Positioning method, apparatus, communication device, and medium

Abstract

The application discloses a positioning method, a device, a communication device and a medium, and belongs to the technical field of communication. The positioning method of the application embodiment comprises the following steps: a first device performs a target operation to assist a first terminal in positioning; wherein the target operation comprises at least one of the following: transmitting a target message, transmitting a first SL-PRS, and selecting a target first resource; the target first resource is used for transmitting the first SL-PRS and / or transmitting the target message; the target message comprises at least one of the following: a positioning request, positioning assistance data, and first resource configuration information; the first resource configuration information is used for configuring at least one first resource; the target first resource is one or more resources in the at least one first resource; the first SL-PRS is used for determining: position information of the first terminal and / or a second terminal, and / or SL-PRS measurement information; the second terminal is a counter-terminal terminal for SL communication or SL positioning with the first terminal.

Description

TECHNICAL FIELD

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

[0002] At present, a terminal can perform positioning by receiving PRS sent by a network side. In related technologies, configuration information of PRS is usually determined by a gNB or a network side during installation, and the terminal-to-terminal transmission and measurement of positioning reference signals are not supported.

[0003] Therefore, in some scenarios (such as scenarios without network coverage or without GPS coverage or without sufficient network coverage), the terminal can not be able to perform positioning, and in some other scenarios requiring relative positioning (such as automatic driving and intelligent factory), the relative position of the terminal needs to be determined according to absolute positioning, thereby causing deterioration of precision. SUMMARY

[0004] Embodiments of the present application provide a positioning method, device, communication device and medium, which can realize SL-PRS request, configuration and measurement reporting, thereby solving the problem that the terminal cannot be positioned or cannot directly obtain the relative position between terminals in scenarios without network coverage or without GPS coverage.

[0005] In a first aspect, a positioning method is provided, comprising: a first device performing a target operation to assist a first terminal in positioning; wherein the target operation comprises at least one of the following: transmitting a target message, transmitting a first SL-PRS, and selecting a target first resource; the target first resource is used for transmitting the first SL-PRS and / or transmitting the target message; the target message comprises at least one of the following: a positioning request, positioning assistance data, and first resource configuration information; the first resource configuration information is used for configuring at least one first resource; the target first resource is one or more resources in the at least one first resource; the first SL-PRS is used for determining: position information of the first terminal and / or a second terminal, and / or SL-PRS measurement information; the second terminal is a peer terminal performing SL communication or SL positioning with the first terminal.

[0006] In a second aspect, a positioning apparatus is provided, comprising: an execution module configured to perform a target operation to assist a first terminal in positioning; wherein the target operation comprises at least one of: transmitting a target message, transmitting a first SL-PRS, and selecting a target first resource; the target first resource is used for transmitting the first SL-PRS and / or transmitting the target message; the target message comprises at least one of: a positioning request, positioning assistance data, and first resource configuration information; the first resource configuration information is used for configuring at least one first resource; the target first resource is one or more of the at least one first resource; the first SL-PRS is used for determining: position information of the first terminal and / or a second terminal, and / or, SL-PRS measurement information; the second terminal is a peer terminal for SL communication or SL positioning with the first terminal.

[0007] In a third aspect, a communication device is provided, comprising a processor, a memory, and a program or instructions stored in the memory and executable on the processor, the program or instructions, when executed by the processor, implement the steps of the method according to the first aspect.

[0008] In a fourth aspect, a communication device is provided, comprising a processor and a communication interface, wherein the processor is configured to perform a target operation to assist a first terminal in positioning; wherein the target operation comprises at least one of: transmitting a target message, transmitting a first SL-PRS, and selecting a target first resource; the target first resource is used for transmitting the first SL-PRS and / or transmitting the target message; the target message comprises at least one of: a positioning request, positioning assistance data, and first resource configuration information; the first resource configuration information is used for configuring at least one first resource; the target first resource is one or more of the at least one first resource; the first SL-PRS is used for determining: position information of the first terminal and / or a second terminal, and / or, SL-PRS measurement information; the second terminal is a peer terminal for SL communication or SL positioning with the first terminal.

[0009] In a fifth aspect, a readable storage medium is provided, the readable storage medium stores a program or instructions, the program or instructions, when executed by a processor, implement the steps of the positioning method according to the first aspect.

[0010] In a sixth aspect, a chip is provided, the chip comprises a processor and a communication interface, the communication interface and the processor are coupled, the processor is configured to run a program or instructions to implement the positioning method according to the first aspect.

[0011] In a seventh aspect, a computer program / program product is provided, which is stored in a nonvolatile storage medium, and the program / program product is executed by at least one processor to implement the steps of the positioning method according to the first aspect.

[0012] In the embodiments of the present application, the first device requests the first terminal to perform positioning by performing a target operation, and the target operation includes at least one of the following: transmitting a target message (including a positioning request and / or positioning assistance data and / or first resource configuration information), transmitting a first SL-PRS, and selecting a target first resource. In this way, the first device requests the first terminal to perform positioning by performing a target operation, and then determines the position information or measurement information of the first terminal and / or a second terminal that performs SL communication or SL positioning with the first terminal, realizes the positioning between terminals and terminals, solves the current situation that positioning must be performed under sufficient network or GPS coverage, and improves the communication energy efficiency of the system. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 is a possible communication system architecture provided by the embodiments of the present application;

[0014] Figure 2 is one of the flow diagrams of the positioning method provided by the embodiments of the present application;

[0015] Figure 3 is a second flow diagram of the positioning method provided by the embodiments of the present application;

[0016] Figure 4 is a third flow diagram of the positioning method provided by the embodiments of the present application;

[0017] Figure 5 is a fourth flow diagram of the positioning method provided by the embodiments of the present application;

[0018] Figure 6 is a fifth flow diagram of the positioning method provided by the embodiments of the present application;

[0019] Figure 7 is a sixth flow diagram of the positioning method provided by the embodiments of the present application;

[0020] Figure 8 is a seventh flow diagram of the positioning method provided by the embodiments of the present application;

[0021] Figure 9 is an eighth flow diagram of the positioning method provided by the embodiments of the present application;

[0022] Figure 10 is a ninth flow diagram of the positioning method provided by the embodiments of the present application;

[0023] Figure 11 Flowchart of a positioning method provided by an embodiment of the present application No. 10;

[0024] Figure 12 Flowchart of a positioning method provided by an embodiment of the present application No. 11;

[0025] Figure 13 Flowchart of a positioning method provided by an embodiment of the present application No. 12;

[0026] Figure 14 Flowchart of a positioning method provided by an embodiment of the present application No. 13;

[0027] Figure 15 Flowchart of a positioning method provided by an embodiment of the present application No. 14;

[0028] Figure 16 Structure diagram of a positioning device provided by an embodiment of the present application No. 1;

[0029] Figure 17 Structure diagram of a positioning device provided by an embodiment of the present application No. 2;

[0030] Figure 18 Hardware structure diagram of a communication device provided by an embodiment of the present application;

[0031] Figure 19 Hardware structure diagram of a terminal provided by an embodiment of the present application;

[0032] Figure 20 Hardware structure diagram of a network side device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0034] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, not limited in number; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0035] It is worth noting that the technologies described in this application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA), and other systems. The terms "system" and "network" in this application are often used interchangeably, and the described technologies can be used with the systems and radio technologies mentioned above, as well as with other systems and radio technologies. The following description describes New Radio (NR) systems for illustrative purposes, and the term NR is used in most of the following description; however, these technologies can also be applied to applications other than NR systems, such as 6th generation (6G) radio systems. th Generation 6G communication system.

[0036] Figure 1A block diagram of a wireless communication system to which embodiments of the present application can be applied is shown. The wireless communication system includes a terminal 11 and a network-side device 12. The terminal 11 can be a terminal-side device such as a mobile phone, a tablet personal computer (PC), a laptop PC, a personal digital assistant (PDA), a palmtop PC, a netbook, an ultra-mobile personal computer (UMPC), a mobile Internet device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, a vehicle user equipment (VUE), a pedestrian user equipment (PUE), a smart home (a home device with a wireless communication function such as a refrigerator, a television, a washing machine, or furniture, etc.), and the like. The wearable device includes a smart watch, a smart bracelet, a smart earphone, a smart glasses, a smart jewelry (a smart bracelet, a smart necklace, a smart ring, a smart necklace, a smart anklet, a smart necklace, etc.), a smart wristband, a smart clothing, a game machine, and the like. It should be noted that the specific type of the terminal 11 is not limited in the embodiments of the present application. The network-side device 12 can be a base station or a core network. The base station can be referred to as a node B, an evolved node B, an access point, a base transceiver station (BTS), a radio base station, a radio transceiver, a basic service set (BSS), an extended service set (ESS), a node B, an evolved node B (eNB), a home node B, a home evolved node B, a WLAN access point, a WiFi node, a transmitting receiving point (TRP), or some other appropriate terminology in the art, so long as the base station achieves the same technical effect. The base station is not limited to a specific technical term, and it should be noted that only the base station in the NR system is taken as an example in the embodiments of the present application, but the specific type of the base station is not limited.

[0037] In the related art, if it is assumed that devices in coverage can solve the problem of conflict and resource scheduling through network configuration, how to send SL-PRS for devices out of coverage is a problem concerned by the present application.

[0038] In the positioning method, apparatus, device, and medium provided in the embodiments of the present application, the first device requests the first terminal to perform positioning by performing a target operation, and the target operation includes at least one of the following: transmitting a target message (including a positioning request and / or positioning assistance data and / or first resource configuration information), transmitting a first SL-PRS, and selecting a target first resource. In this way, the first device requests the first terminal to perform positioning by performing a target operation, and then determines the position information or SL-PRS measurement information of the first terminal and / or a second terminal that performs SL communication or SL positioning with the first terminal, thereby realizing positioning between terminals and terminals, solving the current situation that positioning must be performed under sufficient network or GPS coverage, and improving the communication energy efficiency of the system. Furthermore, a device outside the coverage range can also request the first terminal to perform positioning by transmitting a target message and / or a first SL-PRS according to a service request.

[0039] The positioning method provided in the embodiments of the present application will be described in detail in combination with the accompanying drawings, some embodiments, and application scenarios.

[0040] The positioning method provided in the embodiments of the present application includes the following steps, as shown in FIG. 1. Figure 2 The positioning method provided in the embodiments of the present application includes the following steps, as shown in FIG. 1.

[0041] Step 201: A first device performs a target operation to assist a first terminal in performing positioning.

[0042] In the embodiments of the present application, the first device performs a target operation to assist the first terminal in performing positioning.

[0043] It can be understood that the first device performs a target operation to request, activate, trigger, or configure the first terminal to perform positioning.

[0044] In the embodiments of the present application, the target operation includes at least one of the following: transmitting a target message, transmitting a first SL-PRS, and selecting a target first resource. The target first resource is used for transmitting the first SL-PRS and / or transmitting the target message.

[0045] In the embodiments of the present application, the target message includes at least one of the following: a positioning request, positioning assistance data, information reported or fed back by a position, information reported or fed back by an SL-PRS measurement, a positioning response, capability information, and first resource configuration information.

[0046] In the embodiments of the present application, the first resource configuration information is used to configure at least one first resource, and the target first resource is one or more resources in the at least one first resource.

[0047] In the embodiments of the present application, the first SL-PRS is used to determine: the position information of the first terminal and / or the second terminal, and / or, the SL-PRS position information; and the second terminal is a peer terminal for SL communication or SL positioning with the first terminal.

[0048] In the embodiments of the present application, the first SL-PRS described above can also be considered as a requested SL-PRS.

[0049] In the embodiments of the present application, the first device includes any one of the following: the first terminal, and the network side device.

[0050] Optionally, in the embodiments of the present application, the first terminal described above can be a receiving terminal or a sending terminal.

[0051] Optionally, in the embodiments of the present application, in the case where the first device is the network side device, the target operation includes at least one of the following: transmitting the target message, selecting the target first resource, and transmitting the first resource configuration information.

[0052] Optionally, in the embodiments of the present application, in the case where the first device is the first terminal, the target operation includes at least one of the following: transmitting the target message, transmitting the first SL-PRS, transmitting the first resource configuration information, and selecting the target first resource.

[0053] Optionally, in the embodiments of the present application, the step 201 described above can include the following step 201a:

[0054] Step 201a: the first device performs a target operation, and a higher layer of the first device assists the first terminal in performing positioning at layer 1.

[0055] Optionally, in the embodiments of the present application, before the step 201 described above, the positioning method provided by the embodiments of the present application can further include the following step 201b:

[0056] Step 201b: the first device transmits a location service request at a higher layer.

[0057] Wherein, the location service request is used to request triggering the first terminal to perform positioning.

[0058] Further optionally, in the embodiments of the present application, the location service request includes at least one of the following:

[0059] a positioning service type of the first terminal (such as SL UE autonomous positioning),

[0060] position notification indication information,

[0061] event reporting information,

[0062] periodic reporting indication information,

[0063] Priority information,

[0064] Security information (e.g., key information),

[0065] Qos information for positioning.

[0066] Exemplarily, the position notification indication information indicates position environment information of the first terminal. In an example, the position environment information of the first terminal includes but is not limited to: LOS or NLOS, no GNSS signal, out of coverage, etc.

[0067] Exemplarily, the event reporting information includes event information of the first event (e.g., the relative distance is less than a threshold 1), and the event reporting information is used to indicate that at least one of the following is triggered under the first event: position service, position information reporting, and SL-PRS measurement information reporting.

[0068] Exemplarily, the periodic reporting indication information indicates that at least one of the following is triggered periodically by the first terminal and / or the second terminal: position service, position information reporting, and SL-PRS measurement information reporting.

[0069] Optionally, in the embodiments of the present application, the positioning method provided by the embodiments of the present application can further include step 301:

[0070] Step 301: The first device transmits or acquires the first parameter and / or the second parameter provided by the higher layer.

[0071] The first parameter is used to transmit the first SL-PRS, and the second parameter is used to select the target first resource.

[0072] Further optionally, in the embodiments of the present application, the first parameter includes at least one of the following:

[0073] At least one preconfigured resource pool that can be used to transmit the first SL-PRS and / or the target message;

[0074] Priority information of the SL-PRS;

[0075] Priority information of the target message;

[0076] Configuration parameters of at least one SL-PRS;

[0077] The number of frequency domain resources (e.g., the number of sub-channels) required by at least one SL-PRS.

