Positioning method and apparatus thereof

Abstract

This application discloses a positioning method and apparatus, applicable to communication systems such as Long Term Evolution (LTE), 5G mobile communication systems, 5G New Radio (NR) systems, or other future new mobile communication systems. The method includes: receiving a first PRS (Presentation Record) sent by a first auxiliary node in a set of auxiliary nodes; obtaining a reception time point based on the first PRS and determining a first reference time point; and obtaining a first time difference based on the reception time point and the first reference time point, wherein the first time difference is used to locate the target terminal device. By implementing this application embodiment, a first reception time point and a first reference time point can be determined based on the first PRS sent by the first auxiliary node, and a first time difference can be obtained based on the first reception time point and the first reference time point to locate the target terminal device. This avoids reduced positioning accuracy when the number of base stations is small, thus improving the accuracy of target terminal device positioning.

Description

Technical Field

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

[0002] In cellular wireless communication, terminal devices are located using uplink (UL) and / or downlink (DL) Positioning Reference Signals (PRS). This can be achieved by measuring the time difference between the arrival times of DLPRS signals transmitted between multiple different base stations, or by having the terminal device transmit an uplink PRS signal, while the base stations measure the time difference between the arrival times of the ULPRS signals of the same terminal device at different base stations.

[0003] However, locating a terminal device solely through a base station requires the support of multiple base stations. When the number of base stations is small, accurate location information cannot be obtained, reducing the accuracy of the location. Summary of the Invention

[0004] This application provides a positioning method and apparatus that can be applied to long-term evolution (LTE) systems, 5th generation (5G) mobile communication systems, 5G new radio (NR) systems, or other future new mobile communication systems. It determines a first reception time point and a first reference time point by using a first PRS transmitted by an auxiliary node set. A first time difference is obtained based on the first reception time point and the first reference time point, and the target terminal device is located based on this first time difference. This avoids the decrease in positioning accuracy when the number of base stations is small, thus improving the accuracy of target terminal device positioning.

[0005] In a first aspect, embodiments of this application provide a positioning method applied to a target terminal device, the method comprising:

[0006] Receive a first positioning reference signal (PRS) sent by a set of auxiliary nodes, wherein the set of auxiliary nodes includes at least one auxiliary base station and at least one auxiliary terminal device;

[0007] The receiving time point is obtained based on the first PRS, and the first reference time point is determined;

[0008] A first time difference is obtained based on the receiving time point and the first reference time point, wherein the first time difference is used to locate the target terminal device.

[0009] Optionally, obtaining the reception time point based on the first PRS includes:

[0010] Based on the first PRS, the starting time point at which the target terminal device receives the first time unit sent from the first auxiliary node is determined as the receiving time point; wherein, the first auxiliary node is an auxiliary base station or auxiliary terminal device in the set of auxiliary nodes.

[0011] Optionally, determining the first reference time point includes:

[0012] According to the first PRS, in the second time unit received by the target terminal device from the second auxiliary node, the start time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point; wherein, the second auxiliary node is an auxiliary base station or an auxiliary terminal device in the set of auxiliary nodes.

[0013] Optionally, determining the first reference time point includes:

[0014] In the second time unit when the target terminal device performs side-link communication transmission, the starting time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point.

[0015] Optionally, determining the first reference time point includes:

[0016] In the second time unit received by the target terminal device from the first communication node, the starting time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point, and the first communication node does not belong to the set of auxiliary nodes.

[0017] Optionally, the second auxiliary node is the same whether the first auxiliary node is an auxiliary base station or an auxiliary terminal device.

[0018] Optionally, if the serving base station of the target terminal device belongs to the set of auxiliary nodes, the serving base station of the target terminal device is determined as the second auxiliary node.

[0019] Optionally, the first communication node is the same whether the first auxiliary node is an auxiliary base station or an auxiliary terminal device.

[0020] Optionally, if the serving base station of the target terminal device does not belong to the set of auxiliary nodes, the serving base station of the target terminal device shall be determined as the first communication node.

[0021] Optionally, the method includes:

[0022] Receive configuration or control signaling sent by the base station or core network, and determine the second auxiliary node or the first communication node based on the configuration or control signaling.

[0023] Optionally, determining the first reference time point includes:

[0024] When the first auxiliary node is the auxiliary base station, in the second time unit sent from the second auxiliary node received by the target terminal device, the start time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point; wherein, the second auxiliary node is an auxiliary base station or an auxiliary terminal device in the set of auxiliary nodes;

[0025] When the first auxiliary node is the auxiliary terminal device, in the second time unit when the target terminal device performs side-link communication transmission, the starting time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point.

[0026] Optionally, determining the first reference time point includes:

[0027] When the first auxiliary node is the auxiliary base station, in the second time unit sent from the second auxiliary node received by the target terminal device, the start time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point; wherein, the second auxiliary node is an auxiliary base station or an auxiliary terminal device in the set of auxiliary nodes;

[0028] When the first auxiliary node is the auxiliary terminal device, in the second time unit sent from the first communication node received by the target terminal device, the starting time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point, and the first communication node does not belong to the set of auxiliary nodes.

[0029] Optionally, the method further includes:

[0030] If the first auxiliary node is the auxiliary base station, the second auxiliary node is determined to be the first reference node;

[0031] When the first auxiliary node is the auxiliary terminal device, the second auxiliary node is determined to be the second reference node, wherein the first reference node and the second reference node are different.

[0032] Optionally, the first reference node is the auxiliary base station; the second reference node is the auxiliary terminal device.

[0033] Optionally, the method further includes:

[0034] The starting time point at which the target terminal device receives the third time unit sent from the first reference node is determined as the second reference time point;

[0035] The starting time point at which the target terminal device receives the fourth time unit, which is closest to the second reference time point in the time domain, sent from the second reference node, is determined as the third reference time point.

[0036] Optionally, the method further includes:

[0037] The starting time point at which the target terminal device receives the third time unit sent from the second auxiliary node is determined as the second reference time point;

[0038] The starting time of the fourth time unit, which is closest to the second reference time point in the time domain, when the target terminal device performs side-link communication, is determined as the third reference time point.

[0039] Optionally, the method further includes:

[0040] The starting time point at which the target terminal device receives the third time unit sent from the second auxiliary node is determined as the second reference time point;

[0041] The starting time point at which the target terminal device receives the fourth time unit, which is closest to the second reference time point in the time domain, sent from the first communication node, is determined as the third reference time point.

[0042] Optionally, the method further includes:

[0043] Positioning assistance information is generated based on the second time difference between the second reference time point and the third reference time point.

[0044] Optionally, the method further includes:

[0045] Positioning assistance information is generated based on the synchronization source type sent by the target terminal device through side-link communication.

[0046] Optionally, the synchronization source type includes one or more of the following:

[0047] Global Navigation Satellite System (GNSS);

[0048] Base station;

[0049] Terminal equipment.

[0050] Optional, also includes:

[0051] The location assistance information is sent to the location management function (LMF).

[0052] Optionally, obtaining the first time difference based on the receiving time point and the first reference time point includes:

[0053] The difference between the receiving time point and the first reference time point is determined as the first time difference.

[0054] Optionally, the first PRS sent by the auxiliary base station is a downlink DLPRS, and the first PRS sent by the auxiliary terminal device is a sidelink SLPRS.

[0055] Optionally, the method further includes:

[0056] The system receives control signaling from a base station or an LMF and determines an auxiliary node set based on the control signaling. The auxiliary node set includes at least one auxiliary base station and at least one auxiliary terminal device.

[0057] Optionally, the control signaling includes at least one of the following:

[0058] The address or ID information of the auxiliary base stations and auxiliary terminal devices in the auxiliary node set; or...

[0059] Configuration information of the first PRS.

[0060] Secondly, embodiments of this application provide another positioning method, applied to auxiliary base stations and auxiliary terminal devices in an auxiliary node set, the method comprising:

[0061] Send a first positioning reference signal (PRS) to the target terminal device to instruct the terminal device to obtain the receiving time point based on the first PRS and determine the first reference time point.

[0062] The target terminal device is located based on the first time difference between the receiving time point and the first reference time point.

[0063] Thirdly, embodiments of this application provide a communication device that implements some or all of the functions of the terminal device described in the first aspect above. For example, the communication device may have the functions of some or all of the embodiments in this application, or it may have the functions of any one embodiment in this application implemented individually. The functions may be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more units or modules corresponding to the above functions.

[0064] In one implementation, the communication device may include a transceiver module and a processing module, the processing module being configured to support the communication device in performing the corresponding functions described in the above method. The transceiver module supports communication between the communication device and other devices. The communication device may also include a storage module, coupled to the transceiver module and the processing module, which stores necessary computer programs and data for the communication device.

