to the X+M-1th symbol;

[0137] (d) The time-domain location of the Channel-State Information Reference Signal (CSI-RS) and / or the Demodulation Reference Signal (DMRS), or the time-frequency location of the CSI-RS and / or the DMRS, for example, the location reference signal of the SL from the Xth symbol to the X+M-1th symbol;

[0138] (e) The time-domain location of AGC and / or the Physical Sidelink Feedback Channel (PSFCH), and the time-frequency location of AGC and / or PSFCH;

[0139] Furthermore, it can be understood that if the aforementioned first position exists on the OFDM of the SL positioning reference signal transmission signal, such as (the first symbol transmits an SSB), then the SL positioning reference signal is not transmitted at that position, or the first symbol of the subsequent non-first position is transmitted.

[0140] The second position mentioned above includes one or more of the following:

[0141] (a) Location of the Physical Sidelink Control Channel (PSSCH);

[0142] (b) Location of SL data;

[0143] (c) Location of uplink (UL) data;

[0144] (d) Location of the Physical Uplink Shared Channel (PUSCH).

[0145] In one possible implementation, the mapping rule includes a first predefined or preconfigured pattern, which includes a third time-domain mapping rule;

[0146] The third time-domain mapping rules include one or more of the following:

[0147] (1) The number of OFDM symbols for the SL positioning reference signal is fixed, such as 1, 3, 6, etc.;

[0148] (2) The OFDM symbol position L of the SL positioning reference signal is fixed, for example, L = 0, 1, 3, 7;

[0149] (3) The starting OFDM symbol position L0 of the SL positioning reference signal is fixed, for example, L0 = 0.

[0150] Optionally, when the slot is used to transmit S-SS / PSBCH, the starting OFDM symbol position L0 of the SL positioning reference signal is fixed, for example, L0 = 0;

[0151] a) It should be noted that if the first symbol is used to send the SL positioning reference signal, then the second symbol should also be used to send the SL positioning reference signal, and it is a repetition of the first positioning reference signal.

[0152] b) It should be noted that if AGC is used to send the SL positioning reference signal, then the first symbol after AGC should also be used to send the SL positioning reference signal, and it is the repetition of the first positioning reference signal.

[0153] Optionally, when the slot is not used to transmit S-SS / PSBCH, the starting OFDM symbol position L0 of the SL positioning reference signal is fixed, for example, L0 = 0;

[0154] The time-domain mapping rules described above are used to indicate how the SL positioning reference signal is mapped to the time domain, such as which symbol, how many symbols, which symbols can be mapped, and which symbols cannot be mapped to the SL positioning reference signal.

[0155] In one possible implementation, the mapping rule includes a first terminal receiving or sending third indication information;

[0156] The third indication information is used to indicate that the SL positioning reference signal is transmitted in the SL subframe and / or UL subframe, or the third indication information is used to indicate cross-band mapping, cross-carrier mapping or cross-frequency layer mapping, or the third indication information includes the number and location of OFDM symbols.

[0157] The aforementioned third indication information, used to indicate cross-band mapping, cross-carrier mapping, or cross-frequency layer mapping, can be understood as whether the SL positioning reference signal can be mapped on a different frequency band and carrier than the indication information or the activated BWP. Alternatively, it can be understood as whether the SL positioning reference signal can be mapped on multiple frequency bands and carriers.

[0158] In one possible implementation, the mapping rules include:

[0159] The SL positioning reference signal is mapped onto the UL subframe.

[0160] The mapping of the SL positioning reference signal to the UL subframe can be understood as follows: if the UL subframe can be used for SL, it can also be used to transmit the SL positioning signal; conversely, it can be understood as the UL subframe can be used to transmit the SL positioning reference signal. Further, indication information can be used to indicate whether the SL positioning reference signal can be mapped to the UL subframe.

[0161] In one possible implementation, the mapping rule includes a first power mapping rule;

[0162] The first power mapping rule includes one or more of the following:

[0163] (1) The SL positioning reference signal is the first sequence multiplied by the first power coefficient;

[0164] (2) The transmission power of the SL positioning reference signal is less than the maximum predefined power, for example, 23 dBm;

[0165] (3) The transmission power of the SL positioning reference signal is a fixed value, such as 18 dBm, and the SSB power is +3 dBm, etc.

[0166] (4) The transmission power of the SL positioning reference signal is:

[0167]

[0168] Among them, P 0,s-prs α s-prs These are the power adjustment parameters for the SL positioning reference signal. SL represents the number of resource blocks (RBs) for the positioning reference signal, and PL represents the path loss of the power reference signal. The power reference signal includes one or more of the following:

[0169] (1) The synchronization signal block (SS block) and / or physical broadcast channel block (PBCH block) corresponding to the main information block (MIB);

[0170] (2) The reference signal RS used to determine the transmit power of the PUSCH scheduled in DCI format 0_0;

[0171] (3) Predefined reference signals, such as SSB, DL-PRS or SRS for DL, and S-SS / PSBCH blocks, SL-PSSCH for SL;

[0172] (4) The reference signal RS used for the transmission power of the Physical Sidelink Broadcast Channel (PSCCH), PSSCH or PSFCH of the sidelink scheduling.

[0173] In one possible implementation, the mapping rules include a first frequency domain mapping rule;

[0174] The first frequency domain mapping rule includes one or more of the following:

[0175] (1) The frequency domain physical resource block (PRB) of the SL positioning reference signal is continuous;

[0176] (2) The comb value of the SL positioning reference signal is the same as that of DMRS blocks, S-SS blocks and / or PSBCH blocks;

[0177] (3) The SL positioning reference signal has the same set of parameters as the S-SS blocks and / or PSBCH blocks, or the SL positioning reference signal has the same numberology as the side link portion bandwidth (SL Bandwidth Part, SL BWP).

[0178] (4) The SL positioning reference signal has the same bandwidth as the SL BWP, DMRS and / or PSSCH, or the SL positioning reference signal is within the SL BWP;

[0179] (5) The SL positioning reference signal has the same reference point (point A) as the SL BWP, DMRS and / or PSSCH, or the SL positioning reference signal has the same point A as the S-SS blocks and / or PSBCH blocks;

[0180] (6) The SL positioning reference signal has the same subcarrier 0 as the SL BWP, DMRS and / or PSSCH, or the SL positioning reference signal has the same point A as the S-SS blocks and / or PSBCH blocks.