[0078] Further optionally, in the embodiments of the present application, the second parameter includes at least one of the following:

[0079] Indication information and / or configuration information of at least one first resource,

[0080] time domain and / or frequency domain indication information of the first resource,

[0081] measurement window of the at least one SL-PRS,

[0082] selection window (e.g., [n+T1, n+T2]) of the at least one SL-PRS,

[0083] receiving an RSRP threshold corresponding to the at least one SL-PRS,

[0084] sending an RSRP threshold corresponding to the at least one SL-PRS,

[0085] receiving a priority threshold corresponding to the at least one SL-PRS,

[0086] sending a priority threshold corresponding to the at least one SL-PRS,

[0087] dedicated resource pool parameter of the at least one SL-PRS,

[0088] proportion of the target first resource in the first resource,

[0089] target first resource preemption indication information;

[0090] For example, the target first resource preemption indication information indicates whether the target first resource is allowed to be preempted.

[0091] For example, the target first resource preemption indication information can include PRS of other terminals, other uplink or SL signals or information, such as PSSCH, PSCCH, etc.

[0092] For example, the measurement window (Sensing) of the SL-PRS can include the length of the Sensing, such as T0 slots, the position of a Sensing, such as

[0093] For example, different priorities correspond to different RSRP thresholds.

[0094] For example, the dedicated resource pool parameter includes configuration parameters (e.g., period) of the dedicated resource pool and intervals between multiple resource pools.

[0095] Optionally, in the embodiments of the present application, the first resource configuration information includes the first resource candidate set, and the first resource candidate set includes at least one of the following:

[0096] first resource candidate set identification information;

[0097] identification information of the first resource of the first resource candidate set;

[0098] configuration information of the first resource;

[0099] configuration information of the first resource candidate set.

[0100] Optionally, in the embodiments of the present application, the selecting the target first resource can include: excluding the second resource from the first resource candidate set; wherein the first resource candidate set includes at least one first resource.

[0101] Further optionally, in the embodiments of the present application, the second resource includes at least one of:

[0102] a resource scheduled by the first SCI and / or the second SCI received by the first terminal;

[0103] a resource used for transmitting the first SCI and / or the second SCI;

[0104] a resource used for SS-PBSCH or SL CSI-RS or SL DMRS;

[0105] a resource whose RSRP value on the resource does not satisfy an RSRP threshold of transmitting the SL-PRS;

[0106] a resource that does not satisfy a transmission configuration of the SL-PRS;

[0107] a resource indicated as a reserved resource by the first SCI and / or the second SCI received by the first terminal;

[0108] a resource scheduled for transmitting the SL-PRS by another terminal.

[0109] Optionally, the first SCI includes a first-level SCI or a second-level SCI or a third-level SCI, and the second SCI includes a first-level SCI or a second-level SCI or a third-level SCI; and the third-level SCI is dedicated to scheduling the SL-PRS.

[0110] Optionally, the second resource that does not satisfy the transmission configuration of the SL-PRS includes at least one of:

[0111] a bandwidth of the second resource is less than a bandwidth of the SL-PRS,

[0112] a number of available symbols of the second resource is less than a symbol of the SL-PRS;

[0113] a period of the second resource does not satisfy a requirement of the SL-PRS;

[0114] a priority of the second resource is higher than a transmission priority of the SL-PRS;

[0115] a subcarrier spacing of the second resource is different from a subcarrier spacing of the SL-PRS;

[0116] The CP of the second resource is different from the CP of the SL-PRS.

[0117] Optionally, in the embodiments of the present application, the first resource configuration information and / or the first resource set configuration information comprises at least one of the following:

[0118] Bandwidth information of the first resource and / or the first resource set;

[0119] Frequency domain location start point of the first resource and / or the first resource set;

[0120] Starting RB information of the first resource and / or the first resource set;

[0121] Numerology information of the first resource and / or the first resource set;

[0122] Subcarrier spacing of the first resource and / or the first resource set;

[0123] CP cycle prefix of the first resource and / or the first resource set;

[0124] Starting time of the first resource and / or the first resource set;

[0125] Termination time of the first resource and / or the first resource set;

[0126] Duration of the first resource and / or the first resource set;

[0127] Period information of the first resource and / or the first resource set.

[0128] Optionally, in the embodiments of the present application, the above-mentioned sending the first SL-PRS comprises: sending the first SL-PRS in the case of satisfying a predetermined condition.

[0129] Exemplarily, the above-mentioned predetermined condition comprises at least one of the following:

[0130] The received first-level SCI indicates SL-PRS enabling,

[0131] The received second-level SCI comprises at least one of the following: positioning request, positioning assistance data, location information reporting or feedback resource configuration, SL-PRS measurement reporting or feedback resource configuration, configuration parameters of at least one SL-PRS, and mode of at least one SL-PRS.

[0132] Wherein, the first SL-PRS is one or more of the at least one SL-PRS.

[0133] Exemplarily, taking that the terminal 1 sends a positioning request as an example. The positioning request comprises at least one of the following: measurement request, location information reporting or feedback request.

[0134] Example 1: If there are multiple resources for SL-PRS measurement reporting or feedback of terminal 1 in response; terminal 1 schedules the response, and uses CDM, FDM, TDM to configure the resources for SL-PRS measurement reporting or feedback.

[0135] Example 2: If there are multiple resources for SL-PRS transmission in the positioning assistance data of terminal 2 in response, there is a conflict.

[0136] Terminal 1 schedules the positioning response to use CDM, FDM, TDM to configure the resources for SL-PRS transmission.

[0137] Example 3: Terminal 1 determines the resources for SL-PRS measurement reporting or feedback according to the positioning response. For example, 8 ACKs are received, and the resources for SL-PRS measurement reporting or feedback are scheduled respectively.

[0138] It is worth noting that in the above examples, if the first terminal can be both a sending terminal and a receiving terminal, such as the first terminal receiving the target message as a receiving terminal and sending the SL-PRS as a sending terminal; or the first terminal receiving the target message (such as: positioning assistance data) as a receiving terminal and sending the target message (such as: positioning request) as a sending terminal.

[0139] Optionally, in the embodiment of the present application, the first terminal transmits the first SL-PRS based on the target message.

[0140] Optionally, in the embodiment of the present application, the process of the first terminal transmitting the first SL-PRS can include: the first terminal transmits the first SL-PRS and the Uu interface positioning reference signal.

[0141] Optionally, in the embodiment of the present application, the target message includes at least one of the following: a positioning request, a positioning assistance data, a location reporting or feedback information, an SL-PRS measurement reporting or feedback information, a positioning response, and a capability information.

[0142] It should be noted that the "measurement request" mentioned in the embodiment of the present application can be considered as an SL-PRS measurement request, and the "feedback indication information of the measurement request" can be considered as the feedback indication information of the SL-PRS measurement request; and the "measurement signal request" can be considered as an SL-PRS measurement signal request.

[0143] Optionally, in the embodiment of the present application, the positioning request includes at least one of the following:

[0144] a positioning assistance data request,

[0145] a measurement request,

[0146] a request for reporting or feedback of location information,

[0147] SL-PRS measurement reporting or feedback request,

[0148] SL-PRS configuration request,

[0149] SL-PRS request indication information,

[0150] feedback indication information of the measurement request;

[0151] The positioning assistance data request is used to request the positioning assistance data.

[0152] The measurement request is used to request the device to measure the first SL-PRS.

[0153] The reporting or feedback request of the position information is used to request the device to report or feedback the resource of the position information, or to request the device to report or feedback the position information.

[0154] The SL-PRS measurement reporting or feedback request is used to request the device to report or feedback the resource of the SL-PRS measurement information, or to request the device to report or feedback the SL-PRS measurement information.

[0155] The configuration request is used to request the configuration or transmission of the at least one SL-PRS.

[0156] The SL-PRS request indication information is used to indicate whether to request the SL-PRS.

[0157] The feedback indication information of the measurement request is used to indicate that the first SL-PRS is received, and / or to indicate whether the device of the measurement request sends feedback information, the feedback information including at least one of the following: the position information, the SL-PRS measurement information or the HARQ information.

[0158] Optionally, in the embodiments of the present application, the positioning assistance data request includes at least one of the following:

[0159] identification information of the first target terminal,

[0160] identification information of the second target terminal,

[0161] position information of the second target terminal,

[0162] area identifier,

[0163] communication range,

[0164] positioning range,

[0165] quality of service Qos information related to positioning,

[0166] a resource request for requesting transmission of time-frequency resources of the first SL-PRS,

[0167] a configuration request of at least one SL-PRS,

[0168] a reporting or feedback request of position information,

[0169] a SL-PRS measurement reporting or feedback request,

[0170] expected angle of departure AOD information,

[0171] expected angle of arrival AOA information.

[0172] wherein the first target terminal is any one of the first terminal, the second terminal, and the third terminal, and the second target terminal is any one of the first terminal, the second terminal, and the third terminal.

[0173] For example, the identification information of the target terminal (i.e., the first target terminal and / or the second target terminal) includes at least one of the following: user identification information of one or more terminals, user group identification information of one or more terminals, user time information of one or more terminals, user time source information of one or more terminals, scrambling information, CRC check information, bearer environment information, beacon ID, floor information, resource identification of a bearer sequence or sequence resource set ID information, latitude and longitude, altitude, etc.

[0174] Optionally, in the embodiments of the present application, the measurement request includes at least one of the following:

[0175] a positioning type request (e.g., UE-based, UE-assisted),

[0176] band information (e.g., license, Unlicense, FR1 or FR2),

[0177] a positioning method request (e.g., sidelink based, sidelink+uu (e.g., uu based, sidelink assisted or sidelink based, uu assisted)),

[0178] position information type (e.g., position information (e.g., absolute position information, relative position information), measurement information),

[0179] a measurement signal request,

[0180] priority information of the measurement of the SL-PRS,

[0181] Priority information of transmission of SL-PRS,

[0182] Expected angle of departure AOD information,

[0183] Expected angle of arrival AOA information.

[0184] Optionally, in the embodiments of the present application, the positioning request comprises at least one of the following:

[0185] Information of at least one SL-PRS configuration set,

[0186] First SL-PRS configuration information,

[0187] Second SL-PRS configuration information,

[0188] The second SL-PRS configuration information can be the SL-PRS configuration information expected by the first terminal and / or the second terminal; the first SL-PRS configuration information can be understood as the general SL-PRS configuration information.

[0189] In an example, the information of at least one SL-PRS configuration set comprises at least one of the following:

[0190] The identification information of the at least one SL-PRS configuration set,

[0191] The configuration parameters of SL-PRS of the at least one SL-PRS configuration set.

[0192] It should be noted that the configuration parameters of SL-PRS of the at least one SL-PRS configuration set can comprise the configuration parameters of SL-PRS of all or part of the at least one SL-PRS configuration set. The configuration parameters of SL-PRS of each SL-PRS configuration set can comprise the configuration parameters of all or part of the SL-PRS in the SL-PRS configuration set.

[0193] In an example, the configuration parameters of SL-PRS in each SL-PRS configuration set in the embodiments of the present application can contain general SL-PRS configuration information (i.e. the first SL-PRS configuration information in the present application).

[0194] Further optionally, in the embodiments of the present application, the first SL-PRS configuration information or the configuration parameters of SL-PRS comprises at least one of the following:

[0195] Configuration parameters of SL-PRS (SL-PRS Configuration Parameter);

[0196] Maximum Number of Frequency Layers of SL-PRS;

[0197] SL-PRS Positioning Frequency Layer Information of SL-PRS;

[0198] SL-PRS Subcarrier Spacing of SL-PRS;

[0199] SL-PRS Resource Bandwidth of SL-PRS;

[0200] SL-PRS Start PRB of SL-PRS PRB;

[0201] SL-PRS PointA of SL-PRS;

[0202] SL-PRS Comb Size N of SL-PRS;

[0203] SL-PRS Cyclic Prefix of SL-PRS;

[0204] SL-PRS Configuration per Frequency Layer of SL-PRS;

[0205] SL-PRS Identity Information of SL-PRS;

[0206] PCI of SL-PRS;

[0207] Absolute Radio Frequency Channel Number (ARFCN);

[0208] NR Cell Global Identity (NCGI);

[0209] Maximum Number of SL-PRS Resource Sets of SL-PRS;

[0210] SL-PRS Resource Set Information of SL-PRS;

[0211] SL-PRS Resource Set ID

[0212] SL-PRS Periodicity and Resource Set SlotOffset

[0213] SL-PRS Resource Repetition Factor

[0214] SL-PRS Resource Time Gap

[0215] SL-PRS Number of Symbols

[0216] SL-PRS Muting Option 1

[0217] SL-PRS Muting Option 2

[0218] SL-PRS Resource Power

[0219] Maximum Number of SL-PRS Resources per Set

[0220] SL-PRS Resource Information

[0221] SL-PRS Resource ID

[0222] SL-PRS Sequence ID

[0223] SL-PRS RE Offset

[0224] SL-PRS Resource Slot Offset

[0225] SL-PRS Resource Symbol Off

[0226] Further optionally, in embodiments of the present application, the at least one SL-PRS configuration set comprises: a target SL-PRS configuration set; the target SL-PRS configuration set comprises configurations of at least one target SL-PRS; the first SL-PRS is one or more SL-PRSs in the at least one target SL-PRS.

[0227] In an example, the target SL-PRS configuration set comprises at least one of:

[0228] identification information (e.g., sl-PRS-Config-Index) of the target SL-PRS configuration set,

[0229] position information of the second target terminal,

[0230] priority information of measurement of the target SL-PRS,

[0231] priority information of transmission of the target SL-PRS,

[0232] expected angle of departure (AOD) information,

[0233] expected angle of arrival (AOA) information,

[0234] configuration parameters of the target SL-PRS in the target SL-PRS configuration set.

[0235] Further optionally, in embodiments of the present application, in the case that the SL-PRS configuration received by the first terminal does not meet the positioning requirements of the first terminal and / or the second terminal, or the SL-PRS configuration received by the first terminal does not include the target SL-PRS, the positioning request comprises: at least one SL-PRS configuration set for on-demand selection; wherein the at least one SL-PRS configuration set comprises configurations of at least one target SL-PRS; the first SL-PRS is one or more SL-PRSs in the at least one target SL-PRS.