[0065] As an example, the processing module can be a processor, the transceiver module can be a transceiver or a communication interface, and the storage module can be a memory. In one implementation, the communication device includes:

[0066] The first transceiver module is used to receive a first positioning reference signal (PRS) sent by a set of auxiliary nodes, wherein the set of auxiliary nodes includes at least one auxiliary base station and at least one auxiliary terminal device.

[0067] The first processing module is used to obtain the receiving time point based on the first PRS and determine the first reference time point;

[0068] The second processing module is used to obtain a first time difference based on the receiving time point and the first reference time point, wherein the first time difference is used to locate the target terminal device.

[0069] Fourthly, embodiments of this application provide another communication device that implements some or all of the functions of the network device in the method example described in the second aspect above. For example, the communication device may have the functions of some or all of the embodiments in this application, or it may have the functions of any one embodiment in this application implemented individually. The functions may be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more units or modules corresponding to the above functions.

[0070] In one implementation, the communication device may include a transceiver module and a processing module, the processing module being configured to support the communication device in performing the corresponding functions described in the above method. The transceiver module is used to support communication between the communication device and other devices. The communication device may also include a storage module, which is coupled to the transceiver module and the processing module, and stores the necessary computer programs and data of the communication device.

[0071] As an example, the processing module can be a processor, the transceiver module can be a transceiver or a communication interface, and the storage module can be a memory. In one implementation, the communication device includes:

[0072] The second transceiver module is used to send a first positioning reference signal (PRS) to the target terminal device to instruct the terminal device to obtain the receiving time point according to the first PRS and determine the first reference time point.

[0073] The third processing module is used to locate the target terminal device based on the first time difference between the receiving time point and the first reference time point.

[0074] Fifthly, embodiments of this application provide a communication device including a processor, which executes the method described in the first aspect when it calls a computer program in memory.

[0075] In a sixth aspect, embodiments of this application provide a communication device including a processor that, when the processor invokes a computer program in memory, executes the method described in the second aspect above.

[0076] In a seventh aspect, embodiments of this application provide a communication device, which includes a processor and a memory, wherein the memory stores a computer program; the processor executes the computer program stored in the memory to cause the communication device to perform the method described in the first aspect above.

[0077] Eighthly, embodiments of this application provide a communication device including a processor and a memory, the memory storing a computer program; the processor executes the computer program stored in the memory to cause the communication device to perform the method described in the second aspect above.

[0078] Ninthly, embodiments of this application provide a communication device, the device including a processor and an interface circuit, the interface circuit being used to receive code instructions and transmit them to the processor, the processor being used to execute the code instructions to cause the device to perform the method described in the first aspect above.

[0079] In a tenth aspect, embodiments of this application provide a communication device including a processor and an interface circuit. The interface circuit is used to receive code instructions and transmit them to the processor, which is used to execute the code instructions to cause the device to perform the method described in the second aspect above.

[0080] Eleventhly, embodiments of this application provide a positioning system, which includes the communication device described in the third aspect and the communication device described in the fourth aspect, or the system includes the communication device described in the fifth aspect and the communication device described in the sixth aspect, or the system includes the communication device described in the seventh aspect and the communication device described in the eighth aspect, or the system includes the communication device described in the ninth aspect and the communication device described in the tenth aspect.

[0081] In a twelfth aspect, embodiments of the present invention provide a computer-readable storage medium for storing instructions for use by the aforementioned terminal device, which, when executed, cause the terminal device to perform the method described in the first aspect.

[0082] In a thirteenth aspect, embodiments of the present invention provide a readable storage medium for storing instructions for use by the network device described above, which, when executed, cause the network device to perform the method described in the second aspect above.

[0083] In a fourteenth aspect, this application also provides a computer program product including a computer program, which, when run on a computer, causes the computer to perform the method described in the first aspect above.

[0084] In a fifteenth aspect, this application also provides a computer program product including a computer program, which, when run on a computer, causes the computer to perform the method described in the second aspect above.

[0085] In a sixteenth aspect, this application provides a chip system including at least one processor and an interface for supporting a terminal device in implementing the functions involved in the first aspect, such as determining or processing at least one of the data and information involved in the above methods. In one possible design, the chip system further includes a memory for storing computer programs and data necessary for the terminal device. The chip system may be composed of chips or may include chips and other discrete devices.

[0086] In a seventeenth aspect, this application provides a chip system including at least one processor and an interface for supporting a network device in implementing the functions involved in the second aspect, such as determining or processing at least one of the data and information involved in the above methods. In one possible design, the chip system further includes a memory for storing computer programs and data necessary for the network device. The chip system may be composed of chips or may include chips and other discrete devices.

[0087] In an eighteenth aspect, this application provides a computer program that, when run on a computer, causes the computer to perform the method described in the first aspect above.

[0088] In a nineteenth aspect, this application provides a computer program that, when run on a computer, causes the computer to perform the method described in the second aspect above. Attached Figure Description

[0089] To more clearly illustrate the technical solutions in the embodiments of this application or the background art, the accompanying drawings used in the embodiments of this application or the background art will be described below.

[0090] Figure 1 This is a schematic diagram of the architecture of a communication system provided in an embodiment of this application;

[0091] Figure 2 This is a flowchart illustrating a positioning method provided in an embodiment of this application;

[0092] Figure 3 This is a schematic diagram of a time unit provided in an embodiment of this application;

[0093] Figure 4 This is a schematic diagram of a time unit provided in an embodiment of this application;

[0094] Figure 5 This is a schematic diagram of a time unit provided in an embodiment of this application;

[0095] Figure 6 This is a schematic diagram of a time unit provided in an embodiment of this application;

[0096] Figure 7 This is a flowchart illustrating a positioning method provided in an embodiment of this application;

[0097] Figure 8 This is a schematic diagram of a time unit provided in an embodiment of this application;

[0098] Figure 9 This is a flowchart illustrating a positioning method provided in an embodiment of this application;

[0099] Figure 10 This is a schematic diagram of a time unit provided in an embodiment of this application;

[0100] Figure 11 This is a flowchart illustrating a positioning method provided in an embodiment of this application;

[0101] Figure 12 This is a schematic diagram of a time unit provided in an embodiment of this application;

[0102] Figure 13 This is a flowchart illustrating a positioning method provided in an embodiment of this application;

[0103] Figure 14 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0104] Figure 15 This is a schematic diagram of another communication device provided in an embodiment of this application;

[0105] Figure 16 This is a schematic diagram of the structure of a chip provided in an embodiment of this application. Detailed Implementation

[0106] Embodiments of this disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this disclosure, and should not be construed as limiting this disclosure.

[0107] To better understand the positioning method disclosed in the embodiments of this application, the communication system to which the embodiments of this application are applicable is described below.

[0108] Please see Figure 1 , Figure 1 This application provides a schematic diagram of the architecture of a communication system according to an embodiment. The communication system may include, but is not limited to, a network device and a terminal device. Figure 1 The number and form of devices shown are for illustrative purposes only and do not constitute a limitation on the embodiments of this application. In actual applications, it may include two or more network devices and two or more terminal devices. Figure 1 The communication system shown is exemplified by a network device 101 and a terminal device 102.

[0109] It should be noted that the technical solutions of this application embodiment can be applied to various communication systems. For example, Long Term Evolution (LTE) systems, 5th Generation (5G) mobile communication systems, 5G New Radio (NR) systems, or other future new mobile communication systems. It should also be noted that the side link in this application embodiment can also be called a side link or a direct link.

[0110] The network device 101 in this embodiment is a network-side entity used for transmitting or receiving signals. For example, the network device 101 can be an evolved NodeB (eNB), a transmission reception point (TRP), a next-generation NodeB (gNB) in an NR system, a base station in other future mobile communication systems, or an access node in a wireless fidelity (WiFi) system. This application does not limit the specific technology or device form used in the network device. The network device provided in this embodiment can be composed of a central unit (CU) and a distributed unit (DU). The CU can also be called a control unit. Using a CU-DU structure allows the protocol layer of a network device, such as a base station, to be separated. Some protocol layer functions are centrally controlled by the CU, while the remaining or all protocol layer functions are distributed in the DU, which is centrally controlled by the CU.

[0111] In this application embodiment, the terminal device 102 is a user-side entity used to receive or transmit signals, such as a mobile phone. The terminal device can also be referred to as a terminal, user equipment (UE), mobile station (MS), mobile terminal (MT), etc. The terminal device can be a car with communication capabilities, a smart car, a roadside unit, a mobile phone, a wearable device, a tablet computer, a computer with wireless transceiver capabilities, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, a wireless terminal device in a smart home, etc. The embodiments of this application do not limit the specific technology or device form used in the terminal device.

[0112] The continuous emergence of new-generation Internet applications has placed higher demands on wireless communication technology, driving its continuous evolution to meet application needs.

