Positioning method and apparatus

Abstract

This application discloses a positioning method and apparatus, belonging to the field of communication technology. The method includes: a first terminal transmitting a SL positioning reference signal according to a preset rule, and / or calculating a TBS; wherein the preset rule is used to determine the time-frequency mapping method of the SL positioning reference signal and / or the calculation method of the TBS, the SL positioning reference signal is used to determine the location information of the first terminal and / or a second terminal, and the second terminal is a peer terminal that performs SL communication or SL positioning with the first terminal.

Description

Technical Field

[0001] This application belongs to the field of communication technology, specifically relating to a positioning method and device. Background Technology

[0002] Long Term Evolution (LTE) systems support sidelink transmission, meaning data transmission between user equipment (UEs) occurs directly at the physical layer. LTE sidelink communication is broadcast-based, which, while suitable for basic safety-related communications in vehicle-to-everything (V2X) networks, is not applicable to more advanced V2X services. 5G New Radio (NR) systems will support more advanced sidelink transmission designs, such as unicast, multicast, or multicast, thus enabling support for a wider range of service types.

[0003] There are various absolute and relative positioning requirements in SL communication, but how to meet these requirements has not yet been defined. Summary of the Invention

[0004] The purpose of this application is to provide a positioning method and apparatus that can solve the problem of how to meet the positioning requirements in SL communication.

[0005] Firstly, a positioning method is provided, including:

[0006] The first terminal transmits the side link SL positioning reference signal and / or calculates the transport block size TBS according to preset rules.

[0007] The preset rules are used to determine the time-frequency mapping method and / or the calculation method 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. The second terminal is a peer terminal that performs SL communication or SL positioning with the first terminal.

[0008] Secondly, a positioning device is provided for use in a terminal, comprising:

[0009] The processing module is used for the first terminal to transmit the SL positioning reference signal according to preset rules, and / or to calculate the TBS;

[0010] The preset rules are used to determine the time-frequency mapping method and / or the calculation method 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. The second terminal is a peer terminal that performs SL communication or SL positioning with the first terminal.

[0011] Thirdly, a terminal is provided, comprising: a processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, performs the steps of the method described in the first aspect.

[0012] Fourthly, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the processing method described in the first aspect.

[0013] Fifthly, 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 processing method as described in the first aspect.

[0014] In a sixth aspect, a chip is provided, the chip including a processor and a communication interface coupled to the processor, the processor being used to run programs or instructions to implement the processing method as described in the first aspect.

[0015] In this embodiment of the application, by using preset rules for the time-frequency mapping method and / or the calculation method of TBS for determining the SL positioning reference signal, the transmission of the SL positioning reference signal between the first terminal and the second terminal, and the calculation of TBS by the first terminal, are realized to meet the positioning requirements in SL communication. Attached Figure Description

[0016] Figure 1a This is a schematic diagram of the existing SL communication system;

[0017] Figure 1b This is a flowchart illustrating the process of selecting or reselecting resources for existing terminals;

[0018] Figure 2 This is a flowchart illustrating the positioning method provided in an embodiment of this application;

[0019] Figures 3a-3m This is a schematic diagram of an application scenario provided in the embodiments of this application;

[0020] Figures 4a-4b This is a schematic diagram of an application scenario provided in the embodiments of this application;

[0021] Figures 5a-5b This is a schematic diagram of an application scenario provided in the embodiments of this application;

[0022] Figure 6 This is a schematic diagram of the positioning device provided in the embodiments of this application;

[0023] Figure 7 This is a schematic diagram of the terminal structure provided in the embodiments of this application. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and are not used to describe a specified order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, not limited in number; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following 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] Starting with release 12, the Long Term Evolution (LTE) system supports sidelinks, which are used for direct data transmission between user equipment (UE) devices without going through network equipment.

[0031] Resource allocation

[0032] NR V2X defines two resource allocation modes: mode 1, where resources are allocated by the base station; and mode 2, where the UE decides which resources to use for transmission. Resource information may come from broadcast messages from the base station or pre-configured information. If the UE is within range of the base station and has an RRC connection with it, it can operate in either mode 1 or mode 2. If the UE is within range of the base station but does not have an RRC connection, it can only operate in mode 2. If the UE is outside range of the base station, it can only operate in mode 2 and perform V2X transmissions according to the pre-configured information.

[0033] For mode 2, the specific working method is as follows:

[0034] 1) After resource selection is triggered, the transmitting terminal (TX UE) first determines the resource selection window. The lower boundary of the resource selection window is at time T1 after the resource selection is triggered, and the upper boundary is at time T2 after the trigger. T2 is the value selected by the UE within its Packet Delay Budget (PDB) for TB transmission. T2 is not earlier than T1. 2) Before resource selection, the UE needs to determine the candidate resource set. This is done by comparing the Reference Signal Received Power (RSRP) measured on the resources within 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 a transmission resource from the candidate resource set. Additionally, the UE can reserve transmission resources for subsequent transmissions during this transmission. The specific process is as follows: Figure 1b As shown.

[0035] A comparison of the relevant signals supported by V2X and the UU positioning reference signals is shown in Table 1.

[0036]

[0037]

[0038]

[0039]

[0040]

[0041]

[0042] Table 1

[0043] The methods and apparatus provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0044] It should be noted that the terminal in this application embodiment can be a mobile phone, tablet computer, laptop computer, personal digital assistant (PDA), handheld computer, netbook, ultra-mobile personal computer (UMPC), mobile internet device (MID), wearable device, vehicle-mounted device (VUE), pedestrian terminal (PUE), etc. Wearable devices include: wristbands, headphones, glasses, etc. It should also be noted that this application embodiment does not limit the specific type of terminal.

[0045] See Figure 2 This application provides a positioning method.