[0236] The configuration parameters of the target SL-PRS can comprise at least one of:

[0237] configuration parameters of the target SL-PRS (SL-PRS Configuration Parameter);

[0238] maximum number of frequency layers of the target SL-PRS (Maximum Number of Frequency Layers);

[0239] SL-PRS Positioning Frequency Layer Information of the target SL-PRS;

[0240] SL-PRS Subcarrier Spacing of the target SL-PRS;

[0241] SL-PRS Resource Bandwidth of the target SL-PRS;

[0242] SL-PRS Start PRB of the target SL-PRS PRB;

[0243] SL-PRS PointA of the target SL-PRS;

[0244] SL-PRS Comb Size N of the target SL-PRS;

[0245] SL-PRS Cyclic Prefix of the target SL-PRS;

[0246] SL-PRS Configuration per Frequency Layer of the target SL-PRS;

[0247] Identification information of the target SL-PRS;

[0248] PCI of the target SL-PRS;

[0249] Absolute Radio Frequency Channel Number (ARFCN);

[0250] NR Cell Global Identity (NCGI);

[0251] Maximum Number of SL-PRS Resource Sets of the target SL-PRS;

[0252] SL-PRS Resource Set Information of the target SL-PRS;

[0253] SL-PRS Resource Set ID of the target SL-PRS;

[0254] The periodicity and resource set slot offset of the target SL-PRS;

[0255] The resource repetition factor of the target SL-PRS;

[0256] The target SL-PRS resource time gap;

[0257] The number of symbols in the target SL-PRS;

[0258] The first silencing option for the target SL-PRS (SL-PRS Muting Option 1);

[0259] The second silencing option for the target SL-PRS (SL-PRS Muting Option 2);

[0260] Resource power information of the target SL-PRS;

[0261] The maximum number of SL-PRS resources per set in at least one target SL-PRS resource set;

[0262] Target SL-PRS Resource Information;

[0263] The resource identifier of the target SL-PRS (SL-PRS Resource ID);

[0264] The sequence identifier of the target SL-PRS (SL-PRS Sequence ID);

[0265] RE offset of the target SL-PRS (SL-PRS RE Offset);

[0266] Target SL-PRS Resource Slot Offset;

[0267] a resource symbol offset (SL-PRS Resource Symbol Off) of the target SL-PRS.

[0268] It is worth noting that the configuration parameters of the target SL-PRS can be the same as or different from the configuration parameters in the at least one SL-PRS configuration set described above.

[0269] Further optionally, in the embodiments of the present application, the second SL-PRS configuration information includes at least one of the following:

[0270] bandwidth information of the SL-PRS;

[0271] a transmission start time of the SL-PRS;

[0272] a transmission end time of the SL-PRS;

[0273] a transmission duration of the SL-PRS;

[0274] measurement window information of the SL-PRS;

[0275] configuration window information for configuring the SL-PRS;

[0276] a comb number of the SL-PRS configuration;

[0277] a symbol number of the SL-PRS;

[0278] a target terminal set;

[0279] a target terminal number;

[0280] identification information of the target terminal;

[0281] a selected SL-PRS set;

[0282] a selected SL-PRS resource;

[0283] identification information of the selected SL-PRS;

[0284] a selected SL-PRS resource set;

[0285] a selected SL-PRS number;

[0286] a selected SL-PRS bandwidth;

[0287] a dedicated resource set of the selected SL-PRS.

[0288] It should be noted that the selected SL-PRS can be selected by the first terminal or target device. For example, there are multiple SL-PRS sets or SL-PRS resource configurations for the first terminal or target device, and the first terminal or target device selects at least one SL-PRS or SL-PRS resource for determining the position information of the first terminal and / or the second terminal.

[0289] Further optionally, in the embodiments of the present application, the first SL-PRS configuration information includes configuration parameters of the dedicated resource; the first SL-PRS is transmitted based on the dedicated resource; and the dedicated resource is at least one of the following: a resource dedicated to SL-PRS scheduling, and a resource dedicated to SL-PRS transmission.

[0290] It should be noted that the selected SL-PRS can be selected by the first terminal or target device. For example, there are multiple SL-PRS sets or SL-PRS resource configurations for the first terminal or target device, and the first terminal or target device selects at least one SL-PRS or SL-PRS resource for determining the position information of the first terminal and / or the second terminal.

[0291] For example, the configuration parameters of the dedicated resource include at least one of the following:

[0292] Bandwidth information of the dedicated resource (e.g., 100M, e.g., N subchannels);

[0293] Frequency domain location starting point (point A) of the dedicated resource;

[0294] Starting RB information of the dedicated resource;

[0295] Numerology information of the dedicated resource;

[0296] Subcarrier spacing of the dedicated resource;

[0297] CP cycle prefix of the dedicated resource;

[0298] Starting time (e.g., starting symbol, starting slot) of the dedicated resource;

[0299] Termination time (e.g., termination symbol, termination slot) of the dedicated resource;

[0300] Duration (e.g., duration symbol, duration slot) of the dedicated resource;

[0301] Dedicated resource pool information.

[0302] Optionally, in the embodiments of the present application, the positioning request includes at least one of the following:

[0303] The positioning assistance data request, and / or the Uu interface positioning assistance data request;

[0304] The measurement request, and / or the Uu interface signal measurement request;

[0305] The reporting or feedback request of the position information, and / or the reporting or feedback request of the Uu interface position information;

[0306] At least one SL-PRS configuration set, and / or at least one downlink sounding reference signal (SRS) configuration set, and / or at least one uplink SRS configuration set;

[0307] The request of SL-PRS measurement reporting or feedback, and / or the request of SL-PRS measurement reporting or feedback.

[0308] It should be noted that the "and" in each of the above positioning requests is used for SL+Uu positioning, i.e., for the scenario of SL assisting Uu positioning, or for the scenario of Uu assisting SL positioning.

[0309] Optionally, in the embodiments of the present application, the above positioning assistance data includes at least one of the following:

[0310] Time-frequency resources for sending SL-PRS,

[0311] Time-frequency resources for SL-PRS measurement reporting or feedback,

[0312] Time-frequency resources for reporting or feedback of position information,

[0313] Time-frequency resources for reporting or feedback of measurement information,

[0314] At least one SL-PRS configuration set,

[0315] Identification information of the at least one SL-PRS configuration set,

[0316] Configuration parameters of SL-PRS in each SL-PRS configuration set,

[0317] Identification information of the first target terminal,

[0318] Identification information of the second target terminal,

[0319] Area identifier,

[0320] Communication range,

[0321] Positioning range,

[0322] Quality of service (Qos) information related to positioning,

[0323] Priority information of measurement of the target SL-PRS,

[0324] Priority information of transmission of the target SL-PRS.

[0325] Wherein, the first target terminal is any one of the following: the first terminal, the second terminal, the third terminal; the second target terminal is any one of the following: the first terminal, the second terminal, the third terminal.

[0326] Exemplarily, the time-frequency resource for transmitting the SL-PRS can be understood as the first dedicated resource indication information, for example, the network side reserves N first dedicated resources for the first SL-PRS transmission.

[0327] Exemplarily, the identification information of the few SL-PRS configuration sets can be understood as that the network side reserves N SL-PRS configuration sets for the first SL-PRS transmission.

[0328] Wherein, the configuration parameters of the SL-PRS in each SL-PRS configuration set at least include one of the following:

[0329] Configuration parameters of SL-PRS (SL-PRS Configuration Parameter);

[0330] Maximum number of frequency layers of SL-PRS (Maximum Number of Frequency Layers);

[0331] Positioning frequency layer information of SL-PRS (SL-PRS Positioning Frequency Layer Information);

[0332] Subcarrier spacing of SL-PRS (SL-PRS Subcarrier Spacing);

[0333] Resource bandwidth of SL-PRS (SL-PRS Resource Bandwidth);

[0334] Starting point of SL-PRS PRB (SL-PRS Start PRB);

[0335] Frequency domain location starting point of SL-PRS (SL-PRS PointA);

[0336] Comb size N of SL-PRS (SL-PRS Comb Size N);

[0337] Cyclic prefix of SL-PRS (SL-PRS Cyclic Prefix);

[0338] SL-PRS Configuration per Frequency Layer;

[0339] Identity information of SL-PRS;

[0340] PCI of SL-PRS;

[0341] Absolute Radio Frequency Channel Number (ARFCN);

[0342] NR Cell Global Identity (NCGI);

[0343] Maximum Number of SL-PRS Resource Sets;

[0344] SL-PRS Resource Set Information;

[0345] SL-PRS Resource Set ID;

[0346] SL-PRS Periodicity and Resource Set SlotOffset;

[0347] SL-PRS Resource Repetition Factor;

[0348] SL-PRS Resource Time Gap;

[0349] SL-PRS Number of Symbols;

[0350] SL-PRS Muting Option 1;

[0351] SL-PRS Muting Option 2;

[0352] Resource power information of SL-PRS (SL-PRS Resource Power);

[0353] Maximum number of SL-PRS resources per set (Maximum Number of SL-PRS Resources per Set);

[0354] Resource information of SL-PRS (SL-PRS Resource Information);

[0355] Resource ID of SL-PRS (SL-PRS Resource ID);

[0356] Sequence ID of SL-PRS (SL-PRS Sequence ID);

[0357] RE offset of SL-PRS (SL-PRS RE Offset);

[0358] Resource slot offset of SL-PRS (SL-PRS Resource Slot Offset);

[0359] Resource symbol offset of SL-PRS (SL-PRS Resource Symbol Off).

[0360] Further optionally, in the embodiments of the present application, the above-mentioned positioning assistance data includes positioning assistance data of at least one target terminal, and the positioning assistance data further includes at least one of the following:

[0361] Position information of at least one target terminal;

[0362] SL-PRS measurement information of at least one target terminal,

[0363] Type information of at least one target terminal;

[0364] Anticipated angle of departure (AOD) information corresponding to the target terminal,

[0365] Anticipated angle of arrival (AOA) information corresponding to the target terminal.

[0366] Exemplarily, the position information comprises at least one of the following: absolute position information, relative position information, trajectory information, path information, speed information, and acceleration information; the SL-PRS measurement information comprises at least one of the following: reference signal received power (RSRP) measurement information, reference signal time difference measurement information, receive-transmit time difference measurement information, time of arrival measurement information, reference signal identification information, reference signal received power information, angle measurement information, and transmission and reception point identification information; and the type information is used to indicate whether the target terminal supports SL-PRS, whether the target terminal supports SL positioning method, whether the target terminal is an RSU device, whether the target terminal is a specific type of terminal or a general terminal.

[0367] Further optionally, in the embodiments of the present application, the positioning assistance data of the at least one target terminal comprises at least one of the following SL-PRS information corresponding to the target terminal:

[0368] a time-frequency resource for transmitting SL-PRS,

[0369] a time-frequency resource for SL-PRS measurement reporting or feedback,

[0370] a time-frequency resource for reporting or feeding back position information,

[0371] a time-frequency resource for reporting or feeding back measurement information,

[0372] at least one SL-PRS configuration set,

[0373] identification information of the at least one SL-PRS configuration set,

[0374] priority information of the SL-PRS measurement and / or transmission,

[0375] anticipated angle of departure (AOD) information of the SL-PRS transmission or measurement,

[0376] anticipated angle of arrival (AOA) information of the SL-PRS transmission or measurement,

[0377] configuration parameters of SL-PRS in each SL-PRS configuration set in the at least one SL-PRS configuration set.

[0378] Optionally, in the embodiments of the present application, the information reported or fed back by the SL-PRS measurement comprises at least one of the following:

[0379] identification information of the first target terminal,

[0380] identification information of the second target terminal,

[0381] Position information of the second target terminal,

[0382] SL-PRS measurement information.

[0383] Exemplarily, the SL-PRS measurement information includes at least one of the following: RSRP measurement information, reference signal time difference measurement information, reception-transmission time difference measurement information, time of arrival measurement information, reference signal identification information, reference signal received power information, angle measurement information, transmission and reception point identification information; the position information includes at least one of the following: absolute position information, relative position information, trajectory information, path information, speed information, acceleration information; the first target terminal is any one of the following: a first terminal, a second terminal, and a third terminal; and the second target terminal is any one of the following: a first terminal, a second terminal, and a third terminal.

[0384] Optionally, in the embodiments of the present application, the positioning response includes at least one of the following:

[0385] error indication information,

[0386] error type information,

[0387] no available resource information,

[0388] error cause information,

[0389] positive confirmation ACK information,

[0390] negative confirmation NACK information,

[0391] not supporting on-demand selection PRS information,

[0392] identification information of at least one SL-PRS configuration set,

[0393] request success indication information or request failure indication information,

[0394] configuration success indication information or configuration failure indication information,

[0395] configuration parameters of SL-PRS of the at least one SL-PRS configuration set,

[0396] identification information of the first target terminal,

[0397] identification information of the second target terminal,

[0398] area identifier,

[0399] communication range,

[0400] positioning range,

[0401] positioning-related Qos information,

[0402] time-frequency resources for transmitting SL-PRSs,

[0403] time-frequency resources for SL-PRS measurement reporting or feedback.

[0404] wherein the first target terminal is any one of the first terminal, the second terminal, and the third terminal; and the second target terminal is any one of the first terminal, the second terminal, and the third terminal.

[0405] Optionally, in the embodiments of the present application, the capability information includes at least one of the following:

[0406] a processing capability of SL-PRSs;

[0407] a capability of SL positioning methods (such as a capability of RTT, TOA, TDOA, AOA, etc.).

[0408] For example, the processing capability of SL-PRSs includes at least one of the following: a capability of simultaneously processing SL-PRSs and DL PRSs, a capability of simultaneously processing SL-PRSs and UL PRSs, an S-PRS buffer type (such as type 1 or type 2, which are respectively used for symbol-level or slot-level buffering), a frequency band supported by SL-PRSs, a number of frequency bands supported by SL-PRSs, a capability of supporting carrier aggregation, a maximum processing capability of SL-PRSs, a duration of SL-PRSs, and a number of SL-PRSs transmitted; the capability of SL positioning methods includes at least one of the following: a measurement capability of SL-PRSs, a positioning mode (such as UE-ASSISTED, ue-based, ue-configure, network-configure, etc.), a capability of multi-beam transmission or measurement, a capability of quasi co-location (Qcl), a capability of a path loss reference signal, a capability of supporting multi-path measurement or reporting, and a capability of supporting first-path measurement or reporting; and the measurement capability of SL-PRSs includes at least one of the following: a maximum number of transmitting terminals measured, and a number of frequency layers measured.

[0409] Optionally, in the embodiments of the present application, the target message includes any one of the following:

[0410] indication information of being in coverage;

[0411] indication information of being out of coverage.