[0113] The 3GP R16 protocol supports communication between terminal devices via sidelinks (SL), meaning communication can be achieved using direct links (or side links) between terminal devices. Similarly, both 3GP R16 and R17 support location tracking via cellular networks. Terminal devices can transmit downlink PRS signals, and base stations can also transmit downlink PRS signals. Location of the terminal device is determined by measuring the PRS signals.

[0114] In 3GPPR18, the use of PRS signals on sidelinks for terminal device localization is being discussed. The target terminal device can be located using only the PRS signal (SLPRS) transmitted on the sidelink; alternatively, a combination of SLPRS and UL / DL PRS can be used. Localization methods include absolute positioning (estimating absolute geographic location), relative positioning (estimating relative geographic location), and ranging / lateral positioning.

[0115] One scenario for location tracking using SLPRS is vehicle-to-everything (V2X) communication. Vehicles can be located using SLPRS signals transmitted between vehicles or between a vehicle and a roadside unit (RSU).

[0116] One positioning method that uses ULPRS and / or DLPRS is Time Difference of Arrival (TDOA). DLTDOA locates the terminal device by measuring the time difference of downlink PRS signals sent to the terminal device from multiple different base stations; while ULPRS locates the terminal device by measuring the time difference of uplink PRS signals from the same terminal device arriving at different base stations.

[0117] However, TDOA positioning of terminal devices requires the support of multiple base stations. When the number of base stations is small (e.g., less than 3), accurate positioning information cannot be obtained. Therefore, when the distance between base stations is large and the terminal device is located in a relatively central position within a cell, it may be impossible to find a sufficient number of base stations to perform TDOA positioning for the terminal device.

[0118] It is understood that the communication system described in the embodiments of this application is for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and does not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of system architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0119] The positioning method and apparatus provided in this application will be described in detail below with reference to the accompanying drawings.

[0120] Please see Figure 2 , Figure 2 This is a flowchart illustrating a positioning method provided in an embodiment of this application. Figure 2 As shown, the method may include, but is not limited to, the following steps:

[0121] Step S201: Receive a first positioning reference signal PRS sent by the set of auxiliary nodes, wherein the set of auxiliary nodes includes at least one auxiliary base station and at least one auxiliary terminal device.

[0122] In this embodiment, the target terminal device is located using the PRS signal, which is a signal specifically designed for 5G in-band wireless positioning. Rel-16 has completed the standardized definition of PRS dedicated to downlink positioning. Adopting the modulation scheme from the LTE network standard, 5G NRPRS is composed of pseudo-random sequences modulated by quadrature phase shift keying (QPSK). It has a specific time-frequency resource block allocation method and is subject to certain constraints when mapping time slot symbols and subcarriers: it cannot be mapped to resource particles allocated to the synchronization signal block (SSB) and does not overlap with the cell reference signal of any antenna port.

[0123] In the frequency domain, PRS can be distributed across 24 to 272 physical resource blocks, and in the time domain, it can occupy 2, 4, 6, or 12 orthogonal frequency division multiplexing (OFDM) symbols within a single time slot. This configurable resource distribution facilitates efficient location estimation and allows for dynamic allocation of time and frequency resources based on network congestion and positioning accuracy requirements, thereby achieving a performance balance between communication services and location services and optimizing frequency utilization efficiency.

[0124] PRS enables terminal devices to simultaneously receive signals from multiple base stations, thereby calculating the terminal device's location using the triangulation principle. To address neighboring cell interference, the 3GPP standard coordinates PRS signals from adjacent cells in both the frequency and time domains to reduce mutual interference from PRS signals emitted by different base stations. In the frequency domain, the PRS pseudo-random sequence is initialized with different values ​​from 0 to 4095, and neighboring cell interference is further reduced through PRS mutating. In the time domain, the position and number of OFDM symbols are dynamically allocated in certain time slots according to positioning accuracy requirements, thereby achieving higher positioning accuracy and reliability.

[0125] The base station can transmit DLPRS to the terminal device via the downlink, and the terminal devices can also transmit SLPRS via the sidelink. Given the large number of terminal devices, this application equips the target terminal device with a corresponding set of auxiliary nodes. This set of auxiliary nodes includes at least one auxiliary base station and at least one auxiliary terminal device. The auxiliary terminal device and the auxiliary base station in the set of auxiliary nodes transmit a reference signal (PRS) to the target terminal device. The target terminal device receives a first PRS transmitted by the auxiliary terminal device and the auxiliary base station in the set of auxiliary nodes. This first PRS belongs to the set of auxiliary nodes and can be either an auxiliary terminal device or an auxiliary base station.

[0126] Step S202: Obtain the receiving time point based on the first PRS and determine the first reference time point.

[0127] In this embodiment of the application, after the target terminal device receives the first PRS sent by the auxiliary terminal device and / or the auxiliary base station, it can obtain the receiving time point based on the time point of receiving the first PRS, and further determine the first reference time point.

[0128] Optionally, the first reference time point is determined by the PRS sent to the target terminal device by other auxiliary base stations or auxiliary terminal devices in the auxiliary node set that are different from the auxiliary terminal devices and / or auxiliary base stations.

[0129] Optionally, the first PRS sent by the auxiliary base station is a downlink DLPRS, and the first PRS sent by the auxiliary terminal device is a sidelink SLPRS.

[0130] Step S203: Obtain a first time difference based on the receiving time point and the first reference time point, wherein the first time difference is used to locate the target terminal device.

[0131] In this embodiment, the TDOA positioning method is used to locate the target terminal device. The specific principle of TDOA is as follows: By measuring the difference between the time taken for the PRS transmitted from two transmission points (first transmission point and second transmission point) to reach the receiving point, and combining this with the PRS propagation speed, the difference between the distance from the first transmission point to the receiving point and the distance between the two transmission points is obtained. Then, based on the line connecting the first and second transmission points and the distance difference, a hyperbola is drawn, with the first and second transmission points being the foci of the hyperbola. By selecting multiple pairs of transmission points and repeating the above TDOA positioning process, multiple hyperbolas can be obtained. The intersection of these hyperbolas is the location of the target terminal device.

[0132] It should be noted that the TDOA positioning method requires time synchronization between transmitting points. Since it does not require detecting signal transmission time, the system's time synchronization requirements are greatly reduced. For base stations, because their locations are fixed, synchronization between base stations is much easier to achieve than synchronization between a base station and a mobile terminal. In this embodiment, the transmitting points are the auxiliary terminal equipment and auxiliary base stations in the auxiliary node set. By obtaining the reception time point corresponding to the first PRS sent by the first receiving node, obtaining the first reference time point of the target terminal equipment, and obtaining the first time difference based on the reception time point and the first reference time point, the target terminal equipment can be located based on the first time difference.

[0133] It should be noted that the entity performing TDOA positioning calculations based on the first time difference can be the target terminal device or the Location Management Function (LMF) in the core network. The LMF is responsible for the overall coordination and scheduling of resources required for managing the location of UEs registered to or accessing the 5GCN. It can also calculate or verify the final location and any speed estimates, and can estimate the achievable accuracy. The LMF receives location requests for the target UE from the serving AMF using the Nlmf interface. The LMF interacts with the UE to exchange location information suitable for UE-assisted and UE-based positioning methods, and interacts with NG-RAN, N3IWF, or TNAN to obtain location information.

[0134] By implementing the embodiments of this application, a first reception time point can be determined based on the first PRS sent by the auxiliary terminal device and / or auxiliary base station in the auxiliary node set, and a first reference time point can be determined. A first time difference can be obtained based on the first reception time point and the first reference time point, and the target terminal device can be located based on the first time difference. This avoids the decrease in positioning accuracy when the number of base stations is small, and improves the positioning accuracy of the target terminal device.

[0135] Optionally, obtaining the reception time point based on the first PRS in step S202 includes:

[0136] Based on the first PRS, the starting time point at which the target terminal device receives the first time unit sent from the first auxiliary node is determined as the receiving time point; wherein, the first auxiliary node is an auxiliary base station or auxiliary terminal device in the set of auxiliary nodes.

[0137] In this embodiment, the PRS sent by the first auxiliary node is the first PRS, and the time unit is a subframe or time slot; the first auxiliary node sends according to the first time unit, and the first time units are adjacent to each other in the time domain; the target terminal device determines the timing corresponding to the first auxiliary node by receiving the first PRS, and the timing is the layout information of the first time unit received by the target terminal device in the time domain. According to the timing corresponding to the first auxiliary node, the start time point of each first time unit can be obtained, and then one of the start time points of the first time unit is selected as the receiving time point.