[0181] In one possible implementation, the mapping rule includes a second frequency domain mapping rule;

[0182] The second frequency domain mapping rule includes one or more of the following:

[0183] (1) The SL positioning reference signal is continuously transmitted in the frequency domain PRB or RE except for the third position, such as the SL positioning reference signal from the Xth symbol to the X+M-1th symbol;

[0184] (2) The SL positioning reference signal is continuously transmitted in the frequency domain PRB or RE after the third position, such as the SL positioning reference signal from the Xth symbol to the X+M-1th symbol;

[0185] (3) The SL positioning reference signal is transmitted in the frequency domain PRB or RE outside the third position, such as the SL positioning reference signal from the Xth symbol to the X+M-1th symbol;

[0186] (4) The SL positioning reference signal is not sent on the PRB or RE corresponding to the third position, such as the SL positioning reference signal from the Xth symbol to the X+M-1th symbol;

[0187] (5) The SL positioning reference signal is multiplexed in the fourth position, or the SL positioning reference signal is punched in the fourth position;

[0188] The third position includes one or more of the following:

[0189] (a) The time-domain location of S-SS blocks and / or PSBCH blocks, or the time-frequency location of S-SS blocks and / or PSBCH blocks;

[0190] (b) The time-domain location of PSS, SSS and / or PBSCH, or the time-frequency location of PSS, SSS and / or PBSCH;

[0191] (c) The time-domain location of the second-level SCI, or the time-frequency location of the second-level SCI;

[0192] (d) The time-domain location of CSI-RS and / or DMRS, or the time-frequency location of CSI-RS and / or DMRS;

[0193] (e) The time-domain location of AGC and / or PSFCH, and the time-frequency location of AGC and / or PSFCH;

[0194] This can be further understood as follows: if the aforementioned third position exists in the frequency domain PRB / RE of the SL positioning reference signal transmission signal, such as (the first PRB / RE transmits SSB), then the SL positioning reference signal will not be transmitted at that position, or it will be transmitted at the first non-first position in the frequency domain.

[0195] The fourth position includes one or more of the following:

[0196] (a) The location of PSSCH;

[0197] (b) Location of SL data;

[0198] (c) Location of UL data;

[0199] (d) The location of PUSCH.

[0200] The frequency domain mapping rules described above are used to indicate how the SL positioning reference signal is mapped to the frequency domain, such as which PRBs or REs it is mapped to, what the bandwidth is, and which frequency domain locations can be mapped and which frequency domain locations cannot be mapped to the SL positioning reference signal.

[0201] In one possible implementation, the mapping rules include second-level SCI mapping rules;

[0202] The second-level SCI mapping rules include one or more of the following:

[0203] (1) The second-level SCI punches the positioning reference signal in the SL; optionally, when the RE of the PRS is less than the threshold value, the second-level SCI punches the positioning reference signal in the SL.

[0204] (2) Second-level SCI rate matching in SL positioning reference signal; Optionally, when the RE of PRS is greater than the threshold value, the second-level SCI rate matching in SL positioning reference signal.

[0205] In one possible implementation, the mapping rules include a third frequency domain mapping rule;

[0206] The third frequency domain mapping rules include one or more of the following:

[0207] (1) Frequency domain PRB number of SL positioning reference signal;

[0208] (2) The comb value of the SL positioning reference signal;

[0209] (3) Numerology of SL positioning reference signals;

[0210] (4) Bandwidth of the SL positioning reference signal;

[0211] (5) SL positioning reference signal point A;

[0212] (6) SL locates the subcarrier 0 of the reference signal;

[0213] (7) Determine the frequency domain PRB number, comb value, numberology, bandwidth, point A and / or subcarrier 0 of the SL positioning reference signal according to the parameters of the SL-frequencylayer in the predefined, preconfigured or first information, wherein the first information is the configuration information obtained from the network side, the second terminal or the scheduling terminal, that is, the first terminal determines the parameters of (1)-(6) above according to the SL-frequencylayer in the predefined, preconfigured or first information.

[0214] In one possible implementation, the method further includes:

[0215] The number of OFDM symbols, the maximum number of OFDM symbols, the first OFDM symbol being the Xth symbol in the time slot, the first power factor, point A, the number of frequency domain PRBs, the bandwidth, and the number of numbers or comb values ​​mentioned above can be determined by one or more of the following methods:

[0216] (1) Determined by the first terminal itself;

[0217] (2) The first terminal is determined according to the agreement or pre-configuration;

[0218] (3) The first terminal is determined based on the first configuration information obtained from the network side;

[0219] (4) The first terminal determines the configuration information sent by the second terminal or the scheduling terminal.

[0220] In one possible implementation, the sequence definition includes one or more of the following:

[0221] (1) The sequence of the SL positioning reference signal is a gold sequence, which is as follows:

[0222]

[0223] Where c(2m) is the value corresponding to the 2m-th position in c(n), c(n) is a pseudo-random sequence, and m is a positive integer;

[0224] (2) The sequence of the SL positioning reference signal is generated based on the ZC sequence, and is as follows:

[0225]

[0226] in Let u be the ZC base sequence, v be the number of base sequences, and α be the cyclic shift.

[0227] r (pi) (n,l′) represents the port p iThe SRS sequence, where n is the frequency domain value and l′ is the time domain symbol value;

[0228] The ZC sequence is obtained by using the base sequence based on the cyclic shift αi and the function δ of the comb structure (such as δ = log2(comb value));

[0229] (3) The sequence of the SL positioning reference signal is a Pi / 2 binary phase shift keying (BPSK) sequence;

[0230] (4) The sequence of the SL positioning reference signal is the CGS sequence.

[0231] The uplink positioning reference signal sequence can be a gold sequence or a computer-generated sequence (CGS) sequence. The generation parameters of the gold sequence or CGS sequence can be calculated from the UE / UE group ID or the ID configured by the network. The UE / UE group ID can be calculated from the International Mobile Subscriber Identification Number (IMSI), the International Mobile Equipment Identity (IMEI), or obtained through network indication.

[0232] Then, π / 2-BPSK modulation is performed to generate the modulation sequence d(i) of the uplink positioning reference signal.

[0233]

[0234] b(i) is the sequence value generated by the gold code, which is mapped to d(i) according to the modulation formula of Pi / 2BPSK, and is the corresponding time-domain sequence;

[0235] Next, a Discrete Fourier Transform (DFT) is performed to obtain the frequency domain sequence z(i), and then z(i) is mapped onto the OFDM resource grid.

[0236] The uplink positioning reference signal can be at least one of NR SRS, NR PRACH, NR UL PRS, or a newly defined uplink positioning reference signal.

[0237] In one possible implementation, the initial value of the pseudo-random sequence c(n) is c. init Associated with one or more of the following:

[0238] (1) Cell ID or Group ID;

[0239] (2) The ID of the destination device, or the ID of the sending or source device;

[0240] (3) Cyclic Redundancy Check (CRC) corresponding to the Physical Bypass Control Channel (PSCCH)

[0241] (4) Downlink synchronization signal identification ID corresponding to S-SS blocks and / or PSBCH blocks

[0242] (5) Scrambling code ID of SL positioning reference signal

[0243] (6) SL positioning reference signal sequence ID or group ID

[0244] (7) SL positioning reference signal port number (port ID), panel identification information (PANEL ID);

[0245] (8) The symbol of the SL positioning reference signal sequence;

[0246] (9) SL positioning reference signal sequence time slot.