[0412] The coverage range can be understood as the network coverage range, or the GPS, GNSS coverage range. The coverage range of the medical insurance can have different indication information, such as the network coverage range, the network coverage range, or the like. For example, full coverage or partial coverage. The partial coverage can be understood as that part of the terminals in the region are in the network coverage range, and part of the terminals are not in the network coverage range.

[0413] Optionally, in the embodiment of the present application, when the target device is the network side device, the target message is transmitted through one or more of the following messages: dynamic authorization information (such as Dynamic grant DCI 3_X), configured authorization information (such as Configured grant type-1 and type-2), LPP message, RRC message, and MAC CE message.

[0414] Optionally, in the embodiment of the present application, when the target device is the second terminal or the third terminal, the target message is transmitted through one or more of the following messages: sidelink control information SCI, physical sidelink shared channel PSSCH, LPP message of PC5, and RRC message of PC5.

[0415] Optionally, in the embodiment of the present application, the target message includes time domain offset information.

[0416] The time domain offset information includes at least one of the following:

[0417] The offset information between the SL-PRS measurement report or feedback and the SL-PRS;

[0418] The offset information between the position information report or feedback and the SL-PRS;

[0419] The offset information between the positioning request and the SL-PRS;

[0420] The offset information between the positioning request and the SL-PRS measurement report or feedback;

[0421] The offset information between the SCI and the SL-PRS;

[0422] The offset information between the SCI and the SL-PRS measurement report or feedback;

[0423] The offset information between the SCI and the position information report or feedback;

[0424] The offset information between the SCI and the positioning request.

[0425] Exemplarily, the SCI includes at least one of: a first SCI, a second SCI, and a third SCI; and the third SCI is dedicated to scheduling SL-PRS.

[0426] Optionally, in the embodiment of the present application, the first terminal transmits the target message to the target device.

[0427] Exemplarily, the target device includes any one of: a second terminal, a network side device, and a third terminal.

[0428] In an example, when the target device is the second terminal, the first terminal interacts with the second terminal, i.e., the first terminal is a sending terminal and the second terminal is a receiving terminal, or the first terminal is a receiving terminal and the second terminal is a sending terminal.

[0429] In an example, when the target device is the network side device, the first terminal interacts with the network side device, and the first terminal is a sending terminal or a receiving terminal.

[0430] In an example, the third terminal is a scheduling terminal.

[0431] In an example, when the target terminal is the third terminal, the first terminal interacts with the third terminal, and if the third terminal is a scheduling terminal, the first terminal is a sending terminal or a receiving terminal.

[0432] Optionally, in the embodiment of the present application, as shown (taking the opposite end as the target device as an example, and the figure is only an example), the first terminal transmitting the target message can include the following step 201a: Figure 3

[0433] Step 201a: The first terminal sends the target message.

[0434] For example, the first terminal sends the target message to the target device.

[0435] Further, based on step 201a, the positioning method provided by the embodiment of the present application can further include:

[0436] Step A: Before sending the target message, the first terminal receives a first message; and / or, after sending the target message, the first terminal receives a second message.

[0437] Exemplarily, the first message includes at least one of: a positioning request, positioning assistance data, SL-PRS measurement reporting or feedback information, a positioning response, and capability information. The second message includes at least one of: a positioning request, positioning assistance data, SL-PRS measurement reporting or feedback information, a positioning response, and capability information. ​

[0438] In a possible example, the target message includes a positioning request; the first message includes positioning assistance data or a positioning response; and the second message includes configuration information of the target SL-PRS or activation information of the target SL-PRS.

[0439] Optionally, in the embodiments of the present application, as shown in Figure 4 the step 201 can include the following step 201b (taking the target device as an example, and the figure is only an example):

[0440] The step 201b: The first terminal receives a target message.

[0441] For example, the first terminal receives the target message from the target device.

[0442] Further, based on the step 20b, the positioning method provided by the embodiments of the present application can further include:

[0443] The step B: The first terminal sends a third message before receiving the target message; and / or the first terminal sends a fourth message after receiving the target message.

[0444] For example, the third message includes at least one of the following: a positioning request, positioning assistance data, SL-PRS measurement reporting or feedback information, a positioning response, and capability information. The fourth message includes at least one of the following: a positioning request, positioning assistance data, SL-PRS measurement reporting or feedback information, a positioning response, and capability information.

[0445] In a possible example, the target message includes a positioning request; the third message includes positioning assistance data; the fourth message includes a positioning response; wherein, in the case that the positioning request includes an SL-PRS measurement or reporting request, the positioning response includes time-frequency resources for SL-PRS measurement reporting or feedback of the SL-PRS; in the case that the positioning request includes a reporting or feedback request for position information, the positioning response includes position information of the target terminal. The target terminal includes at least one of the following: the first terminal, the second terminal, and the third terminal.

[0446] The following will exemplarily illustrate how the first terminal performs positioning in the embodiments of the present application through several examples.

[0447] Embodiment one:

[0448] As shown in Figure 5 , taking the interaction between the Target UE and the anchor UEs as an example.

[0449] It is worth noting that the Target UE and the anchor UEs are a description of the first terminal and the second terminal. The Figures 5 to 14 The Target UE is taken as an example of the first terminal, and the anchor UEs are taken as an example of the second terminal.

[0450] Step 1: The Target UE sends at least one SL-PRS configuration set request information to the anchor UEs.

[0451] For example, the at least one SL-PRS configuration set request information can include a positioning request. The positioning request can include at least one SL-PRS configuration, and / or a configuration of a reporting or feedback resource of position information, and / or a configuration of a reporting or feedback resource of SL-PRS measurement information, and further can include a type of requested positioning (such as absolute, relative), a method of positioning (RTT, TDOA, AOA, AOD, etc.).

[0452] For example, the anchor UEs (such as RSU, leader in a vehicle queue) are configured to receive a positioning request, and / or configure SL-PRS, and / or calculate a UE position. The Target UE can be understood as the first terminal.

[0453] Step 2: The anchor UEs send response information of the SL-PRS.

[0454] For example, the response information can be a positioning response, and the response can include an ACK, or a target SL-PRS configuration, or a configuration of a reporting or feedback resource of target position information.

[0455] In addition, the anchor UEs send target SL-PRS, the Target UE measures the SL-PRS, and the Target UE reports or feeds back measurement information.

[0456] Embodiment two:

[0457] As Figure 6 shown, the Target UE interacts with the anchor UEs as an example.

[0458] Step 1: The anchor UEs send at least one SL-PRS configuration set to the Target UE.

[0459] For example, the SL-PRS configuration information of the at least one SL-PRS configuration set can include positioning assistance data. The positioning assistance data can include at least one SL-PRS configuration set, and / or a configuration of a reporting or feedback resource of position information or measurement information.

[0460] For example, the SL-PRS configuration information of the at least one SL-PRS configuration set can be the target SL-PRS configuration and the configuration of the target feedback resource.

[0461] Step 2: The target UE sends SL-PRS response information to the anchor UEs.

[0462] For example, the response information may include a location response or a location request. The location response or location request may include: ack, or target SL-PRS configuration, or location information or configuration of SL-PRS measurement reporting or feedback resources, etc.

[0463] In addition, anchor UEs send target SL-PRS, target UEs measure target SL-PRS, and target UEs report or provide feedback on measurement information or location information.

[0464] Example 3:

[0465] like Figure 7 As shown, the interaction between the Target UE and anchor UEs is taken as an example.

[0466] Step 1: Anchor UEs send the first positioning assistance data to the Target UE.

[0467] For example, the first positioning assistance data may include at least one of the following:

[0468] At least one SL-PRS configuration set;

[0469] First SL-PRS configuration information;

[0470] Configuration of location information or SL-PRS measurement reporting or feedback resources;

[0471] Identification information of anchor UEs;

[0472] Anchor UEs' location information, etc.

[0473] Step 2: The Target UE sends an SL-PRS request message to the anchor UEs.

[0474] For example, the SL-PRS request information may include the location request mentioned above.

[0475] For example, the location request may include at least one of the following: ack;

[0476] At least one SL-PRS collection configuration;

[0477] Second SL-PRS configuration information;

[0478] configuration of SL-PRS measurement reporting or feedback resources;

[0479] identification information of anchor UEs;

[0480] position information of anchor UEs, etc.

[0481] or configuration of SL-PRS or feedback resources.

[0482] Optionally, only one of step 1 and step 2 exists.

[0483] Step 3: anchor UEs send second positioning assistance data to Target UE.

[0484] For example, the second positioning assistance data can include target SL-PRS configuration, and / or configuration of SL-PRS measurement reporting or feedback resources.

[0485] In addition, anchor UEs send target SL-PRS, Target UE measures target SL-PRS, and Target UE reports or feeds back measurement information.

[0486] It should be noted that in the above embodiments 1 to 3, the target UE can also be a terminal sending SL-PRS, while the anchor UEs are terminals reporting or feeding back position information or SL-PRS measurement. In addition, in one embodiment scenario, the target UE can also be a terminal sending SL-PRS, and the anchor UEs are terminals feeding back position information or measurement information to the target UE or scheduling UE, and the target UE or scheduling UE reports position information or measurement information to the network side.

[0487] Embodiment 4:

[0488] As shown in FIG. 4, the Target UE interacts with scheduling UEs or network side devices (e.g., LMF). Figure 8 For example, the network side device is taken as an example for illustration, and the LMF is taken as an example for illustration. Figure 8

[0489] Step 1: scheduling UEs or network side devices send first positioning assistance data to Target UE.

[0490] For example, the first positioning assistance data can include first SL-PRS configuration and configuration of feedback resources.

[0491] ​Step 2: Target UE sends SL-PRS request information to scheduling UEs or network side device.

[0492] For example, the SL-PRS request information can be a positioning request. The positioning request includes ack or SL-PRS configuration or feedback resource configuration.

[0493] Step 3: Scheduling UEs or network side device sends second positioning assistance data to Target UE.

[0494] For example, the second positioning assistance data can include first target SL-PRS configuration and feedback resource configuration.

[0495] Subsequently, anchor UEs can also send third positioning assistance data to Target UE.

[0496] For example, the third positioning assistance data can include second target SL-PRS configuration and feedback resource configuration.

[0497] In addition, anchor UEs send second target SL-PRS, Target UE measures target SL-PRS, and Target UE reports or feeds back measurement information.

[0498] Embodiment five (as shown in Figure 9 ):

[0499] Step 1a: UE sends SL-PRS request to LMF.

[0500] Step 2a: LMF sends SL-PRS request to RAN.

[0501] Step 2b: RAN sends first information to LAM, which carries SL-PRS response corresponding to the SL-PRS request.

[0502] Step 2c: LAM sends SL-PRS configuration information to RAN.

[0503] Step 1b: LAM sends SL-PRS configuration information to terminal 1

[0504] Embodiment six (as shown in Figure 10 ):

[0505] Step 1: LMF sends first positioning assistance data to terminal 1.

[0506] Step 2: Terminal 1 sends on-demand selection SL-PRS request information to LMF.

[0507] Step 3: LMF sends second positioning assistance data to terminal 1.

[0508] Example Seven (as shown in Figure 11 FIG. 7):

[0509] Step 1: The scheduling terminal sends first positioning assistance data to terminal 1.

[0510] Step 2: Terminal 1 sends SL-PRS request information to the scheduling terminal.

[0511] Step 3: The scheduling terminal sends second positioning assistance data to terminal 1.

[0512] Example Eight (as shown in Figure 12 FIG. 8):

[0513] Step 1: The LMF (or scheduling terminal) sends first positioning assistance data to the target terminal (e.g., terminal 1 and / or terminal 2).

[0514] Step 2: The target terminal sends SL-PRS request information to the LMF (or scheduling terminal).

[0515] Step 3: The LMF (or scheduling terminal) sends second positioning assistance data to the target terminal.

[0516] Example Nine (as shown in Figure 13 FIG. 9):

[0517] Step 1: Terminal 2 sends first positioning assistance data to terminal 1.

[0518] Step 2: Terminal 1 sends SL-PRS request information to terminal 2.

[0519] Step 3: Terminal 2 sends second positioning assistance data to terminal 1.

[0520] Example Ten (as shown in Figure 14 FIG. 10):

[0521] Step 1: The terminal sends SL-PRS configuration information to the LMF.

[0522] Step 2: The LMF sends SL-PRS response information to the terminal.

[0523] Example Eleven (as shown in Figure 15 FIG. 11):

[0524] Step 1: The terminal sends SL-PRS request information to the LMF.

[0525] Step 2: The LMF sends SL-PRS response information to the terminal.

[0526] In the positioning method provided in the embodiments of the present application, the first device requests the first terminal to perform positioning by performing a target operation, and the target operation includes at least one of the following: transmitting a target message (including a positioning request and / or positioning assistance data and / or first resource configuration information), transmitting a first SL-PRS, and selecting a target first resource. In this way, the first device requests the first terminal to perform positioning by performing a target operation, and then determines the position information or measurement information of the first terminal and / or a second terminal that performs SL communication or SL positioning with the first terminal, thereby realizing positioning between terminals and terminals, solving the current situation that positioning must be performed under sufficient network or GPS coverage, and improving the communication energy efficiency of the system.

[0527] It should be noted that the execution subject of the positioning method provided in the embodiments of the present application can be a positioning device, or a control module in the positioning device for executing the positioning method. In the embodiments of the present application, the positioning device is taken as an example to illustrate the positioning device provided in the embodiments of the present application.

[0528] The embodiments of the present application provide a positioning device, as shown in Figure 16 The device 400 includes an execution module 401, and the execution module 401 includes the following modules:

[0529] The execution module 401 is configured to perform a target operation to assist the first terminal in positioning.

[0530] The target operation includes at least one of the following:

[0531] transmitting a target message, transmitting a first sidelink positioning reference signal (SL-PRS), and selecting a target first resource;

[0532] The target first resource is used for transmitting the first SL-PRS and / or transmitting the target message.

[0533] The target message includes at least one of the following: a positioning request, positioning assistance data, and first resource configuration information.

[0534] The first resource configuration information is used for configuring at least one first resource.

[0535] The target first resource is one or more resources in the at least one first resource.

[0536] The first SL-PRS is used to determine the position information of the first terminal and / or a second terminal, and / or SL-PRS measurement information.

[0537] The second terminal is a peer terminal that performs SL communication or SL positioning with the first terminal.