[0138] Please see Figure 3 , Figure 3 This is a schematic diagram of a time unit provided in an embodiment of this application. For example... Figure 3 As shown, Timing1 corresponds to the timing of the first auxiliary node. Timing1 contains the layout information of each first time unit in the time domain, specifically the start time point of each first time unit. For each first time unit, its start time point is the position of the leftmost end of the first time unit on the time axis. First time units are adjacent to each other in the time domain. For two adjacent first time units, the end time point of the previous time unit is also the start time point of the next time unit. For example, the end time point of first time unit n is also the start time point of first time unit n+1.

[0139] In this embodiment, the starting time point of any one of the first time units can be selected, or the starting time point of a specific first time unit can be selected, such as the first time unit containing the first PRS transmission, which can then be determined as the receiving time point. For example, the starting time point of the first time unit n can be selected as the receiving time point.

[0140] It should be noted that in the embodiments of this application, the time unit can be a slot, a subframe, a frame, an OFDM symbol, etc., or it can be 1 second, 1 millisecond, etc.

[0141] Optionally, determining the first reference time point in step S202 includes:

[0142] According to the first PRS, in the second time unit received by the target terminal device from the second auxiliary node, the start time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point; wherein, the second auxiliary node is an auxiliary base station or an auxiliary terminal device in the set of auxiliary nodes.

[0143] In this embodiment of the application, the second auxiliary node in the auxiliary node set sends according to the second time unit, and the second time unit is adjacent to each other in the time domain; the target terminal device determines the timing corresponding to the second auxiliary node by receiving the first PRS, and the timing is the layout information of the second time unit in the time domain received by the target terminal device. The target terminal device can obtain the start time point of each second time unit according to the timing corresponding to the second auxiliary node, and then select the start time point of the second time unit that is closest to the first time unit in the time domain from the start time points of the second time units as the first reference time point.

[0144] Please see Figure 4 , Figure 4 This is a schematic diagram of a time unit provided in an embodiment of this application. For example... Figure 4 As shown, Timing1 corresponds to the first auxiliary node. Timing1 contains the layout information of each first time unit in the time domain, specifically the start time point of each first time unit. Timing2 corresponds to the second auxiliary node. Timing2 contains the layout information of each second time unit sent by the second auxiliary node in the time domain, specifically including the start time point of each second time unit. For each second time unit, its start time point is the position of the leftmost end of the second time unit on the time axis. Second time units are adjacent to each other in the time domain.

[0145] After selecting the starting time point of a first time unit and determining it as the receiving time point, it is necessary to select the starting time point closest to the receiving time point from the starting time points of the second time units and use it as the first reference time point. In one possible embodiment, the starting time point of the first time unit n is selected as the receiving time point, and then it is detected that the starting time point of the second time unit m is closest to the receiving time point in the time domain, so the starting time point of the second time unit m is used as the first reference time point.

[0146] The time difference between the first reference time point and the receiving time point is the first time difference.

[0147] Optionally, determining the first reference time point in step S202 includes:

[0148] In the second time unit when the target terminal device performs side-link communication transmission, the starting time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point.

[0149] In this embodiment, the target terminal device transmits according to the second time unit, and the second time units are adjacent to each other in the time domain. The target terminal device can determine the timing corresponding to its side link communication. The timing is the layout information of the second time units transmitted by the target terminal device in the time domain when it performs side link communication. According to the timing, the start time point of each second time unit can be obtained. Then, the start time point of the second time unit that is closest to the first time unit in the time domain is obtained from the start time points of the second time units and selected as the first reference time point.

[0150] Please see Figure 5 , Figure 5 This is a schematic diagram of a time unit provided in an embodiment of this application. For example... Figure 5 As shown, Timing1 is the timing corresponding to the first auxiliary node. Timing1 contains the layout information of each first time unit in the time domain, specifically the start time point of each first time unit. Timing3 is the timing for the target terminal device to send sidelink communication data. Timing3 contains the layout information of each second time unit for the target terminal device to send sidelink communication data in the time domain, specifically including the start time point of each second time unit. For each second time unit, its start time point is the position of the leftmost end of the second time unit on the time axis. The second time units are adjacent to each other in the time domain.

[0151] After selecting the starting time point of a first time unit and determining it as the receiving time point, it is necessary to select the starting time point closest to the receiving time point from the starting time points of the second time units and use it as the first reference time point. In one possible embodiment, the starting time point of the first time unit n is selected as the receiving time point, and then it is detected that the starting time point of the second time unit m is closest to the receiving time point in the time domain, so the starting time point of the second time unit m is used as the first reference time point.

[0152] The time difference between the first reference time point and the receiving time point is the first time difference.

[0153] Optionally, determining the first reference time point in step S202 includes:

[0154] In the second time unit received by the target terminal device from the first communication node, the starting time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point, and the first communication node does not belong to the set of auxiliary nodes.

[0155] In this embodiment, the first communication node transmits according to the second time unit, and the second time units are adjacent to each other in the time domain. The target terminal device can determine the timing corresponding to the first communication node. The timing is the layout information of the second time units received by the target terminal device in the time domain. According to the timing, the start time point of each second time unit can be obtained. Then, the start time point of the second time unit that is closest to the first time unit in the time domain is selected from the start time points of the second time units as the first reference time point. The first communication node does not belong to the set of auxiliary nodes.

[0156] Please see Figure 6 , Figure 6 This is a schematic diagram of a time unit provided in an embodiment of this application. For example... Figure 6 As shown, Timing1 corresponds to the first auxiliary node. Timing1 contains the layout information of each first time unit in the time domain, specifically the start time point of each first time unit. Timing4 corresponds to the first communication node. Timing4 contains the layout information of each second time unit sent by the first communication node in the time domain, specifically including the start time point of each second time unit. For each second time unit, its start time point is the position of the leftmost end of the second time unit on the time axis. The second time units are adjacent to each other in the time domain.

[0157] After selecting the starting time point of a first time unit and determining it as the receiving time point, it is necessary to select the starting time point closest to the receiving time point from the starting time points of the second time units and use it as the first reference time point. In one possible embodiment, the starting time point of the first time unit n is selected as the receiving time point, and then it is detected that the starting time point of the second time unit m is closest to the receiving time point in the time domain, so the starting time point of the second time unit m is used as the first reference time point.

[0158] The time difference between the first reference time point and the receiving time point is the first time difference.

[0159] Optionally, the second auxiliary node is the same whether the first auxiliary node is an auxiliary base station or an auxiliary terminal device.

[0160] In this embodiment of the application, during the process of obtaining the first reference time point through the second auxiliary node, regardless of whether the first auxiliary node is an auxiliary base station or an auxiliary terminal device, the same second auxiliary node is configured for it. In this way, the first reference time point corresponding to the first auxiliary node will not differ because the first auxiliary node is an auxiliary base station or an auxiliary terminal device, thus unifying the first reference time point corresponding to the auxiliary base station and the auxiliary terminal device.

[0161] Optionally, if the serving base station of the target terminal device belongs to the set of auxiliary nodes, the serving base station of the target terminal device is determined as the second auxiliary node.

[0162] In this embodiment of the application, during the process of obtaining the first reference time point through the second auxiliary node, if the serving base station of the target terminal device belongs to the set of auxiliary nodes, that is, the serving base station of the target terminal device is an auxiliary base station, the serving base station of the target terminal device can be determined as the second auxiliary node.

[0163] Optionally, the first communication node is the same whether the first auxiliary node is an auxiliary base station or an auxiliary terminal device.

[0164] In this embodiment of the application, during the process of obtaining the first reference time point through the first communication node, regardless of whether the first auxiliary node is an auxiliary base station or an auxiliary terminal device, the same second auxiliary node is configured for it. In this way, the first reference time point corresponding to the first auxiliary node will not differ because the first auxiliary node is an auxiliary base station or an auxiliary terminal device, thus unifying the first reference time point corresponding to the auxiliary base station and the auxiliary terminal device.

[0165] Optionally, if the serving base station of the target terminal device does not belong to the set of auxiliary nodes, the serving base station of the target terminal device shall be determined as the first communication node.

[0166] In this embodiment of the application, during the process of obtaining the first reference time point through the first communication node, if the serving base station of the target terminal device does not belong to the set of auxiliary nodes, the serving base station of the target terminal device can be determined as the first communication node.

[0167] Optionally, the method further includes:

[0168] Receive configuration or control signaling sent by the base station or core network, and determine the second auxiliary node or the first communication node based on the configuration or control signaling.

[0169] In this embodiment of the application, the base station or the core network can instruct the second auxiliary node or the first communication node. The target terminal device determines the second auxiliary node or the first communication node based on the configuration or control signaling sent by the base station or the core network, and further determines the first reference time point.