[0046] It should be noted that the embodiments of this application are applied to SL communication scenarios, and the communication devices involved are a pair of terminals in SL communication, namely a first terminal and a second terminal. The first terminal and the second terminal can be either transmitters or receivers for each other. That is, the first terminal can be a transmitter and the second terminal a receiver, or vice versa. In another application scenario, a scheduling terminal can also be set up in the SL communication system. Accordingly, the first terminal and the second terminal can be the scheduling terminal and the transmitter, or the scheduling terminal and the receiver, respectively. Accordingly, a scheduling terminal can exist to schedule the first terminal to transmit and / or the second terminal to receive. Alternatively, the first terminal can be the scheduling terminal and the second terminal can be the scheduled terminal, or vice versa.

[0047] Alternatively, the first terminal can also be the control node of the second terminal, for example, in a groupcast, the headerUE schedules a pair of UEs for transmission.

[0048] The method of this application embodiment can be used for all the above-mentioned situations. The following description takes the execution subject of the method as the first terminal. It can be understood that the first terminal can be a sending terminal, receiving terminal or scheduling terminal in SL communication.

[0049] The specific steps of the method include: Step 201.

[0050] Step 201: The first terminal transmits the SL positioning reference signal or calculates the TBS according to the preset rules;

[0051] In this embodiment of the application, the SL positioning reference signal (which may be abbreviated as SL-PRS) is used to determine the location information of the first terminal and / or the second terminal, wherein the second terminal is the peer terminal that performs SL communication or SL positioning with the first terminal.

[0052] As described in the above application scenario, the communication between the first terminal and the second terminal can specifically be 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. This application embodiment does not specifically limit this.

[0053] The preset rules are used to determine the time-frequency mapping method of the SL positioning reference signal and / or the calculation method of the transport block size (TBS). In this way, the first terminal can send the SL positioning reference signal to the other end according to the preset rules, and the first terminal can calculate the TBS according to the preset rules.

[0054] In this embodiment of the application, by using preset rules for the time-frequency mapping method and / or the calculation method of TBS for determining the SL positioning reference signal, the transmission of the SL positioning reference signal between the first terminal and the second terminal, and the calculation of TBS by the first terminal, are realized to meet the positioning requirements in SL communication.

[0055] In one possible implementation, the preset rules include a time-frequency mapping method for determining the SL positioning reference signal, which includes one or more of the following:

[0056] (1) The SL positioning reference signal is continuously transmitted on OFDM symbols or resource elements (REs) except for the first position;

[0057] (2) The SL positioning reference signal is transmitted on the OFDM symbol or RE after the first position;

[0058] (3) The SL positioning reference signal is transmitted on an OFDM symbol or RE other than the first position;

[0059] (4) The SL positioning reference signal is not transmitted on the OFDM symbol or RE corresponding to the first position;

[0060] (5) The SL positioning reference signal is multiplexed at the second position, or the SL positioning reference signal is punched at the second position;

[0061] The aforementioned first position includes one or more of the following;

[0062] (a) The time-frequency position of sidelink synchronization signal blocks (S-SSblocks), sidelink primary synchronization signal blocks (S-PSSblock), sidelink secondary synchronization signal blocks (S-SSSblock), and / or physical sidelink broadcast channel blocks (PSBCH blocks), or S-SS blocks, S-PSS blocks, S-SSS blocks, and / or PSBCH blocks; for example, the SL positioning reference signal from the Xth symbol to the X+M-1th symbol;

[0063] (b) The time-domain location of the PSS, 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;

[0064] (c) The time-domain location of the Physical Sidelink Control Channel (PSCCH) (or Level 1 SCI) and / or the Level 2 Sidelink Control Information (SCI), or the time-frequency location of the PSCCH and / or the Level 2 SCI.

[0065] (d) The time-domain location of the Sidelink Channel-State Information Reference Signal (SL-CSI-RS) and / or SL-TPRS, or the time-frequency location of the SL-CSI-RS and / or SL-TPRS;

[0066] (e) The time-domain position of the CSI-RS and / or the demodulation reference signal (DMRS), or the time-frequency position of the CSI-RS and / or the DMRS, for example, the positioning reference signal of the SL from the Xth symbol to the X+M-1th symbol;

[0067] (f) The time-domain location of AGC, Guard Period (GP) and / or Physical Sidelink Feedback Channel (PSFCH), and the time-frequency location of AGC, GP and / or PSFCH; it should be noted that AGC in the protocol can be specifically understood as sending repetition information or signals on two or more symbols.

[0068] 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.

[0069] The second position mentioned above includes one or more of the following:

[0070] (a) Location of the Physical Sidelink Shared Channel (PSSCH);

[0071] (b) Location of SL data;

[0072] (c) Location of uplink (UL) data;

[0073] (d) Location of the Physical Uplink Shared Channel (PUSCH).

[0074] In one possible implementation, the preset rules include second-level SCI mapping rules. It can be further understood that the preset mapping rules can be second-level SCI mapping rules, through which SL-PRS can be indirectly determined.

[0075] The preset rules include one or more of the following:

[0076] (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.

[0077] (2) The second-level SCI rate matching is performed on the positioning reference signal in the SL; optionally, when the RE of the PRS is greater than the threshold value, the second-level SCI rate matching is performed on the positioning reference signal in the SL.

[0078] (3) PSFCH is used to punch the positioning reference signal in the SL; optionally, PSFCH is used to punch the positioning reference signal in the SL when the RE of the PRS is less than a threshold value.

[0079] (4) PSFCH is used for rate matching of the SL positioning reference signal.

[0080] Optionally, when the RE of PRS is greater than a threshold value, PSFCH performs rate matching of the reference signal in SL.

[0081] In one possible implementation, the SL positioning reference signal is transmitted on REs other than the first position, including:

[0082] The SL positioning reference signal is transmitted on the OFDM symbol corresponding to the first position, and other SL information on the OFDM symbol corresponding to the first position is transmitted via FDM or CDM.