[0247] In one possible implementation, the sequence of SL positioning reference signals is associated with one or more of the following:

[0248] (1) Carry one or more user identification information, user group identification information, user time information, user time source information, scrambling information and / or CRC information, such as: carrying environmental information, beacon ID, floor information, etc.;

[0249] (2) Bearing one or more cyclic displacements, cyclic displacement pairs and / or cyclic displacement groups;

[0250] (3) The transmission timing information of the SL positioning reference signal, such as subframe, symbol, frame number, UTC, resources available for SL, and SL logical resources;

[0251] (4) Information on the transmission channel, transmission resources, corresponding resource pool and / or corresponding BWP related information that carries one or more of the SL positioning reference signals;

[0252] (5) Resource identification information carrying the sequence or resource set ID information of the sequence;

[0253] (6) It carries geographic location information, which may include latitude, longitude and altitude information.

[0254] In one possible embodiment, the initial value of c(n) of the SL positioning reference signal is associated with one or more of the above (1)-(6).

[0255] In one possible implementation, the initial value of c(n) is one or more of the following:

[0256]

[0257]

[0258]

[0259] in, It is the number of symbols in the corresponding SL slot. is the time slot of the SL positioning reference signal sequence, and l is the symbol of the SL positioning reference signal sequence. It is the sequence identification information of the SL positioning reference signal, which can be related to at least one of the following:

[0260] (1) Cell ID or Group ID;

[0261] (2) The ID of the destination device, or the ID of the sending or source device;

[0262] (3) Cyclic Redundancy Check (CRC) corresponding to the Physical Bypass Control Channel (PSCCH);

[0263] (4) Downlink synchronization signal identification IDs corresponding to S-SS blocks and / or PSBCH blocks;

[0264] (5) Scrambling code ID of SL positioning reference signal;

[0265] (6) SL positioning reference signal sequence ID or group ID;

[0266] (7) SL positioning reference signal port number (port ID), panel identification information (PANEL ID);

[0267] (8) Carry one or more user identification information, user group identification information, user time information, user time source information, scrambling information and / or CRC information, such as: carrying environmental information, beacon ID, floor information, etc.;

[0268] (9) Bearing one or more cyclic displacements, cyclic displacement pairs and / or cyclic displacement groups;

[0269] (10) Carrying geographic location information, which may include: latitude and longitude, altitude information;

[0270] (11)Zone ID.

[0271] In one possible implementation, the mapping rule also includes mapping the SL positioning reference signal onto the first dedicated resource.

[0272] In one possible implementation, the method further includes:

[0273] The first terminal transmits first dedicated resource configuration information, for example, the first terminal receives first dedicated resource configuration information or sends first dedicated resource configuration information;

[0274] Specifically, in one embodiment, the first terminal, acting as a scheduling terminal, a sending terminal, or a relay device, can send first dedicated resource configuration information; in another embodiment, the first terminal, acting as a scheduled terminal, a sending terminal, or a receiving terminal, can receive the first dedicated resource configuration information.

[0275] The first dedicated resource configuration information includes one or more of the following:

[0276] (1) First dedicated resource bandwidth information;

[0277] (2) Information about the first dedicated resource, point A, and startRB;

[0278] (3) First dedicated resource numerology information;

[0279] (4) The start time of the first dedicated resource;

[0280] (5) The termination time of the first dedicated resource;

[0281] (6) Duration of the first dedicated resource;

[0282] (7) Information on the first dedicated resource pool;

[0283] In one possible implementation, the method further includes:

[0284] When the first terminal is scheduled to send the SL positioning reference signal, the RSRP and SCI of the first dedicated resource pool are detected to determine the transmission resources of the SL positioning reference signal.

[0285] The SL positioning reference signal is sent in the following situations: the scheduling can be by a higher layer, or by the network side or the second terminal.

[0286] Case 1: There exists a dedicated resource pool or resource with RSRP less than the threshold of 1;

[0287] Scenario 2: No dedicated resource pool was detected or the resource was scheduled by SCI;

[0288] Case 3: There is a reserved resource pool for the dedicated resource pool where RSRP is less than the threshold of 1. Optionally, the reserved resource pool for the dedicated resource pool can be a resource reserved for the network side to configure the transmission of SL positioning reference signals.

[0289] In one possible implementation, the transmission resources or transmission sequences of the SL positioning reference signals corresponding to different first terminals satisfy one or more of the following:

[0290] (1) Configure the SL positioning reference signal ID (or the initial value of the c(n) pseudo-random sequence) unique to the first terminal;

[0291] (2) Different first terminals use different mapping rules or sequence definitions to send SL positioning reference signals.

[0292] In one possible implementation, the hopping rule of the ID associated with the initial value of the c(n) pseudo-random sequence is associated with one or more of the following: geographic location information, source ID, destination ID, zone ID, or communication range.

[0293] The technical solution of this application will now be described in conjunction with specific embodiments.

[0294] 1. Pattern characteristics

[0295] in, Figures 3a-3m The diagram shows the pattern of the SL positioning reference signal.

[0296] It is worth noting that the illustrations are only some possible patterns, the positions of the symbols can be adjusted, and the starting position of the RE can also be adjusted.

[0297] In one implementation, the target pattern features corresponding to the target pattern have a correspondence with at least one of the following: the density, CDM type, number of ports, Comb value, number of symbols, RE offset, SL symbol type, symbol position, bandwidth, positioning requirements, sequence features, transmission channel, transmission resources, resource pool, and BWP corresponding to the SL positioning reference signal.

[0298] 2. Pattern characteristics: Two symbols are used in SL-PRS, and the second symbol is the repetition of the first, such as... Figure 4a and 4b As shown.

[0299] In another implementation, such as Figure 5 As shown, the SL-PRS avoids symbols such as S-SS / PBSCH / DMRS and transmits on other symbols.

[0300] SeeFigure 6 This application provides a positioning device 600 for use in a terminal. The device 600 includes:

[0301] Transmission module 601 is used for the first terminal to transmit SL positioning reference signal according to mapping rules and / or sequence definition;

[0302] The mapping rule is used to determine the mapping configuration of the SL positioning reference signal, the sequence definition is used to determine the sequence characteristics and / or pattern of the SL positioning reference signal, the SL positioning reference signal is used to determine the location information of the first terminal and / or the second terminal, and the second terminal is the peer terminal that performs SL communication or SL positioning with the first terminal.

[0303] In one possible implementation, the SL positioning reference signal includes one or more of the following:

[0304] Group SL positioning reference signal, the SL positioning reference signal being used for one or more groups;

[0305] A regional SL positioning reference signal, wherein the SL positioning reference signal is used for one or more regions;

[0306] A UE-specific SL positioning reference signal is specified for the specified terminal.

[0307] Cellular, TRP, or RSU specific SL positioning reference signals, wherein the SL positioning reference signals are associated with geographic locations, and one geographic location is associated with one or more SL positioning reference signals.

[0308] In one possible implementation, the SL positioning reference signal and the UU positioning reference signal have partially or completely the same mapping rules and / or sequence definitions.