[0170] Optionally, determining the first reference time point includes:

[0171] When the first auxiliary node is the auxiliary base station, in the second time unit sent from the second auxiliary node received by the target terminal device, the start time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point; wherein, the second auxiliary node is an auxiliary base station or an auxiliary terminal device in the set of auxiliary nodes;

[0172] When the first auxiliary node is the auxiliary terminal device, in the second time unit when the target terminal device performs side-link communication transmission, the starting time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point;

[0173] In this embodiment of the application, different methods can be selected to determine the first reference time point for the two cases: the first auxiliary node is an auxiliary base station and the first auxiliary node is an auxiliary terminal device.

[0174] When the first auxiliary node 301 is the auxiliary base station, the following is adopted: Figure 4 The method described in [the document] is used to determine the first reference time point, such as... Figure 4 As shown, Timing1 corresponds to the first auxiliary node. Timing1 contains the layout information of each first time unit in the time domain, specifically the start time point of each first time unit. Timing2 corresponds to the second auxiliary node. Timing2 contains the layout information of each second time unit sent by the second auxiliary node in the time domain, specifically including the start time point of each second time unit. For each second time unit, its start time point is the position of the leftmost end of the second time unit on the time axis. Second time units are adjacent to each other in the time domain.

[0175] After selecting the starting time point of a first time unit and determining it as the receiving time point, it is necessary to select the starting time point closest to the receiving time point from the starting time points of the second time units and use it as the first reference time point. In one possible embodiment, the starting time point of the first time unit n is selected as the receiving time point, and then it is detected that the starting time point of the second time unit m is closest to the receiving time point in the time domain, so the starting time point of the second time unit m is used as the first reference time point.

[0176] When the first auxiliary node 301 is the auxiliary terminal device, the following is adopted: Figure 5 The method described in [the document] is used to determine the first reference time point, such as... Figure 5 As shown, Timing1 is the timing corresponding to the first auxiliary node. Timing1 contains the layout information of each first time unit in the time domain, specifically the start time point of each first time unit. Timing3 is the timing for the target terminal device to send sidelink communication. Timing3 contains the layout information of each second time unit sent by the terminal device through the sidelink in the time domain, specifically including the start time point of each second time unit. For each second time unit, its start time point is the position of the leftmost end of the second time unit on the time axis, and the second time units are adjacent to each other in the time domain.

[0177] After selecting the starting time point of a first time unit and determining it as the receiving time point, it is necessary to select the starting time point closest to the receiving time point from the starting time points of the second time units and use it as the first reference time point. In one possible embodiment, the starting time point of the first time unit n is selected as the receiving time point, and then it is detected that the starting time point of the second time unit m is closest to the receiving time point in the time domain, so the starting time point of the second time unit m is used as the first reference time point.

[0178] Optionally, determining the first reference time point includes:

[0179] When the first auxiliary node is the auxiliary base station, in the second time unit sent from the second auxiliary node received by the target terminal device, the start time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point; wherein, the second auxiliary node is an auxiliary base station or an auxiliary terminal device in the set of auxiliary nodes;

[0180] When the first auxiliary node is the auxiliary terminal device, in the second time unit sent from the first communication node received by the target terminal device, the starting time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point, and the first communication node does not belong to the set of auxiliary nodes.

[0181] In this embodiment of the application, different methods can be selected to determine the first reference time point for the two cases: the first auxiliary node is an auxiliary base station and the first auxiliary node is an auxiliary terminal device.

[0182] When the first auxiliary node 301 is the auxiliary base station, the following is adopted: Figure 4 The method described in [the document] is used to determine the first reference time point, such as... Figure 4 As shown, Timing1 corresponds to the first auxiliary node. Timing1 contains the layout information of each first time unit in the time domain, specifically the start time point of each first time unit. Timing2 corresponds to the second auxiliary node. Timing2 contains the layout information of each second time unit sent by the second auxiliary node in the time domain, specifically including the start time point of each second time unit. For each second time unit, its start time point is the position of the leftmost end of the second time unit on the time axis. Second time units are adjacent to each other in the time domain.

[0183] After selecting the starting time point of a first time unit and determining it as the receiving time point, it is necessary to select the starting time point closest to the receiving time point from the starting time points of the second time units and use it as the first reference time point. In one possible embodiment, the starting time point of the first time unit n is selected as the receiving time point, and then it is detected that the starting time point of the second time unit m is closest to the receiving time point in the time domain, so the starting time point of the second time unit m is used as the first reference time point.

[0184] When the first auxiliary node 301 is the auxiliary terminal device, the following is adopted: Figure 6 The method described in [the document] is used to determine the first reference time point, such as... Figure 6 As shown, Timing1 corresponds to the first auxiliary node. Timing1 contains the layout information of each first time unit in the time domain, specifically the start time point of each first time unit. Timing4 corresponds to the first communication node. Timing4 contains the layout information of each second time unit sent by the first communication node in the time domain, specifically including the start time point of each second time unit. For each second time unit, its start time point is the position of the leftmost end of the second time unit on the time axis. The second time units are adjacent to each other in the time domain.

[0185] After selecting the starting time point of a first time unit and determining it as the receiving time point, it is necessary to select the starting time point closest to the receiving time point from the starting time points of the second time units and use it as the first reference time point. In one possible embodiment, the starting time point of the first time unit n is selected as the receiving time point, and then it is detected that the starting time point of the second time unit m is closest to the receiving time point in the time domain, so the starting time point of the second time unit m is used as the first reference time point.

[0186] Optionally, the method includes:

[0187] If the first auxiliary node is the auxiliary base station, the second auxiliary node is determined to be the first reference node;

[0188] When the first auxiliary node is the auxiliary terminal device, the second auxiliary node is determined to be the second reference node, wherein the first reference node and the second reference node are different.

[0189] In this embodiment, during the process of determining the reference time point through the second auxiliary node, different second auxiliary nodes (i.e., the first reference node and the second reference node) can be selected to determine the reference time point for both cases where the first auxiliary node is an auxiliary base station and where the first auxiliary node is an auxiliary terminal device. If the first auxiliary node is the auxiliary base station, the reference time point is determined based on the first reference node; if the first auxiliary node is the auxiliary terminal device, the reference time point is determined based on the second reference node. It should be noted that the first reference node and the second reference node are not the same.

[0190] Optionally, the first reference node is the auxiliary base station; the second reference node is the auxiliary terminal device.

[0191] When the first auxiliary node is an auxiliary base station, the first reference node selected to determine the reference time point must also be an auxiliary base station in the set of auxiliary nodes; when the first auxiliary node is an auxiliary terminal device, the second reference node selected to determine the reference time point must also be an auxiliary terminal device in the set of auxiliary nodes.

[0192] Please see Figure 7 , Figure 7 This is a flowchart illustrating a positioning method provided in an embodiment of this application. Figure 7 As shown, the method may include, but is not limited to, the following steps:

[0193] Step S701: Determine the starting time point at which the target terminal device receives the third time unit sent from the first reference node as the second reference time point;

[0194] In this embodiment of the application, when the first auxiliary node is an auxiliary base station, the first reference node sends DLPRS to the target terminal device according to the third time unit, wherein the third time units are adjacent to each other in the time domain; the target terminal device can determine the timing corresponding to the first reference node, the timing being the layout information of the third time units received by the target terminal device in the time domain, and obtain the start time point of each third time unit according to the timing corresponding to the first reference node, and then select one of the start time points of the third time units as the second reference time point.

[0195] In this embodiment, the starting time point of any third time unit can be selected, or the starting time point of a specific third time unit can be selected. For example, the third time unit that includes the DLPRS transmission sent by the first reference node can be determined as the second reference time point.

[0196] Step S702: Determine the starting time point at which the target terminal device receives the fourth time unit, which is closest to the second reference time point in the time domain, sent from the second reference node, as the third reference time point.

[0197] In this embodiment of the application, when the first auxiliary node is an auxiliary terminal device, the second reference node sends SLPRS to the target terminal device according to the fourth time unit, and the third time units are adjacent to each other in the time domain. The target terminal device can determine the timing corresponding to the second reference node by receiving the SLPRS. The timing is the layout information of the fourth time units received by the target terminal device in the time domain. According to the timing corresponding to the second reference node, the start time point of each fourth time unit can be obtained, and then one of the start time points of the fourth time units can be selected as the third reference time point.

[0198] Figure 8 This is a schematic diagram of a time unit provided in an embodiment of this application, such as... Figure 8 As shown, Timing5 corresponds to the first reference node. Timing5 contains the layout information of the third time units sent by each first reference node in the time domain, specifically the start time point of each third time unit. Timing6 corresponds to the second reference node. Timing6 contains the layout information of the fourth time units sent by the second reference node in the time domain, specifically including the start time point of each fourth time unit. For each third time unit, its start time point is the position of the leftmost end of the third time unit on the time axis. The third time units are adjacent to each other in the time domain.