[0083] For example: Now, SL DMRS is combo 2, and the remaining 1 / 2 of the resources can be used to send SL-PRS. At the same time, if PRS is multiplexed for transmission within the PSSCH bandwidth, it is necessary to consider the FDM fullness with SL DMRS, or CSI-RS, etc.

[0084] In one possible implementation, the preset rules include one or more of the following:

[0085] (1) The SL positioning reference signal is continuously transmitted in the frequency domain PRB, RE or symbol except for the third position, such as the SL positioning reference signal from the Xth symbol to the X+M-1th symbol;

[0086] (2) The SL positioning reference signal is continuously transmitted in the frequency domain PRB, RE or symbol after the third position, such as the SL positioning reference signal from the Xth symbol to the X+M-1th symbol;

[0087] (3) The SL positioning reference signal is transmitted in the frequency domain PRB, RE or symbol other than the third position, such as the SL positioning reference signal from the Xth symbol to the X+M-1th symbol;

[0088] (4) The SL positioning reference signal is not sent on the PRB, RE or symbol corresponding to the third position, such as the SL positioning reference signal from the Xth symbol to the X+M-1th symbol;

[0089] (5) The SL positioning reference signal is multiplexed in the fourth position, or the SL positioning reference signal is punched in the fourth position;

[0090] The third position includes one or more of the following:

[0091] (a) The frequency domain position of S-SS blocks, S-PSS block, S-SSS block and / or PSBCH blocks, or the time-frequency position of S-SS blocks, S-PSS block, S-SSS block and / or PSBCH blocks;

[0092] (b) The frequency domain location of PSS, SSS and / or PBSCH, or the time-frequency location of PSS, SSS and / or PBSCH;

[0093] (c) The frequency domain position of the PSCCH and / or the second-level SCI, or the time-frequency position of the PSCCH and / or the second-level SCI;

[0094] (d) The time-domain location of CSI-RS and / or DMRS, or the time-frequency location of CSI-RS and / or DMRS;

[0095] (e) The frequency domain location of AGC, GP and / or PSFCH, or the time-frequency location of AGC, GP and / or PSFCH;

[0096] 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.

[0097] The fourth position includes one or more of the following:

[0098] (a) The location of PSSCH;

[0099] (b) Location of SL data;

[0100] (c) Location of UL data;

[0101] (d) The location of PUSCH.

[0102] In one possible implementation, preset rules are used to determine the first calculation method for TBS;

[0103] The first calculation method includes:

[0104] (1) When the first terminal calculates the available resources (RE), it subtracts the overhead of the SL positioning reference signal. The calculation formula is as follows:

[0105]

[0106] Among them, the The number of REs for an RB, the The number of symbols scheduled in a time slot, the The number of symbols in the PSFCH, the Configure parameters for higher-level personnel. For the overhead of DMRS, The overhead for locating the reference signal for the SL;

[0107] The overhead of the SL positioning reference signal includes any one or more of the following.

[0108] (a) The overhead of the SL positioning reference signal is 0 or a preset value;

[0109] (b) The overhead of the SL positioning reference signal is the actual overhead on the symbol;

[0110] (c) The overhead of the SL positioning reference signal is the average overhead over symbols;

[0111] (d) The overhead of the SL positioning reference signal is the quantized value of the actual overhead on the symbol;

[0112] (e) The overhead of the SL positioning reference signal is related to the configuration information of the SL positioning reference signal or the pattern of the SL positioning reference signal;

[0113] For example, the protocol predefines a table between the PRS pattern and the overhead, as shown in Table 2. The overhead of the PRS is determined by the PRS configuration + table indicated by the SCI.

[0114]

[0115] Table 2

[0116] For example, if the overhead of the SL positioning reference signal is set to a fixed overhead value, such as N=10, 20, etc., the corresponding calculation formula is:

[0117]

[0118] (f) The overhead of the SL positioning reference signal is the overhead of the SL positioning reference signal configured at higher levels;

[0119] (g) The overhead of the SL positioning reference signal is the overhead of the SL positioning reference signal indicated by the SCI.

[0120] (h) The overhead of the SL positioning reference signal is to be subtracted when the first terminal calculates the RE of available resources according to the first indication information, or to retain the overhead of the SL positioning reference signal when the first terminal calculates the RE of available resources.

[0121] (i) The overhead of the SL positioning reference signal is the overhead of the SL positioning reference signal when determining the available resources (RE) of the first terminal's computing resources based on the condition information, or the overhead of the SL positioning reference signal is retained when determining the available resources (RE) of the first terminal's computing resources, wherein the condition information is the configuration and / or number of SL positioning reference signals.

[0122] In one possible implementation, preset rules are used to determine a second calculation method for TBS;

[0123] The second calculation method includes any one or more of the following:

[0124] (1) When the first terminal calculates the RE of available resources on the PRB, it subtracts the scaling overhead of the SL positioning reference signal (multiplied by the scaling factor). The calculation formula is as follows:

[0125]

[0126] Where alpha is The expansion factor;

[0127] The overhead of the SL positioning reference signal includes any one or more of the following.

[0128] (a) The overhead of the SL positioning reference signal is 0 or a preset value;

[0129] (b) The overhead of the SL positioning reference signal is the actual overhead on the symbol;

[0130] (c) The overhead of the SL positioning reference signal is the average overhead on the symbol; considering multiple SL positioning signals, or multiple SL positioning signals on multiple symbols, take the average value as the overhead of the SL positioning reference signal. This average value can be statistical or the average value of multiple actual symbols. (d) The overhead of the SL positioning reference signal is the quantized value of the actual overhead on the symbol.

[0131] (e) The overhead of the SL positioning reference signal is related to the configuration information of the SL positioning reference signal or the pattern of the SL positioning reference signal;

[0132] (f) The overhead of the SL positioning reference signal is the overhead of the SL positioning reference signal configured at higher levels;

[0133] (g) The overhead of the SL positioning reference signal is the overhead of the SL positioning reference signal indicated by the SCI.