[0309] In one possible implementation, when there are multiple SL positioning reference signals, and the multiple SL positioning reference signals have partially or completely identical mapping rules and / or sequence definitions, the method further includes any one of the following:

[0310] The first terminal sends or measures multiple SL positioning reference signals according to the first instruction information;

[0311] The first terminal does not expect to send or measure the SL positioning reference signal;

[0312] The first terminal determines whether to send or measure the SL positioning reference signal according to priority rules.

[0313] In one possible implementation, when multiple SL positioning reference signals exist, the multiple SL positioning reference signals have the same target terminal;

[0314] When the first terminal is a sending terminal, the target terminal has one or more of the following behaviors:

[0315] Measure one of the SL positioning reference signals;

[0316] Based on the capability, measure A1 of the SL positioning reference signals, where A1 is not greater than the capability;

[0317] According to the priority, measure A2 of the SL positioning reference signals, where A1 corresponds to the priority.

[0318] When the first terminal is a receiving terminal, the target terminal has one or more of the following behaviors:

[0319] Send one of the SL positioning reference signals;

[0320] Based on the capability, A1 SL positioning reference signals are sent, where A1 is not greater than the capability;

[0321] According to the priority, A2 of the SL positioning reference signals are sent, where A1 corresponds to the priority.

[0322] In one possible implementation, when there are multiple SL positioning reference signals, and the multiple SL positioning reference signals come from different carrier or frequency layers,

[0323] When the first terminal is a receiving terminal, the transmission module is also used for any one of the following:

[0324] The first terminal measures the SL positioning reference signal of a carrier or frequency layer;

[0325] The first terminal measures the SL positioning reference signal of B1 carriers or frequency layers according to its capability, wherein B1 is not greater than the capability;

[0326] The first terminal measures the SL positioning reference signal of B2 carriers or frequency layers according to priority, where B1 corresponds to the priority.

[0327] When the first terminal is a sending terminal, the transmission module is further used for any one of the following:

[0328] The first terminal sends the SL positioning reference signal of a carrier or frequency layer;

[0329] The first terminal sends B1 carrier or frequency layer positioning reference signals according to its capability, wherein B1 is not greater than the capability;

[0330] The first terminal sends the SL positioning reference signal of B2 carriers or frequency layers according to the priority, where B1 corresponds to the priority.

[0331] In one possible implementation, the transmission module is also used for any one of the following:

[0332] The first terminal measures the SL positioning reference information;

[0333] The first terminal does not expect to send or measure the SL positioning reference signal;

[0334] The first terminal does not expect to send or measure the multiple SL positioning reference signals.

[0335] The first terminal does not expect to send or measure the SL positioning reference signal across multiple carriers or frequency layers.

[0336] The first terminal determines to send or measure the SL positioning reference signal and / or the UU positioning reference signal according to priority rules.

[0337] In one possible implementation, the transmission module is further configured to:

[0338] The first terminal receives second indication information, which is used to instruct the first terminal to send or measure the SL positioning reference signal. The second indication information is either an indication sent by the network side, or an indication sent by the scheduling terminal, or an indication sent by the higher layer of the first terminal.

[0339] Alternatively, the first terminal sends a second indication message, which instructs the second terminal to send or measure the SL positioning reference signal.

[0340] In one possible implementation, the mapping rule includes a first time-domain mapping rule;

[0341] The first time-domain mapping rule includes one or more of the following:

[0342] The number of Orthogonal Frequency Division Multiplexing (OFDM) symbols in the SL positioning reference signal;

[0343] The maximum number of OFDM symbols in the SL positioning reference signal

[0344] The first OFDM symbol of the SL positioning reference signal is located in the Xth symbol of the time slot, where X is a positive integer.

[0345] In one possible implementation, the mapping rule includes a second time-domain mapping rule;

[0346] The second time-domain mapping rule includes one or more of the following;

[0347] The SL positioning reference signal is continuously transmitted on OFDM symbols other than the first position;

[0348] The SL positioning reference signal is transmitted on an OFDM symbol following the first position;

[0349] The SL positioning reference signal is transmitted on OFDM symbols other than the first position;

[0350] The SL positioning reference signal is not transmitted on the OFDM symbol corresponding to the first position;

[0351] The SL positioning reference signal is multiplexed at the second position, or the SL positioning reference signal is punched at the second position;

[0352] The first position includes one or more of the following;

[0353] The time-domain location of the side-link synchronization signal blocks (S-SS blocks) and / or the side-link broadcast channel blocks (PSBCH blocks), or the time-frequency location of the S-SS blocks and / or the PSBCH blocks;

[0354] The time-domain location of the primary synchronization signal PSS, the secondary synchronization signal SSS, and / or the physical broadcast synchronization channel PBSCH, or the time-frequency location of PSS, SSS, and / or PBSCH;

[0355] The time-domain location of the second-level side link control information (SCI), or the time-frequency location of the second-level SCI.

[0356] The time-domain position of the Channel State Information Reference Signal (CSI-RS) and / or the Demodulation Reference Signal (DMRS), or the time-frequency position of the CSI-RS and / or the DMRS;

[0357] The time-domain location of Automatic Gain Control (AGC) and / or Physical Sidelink Feedback Channel (PSFCH), and the time-frequency location of AGC and / or PSFCH;

[0358] The second position includes one or more of the following:

[0359] Location of the Physical Side Link Control Channel (PSSCH);

[0360] Location of SL data;

[0361] Location of the uplink UL data;

[0362] Location of the Physical Uplink Shared Channel (PUSCH).

[0363] In one possible implementation, the mapping rule includes a third time-domain mapping rule;

[0364] The third time-domain mapping rule includes one or more of the following:

[0365] The number of OFDM symbols in the SL positioning reference signal is fixed;

[0366] The OFDM symbol position of the SL positioning reference signal is fixed;

[0367] The starting OFDM symbol position of the SL positioning reference signal is fixed.

[0368] In one possible implementation, the mapping rule includes the first terminal receiving or sending third indication information;

[0369] The third indication information is used to indicate that the SL positioning reference signal is transmitted in the SL subframe and / or UL subframe, or the third indication information is used to indicate cross-band mapping, cross-carrier mapping or cross-frequency layer mapping, or the third indication information includes the number and position of the OFDM symbols.

[0370] In one possible implementation, the mapping rule includes:

[0371] The SL positioning reference signal is mapped onto the UL subframe.