[0199] A starting time point of a third time unit is selected and determined as the second reference time point. Then, the starting time point of the fourth time unit sent by the second reference node 307 that is closest to the second reference time point is selected and used as the third reference time point. In one possible embodiment, the starting time point of the third time unit i is selected as the second reference time point, and then it is detected that the starting time point of the fourth time unit j is closest to the second reference time point in the time domain, so the starting time point of the fourth time unit j is used as the third reference time point.

[0200] Please see Figure 9 , Figure 9 This is a flowchart illustrating a positioning method provided in an embodiment of this application. Figure 4 As shown, the method may include, but is not limited to, the following steps:

[0201] Step S901: Determine the starting time point at which the target terminal device receives the third time unit sent from the second auxiliary node as the second reference time point;

[0202] In this embodiment of the application, when the first auxiliary node is an auxiliary terminal device, the second auxiliary node transmits according to the third time unit, and the third time units are adjacent to each other in the time domain; the target terminal device determines the timing corresponding to the second auxiliary node by receiving the PRS, and the timing is the layout information of the third time unit received by the target terminal device in the time domain.

[0203] In this embodiment, the starting time point of any one of the third time units can be selected, or the starting time point of a specific third time unit can be selected. For example, the third time unit that includes the PRS transmission sent by the second auxiliary node can be determined as the second reference time point.

[0204] Step S902: Determine the starting time of the fourth time unit that is closest to the second reference time point in the time domain when the target terminal device performs side-link communication as the third reference time point.

[0205] Figure 10 This is a schematic diagram of a time unit provided in an embodiment of this application, such as... Figure 10As shown, Timing5 corresponds to the timing of the second auxiliary node. Timing5 contains the layout information of the third time units sent by each second auxiliary node in the time domain, specifically the start time point of each third time unit. Timing6 is the timing for the target terminal device to send data via sidelink communication. Timing6 contains the layout information of the fourth time units sent by the target terminal device via sidelink communication in the time domain, specifically including the start time point of each fourth time unit. For each third time unit, its start time point is the position of the leftmost end of the third time unit on the time axis, and the third time units are adjacent to each other in the time domain.

[0206] A starting time point of a third time unit is selected and determined as the second reference time point. Then, the starting time point of the fourth time unit transmitted by the target terminal device through side-link communication, which is closest to the second reference time point, is selected as the third reference time point. In one possible embodiment, the starting time point of the third time unit i is selected as the second reference time point. Then, it is detected that the starting time point of the fourth time unit j is closest to the second reference time point in the time domain, so the starting time point of the fourth time unit j is selected as the third reference time point.

[0207] In this embodiment, instead of determining the third reference time point based on the first or second reference node, the third reference time point can be determined based on the fourth time unit when the target terminal device performs side-link communication.

[0208] Please see Figure 11 , Figure 11 This is a flowchart illustrating a positioning method provided in an embodiment of this application. Figure 5 As shown, the method may include, but is not limited to, the following steps:

[0209] Step S1101: Determine the starting time point at which the target terminal device receives the third time unit sent from the second auxiliary node as the second reference time point; the second auxiliary node sends according to the third time unit, wherein the third time units are adjacent to each other in the time domain; the target terminal device determines the timing corresponding to the second auxiliary node by receiving the PRS, and the timing is the layout information of the third time unit received by the target terminal device in the time domain.

[0210] In this embodiment, the start time point of any one of the third time units can be selected, or a specific start time point of a third time unit can be selected, such as the third time unit containing the PRS transmission sent by the second auxiliary node, which can then be determined as the second reference time point. In this embodiment, when the first auxiliary node is an auxiliary terminal device, the second auxiliary node sends a PRS to the target terminal device, and the second reference time point is determined based on the third time unit sent by the second reference node to the target terminal device.

[0211] Step S1102: Determine the starting time point at which the target terminal device receives the fourth time unit sent from the first communication node, which is closest to the second reference time point in the time domain, as the third reference time point.

[0212] In this embodiment of the application, the third reference time point can be determined based on the fourth time unit sent by the first communication node.

[0213] Figure 12 This is a schematic diagram of a time unit provided in an embodiment of this application, such as... Figure 12 As shown, Timing5 is the time point corresponding to the second auxiliary node. Timing5 contains the layout information of the third time units sent by each second auxiliary node in the time domain, specifically the start time point of each third time unit. Timing6 is the time point corresponding to the first communication node. Timing6 contains the layout information of the fourth time units sent by the first communication node in the time domain, specifically including the start time point of each fourth time unit. For each third time unit, its start time point is the position of the leftmost end of the third time unit on the time axis. The third time units are adjacent to each other in the time domain.

[0214] A starting time point of a third time unit is selected and determined as the second reference time point. Then, the starting time point of the fourth time unit sent by the first communication node that is closest to the second reference time point is selected and used as the third reference time point. In one possible embodiment, the starting time point of the third time unit i is selected as the second reference time point, and then it is detected that the starting time point of the fourth time unit j is closest to the second reference time point in the time domain, so the starting time point of the fourth time unit j is used as the third reference time point.

[0215] Optionally, the method further includes:

[0216] Positioning assistance information is generated based on the second time difference between the second reference time point and the third reference time point.

[0217] In this embodiment of the application, the target terminal device can use the second reference time point and the third reference time point as positioning assistance information. Specifically, it calculates the difference between the second reference time point and the third reference time point as the second time difference, and generates positioning assistance information based on the second time difference.

[0218] Optionally, the method further includes:

[0219] Positioning assistance information is generated based on the synchronization source type sent by the target terminal device through side-link communication.

[0220] In this embodiment of the application, in order to obtain an accurate first time difference, the target terminal device needs to use a synchronization source to synchronize the time of the auxiliary terminal devices and auxiliary base stations in the set of auxiliary nodes. The synchronization source is the main body used for synchronization.

[0221] Optionally, the synchronization source type includes one or more of the following:

[0222] Global Navigation Satellite System (GNSS);

[0223] Base station;

[0224] Terminal equipment.

[0225] Optional, also includes:

[0226] The location assistance information is sent to the location management function (LMF).

[0227] Optionally, obtaining the first time difference based on the receiving time point and the first reference time point includes:

[0228] The difference between the receiving time point and the first reference time point is determined as the first time difference.

[0229] Optionally, the method further includes:

[0230] The system receives control signaling from a base station or an LMF and determines an auxiliary node set based on the control signaling. The auxiliary node set includes at least one auxiliary base station and at least one auxiliary terminal device.

[0231] In this embodiment of the application, the auxiliary node set can be configured for the target terminal device by the base station or the core network. The target terminal device determines the auxiliary node set according to the configuration or control signaling sent by the base station or the core network, so as to receive the first PRS and further obtain the time difference.

[0232] Optionally, the control signaling includes at least one of the following:

[0233] The address or ID information of the auxiliary base stations and auxiliary terminal devices in the auxiliary node set; or...

[0234] Configuration information of the first PRS.

[0235] In this embodiment of the application, the control signaling may carry address or ID information so that the target terminal can identify the auxiliary base station and auxiliary terminal equipment in the auxiliary node set.

[0236] The control signaling may carry configuration information of the first PRS, including: the transmission time of the first PRS, the starting position of the frequency domain resource, the size information of the first PRS, the sequence ID information of the first PRS, the transmission period and the number of transmissions of the first PRS, etc.

[0237] Please see Figure 13 , Figure 13 This is a flowchart illustrating a positioning method provided in an embodiment of this application. Figure 12 As shown, the method is applied to auxiliary base stations and auxiliary terminal devices in an auxiliary node set, and the method may include, but is not limited to, the following steps:

[0238] Step S1301: Send a first positioning reference signal (PRS) to the target terminal device to instruct the terminal device to obtain the receiving time point based on the first PRS and determine the first reference time point.

[0239] Step S1302: Locate the target terminal device based on the first time difference between the receiving time point and the first reference time point.

[0240] By implementing the embodiments of this application, a first reception time point can be determined based on the first PRS sent by the auxiliary terminal device and / or auxiliary base station in the auxiliary node set, and a first reference time point can be determined. A first time difference can be obtained based on the first reception time point and the first reference time point, and the target terminal device can be located based on the first time difference. This avoids the decrease in positioning accuracy when the number of base stations is small, and improves the positioning accuracy of the target terminal device.

[0241] In the embodiments provided above, the methods provided by the embodiments of this application have been described from the perspectives of network devices and terminal devices, respectively. To implement the functions of the methods provided in the embodiments of this application, the network device and the terminal device may include hardware structures and software modules, implementing the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. One of the above functions can be executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules.

[0242] Please see Figure 14 This is a schematic diagram of the structure of a communication device 140 provided in an embodiment of this application. Figure 14The communication device 140 shown may include a transceiver module 1401 and a processing module 1402. The transceiver module 1401 may include a sending module and / or a receiving module. The sending module is used to implement the sending function, and the receiving module is used to implement the receiving function. The transceiver module 1401 can implement the sending function and / or the receiving function.