[0134] (h) The overhead of the SL positioning reference signal is to be subtracted when the first terminal calculates the RE of available resources according to the first indication information, or to retain the overhead of the SL positioning reference signal when the first terminal calculates the RE of available resources.

[0135] (i) The overhead of the SL positioning reference signal is the overhead of the SL positioning reference signal when determining the available resources (RE) of the first terminal's computing resources based on the condition information, or the overhead of the SL positioning reference signal is retained when determining the available resources (RE) of the first terminal's computing resources, wherein the condition information is the configuration and / or number of SL positioning reference signals.

[0136] (2) The first terminal scales the scheduled PRBs and calculates the total number of REs. The calculation formula is as follows:

[0137] N RE =min(A,N) ′ RE )·alpha;

[0138] Where A is the preset parameter; alpha is the expansion factor of the scheduled PRB.

[0139] The first terminal scales the intermediate information of the calculated TBS, and the calculation formula is as follows:

[0140] N info =N RE ·R·Q m ·v·alpha;

[0141] Where R is the bit rate, Q m α is the modulation order, v is the transmission layer number, and alpha is the expansion factor of the intermediate information of TBS.

[0142] In one possible implementation, the preset rules include a third calculation rule for the TBS of the SL positioning reference signal;

[0143] The third calculation rule includes any one of the following:

[0144] The overhead of the first terminal's computing resources, minus the overhead of the SL positioning reference signal, is calculated using the following formula:

[0145]

[0146] in The SL positioning reference signal is associated with the RE or symbol on the PSSCH resource or scheduling resource;

[0147] Alternatively, the calculation formula is as follows:

[0148]

[0149] The compensation values ​​include: the SL positioning reference signal and the value of the second-level SCI and / or the value of the PSSCH overlap portion;

[0150] Alternatively, the compensation value may include the recalculated portion, which refers to the portion that was repeatedly subtracted during the aforementioned calculation process, for example... This includes SL-PRS, which has already been reduced once.

[0151] Optionally, in some implementations, if the SL positioning reference signal is mapped onto a non-PSSCH resource or a non-scheduled resource, the first terminal calculates the resource overhead and subtracts the overhead of the SL positioning reference signal.

[0152] In one possible implementation, the method for sending and mapping the SL positioning reference signal when multiple layers are involved is as follows:

[0153] When there is a transport layer number greater than 1, the preset rules include any of the following:

[0154] (1) The first terminal repeatedly transmits or maps the SL positioning reference signal on multiple transmission layers;

[0155] (2) The first terminal sends or maps multiple code division or orthogonal cover code (OCC) SL positioning reference signals on multiple transmission layers.

[0156] In one possible implementation, the preset rule includes second indication information, which is used to determine that the initial transmission and retransmission of the SL positioning reference signal are consistent.

[0157] The second instruction information includes one or more of the following:

[0158] (1) The overhead of the first-level SCI or the second-level SCI indicates the positioning reference signal of the SL;

[0159] (2) Overhead of configuring SL positioning reference signal at higher levels

[0160] (3) Indication information of SL positioning reference signal or configuration information of SL positioning reference signal;

[0161] (4) First information, used to indicate that the configuration and / or pattern of the multiple SL positioning reference signals remain consistent when the resources of the multiple SL positioning reference signals are used for retransmission.

[0162] (5) Second information: When the second information is a first value (e.g., a value of 1), the second information indicates that, when resources for retransmission of the multiple transmitted SL positioning reference signals are used for retransmission, the configuration and / or pattern of the multiple transmitted SL positioning reference signals remain consistent. That is, the corresponding content is indicated through implicit indication.

[0163] In one possible implementation, the method further includes:

[0164] (1) The first terminal expects the number of REs occupied by the SL positioning reference signal to remain consistent in the initial transmission and retransmission;

[0165] (2) The first terminal expects the number of REs occupied by the SL positioning reference signal to remain consistent during the initial transmission and retransmission, according to the instructions of the network side.

[0166] In one possible implementation, where the number of REs occupied by the SL positioning reference signal remains inconsistent between the initial transmission and retransmission, the method further includes:

[0167] The first terminal receives third indication information from the second terminal. This third indication information is used to determine that the TBS of the initial and retransmission of the SL positioning reference signal is consistent. For example, it can be indicated by a specific entry of the Modulation and Coding Scheme (MCS) of the multiplexed NR.

[0168] The third instruction information includes one or more of the following:

[0169] (1) The overhead of the first-level SCI or the second-level SCI indicates the positioning reference signal of the SL;

[0170] (2) Overhead of configuring SL positioning reference signals at higher levels;

[0171] (3) Indication information of SL positioning reference signal or configuration information of SL positioning reference signal;

[0172] (4) Second information, used to indicate that the configuration and / or pattern of the multiple SL positioning reference signals remain consistent when the resources of the multiple SL positioning reference signals are used for retransmission.

[0173] In one possible implementation, the method further includes:

[0174] The overhead, indication information, or condition information of the SL positioning reference signal in the aforementioned high-level configuration are determined through one or more of the following methods:

[0175] (1) The first terminal is determined based on SCI;

[0176] (2) The first terminal determines the configuration based on RRC configuration negotiation or RRC feedback;

[0177] For example, the transmitting UE sends an indication message indicating whether the overhead of SL-PRS should be subtracted when calculating SL TBS and the size of the overhead, and further includes SL-PRS configuration information or indication information.

[0178] For example: the set of configuration overheads via SL-RRC is used to indicate an overhead as a value in the set in SCI.

[0179] For example, overhead can be obtained through feedback information, which includes an indication of whether the corresponding overhead is included and / or the magnitude of that overhead. For instance, the receiver might instruct the sender in the feedback information whether to subtract the resource overhead of AGC during calculation.