[0538] Optionally, in the case that the first device is a network side device, the target operation includes at least one of the following: transmitting the target message, selecting the target first resource, and transmitting the first resource configuration information; in the case that the first device is the first terminal, the target operation includes at least one of the following: transmitting the target message, transmitting the first SL-PRS, transmitting the first resource configuration information, and selecting the target first resource.

[0539] Optionally, the execution module 401 is specifically configured to perform the target operation, and assist, at a high layer, the first terminal to perform positioning at layer 1.

[0540] Optionally, as shown in Figure 17 the apparatus 400 further includes a transmission module 402, where the transmission module 402 is configured to transmit, at a high layer, a location service request before performing the target operation; where the location service request is used to request triggering the first terminal to perform positioning.

[0541] Optionally, the location service request includes at least one of the following: a positioning service type of the first terminal, location notification indication information, event reporting information, periodic reporting indication information, priority information, security information, and Qos information for positioning; where the location notification indication information indicates location environment information of the first terminal; the event reporting information includes event information of a first event, and is used to indicate at least one of the following triggered by the first event: location service, location information reporting, and SL-PRS measurement information reporting; and the periodic reporting indication information indicates at least one of the following triggered periodically by the first terminal and / or the second terminal: location service, location information reporting, and SL-PRS measurement information reporting.

[0542] Optionally, as shown in Figure 17 the apparatus 400 further includes an acquisition module 403, where the acquisition module 403 is configured to acquire a first parameter and / or a second parameter provided by a high layer; or the transmission module 402 is configured to transmit the first parameter and / or the second parameter provided by the high layer; where the first parameter is used to transmit the first SL-PRS; and the second parameter is used to select the target first resource.

[0543] Optionally, the first parameter includes at least one of the following: at least one preconfigured resource pool that can be used to transmit the first SL-PRS and / or the target message; priority information of the SL-PRS; priority information of the target message; configuration parameters of at least one SL-PRS; and a number of frequency domain resources required by the at least one SL-PRS.

[0544] Optionally, the second parameter includes at least one of the following: indication information and / or configuration information of the at least one first resource, time domain and / or frequency domain indication information of the at least one first resource, a measurement window of the at least one SL-PRS, a selection window of the at least one SL-PRS, a RSRP threshold corresponding to the reception of the at least one SL-PRS, a RSRP threshold corresponding to the transmission of the at least one SL-PRS, a priority threshold corresponding to the reception of the at least one SL-PRS, a priority threshold corresponding to the transmission of the at least one SL-PRS, a dedicated resource pool parameter of the at least one SL-PRS, a proportion of the target first resource in the first resource, and target first resource preemption indication information; wherein the target first resource preemption indication information is used to indicate whether the target first resource is allowed to be preempted.

[0545] Optionally, the first resource configuration information includes a first resource candidate set, and the first resource candidate set includes at least one of the following: first resource candidate set identification information, identification information of a first resource of the first resource candidate set, configuration information of the first resource, and configuration information of the first resource candidate set.

[0546] Optionally, the target first resource is selected by excluding the second resource from the first resource candidate set; and the first resource candidate set includes the at least one first resource.

[0547] Optionally, the second resource includes at least one of the following: a resource scheduled by the first SCI and / or the second SCI received by the first terminal, a resource used for transmitting the first SCI and / or the second SCI, a resource used for SS-PBSCH or SL CSI-RS or SL DMRS, a resource with a RSRP value not satisfying a RSRP threshold of the SL-PRS, a resource not satisfying a transmission configuration of the SL-PRS, a resource indicated as a reserved resource by the first SCI and / or the second SCI received by the first terminal, and a resource scheduled for other terminals to transmit SL-PRS.

[0548] Optionally, the first SCI includes a first-level SCI or a second-level SCI or a third-level SCI, the second SCI includes a first-level SCI or a second-level SCI or a third-level SCI, and the third-level SCI is dedicated to scheduling the SL-PRS.

[0549] Optionally, the second resource not satisfying the transmission configuration of the SL-PRS comprises at least one of the following: a bandwidth of the second resource is less than a bandwidth of the SL-PRS; a number of available symbols of the second resource is less than a number of symbols of the SL-PRS; a period of the second resource does not satisfy a requirement of the SL-PRS; a priority of the second resource is higher than a transmission priority of the SL-PRS; a subcarrier spacing of the second resource is different from a subcarrier spacing of the SL-PRS; a CP of the second resource is different from a CP of the SL-PRS.

[0550] Optionally, the first resource configuration information and / or the first resource set configuration information comprises at least one of the following: bandwidth information of the first resource and / or the first resource set; a frequency domain location start point of the first resource and / or the first resource set; starting RB information of the first resource and / or the first resource set; numerology information of the first resource and / or the first resource set; subcarrier spacing of the first resource and / or the first resource set; CP of the first resource and / or the first resource set; a starting time of the first resource and / or the first resource set; a termination time of the first resource and / or the first resource set; a duration of the first resource and / or the first resource set; period information of the first resource and / or the first resource set.

[0551] Optionally, the transmission module 402 is specifically configured to: transmit the first SL-PRS when a predetermined condition is satisfied.

[0552] Optionally, the predetermined condition comprises at least one of the following:

[0553] The received first-level SCI indicates SL-PRS enabling,

[0554] The received second-level SCI comprises at least one of the following: a positioning request, positioning assistance data, location information reporting or feedback resource configuration, SL-PRS measurement reporting or feedback resource configuration, configuration parameters of at least one SL-PRS, and mode of at least one SL-PRS.

[0555] The first SL-PRS is one or more SL-PRSes in the at least one SL-PRS.

[0556] Optionally, the target message further comprises at least one of the following: location reporting or feedback information, SL-PRS measurement reporting or feedback information, a positioning response, and capability information.

[0557] Optionally, the positioning request comprises at least one of the following: a positioning assistance data request, a measurement request, a position information reporting or feedback request, an SL-PRS measurement reporting or feedback request, a configuration request of at least one SL-PRS, SL-PRS request indication information, and feedback indication information of the measurement request; the positioning assistance data request is used to request the positioning assistance data; the measurement request is used to request the device to measure the first SL-PRS; the position information reporting or feedback request is used to request the device to report or feed back the position information, or to request the device to report or feed back the position information; the SL-PRS measurement reporting or feedback request is used to request the device to report or feed back SL-PRS measurement information, or to request the device to report or feed back SL-PRS measurement information; the configuration request is used to request the configuration or transmission of the at least one SL-PRS; the SL-PRS request indication information is used to indicate whether to request the SL-PRS; and the feedback indication information of the measurement request is used to indicate that the first SL-PRS is received, and / or to indicate whether the device sending the feedback information of the measurement request, the feedback information comprising at least one of the following: the position information, SL-PRS measurement information, or HARQ information.

[0558] Optionally, the positioning assistance data request comprises at least one of the following: identification information of a first target terminal, identification information of a second target terminal, position information of the second target terminal, a region identifier, a communication range, a positioning range, quality of service (Qos) information related to positioning, a resource request for requesting time-frequency resources for transmitting the first SL-PRS, a configuration request of at least one SL-PRS, a position information reporting or feedback request, and an SL-PRS measurement reporting or feedback request; the first target terminal is any one of the following: the first terminal, the second terminal, and the third terminal; and the second target terminal is any one of the following: the first terminal, the second terminal, and the third terminal.

[0559] Optionally, the measurement request comprises at least one of the following: a positioning type request, frequency band information, a positioning method request, position information type, a measurement signal request, priority information of SL-PRS measurement, priority information of SL-PRS transmission, angle of departure (AOD) information, and angle of arrival (AOA) information.

[0560] Optionally, the positioning request comprises at least one of: information of at least one SL-PRS configuration set, the first SL-PRS configuration information, the second SL-PRS configuration information, wherein the second SL-PRS configuration information is configuration information of SL-PRS expected by the first terminal and / or the second terminal; the information of the at least one SL-PRS configuration set comprises at least one of: identification information of the at least one SL-PRS configuration set, configuration parameters of SL-PRS of the at least one SL-PRS configuration set.

[0561] Optionally, the at least one SL-PRS configuration set comprises: a target SL-PRS configuration set; the target SL-PRS configuration set comprises configurations of at least one target SL-PRS; the first SL-PRS is one or more SL-PRS in the at least one target SL-PRS; the target SL-PRS configuration set comprises at least one of: identification information of the target SL-PRS configuration set, position information of the second target terminal, priority information of measurement of the target SL-PRS, priority information of transmission of the target SL-PRS, expected angle of departure (AOD) information, expected angle of arrival (AOA) information, and configuration parameters of the target SL-PRS in the target SL-PRS configuration set.

[0562] Optionally, in the case that the SL-PRS configuration received by the first terminal does not meet the positioning requirements of the first terminal and / or the second terminal, or the SL-PRS configuration received by the first terminal does not comprise a target SL-PRS, the positioning request comprises: at least one SL-PRS configuration set for on-demand selection; wherein the at least one SL-PRS configuration set comprises configurations of at least one target SL-PRS; and the first SL-PRS is one or more SL-PRS in the at least one target SL-PRS.

[0563] Optionally, the second SL-PRS configuration information comprises at least one of: bandwidth information of SL-PRS; transmission start time of SL-PRS; transmission end time of SL-PRS; transmission duration of SL-PRS; measurement window information of SL-PRS; configuration window information for configuring SL-PRS; comb number of SL-PRS configuration; symbol number of SL-PRS; target terminal set; target terminal number; identification information of target terminal; selected SL-PRS set; selected SL-PRS resource; identification information of selected SL-PRS; selected SL-PRS resource set; and number of selected SL-PRS.

[0564] Optionally, the first SL-PRS configuration information includes at least one of the following: a configuration parameter of the SL-PRS; a maximum number of frequency layers of the SL-PRS; positioning frequency layer information of the SL-PRS; a subcarrier spacing of the SL-PRS; a resource bandwidth of the SL-PRS; a starting point of the SL-PRS PRB; a frequency domain location starting point of the SL-PRS; a comb size N of the SL-PRS; a cyclic prefix of the SL-PRS; an SL-PRS configuration of each frequency layer; identification information of the SL-PRS; a PCI of the SL-PRS; an absolute radio frequency channel number (ARFCN); a cell global identity (NCGI); a maximum number of resource sets of the SL-PRS; resource set information of the SL-PRS; a resource set identifier of the SL-PRS; a period and resource set slot offset of the SL-PRS; a resource repetition factor of the SL-PRS; a resource time interval of the SL-PRS; a number of symbols of the SL-PRS; a first muting option of the SL-PRS; a second muting option of the SL-PRS; resource power information of the SL-PRS; a maximum number of SL-PRS resources included in each of the at least one SL-PRS resource set; resource information of the SL-PRS, resource identifier of the SL-PRS, sequence identifier of the SL-PRS, RE offset of the SL-PRS, resource slot offset of the SL-PRS, resource symbol offset of the SL-PRS.

[0565] Optionally, the first SL-PRS configuration information includes a configuration parameter of a dedicated resource; the first SL-PRS is transmitted based on the dedicated resource; and the dedicated resource is at least one of the following: a resource dedicated to SL-PRS scheduling, and a resource dedicated to SL-PRS transmission.

[0566] Optionally, the configuration parameter of the dedicated resource includes at least one of the following: bandwidth information of the dedicated resource; a frequency domain location starting point of the dedicated resource; starting RB information of the dedicated resource; numerology information of the dedicated resource; subcarrier spacing of the dedicated resource; CP cyclic prefix of the dedicated resource; a starting time of the dedicated resource; a termination time of the dedicated resource; a duration of the dedicated resource; dedicated resource pool information.

[0567] Optionally, the transmission module 402 is specifically configured to: transmit the first SL-PRS and a Uu interface positioning reference signal.

[0568] Optionally, the positioning request includes at least one of the following:

[0569] The positioning assistance data request, and / or the Uu interface positioning assistance data request;

[0570] The measurement request, and / or the Uu interface signal measurement request;

[0571] The reporting or feedback request of the position information, and / or the reporting or feedback request of the Uu interface position information;

[0572] At least one SL-PRS configuration set, and / or at least one downlink sounding reference signal (SRS) configuration set, and / or at least one uplink SRS configuration set;

[0573] The reporting or feedback request of the SL-PRS measurement, and / or the reporting or feedback request of the SL-PRS measurement.

[0574] Optionally, the positioning assistance data comprises at least one of the following: time-frequency resources for transmitting SL-PRS, time-frequency resources for reporting or feeding back position information, time-frequency resources for reporting or feeding back measurement information, at least one SL-PRS configuration set, identification information of the at least one SL-PRS configuration set, configuration parameters of SL-PRS in each SL-PRS configuration set, identification information of the first target terminal, identification information of the second target terminal, a zone identifier, a communication range, a positioning range, quality of service (QoS) information related to positioning, priority information of measurement of the target SL-PRS, priority information of transmission of the target SL-PRS, wherein the first target terminal is any one of the following: the first terminal, the second terminal, and the third terminal; and the second target terminal is any one of the following: the first terminal, the second terminal, and the third terminal.

[0575] Optionally, the positioning assistance data comprises positioning assistance data of at least one target terminal. The positioning assistance data further comprises at least one of the following: position information of the at least one target terminal, SL-PRS measurement information of the at least one target terminal, and type information of the at least one target terminal; expected angle of departure (AOD) information corresponding to the target terminal, and expected angle of arrival (AOA) information corresponding to the target terminal, wherein the position information comprises at least one of the following: absolute position information, relative position information, trajectory information, path information, speed information, and acceleration information; the SL-PRS measurement information comprises at least one of the following: reference signal received power (RSRP) measurement information, reference signal time difference measurement information, receive-transmit time difference measurement information, time of arrival measurement information, reference signal identification information, reference signal received power information, angle measurement information, and transmission and reception point identification information; and the type information is used to indicate any one of the following: whether the target terminal supports SL-PRS, whether the target terminal supports SL positioning method, whether the target terminal is indicated as an RSU device, and whether the target terminal is a specific type of terminal or a general terminal.

[0576] Optionally, the positioning assistance data of the at least one target terminal comprises at least one of the following SL-PRS information corresponding to the target terminal: time-frequency resources for transmitting SL-PRS, time-frequency resources for SL-PRS measurement reporting or feedback, time-frequency resources for position information reporting or feedback, time-frequency resources for measurement information reporting or feedback, at least one SL-PRS configuration set, identification information of the at least one SL-PRS configuration set, priority information of the measurement and / or transmission of the SL-PRS, expected angle of departure AOD information of the SL-PRS transmission or measurement, expected angle of arrival AOA information of the SL-PRS transmission or measurement, and configuration parameters of the SL-PRS in each SL-PRS configuration set.