[0243] The communication device 140 may be a terminal device (such as the terminal device in the aforementioned method embodiments), a device within a terminal device, or a device that can be used in conjunction with a terminal device. Alternatively, the communication device 140 may be a network device, a device within a network device, or a device that can be used in conjunction with a network device.

[0244] The communication device 140 is a terminal device (such as the terminal device in the aforementioned method embodiments), including:

[0245] The first transceiver module is used to receive a first positioning reference signal (PRS) sent by a set of auxiliary nodes, wherein the set of auxiliary nodes includes at least one auxiliary base station and at least one auxiliary terminal device.

[0246] The first processing module is used to obtain the receiving time point based on the first PRS and determine the first reference time point;

[0247] The second processing module is used to obtain a first time difference based on the receiving time point and the first reference time point, wherein the first time difference is used to locate the target terminal device.

[0248] Communication device 140 is a network device including:

[0249] The second transceiver module is used to send a first positioning reference signal (PRS) to the target terminal device to instruct the terminal device to obtain the receiving time point according to the first PRS and determine the first reference time point.

[0250] The third processing module is used to locate the target terminal device based on the first time difference between the receiving time point and the first reference time point.

[0251] Please see Figure 15 , Figure 15 This is a schematic diagram of another communication device 150 provided in an embodiment of this application. The communication device 150 can be a network device, a terminal device (such as the terminal device in the foregoing method embodiments), a chip, chip system, or processor that supports the network device in implementing the above methods, or a chip, chip system, or processor that supports the terminal device in implementing the above methods. This device can be used to implement the methods described in the above method embodiments; for details, please refer to the descriptions in the above method embodiments.

[0252] The communication device 150 may include one or more processors 1501. The processor 1501 may be a general-purpose processor or a dedicated processor, such as a baseband processor or a central processing unit (CPU). The baseband processor can be used to process communication protocols and communication data, while the CPU can be used to control the communication device (e.g., base station, baseband chip, terminal equipment, terminal equipment chip, DU or CU, etc.), execute computer programs, and process data from the computer programs.

[0253] Optionally, the communication device 150 may further include one or more memories 1502, on which a computer program 1503 may be stored. The processor 1501 executes the computer program 1503 to cause the communication device 150 to perform the methods described in the above method embodiments. Optionally, the memory 1502 may also store data. The communication device 150 and the memory 1502 may be provided separately or integrated together.

[0254] Optionally, the communication device 150 may further include a transceiver 1504 and an antenna 1505. The transceiver 1504 may be referred to as a transceiver unit, transceiver, or transceiver circuit, etc., and is used to implement the transmission and reception functions. The transceiver 1504 may include a receiver and a transmitter. The receiver may be referred to as a receiver or receiving circuit, etc., and is used to implement the receiving function; the transmitter may be referred to as a transmitter or transmitting circuit, etc., and is used to implement the transmitting function.

[0255] Optionally, the communication device 150 may further include one or more interface circuits 1506. The interface circuits 1506 are used to receive code instructions and transmit them to the processor 1501. The processor 1501 executes the code instructions to cause the communication device 150 to perform the methods described in the above method embodiments.

[0256] Communication device 150 is a terminal device (as in the aforementioned method embodiments): processor 1501 is used to execute Figure 2 Steps S201, S202, and S203 in the process.

[0257] Communication device 150 is a network device: transceiver 1504 is used to perform... Figure 6 Steps S601 and S602 in the process.

[0258] In one implementation, the processor 1501 may include a transceiver for implementing receive and transmit functions. For example, the transceiver may be a transceiver circuit, an interface, or an interface circuit. The transceiver circuit, interface, or interface circuit for implementing receive and transmit functions may be separate or integrated. The aforementioned transceiver circuit, interface, or interface circuit can be used for reading and writing code / data, or it can be used for transmitting or relaying signals.

[0259] In one implementation, processor 1501 may store computer program 1503, which runs on processor 1501 and causes communication device 150 to perform the methods described in the above method embodiments. Computer program 1503 may be embedded in processor 1501; in this case, processor 1501 may be implemented in hardware.

[0260] In one implementation, the communication device 150 may include circuitry capable of performing the functions of transmitting, receiving, or communicating as described in the foregoing method embodiments. The processor and transceiver described in this application can be implemented on integrated circuits (ICs), analog ICs, radio frequency integrated circuits (RFICs), mixed-signal ICs, application-specific integrated circuits (ASICs), printed circuit boards (PCBs), electronic devices, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal-oxide-semiconductor (CMOS), n-metal-oxide-semiconductor (NMOS), positive-channel metal-oxide-semiconductor (PMOS), bipolar junction transistors (BJTs), bipolar CMOS (BiCMOS), silicon-germanium (SiGe), gallium arsenide (GaAs), etc.

[0261] The communication device described in the above embodiments may be a network device or a terminal device (such as the terminal device in the foregoing method embodiments), but the scope of the communication device described in this application is not limited thereto, and the structure of the communication device may vary. Figure 15 The communication device may be a standalone device or part of a larger device. For example, the communication device may be:

[0262] (1) Independent integrated circuit IC, or chip, or chip system or subsystem;

[0263] (2) A collection of one or more ICs, optionally including storage components for storing data and computer programs;

[0264] (3) ASIC, such as modem;

[0265] (4) Modules that can be embedded in other devices;

[0266] (5) Receivers, terminal equipment, smart terminal equipment, cellular phones, wireless equipment, handheld devices, mobile units, vehicle-mounted equipment, network equipment, cloud equipment, artificial intelligence equipment, etc.

[0267] (6) Others, etc.

[0268] For cases where the communication device can be a chip or a chip system, please refer to [link / reference]. Figure 16 The diagram shows the structure of the chip. Figure 16 The chip shown includes a processor 1601 and an interface 1602. There can be one or more processors 1601, and multiple interfaces 1602.

[0269] Optionally, the chip also includes a memory 1603, which is used to store necessary computer programs and data.

[0270] Those skilled in the art will also understand that the various illustrative logical blocks and steps listed in the embodiments of this application can be implemented by electronic hardware, computer software, or a combination of both. Whether such functionality is implemented through hardware or software depends on the specific application and the overall system design requirements. Those skilled in the art can implement the described functionality using various methods for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of this application.

[0271] This application also provides a positioning system, which includes the aforementioned... Figure 14 The embodiments include a communication device as a terminal device (such as the terminal device in the aforementioned method embodiments) and a communication device as a network device; or, the system includes the aforementioned... Figure 15 The embodiments include a communication device as a terminal device (such as the terminal device in the aforementioned method embodiments) and a communication device as a network device.

[0272] This application also provides a readable storage medium having instructions stored thereon that, when executed by a computer, implement the functions of any of the above method embodiments.

[0273] This application also provides a computer program product that, when executed by a computer, implements the functions of any of the above method embodiments.

[0274] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer programs. When the computer program is loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer program can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program can be transferred from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., high-density digital video discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)).

[0275] Those skilled in the art will understand that the various numerical designations such as "first," "second," etc., involved in this application are merely for the convenience of description and are not intended to limit the scope of the embodiments of this application, nor do they indicate the order of sequence.

[0276] At least one in this application can also be described as one or more, and multiple can be two, three, four or more, and this application does not impose any limitation. In the embodiments of this application, for a technical feature, the technical features in that technical feature are distinguished by "first", "second", "third", "A", "B", "C" and "D", and there is no order or size among the technical features described by "first", "second", "third", "A", "B", "C" and "D".

[0277] The correspondences shown in the tables of this application can be configured or predefined. The values ​​of the information in each table are merely examples and can be configured to other values; this application is not limited to these values. When configuring the correspondences between information and parameters, it is not necessarily required to configure all the correspondences shown in each table. For example, the correspondences shown in some rows of the tables in this application may not be configured. Furthermore, appropriate modifications and adjustments can be made based on the above tables, such as splitting, merging, etc. The names of the parameters shown in the headings of the above tables can also use other names that the communication device can understand, and the values ​​or representations of the parameters can also be other values ​​or representations that the communication device can understand. In the implementation of the above tables, other data structures can also be used, such as arrays, queues, containers, stacks, linear lists, pointers, linked lists, trees, graphs, structures, classes, heaps, hash tables, or hash tables, etc.

[0278] The term "predefined" in this application can be understood as definition, pre-defined, stored, pre-stored, pre-negotiated, pre-configured, solidified, or pre-burned.