[0180] (3) The first terminal determines the configuration based on PC5 RRC configuration negotiation or RRC feedback;

[0181] (4) The first terminal determines the configuration through negotiation feedback based on the Long Term Evolution Positioning Protocol (LPP);

[0182] (5) The first terminal determines the configuration based on the PC5 LPP configuration negotiation feedback;

[0183] (6) When the PSFCH period is a preset period (e.g., period is 2 or 3) or a preset configuration, the first terminal determines the PSFCH overhead indication carried in the SCI.

[0184] (7) Under the condition of satisfying the preset configuration, the first terminal determines the location based on the SL positioning reference signal overhead indication carried in the SCI. The preset configuration can be any of the following:

[0185] (a) The SL positioning reference signal is included in the reserved resources;

[0186] (b) The RE of the SL positioning reference signal is greater than the threshold 1;

[0187] (c) Channel condition RSRP < threshold;

[0188] The technical solution of this application will now be described in conjunction with specific embodiments.

[0189] 1. Pattern characteristics

[0190] in, Figures 3a-3m The diagram shows the pattern of the SL positioning reference signal.

[0191] 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.

[0192] 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.

[0193] 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.

[0194] In another implementation, such as Figure 5a As shown, the SL-PRS avoids symbols such as S-SS / PBSCH / DMRS and transmits on other symbols.

[0195] In another implementation, such as Figure 5b As shown, the SL-PRS bypasses REs such as S-SS / PBSCH / DMRS and transmits on other REs.

[0196] See Figure 6 This application provides a positioning device for use in a terminal. The positioning device 600 includes:

[0197] Processing module 601 is used for the first terminal to transmit the side link SL positioning reference signal or calculate the transport block size TBS according to preset rules;

[0198] The preset rules are used to determine the time-frequency mapping method and / or the calculation method 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. The second terminal is a peer terminal that performs SL communication or SL positioning with the first terminal.

[0199] In one possible implementation, the time-frequency mapping method used to determine the SL positioning reference signal in the preset rules includes one or more of the following:

[0200] The SL positioning reference signal is transmitted on an orthogonal frequency division multiplexing OFDM symbol or resource unit (RE) other than the first position.

[0201] The SL positioning reference signal is transmitted on an OFDM symbol or RE after the first position;

[0202] The SL positioning reference signal is transmitted on an OFDM symbol or RE other than the first position;

[0203] The SL positioning reference signal is not transmitted on the OFDM symbol or RE corresponding to the first position;

[0204] The SL positioning reference signal is multiplexed at the second position, or the SL positioning reference signal is punched at the second position;

[0205] The first position includes one or more of the following;

[0206] The time-domain location of the side link synchronization signal blocks S-SS blocks, the side link primary synchronization signal block S-PSS block, the side link secondary synchronization signal block S-SSS block and / or the side link broadcast channel block PSBCH blocks, or the time-frequency location of S-SS blocks, S-PSS block, S-SSS block and / or PSBCH blocks.

[0207] The time-domain location of the PSS, SSS and / or Physical Broadcast Synchronization Channel PBSCH, or the time-frequency location of the PSS, SSS and / or PBSCH;

[0208] The time-domain location of the Physical Sidelink Control Channel (PSCCH) and / or the Second-Level Sidelink Control Information (SCI), or the time-frequency location of the PSCCH and / or the Second-Level SCI.

[0209] The time-domain location of the side-link channel state information reference signals SL-CSI-RS and / or SL-TPRS, or the time-frequency location of SL-CSI-RS and / or SL-TPRS;

[0210] The time-domain location of CSI-RS and / or demodulation reference signal DMRS, or the time-frequency location of CSI-RS and / or DMRS;

[0211] The time-domain location of the Automatic Gain Control (AGC), GP, and / or Physical Sidelink Feedback Channel (PSFCH), or the time-frequency location of the AGC, GP, and / or PSFCH;

[0212] It should be noted that, in one embodiment, the automatic gain control (AGC) can be understood as two or more symbols sending the same content, i.e., symbol 2 is a repetition of symbol 1.

[0213] The second position includes one or more of the following:

[0214] Location of the Physical Side Link Shared Channel (PSSCH);

[0215] Location of SL data;

[0216] Location of the uplink UL data;

[0217] Location of the Physical Uplink Shared Channel (PUSCH).

[0218] In one possible implementation, the preset rules include one or more of the following:

[0219] The second-level SCI punches through the SL positioning reference signal.

[0220] The second-level SCI is rate matching of the positioning reference signal in the SL.

[0221] PSFCH is used for SL positioning reference signal punching;

[0222] PSFCH is used for rate matching of the SL positioning reference signal.

[0223] In one possible implementation, the SL positioning reference signal is transmitted on a RE other than the first position, including:

[0224] The SL positioning reference signal is transmitted on the OFDM symbol corresponding to the first position, and other SL information on the OFDM symbol corresponding to the first position is transmitted via FDM or CDM.

[0225] In one possible implementation, the preset rules include one or more of the following:

[0226] The SL positioning reference signal is continuously transmitted on frequency domain physical resource blocks (PRBs), REs, or symbols, except for the third position.

[0227] The SL positioning reference signal is continuously transmitted in the frequency domain PRB, RE, or symbols after the third position;

[0228] The SL positioning reference signal is transmitted in the frequency domain PRB, RE, or symbol other than the third position;

[0229] The SL positioning reference signal is not transmitted on the PRB, RE, or symbol corresponding to the third position;

[0230] The SL positioning reference signal is multiplexed at the fourth position, or the SL positioning reference signal is punched at the fourth position;

[0231] The third position includes one or more of the following:

[0232] The frequency domain location of S-SS blocks, S-PSS block, S-SSS block and / or PSBCH blocks, or the time-frequency location of S-SS blocks, S-PSS block, S-SSS block and / or PSBCH blocks;

[0233] The frequency domain position of PSS, SSS and / or PBSCH, or the time-frequency position of PSS, SSS and / or PBSCH;

[0234] The frequency domain position of PSCCH and / or the second-level SCI, or the time-frequency position of PSCCH and / or the second-level SCI;

[0235] The frequency domain location of CSI-RS and / or DMRS, or the time-frequency location of CSI-RS and / or DMRS;

[0236] Frequency domain location of AGC, GP and / or PSFCH, and time-frequency location of AGC, GP and / or PSFCH;

[0237] The fourth position includes one or more of the following:

[0238] The location of PSSCH;

[0239] Location of SL data;

[0240] Location of UL data;

[0241] The location of PUSCH.