[0372] In one possible implementation, the mapping rule includes a first power mapping rule;

[0373] The first power mapping rule includes one or more of the following:

[0374] The SL positioning reference signal is a first sequence multiplied by a first power coefficient;

[0375] The transmission power of the SL positioning reference signal is less than the maximum predefined power;

[0376] The transmission power of the SL positioning reference signal is a fixed value;

[0377] The transmission power of the SL positioning reference signal is:

[0378]

[0379] Among them, P 0,s-prs α s-prs These are the power adjustment parameters of the SL positioning reference signal. is the number of resource blocks (RBs) of the SL positioning reference signal, and PL is the path loss of the power reference signal, which includes one or more of the following:

[0380] The synchronization signal block (SS block) and / or physical broadcast channel block (PBCH block) corresponding to the main information block (MIB);

[0381] The RS used to determine the transmit power of the PUSCH scheduled for DCI format 0_0;

[0382] Predefined reference signal;

[0383] The RS used for the transmit power of PSCCH, PSSCH, or PSFCH in side-link scheduling;

[0384] In one possible implementation, the mapping rule includes a first frequency domain mapping rule;

[0385] The first frequency domain mapping rule includes one or more of the following:

[0386] The frequency domain physical resource block (PRB) of the SL positioning reference signal is continuous;

[0387] The comb value of the SL positioning reference signal is the same as that of DMRS blocks, S-SS blocks and / or PSBCH blocks;

[0388] The SL positioning reference signal has the same parameter set numerology as the S-SS blocks and / or PSBCH blocks, or the SL positioning reference signal has the same numerology as the side link portion bandwidth SL BWP;

[0389] The SL positioning reference signal has the same bandwidth as the SL BWP, DMRS, and / or PSSCH, or the SL positioning reference signal is within the SL BWP.

[0390] The SL positioning reference signal has the same reference point A as the SL BWP, DMRS and / or PSSCH, or the SL positioning reference signal has the same point A as the S-SS blocks and / or PSBCH blocks;

[0391] The SL positioning reference signal has the same subcarrier 0 as the SL BWP, DMRS and / or PSSCH, or the SL positioning reference signal has the same point A as the S-SS blocks and / or PSBCH blocks.

[0392] In one possible implementation, the mapping rule includes a second frequency domain mapping rule;

[0393] The second frequency domain mapping rule includes one or more of the following:

[0394] The SL positioning reference signal is continuously transmitted in the frequency domain PRB or RE, except for the third position;

[0395] The SL positioning reference signal is continuously transmitted in the frequency domain PRB or RE after the third position;

[0396] The SL positioning reference signal is transmitted in the frequency domain PRB or RE outside the third position;

[0397] The SL positioning reference signal is not transmitted on the PRB or RE corresponding to the third position;

[0398] The SL positioning reference signal is multiplexed at the fourth position, or the SL positioning reference signal is punched at the fourth position;

[0399] The third position includes one or more of the following:

[0400] The time-domain location of S-SS blocks and / or PSBCH blocks, or the time-frequency location of S-SS blocks and / or PSBCH blocks;

[0401] The time-domain location of PSS, SSS and / or PBSCH, or the time-frequency location of PSS, SSS and / or PBSCH;

[0402] The time-domain position of the second-level SCI, or the time-frequency position of the second-level SCI;

[0403] The time-domain location of CSI-RS and / or DMRS, or the time-frequency location of CSI-RS and / or DMRS;

[0404] The time-domain location of AGC and / or PSFCH, and the time-frequency location of AGC and / or PSFCH;

[0405] The fourth position includes one or more of the following:

[0406] The location of PSSCH;

[0407] Location of SL data;

[0408] Location of UL data;

[0409] The location of PUSCH.

[0410] In one possible implementation, the mapping rules include a second-level SCI mapping rule;

[0411] The second-level SCI mapping rules include one or more of the following:

[0412] The second-level SCI punches through the SL positioning reference signal.

[0413] The second-level SCI performs rate matching of the reference signal in SL positioning.

[0414] In one possible implementation, the mapping rule includes a third frequency domain mapping rule;

[0415] The third frequency domain mapping rule includes one or more of the following:

[0416] The frequency domain PRB number of the SL positioning reference signal;

[0417] The comb value of the SL positioning reference signal;

[0418] The numerology of the SL positioning reference signal;

[0419] The bandwidth of the SL positioning reference signal;

[0420] The SL positioning reference signal is point A;

[0421] The subcarrier 0 of the SL positioning reference signal;

[0422] The frequency domain PRB number, comb value, numberology, bandwidth, point A and / or subcarrier 0 of the SL positioning reference signal are determined based on the parameters of the SL-frequencylayer in the predefined, preconfigured or first information, wherein the first information is configuration information obtained from the network side, the second terminal or the scheduling terminal.

[0423] In one possible implementation, the transmission module is further configured to:

[0424] The number of OFDM symbols, the maximum number of OFDM symbols, the first OFDM symbol being the Xth symbol in the time slot, the first power factor, point A, the number of frequency domain PRBs, the bandwidth, and the number of numbers or comb values ​​are determined by one or more of the following methods:

[0425] Determined by the first terminal itself;

[0426] The first terminal is determined according to the protocol agreement or pre-configuration;

[0427] The first terminal is determined based on the first configuration information obtained from the network side;

[0428] The first terminal is determined based on the second configuration information sent by the second terminal or the scheduling terminal.

[0429] In one possible implementation, the sequence definition includes one or more of the following:

[0430] The sequence of the SL positioning reference signal is a gold sequence, and the gold sequence is as follows:

[0431]

[0432] Where c(2m) is the value corresponding to the 2m-th position in c(n), c(n) is a pseudo-random sequence, and m is a positive integer;

[0433] The sequence of the SL positioning reference signal is a ZC sequence, and the ZC sequence is as follows:

[0434]

[0435] in Let u be the base sequence, v be the number of base sequences, and α be the cyclic shift.

[0436] r (pi) (n,l′) represents the port p i The SRS sequence of the detection reference signal, where n is the value in the frequency domain and l′ is the symbol value in the time domain;

[0437] The ZC sequence is obtained based on the cyclic shift αi and the function δ of the comb structure;

[0438] The sequence of the SL positioning reference signal is a Pi / 2 binary phase shift keying (BPSK) sequence;

[0439] The sequence of the SL positioning reference signal is the CGS sequence.

[0440] In one possible implementation, the initial value of the C(n) pseudorandom sequence is associated with one or more of the following:

[0441] Cell ID or Group ID;

[0442] The destination ID of the target device, or the source ID of the sending or originating device;

[0443] Cyclic Redundancy Check (CRC) corresponding to the Physical Bypass Control Channel (PSCCH)

[0444] Downlink synchronization signal identification ID corresponding to S-SS blocks and / or PSBCH blocks

[0445] The scrambling ID of the SL positioning reference signal

[0446] The sequence ID or group ID of the SL positioning reference signal

[0447] The SL positioning reference signal port number (port ID) and panel identification information (PANEL ID) are also mentioned.

[0448] The symbol of the SL positioning reference signal sequence;

[0449] The time slot of the SL positioning reference signal sequence.

[0450] In one possible implementation, the sequence of the SL positioning reference signal is associated with one or more of the following:

[0451] It carries one or more user identification information, user group identification information, user time information, user time source information, scrambling information and / or CRC information;

[0452] Bearing one or more cyclic displacements, cyclic displacement pairs, and / or cyclic displacement groups;

[0453] The timing information for transmitting the SL positioning reference signal;

[0454] Information related to the transmission channel, transmission resources, corresponding resource pool, and / or corresponding BWP that carries one or more of the SL positioning reference signals;

[0455] Resource identification information carrying the sequence or resource set ID information of the sequence;

[0456] It carries geographic location information, which may include latitude, longitude, and altitude.