[0279] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0280] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0281] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A positioning method, characterized in that, Applied to a target terminal device, the method includes: Receive a first positioning reference signal (PRS) sent by a set of auxiliary nodes, wherein the set of auxiliary nodes includes at least one auxiliary base station and at least one auxiliary terminal device; The receiving time point is obtained based on the first PRS, and the first reference time point is determined; A first time difference is obtained based on the receiving time point and the first reference time point, wherein the first time difference is used to locate the target terminal device; The step of obtaining the receiving time point based on the first PRS includes: Based on the first PRS, the starting time point at which the target terminal device receives the first time unit sent from the first auxiliary node is determined as the receiving time point; wherein, the first auxiliary node is an auxiliary base station or an auxiliary terminal device in the set of auxiliary nodes; Determining the first reference time point includes: When the first auxiliary node is the auxiliary base station, in the second time unit sent from the second auxiliary node received by the target terminal device, the start time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point; wherein, the second auxiliary node is an auxiliary base station or an auxiliary terminal device in the set of auxiliary nodes; When the first auxiliary node is the auxiliary terminal device, in the second time unit when the target terminal device performs side-link communication transmission, the starting time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point.

2. The method according to claim 1, characterized in that, The method further includes: When the first auxiliary node is the auxiliary terminal device, the starting time point at which the target terminal device receives the third time unit sent from the second auxiliary node is determined as the second reference time point; When the first auxiliary node is the auxiliary terminal device, the starting time of the fourth time unit that is closest to the second reference time point in the time domain when the target terminal device performs side-link communication is determined as the third reference time point.

3. The method according to claim 1, characterized in that, Determining the first reference time point also includes: When the first auxiliary node is the auxiliary base station, in the second time unit sent from the second auxiliary node received by the target terminal device, the start time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point; wherein, the second auxiliary node is an auxiliary base station or an auxiliary terminal device in the set of auxiliary nodes; When the first auxiliary node is the auxiliary terminal device, in the second time unit sent from the first communication node received by the target terminal device, the starting time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point, and the first communication node does not belong to the set of auxiliary nodes.

4. The method according to claim 3, characterized in that, The method further includes: When the first auxiliary node is the auxiliary terminal device, the starting time point at which the target terminal device receives the third time unit sent from the second auxiliary node is determined as the second reference time point; When the first auxiliary node is the auxiliary terminal device, the starting time point at which the target terminal device receives the fourth time unit sent from the first communication node that is closest to the second reference time point in the time domain is determined as the third reference time point.

5. The method according to claim 1, characterized in that, The method further includes: If the first auxiliary node is the auxiliary base station, the second auxiliary node is determined to be the first reference node; When the first auxiliary node is the auxiliary terminal device, the second auxiliary node is determined to be the second reference node, wherein the first reference node and the second reference node are different.

6. The method according to claim 5, characterized in that, The first reference node is the auxiliary base station; the second reference node is the auxiliary terminal device.

7. The method according to claim 5, characterized in that, The method further includes: The starting time point at which the target terminal device receives the third time unit sent from the first reference node is determined as the second reference time point; The starting time point at which the target terminal device receives the fourth time unit, which is closest to the second reference time point in the time domain, sent from the second reference node, is determined as the third reference time point.

8. The method according to any one of claims 2, 4 or 7, characterized in that, The method further includes: Positioning assistance information is generated based on the second time difference between the second reference time point and the third reference time point.

9. The method according to claim 1, characterized in that, The method further includes: Positioning assistance information is generated based on the synchronization source type sent by the target terminal device through side-link communication.

10. The method according to claim 9, characterized in that, The synchronization source type includes one or more of the following: Global Navigation Satellite System (GNSS); Base station; Terminal equipment.

11. The method according to any one of claims 9 to 10, characterized in that, Also includes: The location assistance information is sent to the location management function (LMF).

12. The method according to any one of claims 1-7, characterized in that, The step of obtaining the first time difference based on the receiving time point and the first reference time point includes: The difference between the receiving time point and the first reference time point is determined as the first time difference.

13. The method according to any one of claims 1-7, characterized in that, The first PRS sent by the auxiliary base station is a downlink DL PRS, and the first PRS sent by the auxiliary terminal device is a sidelink SL PRS.

14. The method according to any one of claims 1-7, characterized in that, The method further includes: The system receives control signaling from a base station or an LMF and determines an auxiliary node set based on the control signaling. The auxiliary node set includes at least one auxiliary base station and at least one auxiliary terminal device.

15. The method according to claim 14, characterized in that, The control signaling includes at least one of the following: The address or ID information of the auxiliary base stations and auxiliary terminal devices in the auxiliary node set; or... Configuration information of the first PRS.

16. A positioning method, characterized in that, The auxiliary base stations and auxiliary terminal devices used in the auxiliary node set include: Send a first positioning reference signal (PRS) to the target terminal device to instruct the terminal device to obtain the receiving time point based on the first PRS and determine the first reference time point. The target terminal device is located based on the first time difference between the receiving time point and the first reference time point; The terminal device obtains the reception time point according to the first PRS, including: The target terminal device determines the start time point at which it receives the first time unit sent from the first auxiliary node based on the first PRS; wherein, the first auxiliary node is an auxiliary base station or an auxiliary terminal device in the set of auxiliary nodes; Determining the first reference time point includes: When the first auxiliary node is the auxiliary base station, in the second time unit sent from the second auxiliary node received by the target terminal device, the start time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point; wherein, the second auxiliary node is an auxiliary base station or an auxiliary terminal device in the set of auxiliary nodes; When the first auxiliary node is the auxiliary terminal device, in the second time unit when the target terminal device performs side-link communication transmission, the starting time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point.

17. A positioning device, characterized in that, Applied to target terminal devices, including: The first transceiver module is used to receive a first positioning reference signal (PRS) sent by the set of auxiliary nodes, wherein the set of auxiliary nodes includes at least one auxiliary base station and at least one auxiliary terminal device. The first processing module is used to obtain the receiving time point based on the first PRS and determine the first reference time point; The second processing module is used to obtain a first time difference based on the receiving time point and the first reference time point, wherein the first time difference is used to locate the target terminal device; The step of obtaining the receiving time point based on the first PRS includes: Based on the first PRS, the starting time point at which the target terminal device receives the first time unit sent from the first auxiliary node is determined as the receiving time point; wherein, the first auxiliary node is an auxiliary base station or an auxiliary terminal device in the set of auxiliary nodes; Determining the first reference time point includes: When the first auxiliary node is the auxiliary base station, in the second time unit sent from the second auxiliary node received by the target terminal device, the start time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point; wherein, the second auxiliary node is an auxiliary base station or an auxiliary terminal device in the set of auxiliary nodes; When the first auxiliary node is the auxiliary terminal device, in the second time unit when the target terminal device performs side-link communication transmission, the starting time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point.

18. A positioning device, characterized in that, The auxiliary base stations and auxiliary terminal devices used in the auxiliary node set include: The second transceiver module is used to send a first positioning reference signal (PRS) to the target terminal device to instruct the terminal device to obtain the receiving time point according to the first PRS and determine the first reference time point. The third processing module is used to locate the target terminal device based on the first time difference between the receiving time point and the first reference time point; The terminal device obtains the reception time point according to the first PRS, including: The target terminal device determines the start time point at which it receives the first time unit sent from the first auxiliary node based on the first PRS; wherein, the first auxiliary node is an auxiliary base station or an auxiliary terminal device in the set of auxiliary nodes; Determining the first reference time point includes: When the first auxiliary node is the auxiliary base station, in the second time unit sent from the second auxiliary node received by the target terminal device, the start time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point; wherein, the second auxiliary node is an auxiliary base station or an auxiliary terminal device in the set of auxiliary nodes; When the first auxiliary node is the auxiliary terminal device, in the second time unit when the target terminal device performs side-link communication transmission, the starting time point of the second time unit that is closest to the first time unit in the time domain is determined as the first reference time point.

19. A communication device, characterized in that, The device includes a processor and a memory, the memory storing a computer program, the processor executing the computer program stored in the memory to cause the device to perform the method as described in any one of claims 1 to 15.

20. A communication device, characterized in that, The device includes a processor and a memory, the memory storing a computer program, the processor executing the computer program stored in the memory to cause the device to perform the method as described in claim 16.

21. A communication device, characterized in that, include: Processor and interface circuitry; The interface circuit is used to receive code instructions and transmit them to the processor; The processor is configured to run the code instructions to perform the method as described in any one of claims 1 to 15.

22. A communication device, characterized in that, include: Processor and interface circuitry; The interface circuit is used to receive code instructions and transmit them to the processor; The processor is configured to run the code instructions to perform the method as described in claim 16.

23. A computer-readable storage medium, characterized in that, It is used to store instructions that, when executed, cause the method as described in any one of claims 1 to 15 to be implemented.

24. A computer-readable storage medium, characterized in that, It is used to store instructions that, when executed, cause the method of claim 16 to be implemented.

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