[0242] In one possible implementation, the preset rules are used to determine a first calculation method for TBS;

[0243] The first calculation method includes:

[0244] When the first terminal calculates the available resources (RE), it subtracts the overhead of the positioning reference signal (SL). The calculation formula is as follows:

[0245]

[0246] Among them, the The number of REs for an RB, the The number of symbols scheduled in a time slot, the The number of symbols in the PSFCH, the Configure parameters for higher-level personnel. For the overhead of DMRS, The overhead for locating the reference signal for the SL;

[0247] The overhead of the SL positioning reference signal includes any one or more of the following:

[0248] The overhead of the SL positioning reference signal is 0 or a preset value;

[0249] The overhead of the SL positioning reference signal is the actual overhead on the symbol;

[0250] The overhead of the SL positioning reference signal is the average overhead over the symbol;

[0251] The overhead of the SL positioning reference signal is a quantized value of the actual overhead on the symbol;

[0252] The overhead of the SL positioning reference signal is related to the configuration information of the SL positioning reference signal or the pattern of the SL positioning reference signal;

[0253] The overhead of the SL positioning reference signal is the overhead of the SL positioning reference signal configured at a higher level;

[0254] The overhead of the SL positioning reference signal is the overhead of the SL positioning reference signal indicated by the SCI;

[0255] The overhead of the SL positioning reference signal is to be subtracted when the first terminal calculates the RE of available resources according to the first indication information, or to retain the overhead of the SL positioning reference signal when the first terminal calculates the RE of available resources.

[0256] The overhead of the SL positioning reference signal is subtracted when determining the available resources (REs) of the first terminal's computing resources based on condition information, or the overhead of the SL positioning reference signal is retained when determining the available resources (REs) of the first terminal's computing resources, wherein the condition information is the configuration and / or number of the SL positioning reference signals.

[0257] In one possible implementation, the preset rule is used to determine a second calculation method for the transport block size (TBS).

[0258] The second calculation method includes any one or more of the following:

[0259] When the first terminal calculates the RE of available resources on the PRB, it subtracts the overhead of the SL positioning reference signal multiplied by the scaling factor, as shown in the following formula:

[0260]

[0261] Where alpha is The expansion factor;

[0262] The overhead of the SL positioning reference signal includes any one or more of the following:

[0263] The overhead of the SL positioning reference signal is 0 or a preset value;

[0264] The overhead of the SL positioning reference signal is the actual overhead on the symbol;

[0265] The overhead of the SL positioning reference signal is the average overhead over the symbol;

[0266] The overhead of the SL positioning reference signal is a quantized value of the actual overhead on the symbol;

[0267] The overhead of the SL positioning reference signal is related to the configuration information of the SL positioning reference signal or the pattern of the SL positioning reference signal;

[0268] The overhead of the SL positioning reference signal is the overhead of the SL positioning reference signal configured at a higher level;

[0269] The overhead of the SL positioning reference signal is the overhead of the SL positioning reference signal indicated by the SCI;

[0270] The overhead of the SL positioning reference signal is to be subtracted when the first terminal calculates the RE of available resources according to the first indication information, or to retain the overhead of the SL positioning reference signal when the first terminal calculates the RE of available resources.

[0271] The overhead of the SL positioning reference signal is subtracted when determining the available resources (REs) of the first terminal's computing resources based on condition information, or the overhead of the SL positioning reference signal is retained when determining the available resources (REs) of the first terminal's computing resources, wherein the condition information is the configuration and / or number of the SL positioning reference signals.

[0272] The first terminal scales the scheduled PRBs and calculates the total number of REs using the following formula:

[0273] N RE =min(A,N) ′ RE )·alpha;

[0274] Where A is the preset parameter; alpha is the expansion factor of the scheduled PRB.

[0275] The first terminal scales the intermediate information of the calculated TBS, and the calculation formula is as follows:

[0276] N info=N RE ·R·Q m ·v·alpha;

[0277] Where R is the bit rate, Q m α is the modulation order, v is the transmission layer number, and alpha is the expansion factor of the intermediate information of TBS.

[0278] In one possible implementation, the preset rules include a third calculation rule for the TBS of the SL positioning reference signal;

[0279] The third calculation rule includes any one of the following:

[0280] If the SL positioning reference signal is mapped onto a non-PSSCH resource or a non-scheduled resource, the first terminal calculates the resource overhead and subtracts the overhead of the SL positioning reference signal, using the following formula:

[0281]

[0282] in The SL positioning reference signal is associated with the RE or symbol on the PSSCH resource or scheduling resource;

[0283] Alternatively, the calculation formula is as follows:

[0284]

[0285] The compensation values ​​include: the values ​​of the SL positioning reference signal and the second-level SCI and / or the values ​​of the overlapping portion of the PSSCH;

[0286] Alternatively, the compensation value may include the recalculated portion.

[0287] In one possible implementation, when the number of transport layers is greater than 1, the preset rule includes any of the following:

[0288] The first terminal repeatedly transmits or maps the SL positioning reference signal across multiple transport layers;

[0289] The first terminal transmits or maps multiple code division or OCC SL positioning reference signals on multiple transmission layers.

[0290] In one possible implementation, the preset rule includes second indication information, which is used to determine that the initial transmission and retransmission of the SL positioning reference signal are consistent;

[0291] The second instruction information includes one or more of the following:

[0292] The first-level SCI or the second-level SCI indicates the overhead of the SL positioning reference signal;

[0293] The overhead of configuring the SL positioning reference signal at higher levels

[0294] The indication information of the SL positioning reference signal or the configuration information of the SL positioning reference signal;

[0295] The first piece of information is used to indicate that, in the event that resources for retransmission of the SL positioning reference signal are used, the configuration and / or pattern of the SL positioning reference signal transmitted multiple times remain consistent.