[0457] In one possible implementation, the initial value of c(n) is one or more of the following:

[0458]

[0459]

[0460]

[0461] in, It is the number of symbols in the corresponding SL slot. It is the time slot of the sequence of the SL positioning reference signal. is the sequence identification information of the SL positioning reference signal, and l is the symbol of the sequence of the SL positioning reference signal.

[0462] In one possible implementation, the mapping rule further includes mapping the SL positioning reference signal onto a first dedicated resource.

[0463] In one possible implementation, the transmission module is further configured to:

[0464] The first terminal transmits first dedicated resource configuration information, which includes one or more of the following:

[0465] First dedicated resource bandwidth information;

[0466] First dedicated resource point A, startRB information;

[0467] First dedicated resource: numerology information;

[0468] The start time of the first dedicated resource;

[0469] The termination time of the first dedicated resource;

[0470] The duration of the first dedicated resource;

[0471] Information on the first dedicated resource pool;

[0472] In one possible implementation, the transmission module is further configured to:

[0473] When the first terminal is scheduled to send the SL positioning reference signal, the RSRP and SCI of the first dedicated resource pool are detected to determine the transmission resources of the SL positioning reference signal.

[0474] Specifically, the SL positioning reference signal is sent when there is a dedicated resource pool or resource with RSRP less than the threshold of 1, or when no dedicated resource pool or resource is detected being scheduled by SCI, or when there is a reserved resource pool of a dedicated resource pool with RSRP less than the threshold of 1.

[0475] In one possible implementation, the transmission resources or transmission sequences of the SL positioning reference signals corresponding to different first terminals satisfy one or more of the following:

[0476] Configure the SL positioning reference signal ID unique to the first terminal;

[0477] The mapping rules or sequence definitions used by the first terminal to send the SL positioning reference signal are different.

[0478] It is worth noting that the mapping rules or sequence definitions used by the first terminal to send the SL positioning reference signal may vary and include one or more of the following:

[0479] Based on the SL positioning reference signal or the terminal's ID, the identification information maps the SL positioning reference signal corresponding to different first terminals to different time-domain mapping rules.

[0480] Based on the SL positioning reference signal or the terminal's ID, the identification information maps the SL positioning reference signal corresponding to different first terminals to different frequency domain mapping rules.

[0481] Based on the SL positioning reference signal or the terminal ID, the identification information maps the SL positioning reference signal corresponding to different first terminals to different dedicated resources.

[0482] In one possible implementation, the ID hopping rule is associated with one or more of the following: geographic location information, source ID, destination ID, zone ID, or communication range.

[0483] The positioning device provided in this application embodiment can achieve... Figure 2 The various processes implemented in the method embodiments shown achieve the same technical effects, and will not be described again here to avoid repetition.

[0484] Figure 7 A schematic diagram of the hardware structure of a terminal to implement an embodiment of this application.

[0485] The terminal 700 includes, but is not limited to, components such as: radio frequency unit 701, network module 702, audio output unit 703, input unit 704, sensor 705, display unit 706, user input unit 707, interface unit 708, memory 709, and processor 710.

[0486] Those skilled in the art will understand that the terminal 700 may also include a power supply (such as a battery) for supplying power to various components. The power supply may be logically connected to the processor 710 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 7 The terminal structure shown does not constitute a limitation on the terminal. The terminal may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0487] It should be understood that, in this embodiment, the input unit 704 may include a graphics processing unit (GPU) 7041 and a microphone 7042. The GPU 7041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 706 may include a display panel 7061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 707 includes a touch panel 7061 and other input devices 7072. The touch panel 7061 is also called a touch screen. The touch panel 7061 may include a touch detection device and a touch controller. Other input devices 7072 may include, but are not limited to, a physical keyboard, function keys (such as volume control buttons, power buttons, etc.), a trackball, a mouse, and a joystick, which will not be described in detail here.

[0488] In this embodiment, the radio frequency unit 701 receives downlink data from the network-side device and processes it for the processor 610; additionally, it sends uplink data to the network-side device. Typically, the radio frequency unit 701 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low-noise amplifier, a duplexer, etc.

[0489] The memory 709 can be used to store software programs or instructions and various data. The memory 709 may primarily include a program or instruction storage area and a data storage area. The program or instruction storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 709 may include high-speed random access memory and non-volatile memory, wherein the non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. For example, at least one disk storage device, flash memory device, or other non-volatile solid-state storage device.

[0490] Processor 710 may include one or more processing units; optionally, processor 710 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications or instructions, and the modem processor mainly handles wireless communication, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 710.

[0491] The terminal provided in this application embodiment can achieve...Figure 2 The various processes implemented in the method embodiments shown achieve the same technical effects, and will not be described again here to avoid repetition.

[0492] This application also provides a program product, which is stored in a non-volatile storage medium and executed by at least one processor to implement the following: Figure 2 The steps of the processing method described above.

[0493] This application embodiment also provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the above-described functionality. Figure 2 The various processes of the method embodiments shown can achieve the same technical effect, and will not be described again here to avoid repetition.

[0494] The processor mentioned above is the processor in the terminal described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0495] This application embodiment also provides a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run network-side device programs or instructions to achieve the above-mentioned... Figure 2 The various processes of the method embodiments shown can achieve the same technical effect, and will not be described again here to avoid repetition.

[0496] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0497] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0498] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0499] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A positioning method, characterized by, Comprising: A first terminal transmits a sidelink (SL) positioning reference signal (PRS) according to a mapping rule and a pattern of SL PRSs; The mapping rule is used to determine a mapping configuration of the SL PRSs, the SL PRSs being used to determine position information of the first terminal and / or a second terminal, the second terminal being a peer terminal for SL communication or SL positioning with the first terminal; The pattern of SL PRSs corresponds to a target pattern feature, the target pattern feature including a number of symbols; The mapping rule is used to determine a time-domain mapping method of the SL PRSs, the time-domain mapping method including: The SL PRSs are transmitted on OFDM symbols after a first location, the first location including one or more of: a time-domain location of a demodulation reference signal (DMRS); a time-domain location of a second-stage sidelink control information (SCI); The SL PRSs are multiplexed on a second location, the second location including a location of a physical sidelink shared channel (PSSCH).

2. The method of claim 1, wherein, The SL PRSs include one or more of: Group SL PRSs, the SL PRSs being used for one or more groups; Zone SL PRSs, the SL PRSs being used for one or more zones; UE-specific SL PRSs, the SL PRSs being used for a specified terminal; Cell, transmission-reception point (TRP), or road side unit (RSU) specific SL PRSs, the SL PRSs being associated with a geographical location, and one geographical location being associated with one or more SL PRSs.

3. The method of claim 1, wherein, The SL PRSs have partially or fully same mapping rules and / or patterns as the UL PRSs.

4. The method of claim 1, wherein, In a case where there are multiple SL PRSs, and the multiple SL PRSs have partially or fully same mapping rules and / or patterns, the method further includes any one of: The first terminal transmits or measures the multiple SL PRSs according to first indication information; The first terminal does not expect to transmit or measure the SL PRSs; The first terminal determines to transmit or measure the SL PRSs according to a priority rule.