[0577] Optionally, the SL-PRS measurement reporting or feedback information comprises at least one of the following: identification information of the first target terminal, identification information of the second target terminal, and position information of the second target terminal; SL-PRS measurement information; wherein the SL-PRS measurement information comprises at least one of the following: RSRP measurement information, reference signal time difference measurement information, receive-transmit time difference measurement information, time of arrival measurement information, reference signal identification information, reference signal received power information, angle measurement information, and transmission and reception point identification information; the position information comprises at least one of the following: absolute position information, relative position information, trajectory information, path information, speed information, and acceleration information; the first target terminal is any one of the following: the first terminal, the second terminal, and the third terminal; and the second target terminal is any one of the following: the first terminal, the second terminal, and the third terminal.

[0578] Optionally, the positioning response comprises at least one of the following: error indication information, error type information, no available resource information, error cause information, positive acknowledgement ACK information, negative acknowledgement NACK information, no support for on-demand selected PRS information, identification information of at least one SL-PRS configuration set, request success indication information or request failure indication information, configuration success indication information or configuration failure indication information, configuration parameters of the SL-PRS in the at least one SL-PRS configuration set, identification information of the first target terminal, identification information of the second target terminal, area identifier, communication range, positioning range, positioning-related Qos information, time-frequency resources for transmitting SL-PRS, and time-frequency resources for SL-PRS measurement reporting or feedback; wherein the first target terminal is any one of the following: the first terminal, the second terminal, and the third terminal; and the second target terminal is any one of the following: the first terminal, the second terminal, and the third terminal.

[0579] Optionally, the capability information comprises at least one of: a processing capability of SL-PRS; a capability of SL positioning method.

[0580] Optionally, the processing capability of SL-PRS comprises at least one of: a capability of processing SL-PRS and DL PRS simultaneously, a capability of processing SL-PRS and UL PRS simultaneously, a S-PRS buffer type, a frequency band supported by SL-PRS, a number of frequency bands supported by SL-PRS, a capability of supporting carrier aggregation, a maximum processing capability of SL-PRS, a duration of SL-PRS, a number of SL-PRS transmitted; the capability of SL positioning method comprises at least one of: a measurement capability of SL-PRS, a positioning mode, a capability of multi-beam transmission or measurement, a quasi co-location (Qcl), a capability of road loss reference signal, a capability of supporting multi-path measurement or reporting, a capability of supporting first-path measurement or reporting; the measurement capability of SL-PRS comprises at least one of: a maximum number of transmitting terminals measured, a number of frequency layers measured.

[0581] Optionally, the target message comprises at least one of: indication information in coverage; indication information out of coverage.

[0582] Optionally, in the case that the transmission module 402 transmits the target message to the network side device, the target message is transmitted through one or more of the following messages: dynamic authorization information, configuration authorization information, LPP message, RRC message, MAC CE message.

[0583] Optionally, in the case that the transmission module 402 transmits the target message to other terminals, the target message is transmitted through one or more of the following messages: sidelink control information (SCI); physical sidelink shared channel (PSSCH); LPP message of PC5; RRC message of PC5.

[0584] Optionally, the target message comprises time domain offset information.

[0585] The time domain offset information comprises at least one of: offset information between SL-PRS measurement reporting or feedback and SL-PRS; offset information between position information reporting or feedback and SL-PRS; offset information between the positioning request and SL-PRS; offset information between the positioning request and the SL-PRS measurement reporting or feedback; offset information between the SCI and SL-PRS; offset information between the SCI and the SL-PRS measurement reporting or feedback; offset information between the SCI and the position information reporting or feedback; offset information between the SCI and the positioning request.

[0586] Optionally, the SCI includes at least one of the following: a first-level SCI, a second-level SCI, and a third SCI; and the third SCI is dedicated to scheduling the SL-PRS.

[0587] Optionally, the transmission module 402 is specifically configured to: transmit a target message; and the transmission module 402 is further configured to: receive a first message before transmitting the target message; and / or receive a second message after transmitting the target message.

[0588] Optionally, the target message includes a positioning request; the first message includes positioning assistance data or a positioning response; and the second message includes configuration information of a target SL-PRS or activation information of the target SL-PRS.

[0589] Optionally, the transmission module 402 is specifically configured to: receive a target message; and the transmission module 402 is further configured to: receive a third message before receiving the target message; and / or receive a fourth message after receiving the target message.

[0590] Optionally, the target message includes a positioning request; the third message includes positioning assistance data; the fourth message includes a positioning response; the positioning response includes time-frequency resources for SL-PRS measurement reporting or feedback of SL-PRS when the positioning request includes a request for SL-PRS measurement or reporting; the positioning response includes position information of a target terminal when the positioning request includes a request for reporting or feedback of the position information; the positioning response includes measurement information of the target terminal when the positioning request includes a request for SL-PRS measurement reporting or feedback; and the target terminal is any one of the following: the first terminal, the second terminal, and the third terminal.

[0591] In the positioning apparatus provided in the embodiments of the present application, the apparatus requests the first terminal to perform positioning by performing a target operation, the target operation including at least one of the following: transmitting a target message (including a positioning request and / or positioning assistance data and / or first resource configuration information), transmitting a first SL-PRS, and selecting a target first resource. In this way, the first terminal is requested to perform positioning by performing the target operation, and then the position information or measurement information of the first terminal and / or a second terminal performing SL communication or SL positioning with the first terminal is determined, so that the positioning between terminals and terminals is achieved, the current situation that positioning must be performed under sufficient network or GPS coverage is solved, and the communication energy efficiency of the system is improved.

[0592] The positioning apparatus in the embodiments of the present applicationapplicationbe a device, a device with an operating system, or an electronic device, andapplicationalso be a component in a terminal, an integrated circuit, or a chip. The device or electronic deviceapplicationbe a mobile terminal or a non-mobile terminal. Exemplarily, the mobile terminalapplicationinclude, but is not limited to, the types of terminal 11 listed above, and the non-mobile terminalapplicationbe a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, and the like, without specific limitation in the embodiments of the present application.

[0593] The positioning apparatus provided in the embodiments of the present applicationapplicationimplement Figures 2 to 15 the various processes of the method embodiments and achieve the same technical effects. To avoid repetition, the various processes of the method embodiments and achieve the same technical effects. To avoid repetition, the various processes of the method embodiments will not be described herein again.

[0594] Optionally, as shown in Figure 18 the embodiments of the present application further provide a communication device 500, which includes a processor 501, a memory 502, a program or instruction stored in the memory 502 and executable on the processor 501. For example, when the communication device 500 is a terminal, the program or instruction is executed by the processor 501 to implement the various processes of the positioning method embodiments described above and achieve the same technical effects. When the communication device 500 is a network side device, the program or instruction is executed by the processor 501 to implement the various processes of the positioning method embodiments described above and achieve the same technical effects. To avoid repetition, the various processes of the method embodiments will not be described herein again.

[0595] The embodiments of the present application further provide a terminal, which includes a processor and a communication interface, and the processor is configured to perform a target operation to assist a first terminal in positioning. The target operation includes at least one of the following: transmitting a target message, transmitting a first sidelink positioning reference signal (SL-PRS), and selecting a target first resource. The target first resource is used for transmitting the first SL-PRS and / or transmitting the target message. The target message includes at least one of the following: a positioning request, positioning assistance data, and first resource configuration information. The first resource configuration information is used for configuring at least one first resource. The target first resource is one or more resources in the at least one first resource. The first SL-PRS is used to determine: position information of the first terminal and / or a second terminal, and / or SL-PRS measurement information. The second terminal is a peer terminal that performs SL communication or SL positioning with the first terminal. The terminal embodiment corresponds to the terminal side method embodiment described above. The various implementation processes and implementation manners of the method embodiment can be applied to the terminal embodiment and achieve the same technical effects. Specifically, Figure 19A hardware structure diagram of a terminal according to an embodiment of the present application.

[0596] The terminal 100 includes, but is not limited to, at least part of components such as a radio frequency unit 101, a network module 102, an audio output unit 103, an input unit 104, a sensor 105, a display unit 106, a user input unit 107, an interface unit 108, a storage 109, and a processor 110.

[0597] Those skilled in the art can understand that the terminal 100 can further include a power supply (such as a battery) for supplying power to each component, and the power supply can be logically connected to the processor 110 through a power management system, so as to realize functions such as management of charging, discharging, and power consumption management through the power management system. Figure 19 The terminal structure shown in the figure does not constitute a limitation on the terminal, and the terminal can include more or fewer components than those shown in the figure, or combine certain components, or different component arrangements, which are not described here.

[0598] It should be understood that in the embodiments of the present application, the input unit 104 can include a graphics processing unit (GPU) 1041 and a microphone 1042. The graphics processing unit 1041 processes image data of a still picture or a video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 106 can include a display panel 1061, which can be configured in the form of a liquid crystal display, an organic light-emitting diode, etc. The user input unit 107 includes a touch panel 1071 and other input devices 1072. The touch panel 1071 is also called a touch screen. The touch panel 1071 can include two parts of a touch detection device and a touch controller. The other input devices 1072 can include, but are not limited to, a physical keyboard, function keys (such as volume control keys, on-off keys, etc.), trackballs, mice, joysticks, etc., which are not described here.

[0599] In the embodiments of the present application, the radio frequency unit 101 receives downlink data from a network side device and processes the data by the processor 110; in addition, it sends uplink data to the network side device. Generally, the radio frequency unit 101 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc.

[0600] The memory 109 can be used to store software programs or instructions and various data. The memory 109 can mainly include a storage program or instruction area and a storage data area, wherein the storage program or instruction area can store an operating system, at least one application program or instruction required by a function (such as a sound playing function, an image playing function, etc.), etc. In addition, the memory 109 can include a high-speed random access memory, and can also include a non-volatile memory, which can be a read-only memory (Read-Only Memory, ROM), a programmable read-only memory (Programmable ROM, PROM), an erasable programmable read-only memory (Erasable PROM, EPROM), an electrically erasable programmable read-only memory (Electrically EPROM, EEPROM), or a flash memory. For example, at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device.

[0601] The processor 110 can include one or more processing units; optionally, the processor 110 can integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, and an application program or instruction, etc., and the modem processor mainly processes wireless communication, such as a baseband processor. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 110.

[0602] The processor 110 is configured to perform a target operation to assist the first terminal in positioning;

[0603] The target operation includes at least one of the following:

[0604] transmitting a target message, transmitting a first sidelink positioning reference signal (SL-PRS), and selecting a target first resource;

[0605] The target first resource is used for transmitting the first SL-PRS and / or transmitting the target message;

[0606] The target message includes at least one of the following: a positioning request, positioning assistance data, and first resource configuration information;

[0607] The first resource configuration information is used for configuring at least one first resource;

[0608] The target first resource is one or more resources in the at least one first resource;

[0609] The first SL-PRS is used to determine: position information of the first terminal and / or a second terminal, and / or SL-PRS measurement information;

[0610] The second terminal is a peer terminal that performs SL communication or SL positioning with the first terminal.

[0611] Optionally, in the case that the first device is a network side device, the target operation includes at least one of the following: transmitting the target message, selecting the target first resource, and transmitting the first resource configuration information; in the case that the first device is the first terminal, the target operation includes at least one of the following: transmitting the target message, transmitting the first SL-PRS, transmitting the first resource configuration information, and selecting the target first resource.

[0612] Optionally, the processor 110 is specifically configured to perform the target operation, and the first device assists the first terminal in performing positioning at Layer 1 under the assistance of a higher layer.

[0613] Optionally, the radio frequency unit 101 is configured to transmit a location service request at a higher layer before performing the target operation; wherein the location service request is used to request triggering the first terminal to perform positioning.

[0614] Optionally, the location service request includes at least one of the following: a positioning service type of the first terminal, location notification indication information, event reporting information, periodic reporting indication information, priority information, security information, and Qos information for positioning; wherein the location notification indication information indicates location environment information of the first terminal; the event reporting information includes event information of a first event, and the event reporting information is used to indicate at least one of the following triggered under the first event: location service, location information reporting, and SL-PRS measurement information reporting; and the periodic reporting indication information indicates that at least one of the following is triggered periodically by the first terminal and / or the second terminal: location service, location information reporting, and SL-PRS measurement information reporting.

[0615] Optionally, the processor 110 is configured to acquire a first parameter and / or a second parameter provided by a higher layer; or the radio frequency unit 101 is configured to transmit the first parameter and / or the second parameter provided by the higher layer; wherein the first parameter is used to transmit the first SL-PRS, and the second parameter is used to select the target first resource.

[0616] Optionally, the first parameter includes at least one of the following: at least one preconfigured resource pool that can be used to transmit the first SL-PRS and / or the target message; priority information of the SL-PRS; priority information of the target message; configuration parameters of at least one SL-PRS; and a number of frequency domain resources required by the at least one SL-PRS.

[0617] Optionally, the second parameter includes at least one of the following: indication information and / or configuration information of the at least one first resource, time domain and / or frequency domain indication information of the at least one first resource, a measurement window of the at least one SL-PRS, a selection window of the at least one SL-PRS, a RSRP threshold corresponding to the reception of the at least one SL-PRS, a RSRP threshold corresponding to the transmission of the at least one SL-PRS, a priority threshold corresponding to the reception of the at least one SL-PRS, a priority threshold corresponding to the transmission of the at least one SL-PRS, a dedicated resource pool parameter of the at least one SL-PRS, a proportion of the target first resource in the first resource, and target first resource preemption indication information; wherein the target first resource preemption indication information is used to indicate whether the target first resource is allowed to be preempted.

[0618] Optionally, the first resource configuration information includes a first resource candidate set, and the first resource candidate set includes at least one of the following: first resource candidate set identification information, identification information of a first resource of the first resource candidate set, configuration information of the first resource, and configuration information of the first resource candidate set.

[0619] Optionally, the processor 110 selects the target first resource, including: excluding the second resource from the first resource candidate set; wherein the first resource candidate set includes the at least one first resource.

[0620] Optionally, the second resource includes at least one of the following: a resource scheduled by the first SCI and / or the second SCI received by the first terminal, a resource used for transmitting the first SCI and / or the second SCI, a resource used for SS-PBSCH or SL CSI-RS or SL DMRS, a resource whose RSRP value on the resource does not satisfy a RSRP threshold of transmitting the SL-PRS, a resource that does not satisfy a transmission configuration of the SL-PRS, a resource indicated as a reserved resource by the first SCI and / or the second SCI received by the first terminal, and a resource scheduled for other terminals to transmit the SL-PRS.