[0296] or;

[0297] The second information, when the second information is the first value, indicates that the configuration and / or pattern of the SL positioning reference signal remains consistent when the resources of the SL positioning reference signal transmitted multiple times are used for retransmission.

[0298] In one possible implementation, the processing module is further configured to:

[0299] The first terminal expects the number of REs used by the SL positioning reference signal to remain consistent during the initial transmission and retransmission;

[0300] Alternatively, the first terminal may, according to instructions from the network side, expect the number of REs used by the SL positioning reference signal to remain consistent during the initial transmission and retransmission.

[0301] In one possible implementation, if the number of REs occupied by the SL positioning reference signal remains inconsistent between the initial transmission and retransmission, the processing module is further configured to:

[0302] The first terminal receives third indication information from the second terminal, the third indication information being used to determine that the TBS of the initial transmission and retransmission of the SL positioning reference signal is consistent.

[0303] In one possible implementation, the processing module is further configured to:

[0304] The overhead, indication information, or condition information of the SL positioning reference signal configured by the higher layer are determined by one or more of the following methods:

[0305] The first terminal is determined based on SCI;

[0306] The first terminal determines the configuration based on RRC configuration negotiation or RRC feedback;

[0307] The first terminal determines the configuration based on PC5 RRC negotiation or RRC feedback;

[0308] The first terminal determines this based on the LPP configuration negotiation feedback;

[0309] The first terminal determines this based on the PC5 LPP configuration negotiation feedback;

[0310] When the PSFCH period is a preset period or a preset configuration, the first terminal determines it according to the PSFCH overhead indication carried in the SCI.

[0311] Under the condition of meeting the preset configuration, the first terminal determines the location reference signal overhead indication carried in the SCI.

[0312] 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.

[0313] Figure 7 A schematic diagram of the hardware structure of a terminal to implement an embodiment of this application.

[0314] 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.

[0315] 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.

[0316] 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.

[0317] 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.

[0318] 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.

[0319] 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.

[0320] 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.

[0321] 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.

[0322] 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.

[0323] 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.

[0324] 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.

[0325] 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.

[0326] 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.

[0327] 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.

[0328] 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, Comprise: A first terminal transmits a sidelink (SL) positioning reference signal according to a preset rule, and / or calculates a transport block size (TBS); Wherein, the preset rule is used to determine a calculation method of the TBS and / or a time-frequency mapping method of the SL positioning reference signal, the SL positioning reference signal is used to determine position information of the first terminal and / or a second terminal, the second terminal is a peer terminal for SL communication or SL positioning with the first terminal; The calculation method of the TBS includes a first calculation method, the first calculation method includes: when the first terminal calculates a resource element (RE) of available resources, the overhead of the SL positioning reference signal is subtracted; the overhead of the SL positioning reference signal includes: overhead of the SL positioning reference signal indicated by sidelink control information (SCI); The time-frequency mapping method includes: The SL positioning reference signal is sent on an orthogonal frequency division multiplexing (OFDM) symbol after a first position; wherein, the first position includes one or more of: a time domain position of a second level sidelink control information (SCI), a time domain position of a demodulation reference signal (DMRS); The SL positioning reference signal is multiplexed at a second position, wherein the second position includes a position of a physical sidelink shared channel (PSSCH).

2. The method of claim 1, wherein, The preset rule is used to determine the time-frequency mapping method of the SL positioning reference signal, and the time-frequency mapping method further includes one or more of: The SL positioning reference signal is sent on an OFDM symbol or RE other than the first position; The SL positioning reference signal is sent on an RE after the first position; The SL positioning reference signal is sent on an OFDM symbol or RE other than the first position; The SL positioning reference signal is not sent on an OFDM symbol or RE corresponding to the first position; The first position further includes one or more of: A time domain position of a sidelink synchronization signal block (S-SS block), a sidelink primary synchronization signal block (S-PSS block), a sidelink secondary synchronization signal block (S-SSS block), and / or a sidelink broadcast channel block (PSBCH block), or a time-frequency position of the S-SS block, the S-PSS block, the S-SSS block, and / or the PSBCH block; A time domain position of a PSS, a SSS, and / or a physical broadcast synchronization channel (PBSCH), or a time-frequency position of the PSS, the SSS, and / or the PBSCH; A time-frequency position of a physical sidelink control channel (PSCCH), or a PSCCH, and / or a second level SCI; A time domain position of a sidelink channel state information reference signal (SL-CSI-RS) and / or a sidelink tracking reference signal (SL-TPRS), or a time-frequency position of the SL-CSI-RS and / or the SL-TPRS; A time domain position of a CSI-RS, or a time-frequency position of the CSI-RS and / or a DMRS; A time domain position of an automatic gain control (AGC), a guard period (GP), and / or a physical sidelink feedback channel (PSFCH), or a time-frequency position of the AGC, the GP, and / or the PSFCH; The second position further comprises one or more of the following: A position of SL data; A position of uplink UL data; A position of physical uplink shared channel, PUSCH.

3. The method of claim 1, wherein, The preset rule further comprises one or more of the following: The second-level SCI is punched in the SL positioning reference signal; The second-level SCI is rate matched in the SL positioning reference signal; The PSFCH is punched in the SL positioning reference signal; The PSFCH is rate matched in the SL positioning reference signal.

4. The method of claim 2, wherein, The SL positioning reference signal is transmitted on REs other than the first position, comprising: The SL positioning reference signal is transmitted on the OFDM symbol corresponding to the first position, and other SL information on the OFDM symbol corresponding to the first position is transmitted by FDM or CDM.