5. The method of claim 1, wherein, In a case where there are multiple SL PRSs, and the multiple SL PRSs have same target terminals; In a case where the target terminal is a receiving terminal, the target terminal has one or more of: Measuring one SL PRS; Measuring A1 SL PRSs according to a capability, the A1 being no more than the capability; Measuring A2 SL PRSs according to a priority, the A2 corresponding to the priority; Or, In a case where the target terminal is a transmitting terminal, the target terminal has one or more of: Transmitting one SL PRS; Transmitting A1 SL PRSs according to a capability, the A1 being no more than the capability; According to the priority, A2 SL positioning reference signals are sent, and A2 corresponds to the priority.

6. The method of claim 1, wherein, In the case that there are multiple SL positioning reference signals, and the multiple SL positioning reference signals are from different carriers or frequency layers, In the case that the first terminal is a receiving terminal, the method further comprises any one of the following: The first terminal measures the SL positioning reference signal of one carrier or frequency layer; The first terminal measures B1 SL positioning reference signals of B1 carriers or frequency layers according to the capability, and B1 is not greater than the capability; The first terminal measures B2 SL positioning reference signals of B2 carriers or frequency layers according to the priority, and B2 corresponds to the priority; Or, In the case that the first terminal is a sending terminal, the method further comprises any one of the following: The first terminal sends the SL positioning reference signal of one carrier or frequency layer; The first terminal sends B1 SL positioning reference signals of B1 carriers or frequency layers according to the capability, and B1 is not greater than the capability; The first terminal sends B2 SL positioning reference signals of B2 carriers or frequency layers according to the priority, and B2 corresponds to the priority.

7. The method of claim 3, 5, or 6, wherein, The method further comprises any one of the following: The first terminal sends or measures the SL positioning reference signal; The first terminal does not expect to send or measure the SL positioning reference signal; The first terminal does not expect to send or measure multiple SL positioning reference signals; The first terminal does not expect to send or measure the SL positioning reference signal of multiple carriers or frequency layers; The first terminal determines to send or measure the SL positioning reference signal and / or the UU positioning reference signal according to the priority rule.

8. The method of claim 3, 5, or 6, wherein, The method further comprises: The first terminal receives second indication information, and the second indication information is used to indicate the first terminal to send or measure the SL positioning reference signal, wherein the second indication information is network-side sent indication information, or the second indication information is scheduling terminal or second terminal sent indication information, or the second indication information is high-layer sent indication information of the first terminal; Or, The first terminal sends second indication information to the second terminal, and the second indication information is used to indicate the second terminal to send or measure the SL positioning reference signal.

9. The method of claim 1, wherein, The mapping rule comprises a first time domain mapping rule; The first time domain mapping rule comprises one or more of the following: The number of orthogonal frequency division multiplexing (OFDM) symbols of the SL positioning reference signal; The maximum number of OFDM symbols of the SL positioning reference signal The first OFDM symbol of the SL positioning reference signal is located at the Xth symbol of a slot, and X is a positive integer.

10. The method of claim 1, wherein, The mapping rule comprises a third time domain mapping rule; The third time domain mapping rule comprises one or more of the following: The number of OFDM symbols of the SL positioning reference signal is fixed; The OFDM symbol position of the SL positioning reference signal is fixed; The starting OFDM symbol position of the SL positioning reference signal is fixed.

11. The method of claim 1, wherein, The mapping rule includes third indication information received or transmitted by the first terminal. The third indication information indicates that the SL positioning reference signal transmission is in a SL subframe and / or a UL subframe, or the third indication information indicates cross-band mapping, cross-carrier mapping, or cross-frequency layer mapping, or the third indication information includes the number and position of the OFDM symbols.

12. The method of claim 1, wherein, The mapping rule includes: The SL positioning reference signal is mapped into a UL subframe.

13. The method of claim 1, wherein, The mapping rule includes a first power mapping rule; The first power mapping rule includes one or more of the following: The SL positioning reference signal is a first sequence multiplied by a first power coefficient; The transmission power of the SL positioning reference signal is less than a maximum predefined power; The transmission power of the SL positioning reference signal is a fixed value; The transmission power of the SL positioning reference signal is: ； wherein, , is a power adjustment parameter of the SL positioning reference signal, is a number of resource blocks, RBs, of the SL positioning reference signal, is a path loss for a power reference signal, the power reference signal comprising one or more of: A synchronization signal block (SS block) and / or a physical broadcast channel block (PBCH block) corresponding to a master information block (MIB); An RS used for determining the transmission power of a PUSCH scheduled by a DCI format 0_0; A predefined reference signal; An RS used for the transmission power of a PSCCH, a PSSCH, or a PSFCH scheduled by a sidelink.

14. The method of claim 1, wherein, The mapping rule includes a first frequency domain mapping rule; The first frequency domain mapping rule includes one or more of the following: The frequency domain physical resource blocks (PRBs) of the SL positioning reference signal are consecutive; The comb value of the SL positioning reference signal is the same as that of a DMRS block, an S-SS block, and / or a PSBCH block; The SL positioning reference signal has the same numerology as an S-SS block and / or a PSBCH block, or the SL positioning reference signal has the same numerology as a sidelink part bandwidth (SL BWP); The SL positioning reference signal has the same bandwidth as a SL BWP, a DMRS, and / or a PSSCH, or the SL positioning reference signal is within a SL BWP; The SL positioning reference signal has the same reference point A as a SL BWP, a DMRS, and / or a PSSCH, or the SL positioning reference signal has the same point A as an S-SS block and / or a PSBCH block; The SL positioning reference signal has the same subcarrier 0 as a SL BWP, a DMRS, and / or a PSSCH, or the SL positioning reference signal has the same point A as an S-SS block and / or a PSBCH block.

15. The method of claim 1, wherein, The mapping rule includes a second frequency domain mapping rule; The second frequency domain mapping rule includes one or more of the following: The SL positioning reference signal is continuously transmitted on frequency domain PRBs or REs other than a third position; The SL positioning reference signal is continuously transmitted on frequency domain PRBs or REs after the third position; The SL positioning reference signal is transmitted on a frequency domain PRB or RE other than the third location; The SL positioning reference signal is not transmitted on a PRB or RE corresponding to the third location; The SL positioning reference signal is multiplexed at a fourth location, or the SL positioning reference signal is punctured at the fourth location; The third location includes one or more of the following: Frequency domain locations of S-SS blocks and / or PSBCH blocks, or time-frequency locations of S-SS blocks and / or PSBCH blocks; Frequency domain locations of PSS, SSS, and / or PBSCH, or time-frequency locations of PSS, SSS, and / or PBSCH; Frequency domain locations of second-level SCI, or time-frequency locations of second-level SCI; Frequency domain locations of CSI-RS and / or DMRS, or time-frequency locations of CSI-RS and / or DMRS; Frequency domain locations of AGC and / or PSFCH, or time-frequency locations of AGC and / or PSFCH; The fourth location includes one or more of the following: A location of PSSCH; A location of SL data; A location of UL data; A location of PUSCH.