[0621] Optionally, the first SCI includes a first-level SCI or a second-level SCI or a third-level SCI, the second SCI includes a first-level SCI or a second-level SCI or a third-level SCI, and the third-level SCI is dedicated to scheduling the SL-PRS.

[0622] Optionally, the second resource not satisfying the transmission configuration of the SL-PRS comprises at least one of: a bandwidth of the second resource being smaller than a bandwidth of the SL-PRS; a number of available symbols of the second resource being smaller than a number of symbols of the SL-PRS; a period of the second resource not satisfying a requirement of the SL-PRS; a priority of the second resource being higher than a transmission priority of the SL-PRS; a subcarrier spacing of the second resource being different from a subcarrier spacing of the SL-PRS; a CP of the second resource being different from a CP of the SL-PRS.

[0623] Optionally, the first resource configuration information and / or the first resource set configuration information comprises at least one of: bandwidth information of the first resource and / or the first resource set; a frequency domain location start point of the first resource and / or the first resource set; starting RB information of the first resource and / or the first resource set; numerology information of the first resource and / or the first resource set; subcarrier spacing of the first resource and / or the first resource set; CP of the first resource and / or the first resource set; a starting time of the first resource and / or the first resource set; a termination time of the first resource and / or the first resource set; a duration of the first resource and / or the first resource set; period information of the first resource and / or the first resource set.

[0624] Optionally, the transmission module 402 is specifically configured to: transmit the first SL-PRS when a predetermined condition is satisfied.

[0625] Optionally, the predetermined condition comprises at least one of:

[0626] The received first-level SCI indicates SL-PRS enabling,

[0627] The received second-level SCI comprises at least one of: a positioning request, positioning assistance data, positioning feedback resource configuration, configuration parameters of at least one SL-PRS, and a mode of at least one SL-PRS.

[0628] The first SL-PRS is one or more of the at least one SL-PRS.

[0629] Optionally, the target message further comprises at least one of: location reporting or feedback information, SL-PRS measurement reporting or feedback information, a positioning response, and capability information.

[0630] Optionally, the positioning request comprises at least one of the following: a positioning assistance data request, a measurement request, a position information reporting or feedback request, an SL-PRS measurement reporting or feedback request, a configuration request of at least one SL-PRS, SL-PRS request indication information, and feedback indication information of the measurement request; the positioning assistance data request is used to request the positioning assistance data; the measurement request is used to request the device to measure the first SL-PRS; the position information reporting or feedback request is used to request the device to report or feed back the position information, or to request the device to report or feed back the position information; the SL-PRS measurement reporting or feedback request is used to request the device to report or feed back SL-PRS measurement information, or to request the device to report or feed back SL-PRS measurement information; the configuration request is used to request the configuration or transmission of the at least one SL-PRS; the SL-PRS request indication information is used to indicate whether to request the SL-PRS; and the feedback indication information of the measurement request is used to indicate that the first SL-PRS is received, and / or to indicate whether the device sending the feedback information of the measurement request, the feedback information comprising at least one of the following: the position information, SL-PRS measurement information, or HARQ information.

[0631] Optionally, the positioning assistance data request comprises at least one of the following: identification information of a first target terminal, identification information of a second target terminal, position information of the second target terminal, a region identifier, a communication range, a positioning range, quality of service (Qos) information related to positioning, a resource request for requesting time-frequency resources for transmitting the first SL-PRS, a configuration request of at least one SL-PRS, a position information reporting or feedback request, and an SL-PRS measurement reporting or feedback request; the first target terminal is any one of the following: the first terminal, the second terminal, and the third terminal; and the second target terminal is any one of the following: the first terminal, the second terminal, and the third terminal.

[0632] Optionally, the measurement request comprises at least one of the following: a positioning type request, frequency band information, a positioning method request, position information type, a measurement signal request, priority information of SL-PRS measurement, priority information of SL-PRS transmission, angle of departure (AOD) information, and angle of arrival (AOA) information.

[0633] Optionally, the positioning request comprises at least one of: information of at least one SL-PRS configuration set, the first SL-PRS configuration information, the second SL-PRS configuration information, wherein the second SL-PRS configuration information is configuration information of SL-PRS expected by the first terminal and / or the second terminal; the information of the at least one SL-PRS configuration set comprises at least one of: identification information of the at least one SL-PRS configuration set, configuration parameters of SL-PRS of the at least one SL-PRS configuration set.

[0634] Optionally, the at least one SL-PRS configuration set comprises: a target SL-PRS configuration set; the target SL-PRS configuration set comprises configurations of at least one target SL-PRS; the first SL-PRS is one or more SL-PRS in the at least one target SL-PRS; the target SL-PRS configuration set comprises at least one of: identification information of the target SL-PRS configuration set, position information of the second target terminal, priority information of measurement of the target SL-PRS, priority information of transmission of the target SL-PRS, expected angle of departure (AOD) information, expected angle of arrival (AOA) information, and configuration parameters of the target SL-PRS in the target SL-PRS configuration set.

[0635] Optionally, in the case that the SL-PRS configuration received by the first terminal does not meet the positioning requirements of the first terminal and / or the second terminal, or the SL-PRS configuration received by the first terminal does not comprise a target SL-PRS, the positioning request comprises: at least one SL-PRS configuration set for on-demand selection; wherein the at least one SL-PRS configuration set comprises configurations of at least one target SL-PRS; and the first SL-PRS is one or more SL-PRS in the at least one target SL-PRS.

[0636] Optionally, the second SL-PRS configuration information comprises at least one of: bandwidth information of SL-PRS; transmission start time of SL-PRS; transmission end time of SL-PRS; transmission duration of SL-PRS; measurement window information of SL-PRS; configuration window information for configuring SL-PRS; comb number of SL-PRS configuration; symbol number of SL-PRS; target terminal set; target terminal number; identification information of target terminal; selected SL-PRS set; selected SL-PRS resource; identification information of selected SL-PRS; selected SL-PRS resource set; and number of selected SL-PRS.

[0637] Optionally, the first SL-PRS configuration information includes at least one of the following: a configuration parameter of the SL-PRS; a maximum number of frequency layers of the SL-PRS; positioning frequency layer information of the SL-PRS; a subcarrier spacing of the SL-PRS; a resource bandwidth of the SL-PRS; a starting point of the SL-PRS PRB; a frequency domain location starting point of the SL-PRS; a comb size N of the SL-PRS; a cyclic prefix of the SL-PRS; an SL-PRS configuration of each frequency layer; identification information of the SL-PRS; a PCI of the SL-PRS; an absolute radio frequency channel number (ARFCN); a cell global identity (NCGI); a maximum number of resource sets of the SL-PRS; resource set information of the SL-PRS; a resource set identifier of the SL-PRS; a period and resource set slot offset of the SL-PRS; a resource repetition factor of the SL-PRS; a resource time interval of the SL-PRS; a number of symbols of the SL-PRS; a first muting option of the SL-PRS; a second muting option of the SL-PRS; resource power information of the SL-PRS; a maximum number of SL-PRS resources included in each of the at least one SL-PRS resource set; resource information of the SL-PRS, resource identifier of the SL-PRS, sequence identifier of the SL-PRS, RE offset of the SL-PRS, resource slot offset of the SL-PRS, resource symbol offset of the SL-PRS.

[0638] Optionally, the first SL-PRS configuration information includes a configuration parameter of a dedicated resource; the first SL-PRS is transmitted based on the dedicated resource; and the dedicated resource is at least one of the following: a resource dedicated to SL-PRS scheduling, and a resource dedicated to SL-PRS transmission.

[0639] Optionally, the configuration parameter of the dedicated resource includes at least one of the following: bandwidth information of the dedicated resource; a frequency domain location starting point of the dedicated resource; starting RB information of the dedicated resource; numerology information of the dedicated resource; subcarrier spacing of the dedicated resource; CP cyclic prefix of the dedicated resource; a starting time of the dedicated resource; a termination time of the dedicated resource; a duration of the dedicated resource; dedicated resource pool information.

[0640] Optionally, the transmission module 402 is specifically configured to: transmit the first SL-PRS and a Uu interface positioning reference signal.

[0641] Optionally, the positioning request includes at least one of the following:

[0642] The positioning assistance data request, and / or the Uu interface positioning assistance data request;

[0643] The measurement request, and / or the Uu interface signal measurement request;

[0644] The reporting or feedback request of the position information, and / or the reporting or feedback request of the Uu interface position information;

[0645] At least one SL-PRS configuration set, and / or at least one downlink sounding reference signal SRS configuration set, and / or at least one uplink SRS configuration set;

[0646] The reporting or feedback request of the SL-PRS measurement, and / or the reporting or feedback request of the SL-PRS measurement.

[0647] Optionally, the positioning assistance data includes at least one of the following: time-frequency resources for transmitting SL-PRS, time-frequency resources for reporting or feeding back position information, time-frequency resources for reporting or feeding back measurement information, at least one SL-PRS configuration set, identification information of the at least one SL-PRS configuration set, configuration parameters of SL-PRS in each SL-PRS configuration set, identification information of the first target terminal, identification information of the second target terminal, a zone identifier, a communication range, a positioning range, quality of service Qos information related to positioning, priority information of the measurement of the target SL-PRS, priority information of the transmission of the target SL-PRS. The first target terminal is any one of the following: the first terminal, the second terminal, and the third terminal. The second target terminal is any one of the following: the first terminal, the second terminal, and the third terminal.

[0648] Optionally, the positioning assistance data includes positioning assistance data of at least one target terminal. The positioning assistance data further includes at least one of the following: position information of the at least one target terminal, SL-PRS measurement information of the at least one target terminal, type information of the at least one target terminal, expected angle of departure AOD information corresponding to the target terminal, and expected angle of arrival AOA information corresponding to the target terminal. The position information includes at least one of the following: absolute position information, relative position information, trajectory information, path information, speed information, and acceleration information. The SL-PRS measurement information includes at least one of the following: reference signal received power RSRP measurement information, reference signal time difference measurement information, receive-transmit time difference measurement information, time of arrival measurement information, reference signal identification information, reference signal received power information, angle measurement information, and transmission and reception point identification information. The type information indicates whether the target terminal supports SL-PRS, whether the target terminal supports SL positioning method, whether the target terminal is an RSU device, or whether the target terminal is a specific type of terminal or a general terminal.

[0649] Optionally, the positioning assistance data of the at least one target terminal comprises at least one of the following SL-PRS information corresponding to the target terminal: time-frequency resources for transmitting SL-PRS, time-frequency resources for SL-PRS measurement reporting or feedback, time-frequency resources for position information reporting or feedback, time-frequency resources for measurement information reporting or feedback, at least one SL-PRS configuration set, identification information of the at least one SL-PRS configuration set, priority information of the measurement and / or transmission of the SL-PRS, expected angle of departure AOD information of the SL-PRS transmission or measurement, expected angle of arrival AOA information of the SL-PRS transmission or measurement, and configuration parameters of the SL-PRS in each SL-PRS configuration set.

[0650] Optionally, the SL-PRS measurement reporting or feedback information comprises at least one of the following: identification information of the first target terminal, identification information of the second target terminal, and position information of the second target terminal; SL-PRS measurement information; wherein the SL-PRS measurement information comprises at least one of the following: RSRP measurement information, reference signal time difference measurement information, receive-transmit time difference measurement information, time of arrival measurement information, reference signal identification information, reference signal received power information, angle measurement information, and transmission and reception point identification information; the position information comprises at least one of the following: absolute position information, relative position information, trajectory information, path information, speed information, and acceleration information; the first target terminal is any one of the following: the first terminal, the second terminal, and the third terminal; and the second target terminal is any one of the following: the first terminal, the second terminal, and the third terminal.

[0651] Optionally, the positioning response comprises at least one of the following: error indication information, error type information, no available resource information, error cause information, positive acknowledgement ACK information, negative acknowledgement NACK information, no support for on-demand selected PRS information, identification information of at least one SL-PRS configuration set, request success indication information or request failure indication information, configuration success indication information or configuration failure indication information, configuration parameters of the SL-PRS in the at least one SL-PRS configuration set, identification information of the first target terminal, identification information of the second target terminal, area identifier, communication range, positioning range, positioning-related Qos information, time-frequency resources for transmitting SL-PRS, and time-frequency resources for SL-PRS measurement reporting or feedback; wherein the first target terminal is any one of the following: the first terminal, the second terminal, and the third terminal; and the second target terminal is any one of the following: the first terminal, the second terminal, and the third terminal.

[0652] Optionally, the capability information comprises at least one of: a processing capability of SL-PRS; a capability of SL positioning method.

[0653] Optionally, the processing capability of SL-PRS comprises at least one of: a capability of processing SL-PRS and DL PRS simultaneously, a capability of processing SL-PRS and UL PRS simultaneously, a S-PRS buffer type, a frequency band supported by SL-PRS, a number of frequency bands supported by SL-PRS, a capability of supporting carrier aggregation, a maximum processing capability of SL-PRS, a duration of SL-PRS, a number of SL-PRS transmitted; the capability of SL positioning method comprises at least one of: a measurement capability of SL-PRS, a positioning mode, a capability of multi-beam transmission or measurement, a quasi co-location (Qcl), a capability of a loss reference signal, a capability of supporting multi-path measurement or reporting, a capability of supporting first-path measurement or reporting; the measurement capability of SL-PRS comprises at least one of: a maximum number of transmitting terminals measured, a number of frequency layers measured.

[0654] Optionally, the target message comprises at least one of: indication information in coverage; indication information out of coverage.

[0655] Optionally, in the case that the transmission module 402 transmits the target message to the network side device, the target message is transmitted through one or more of the following messages: dynamic authorization information, configuration authorization information, LPP message, RRC message, MAC CE message.

[0656] Optionally, in the case that the transmission module 402 transmits the target message to other terminals, the target message is transmitted through one or more of the following messages: sidelink control information (SCI); physical sidelink shared channel (PSSCH); LPP message over PC5; RRC message over PC5.