5. The method of claim 1, wherein, The preset rule further comprises one or more of the following: The SL positioning reference signal is continuously transmitted on symbols other than the third position; The SL positioning reference signal is continuously transmitted on symbols after the third position; The SL positioning reference signal is transmitted on frequency domain PRBs, REs or symbols other than the third position; The SL positioning reference signal is not transmitted on the PRBs, REs or symbols corresponding to the third position; The SL positioning reference signal is multiplexed on the fourth position, or the SL positioning reference signal is punched on the fourth position; The third position comprises one or more of the following: Frequency domain positions of S-SS blocks, S-PSS blocks, S-SSS blocks and / or PSBCH blocks, or time-frequency positions of S-SS blocks, S-PSS blocks, S-SSS blocks and / or PSBCH blocks; Frequency domain positions of PSS, SSS and / or PBSCH, or time-frequency positions of PSS, SSS and / or PBSCH; Frequency domain positions of PSCCH and / or second-level SCI, or time-frequency positions of PSCCH and / or second-level SCI; Frequency domain positions of CSI-RS and / or DMRS, or time-frequency positions of CSI-RS and / or DMRS; Frequency domain positions of AGC, GP and / or PSFCH, or time-frequency positions of AGC, GP and / or PSFCH; The fourth position comprises one or more of the following: A position of PSSCH; A position of SL data; A position of UL data; A position of PUSCH.

6. The method of claim 1, wherein, The preset rule further comprises a third calculation rule of TBS of the SL positioning reference signal; The third calculation rule comprises any one of the following: The first terminal calculates the resource overhead, and subtracts the overhead of the SL positioning reference signal, and the calculation formula is as follows: wherein the is the number of REs for one RB, the is the number of symbols scheduled in one slot, the is the number of symbols for PSFCH, the is a higher layer configured parameter, is the overhead of DMRS, is the overhead of the SL positioning reference signal, is associated with the REs or symbols of the SL positioning reference signal on the PSSCH resource or scheduled resource.

7. The method of claim 1, wherein, In the case that there are more than one transmission layers, the preset rule comprises any one of the following: The first terminal repeatedly transmits or maps the SL positioning reference signal on multiple transmission layers; The first terminal transmits or maps the SL positioning reference signal of multiple code division or orthogonal cover codes (OCCs) on multiple transmission layers.

8. The method of claim 1, wherein, The preset rule includes second indication information, and the second indication information is used to determine consistency of the SL positioning reference signal initial transmission and retransmission. The second indication information includes one or more of the following: The first-level SCI or the second-level SCI indicates the overhead of the SL positioning reference signal. The overhead of the SL positioning reference signal is configured by a high layer. The indication information of the SL positioning reference signal or the configuration information of the SL positioning reference signal. First information, used to indicate that, in a case where resources of multiple times of transmission of the SL positioning reference signal are used for retransmission, configuration and / or pattern of the multiple times of transmission of the SL positioning reference signal remain consistent. Second information, in a case where the second information is a first value, the second information indicates that, in a case where resources of multiple times of transmission of the SL positioning reference signal are used for retransmission, configuration and / or pattern of the multiple times of transmission of the SL positioning reference signal remain consistent.

9. The method of claim 1, wherein, The method further includes: The first terminal expects that the number of REs occupied by the SL positioning reference signal in initial transmission and retransmission remains consistent. Alternatively, the first terminal expects that, according to an indication of a network side, the number of REs occupied by the SL positioning reference signal in initial transmission and retransmission remains consistent.

10. The method of claim 1, wherein, In a case where the number of REs occupied by the SL positioning reference signal in initial transmission and retransmission does not remain consistent, the method further includes: The first terminal receives, from the second terminal, third indication information used to determine consistency of TBS of the SL positioning reference signal initial transmission and retransmission. The third indication information includes one or more of the following: The first-level SCI or the second-level SCI indicates the overhead of the SL positioning reference signal. The overhead of the SL positioning reference signal is configured by a high layer. The indication information of the SL positioning reference signal or the configuration information of the SL positioning reference signal. Second information, used to indicate that, in a case where resources of multiple times of transmission of the SL positioning reference signal are used for retransmission, configuration and / or pattern of the multiple times of transmission of the SL positioning reference signal remain consistent.

11. The method according to any one of claims 1 to 10, characterized in that, The method further includes: The overhead of the SL positioning reference signal configured by a high layer, the indication information or the condition information of the SL positioning reference signal are determined in one or more of the following manners: The first terminal determines according to SCI; The first terminal determines according to RRC configuration negotiation or RRC feedback; The first terminal determines according to PC5 RRC configuration negotiation or RRC feedback; The first terminal determines according to LPP configuration negotiation feedback; The first terminal determines according to PC5 LPP configuration negotiation feedback; In a case where a PSFCH period is a preset period or a preset configuration, the first terminal determines according to PSFCH overhead indication carried in SCI; In a case where a preset configuration is met, the first terminal determines according to the SL positioning reference signal overhead indication carried in SCI.

12. A positioning device, characterized by The apparatus includes: The processing module is configured to transmit, by the first terminal, the SL positioning reference signal according to a preset rule, and / or calculate the TBS; The preset rule is used to determine a calculation method of the TBS and / or a time-frequency mapping method of the SL positioning reference signal, the SL positioning reference signal is used to determine position information of the first terminal and / or a second terminal, and the second terminal is a peer terminal performing SL communication or SL positioning with the first terminal. The calculation method of the TBS includes a first calculation method, the first calculation method includes: when the first terminal calculates available resources, subtracting overhead of the SL positioning reference signal; and the overhead of the SL positioning reference signal includes overhead of the SL positioning reference signal indicated by sidelink control information SCI. The time-frequency 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 second stage sidelink control information SCI, and a time domain position of a demodulation reference signal DMRS. 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.

13. A terminal, characterized by comprising: 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 of any one of claims 1 to 11. The program or instructions are stored on the readable storage medium, and the program or instructions are executed by the processor to implement the steps of the method of any one of claims 1 to 11.

14. A readable storage medium, characterized by, ​

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