16. The method of claim 1, wherein, The mapping rule includes a second-level SCI mapping rule; The second-level SCI mapping rule includes one or more of the following: Second-level SCI punching the SL positioning reference signal; Second-level SCI rate matching the SL positioning reference signal.

17. The method of claim 1, wherein, The mapping rule includes a third frequency domain mapping rule; The third frequency domain mapping rule includes one or more of the following: A number of frequency domain PRBs of the SL positioning reference signal; A comb value of the SL positioning reference signal; A numerology of the SL positioning reference signal; A bandwidth of the SL positioning reference signal; A pointA of the SL positioning reference signal; A subcarrier 0 of the SL positioning reference signal; The number of frequency domain PRBs, the comb value, the numerology, the bandwidth, the pointA, and / or the subcarrier 0 of the SL positioning reference signal are determined according to parameters of SL-frequencylayer in a predefinition, a preconfiguration, or first information, wherein the first information is configuration information obtained from a network side, a second terminal, or a scheduling terminal.

18. The method according to any one of claims 9-15, characterized in that, The method further includes: The number of OFDM symbols, the maximum number of OFDM symbols, the first OFDM symbol being located at the Xth symbol of a slot, the first power coefficient, pointA, the number of frequency domain PRBs, the bandwidth, the numerology, and / or the comb value are determined by one or more of the following: Determined by the first terminal itself; Determined by the first terminal according to a protocol agreement or a preconfiguration; Determined by the first terminal according to first configuration information obtained from a network side; Determined by the first terminal according to second configuration information sent by a second terminal or a scheduling terminal.

19. The method of claim 1, wherein, The sequence of the SL positioning reference signal includes one or more of the following: The sequence of the SL positioning reference signal is a gold sequence, and the gold sequence is ； Wherein c(2m) is the value corresponding to the 2mth position in c(n), the c(n) is a pseudo-random sequence, and the m is a positive integer; The sequence of the SL positioning reference signal is a ZC sequence, and the ZC sequence is: ； wherein is a base sequence, u is a group number, v is a base sequence number, and a is a cyclic shift; for a sounding reference signal (SRS) sequence at a port n is a frequency domain value, is a time domain symbol value; for the base sequence according to a cyclic shift and a comb structure the ZC sequence obtained; The sequence of the SL positioning reference signal is a Pi / 2 binary phase shift keying (BPSK) sequence. The sequence of the SL positioning reference signal is a CGS sequence.

20. The method of claim 19, wherein, The initial value of the c(n) pseudo-random sequence is associated with one or more of the following: a cell ID or a group ID; an ID of a destination device, a sending or source device ID; a cyclic redundancy check (CRC) corresponding to a physical sidelink control channel (PSCCH); a downlink synchronization signal identification ID corresponding to an S-SS block and / or a PSBCH block; a scrambling code ID of the SL positioning reference signal; a sequence ID or a group ID of the SL positioning reference signal; an SL positioning reference signal port number (port ID) and panel identification information (PANEL ID); a symbol of the SL positioning reference signal sequence; a time slot of the SL positioning reference signal sequence.

21. The method of claim 17, wherein, The sequence of the SL positioning reference signal is associated with one or more of the following: carrying one or more user identification information, user group identification information, user time information, user time source information, scrambling information, and / or CRC information; carrying one or more cyclic shifts, cyclic shift pairs, and / or cyclic shift groups; carrying transmission timing information of the SL positioning reference signal; carrying information related to one or more transmission channels, transmission resources, corresponding resource pools, and / or corresponding BWP of the SL positioning reference signal; carrying resource identification of a sequence or resource set ID information of a sequence; carrying geographic location information.

22. The method of claim 20 or 21, wherein, The initial value of the c(n) is one or more of the following: ； ， ； ； wherein, is a number of symbols within a corresponding SL slot, is a slot of the sequence of SL positioning reference signals, is sequence identification information of the sequence of SL positioning reference signals, and l is a symbol of the sequence of SL positioning reference signals.

23. The method of claim 1, wherein, The mapping rule further includes that the SL positioning reference signal is mapped on a first dedicated resource.

24. The method of claim 23, wherein, The method further includes that the first terminal transmits first dedicated resource configuration information, and the first dedicated resource configuration information includes one or more of the following: first dedicated resource bandwidth information; first dedicated resource point A, start RB information; first dedicated resource numerology information; a start time of the first dedicated resource; an end time of the first dedicated resource; a duration of the first dedicated resource; first dedicated resource pool information.

25. The method of claim 23, wherein, The method further includes: Before the first terminal transmits the SL positioning reference signal, detecting RSRP and listening to SCI on the first dedicated resource pool or the first reserved resource pool or the scheduled resource to determine the transmission resource of the SL positioning reference signal; or Before the first terminal schedules other terminals to transmit the SL positioning reference signal, detecting RSRP and listening to SCI on the first dedicated resource pool or the first reserved resource pool or the scheduled resource to determine the transmission resource of the SL positioning reference signal. In a case that there is a dedicated resource pool or resource with RSRP less than threshold 1, or no dedicated resource pool or resource is scheduled by SCI is monitored, or there is a reserved resource pool of dedicated resource pool with RSRP less than threshold 1, the SL positioning reference signal is transmitted.

26. The method of claim 1, wherein, The transmission resource or transmission sequence of the SL positioning reference signal corresponding to different first terminals satisfies one or more of the following: The SL positioning reference signal ID specific to the first terminal is configured. The mapping rule or pattern used by different first terminals for transmitting the SL positioning reference signal is different.

27. The method of claim 20, wherein, The hopping rule of the ID is associated with one or more of geographical location information, source ID, destination ID, zone ID, or communication range.

28. A positioning device, characterized by The apparatus comprises: The transmission module is configured to transmit, by the first terminal, the SL positioning reference signal according to the mapping rule and the pattern of the SL positioning reference signal. The mapping rule is used to determine the mapping configuration of the SL positioning reference signal, and the SL positioning reference signal is used to determine the location information of the first terminal and / or a second terminal, the second terminal being a peer terminal for SL communication or SL positioning with the first terminal. The target pattern feature corresponding to the pattern of the SL positioning reference signal includes a number of symbols. The mapping rule is used to determine a time domain mapping method of the SL positioning reference signal, and the time domain mapping method includes: The SL positioning reference signal is transmitted on an OFDM symbol after a first position, and the first position includes one or more of the following: a time domain position of a demodulation reference signal (DMRS); a time domain position of a second-stage sidelink control information (SCI). The SL positioning reference signal is multiplexed on a second position, and the second position includes a position of a physical sidelink shared channel (PSSCH).

29. A terminal, characterized by The apparatus comprises: The processor, the memory, and a program stored on the memory and executable on the processor, the program being executed by the processor to implement the steps of the method according to any one of claims 1 to 27.

30. A readable storage medium, characterized by, The readable storage medium stores a program or instructions, the program or instructions being executed by the processor to implement the steps of the method according to any one of claims 1 to 27.

Images