[0657] Optionally, the target message comprises time domain offset information; the time domain offset information comprises at least one of: offset information between SL-PRS measurement reporting or feedback and SL-PRS; offset information between position information reporting or feedback and SL-PRS; offset information between the positioning request and SL-PRS; offset information between the positioning request and the SL-PRS measurement reporting or feedback; offset information between the SCI and SL-PRS; offset information between the SCI and the SL-PRS measurement reporting or feedback; offset information between the SCI and the position information reporting or feedback; offset information between the SCI and the positioning request.

[0658] Optionally, the SCI comprises at least one of: first level SCI, second level SCI, third SCI; wherein the third SCI is dedicated for scheduling SL-PRS.

[0659] Optionally, the radio frequency unit 101 is configured to transmit the target message; the radio frequency unit 101 is further configured to receive the first message before transmitting the target message; and / or receive the second message after transmitting the target message.

[0660] Optionally, the target message comprises a positioning request; the first message comprises positioning assistance data or a positioning response; and the second message comprises configuration information of the target SL-PRS or activation information of the target SL-PRS.

[0661] Optionally, the radio frequency unit 101 is configured to receive the target message; the radio frequency unit 101 is further configured to receive the third message before receiving the target message; and / or receive the fourth message after receiving the target message.

[0662] Optionally, the target message comprises a positioning request; the third message comprises positioning assistance data; the fourth message comprises a positioning response; wherein, when the positioning request comprises an SL-PRS measurement or reporting request, the positioning response comprises time-frequency resources for SL-PRS measurement reporting or feedback of the SL-PRS; when the positioning request comprises a reporting or feedback request of position information, the positioning response comprises position information of the target terminal; when the positioning request comprises an SL-PRS measurement reporting or feedback request, the positioning response comprises measurement information of the target terminal; and the target terminal is any one of the first terminal, the second terminal, and the third terminal.

[0663] In the terminal provided by the embodiments of the present application, the terminal requests the first terminal to perform positioning by performing a target operation, and the target operation comprises at least one of the following: transmitting a target message (including a positioning request and / or positioning assistance data and / or first resource configuration information), transmitting a first SL-PRS, and selecting a target first resource. In this way, the first terminal is requested to perform positioning by performing a target operation, and then the position information or measurement information of the first terminal and / or a second terminal performing SL communication or SL positioning with the first terminal is determined, thereby realizing positioning between terminals and terminals, solving the current situation that positioning must be performed under sufficient network or GPS coverage, and improving the communication energy efficiency of the system.

[0664] The embodiment of the present application further provides a network side device, comprising a processor and a communication interface, the processor is configured to perform target operations to assist a first terminal in positioning; wherein the target operations comprise at least one of the following: transmitting a target message, transmitting a first sidelink positioning reference signal (SL-PRS), and selecting a target first resource; the target first resource is used for transmitting the first SL-PRS and / or transmitting the target message; the target message comprises at least one of the following: a positioning request, positioning assistance data, and first resource configuration information; the first resource configuration information is used for configuring at least one first resource; the target first resource is one or more resources in the at least one first resource; the first SL-PRS is used to determine: position information of the first terminal and / or a second terminal, and / or SL-PRS measurement information; the second terminal is a peer terminal that performs SL communication or SL positioning with the first terminal. The network side device embodiment corresponds to the network side device method embodiment, and each implementation process and implementation manner of the method embodiment can be applied to the network side device embodiment and achieve the same technical effects.

[0665] Specifically, the embodiment of the present application further provides a network side device. As shown in the figure, Figure 20 The network side device 700 comprises an antenna 71, a radio frequency device 72, and a baseband device 73. The antenna 71 is connected to the radio frequency device 72. In the uplink direction, the radio frequency device 72 receives information through the antenna 71 and sends the received information to the baseband device 73 for processing. In the downlink direction, the baseband device 73 processes the information to be sent and sends it to the radio frequency device 72. The radio frequency device 72 processes the received information and sends it out through the antenna 71.

[0666] The above frequency band processing device can be located in the baseband device 73. The method performed by the network side device in the above embodiment can be implemented in the baseband device 73, which comprises a processor 74 and a memory 75.

[0667] The baseband device 73 may, for example, comprise at least one baseband board, which is provided with a plurality of chips, as shown in the figure, Figure 20 One of the chips is, for example, the processor 74, which is connected to the memory 75 to call the programs in the memory 75 and perform the network device operations shown in the above method embodiment.

[0668] The baseband device 73 can also comprise a network interface 76 for interacting with the radio frequency device 72. The interface is, for example, a common public radio interface (CPRI).

[0669] Specifically, the network side device of the embodiment of the present application further comprises instructions or programs stored on the memory 75 and executable on the processor 74, and the processor 74 invokes the instructions or programs in the memory 75 to execute the method shown in each module and achieve the same technical effects. To avoid repetition, the details are not described herein. Figure 16 or Figure 17 The method shown in each module is executed, and the same technical effects are achieved. To avoid repetition, the details are not described herein.

[0670] The embodiment of the present application also provides a readable storage medium, and the readable storage medium stores programs or instructions, which are executed by a processor to implement various processes of the above positioning method embodiments and achieve the same technical effects. To avoid repetition, the details are not described herein.

[0671] The processor is the processor in the terminal in the above embodiments. The readable storage medium includes a computer readable storage medium, such as a computer readable memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, etc.

[0672] The embodiment of the present application further provides a chip, which includes a processor and a communication interface, the communication interface is coupled with the processor, and the processor is used to run programs or instructions to implement various processes of the above positioning method embodiments and achieve the same technical effects. To avoid repetition, the details are not described herein.

[0673] It should be understood that the chip mentioned in the embodiment of the present application can also be referred to as a system chip, a system chip, a chip system or a system on chip, etc.

[0674] It should be noted that in this document, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "includes a" does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to the order of functions shown or discussed, and can also include functions performed in a substantially simultaneous manner or in reverse order, for example, the described method can be performed in an order different from that described, and various steps can also be added, omitted or combined. In addition, the features described with reference to some examples can be combined in other examples.

[0675] Those skilled in the art can clearly understand the above-mentioned embodiment method can be realized by means of software and necessary general hardware platform, of course, also can be through hardware, but many cases the former is the better embodiment. Based on such understanding, the technical solutions of the present application essentially or say the part of the contribution to the prior art can be embodied in the form of computer software products, the computer software product is stored in a storage medium (such as ROM / RAM, magnetic disc, optical disc), including a number of instructions to make a terminal (may be a mobile phone, computer, server, air conditioner, or network equipment, etc.) executes the method described in various embodiments of the present application.

[0676] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above-mentioned specific embodiments, the above-mentioned specific embodiments are only illustrative, but not limited, those skilled in the art can make many forms without departing from the purpose of the present application and the scope of the claims under the inspiration of the present application, all belong to the protection of the present application.

Claims

1. A positioning method, characterized in that, include: The first device performs the target operation to assist the first terminal in positioning; The target operation includes: transmitting a target message and transmitting a first sidelink positioning reference signal (SL-PRS). The target message includes: a location request and time-domain offset information; The first SL-PRS is used to determine: the location information of the first terminal and / or the second terminal, and / or, SL-PRS measurement information; The second terminal is a peer terminal that performs SL communication or SL positioning with the first terminal; The target message is transmitted via Side Link Control Information (SCI), wherein the SCI is dedicated to scheduling SL-PRS. The location request includes SL-PRS request indication information, wherein the SL-PRS request indication information is used to indicate whether to request SL-PRS; The time-domain offset information includes the offset information between the SCI and SL-PRS; The method further includes: The first device acquires a second parameter provided by a higher layer, the second parameter being used to select a target first resource, the target first resource being used to transmit the first SL-PRS; The second parameter includes: Indication information for at least one first resource, wherein the target first resource is one or more of the at least one first resource; At least one dedicated resource pool parameter for SL-PRS.

2. The method according to claim 1, characterized in that, When the first device is the first terminal, the target operation includes at least one of the following: transmitting the target message, transmitting the first SL-PRS, transmitting the first resource configuration information, and selecting the target first resource.

3. The method according to claim 1, characterized in that, The first device performs a target operation to assist the first terminal in positioning, including: The first device performs the target operation, and the first terminal at the higher level of the first device performs positioning on layer 1.

4. The method according to claim 1, characterized in that, Before the first device performs the target operation, the method further includes: The first device transmits location service requests at higher altitudes; The location service request is used to request the first terminal to perform location services.

5. The method according to claim 4, characterized in that, The location service request includes at least one of the following: The location service type of the first terminal. Location notification information, Incident reporting information, Periodically report instruction information. Priority information, Confidential information QoS information used for location; The location notification information indicates the location environment information of the first terminal; The event reporting information includes event information of the first event, and the event reporting information is used to indicate at least one of location service, location information reporting and SL-PRS measurement information reporting being triggered under the first event; The periodic reporting indication information instructs the first terminal and / or the second terminal to periodically trigger at least one of location service, location information reporting, and SL-PRS measurement information reporting.

6. The method according to claim 1, characterized in that, The method further includes: The first device transmits the first parameter and / or the second parameter provided by the higher layer; or; The first device acquires the first parameter provided by the upper layer; The first parameter is used to transmit the first SL-PRS.

7. The method according to claim 6, characterized in that, The first parameter includes at least one of the following: At least one pre-configured resource pool that can be used to transmit the first SL-PRS and / or the target message; SL-PRS priority information; Priority information for the target message; At least one SL-PRS configuration parameter; The number of frequency domain resources required by the at least one SL-PRS.

8. The method according to claim 6, characterized in that, The second parameter also includes at least one of the following: Configuration information of the at least one first resource, The time-domain and / or frequency-domain indication information of the first resource, At least one measurement window of SL-PRS, At least one SL-PRS selection window, Receive at least one RSRP threshold corresponding to an SL-PRS. Send at least one RSRP threshold corresponding to an SL-PRS. Receive at least one priority threshold corresponding to SL-PRS. Send at least one priority threshold corresponding to SL-PRS. The proportion of the target first resource in the first resource. The target first resource preemption instruction information; The target first resource preemption indication information is used to indicate whether the target first resource is allowed to be preempted.

9. The method according to claim 1, characterized in that, The first resource configuration information includes the first resource candidate set, which includes at least one of the following: The identification information of the first resource candidate set; The identifier information of the first resource in the first resource candidate set; Configuration information of the first resource; Configuration information of the first resource candidate set.

10. The method according to claim 9, characterized in that, The selection of the target first resource includes: Exclude the second resource from the first resource candidate set; The first resource candidate set includes at least one first resource.

11. The method according to claim 10, characterized in that, The second resource includes at least one of the following: The resources scheduled by the first SCI and / or the second SCI received by the first terminal; Resources used for transmitting the first SCI and / or the second SCI; Resources for SS-PBSCH, SL CSI-RS, or SL DMRS; Resources whose RSRP values ​​do not meet the RSRP threshold for sending SL-PRS; Resources that do not meet the SL-PRS transmission configuration; The first SCI and / or the second SCI received by the first terminal indicate that the resource is a reserved resource. Resources scheduled for other terminals to send SL-PRS.

12. The method according to claim 11, characterized in that, The first SCI includes a first-level SCI, a second-level SCI, or a third-level SCI; The second SCI includes a first-level SCI, a second-level SCI, or a third-level SCI; The third-level SCI is dedicated to scheduling SL-PRS.

13. The method according to claim 11, characterized in that, The second resource does not meet the SL-PRS transmission configuration if at least one of the following is true: The available bandwidth of the second resource is less than the bandwidth of SL-PRS. The number of available symbols for the second resource is less than the number of symbols for SL-PRS; The cycle of the second resource does not meet the requirements of SL-PRS; The second resource has a higher priority than the SL-PRS transmission priority; The subcarrier spacing of the second resource is different from the subcarrier spacing of SL-PRS; The CP of the second resource is different from the CP of SL-PRS.

14. The method according to claim 9, characterized in that, The first resource configuration information and / or the first resource set configuration information includes at least one of the following: Bandwidth information of the first resource and / or the first resource set; The starting point of the frequency domain location of the first resource and / or the first resource set; The starting RB information of the first resource and / or the first resource set; The parameter set information of the first resource and / or the first resource set; The subcarrier spacing of the first resource and / or the first resource set; The CP cycle prefix of the first resource and / or the first resource set; The start time of the first resource and / or the first resource set; The termination time of the first resource and / or the first resource set; The duration of the first resource and / or the first resource set; Periodic information of the first resource and / or the first resource set.

15. The method according to claim 1, characterized in that, The transmission of the first SL-PRS includes: If the predetermined conditions are met, send the first SL-PRS; The predetermined conditions include at least one of the following: The first-level SCI instruction received indicates SL-PRS is enabled. The received Level 2 SCI includes at least one of the following: positioning request, positioning assistance data, location information reporting or feedback resource configuration, SL-PRS measurement reporting or feedback resource configuration, at least one SL-PRS configuration parameter, and at least one SL-PRS mode. The first SL-PRS is one or more of the at least one SL-PRS.

16. The method according to claim 1, characterized in that, The target message also includes at least one of the following: location reporting or feedback information, SL-PRS measurement reporting or feedback information, positioning response, and capability information.

17. The method according to claim 1, characterized in that, The method further includes: Before sending the target message, the first device receives a first message, wherein the first message includes at least one of the following: a positioning request, positioning assistance data, information reported or fed back by SL-PRS measurement, a positioning response, and capability information; And / or, after sending the target message, the first device receives a second message, wherein the second message includes at least one of the following: a positioning request, positioning assistance data, information reported or fed back by SL-PRS measurements, a positioning response, and capability information.

18. The method according to claim 1, characterized in that, The target message includes any of the following: Indication information within the coverage area; Indication information for areas outside coverage.

19. The method according to claim 16, characterized in that, When the first terminal transmits the target message to other terminals, the target message is also transmitted through one or more of the following message types: Physical Side Link Shared Channel (PSSCH); PC5 LPP messages; RRC message from PC5.

20. The method according to claim 19, characterized in that, The target message includes time-domain offset information; The time-domain offset information also includes at least one of the following: SL-PRS measurement reporting or feedback and offset information between SL-PRS; Location information reporting or feedback and offset information between SL-PRS; The offset information between the positioning request and SL-PRS; The offset information between the positioning request and the SL-PRS measurement reporting or feedback; The offset information between the SCI and the SL-PRS measurement reporting or feedback; The offset information reported or fed back by the SCI and location information; The offset information between the SCI and the positioning request.

21. The method according to claim 1, characterized in that, The method further includes: The first terminal receives the target message; The method further includes: The first terminal receives a third message before receiving the target message; and / or, the first terminal receives a fourth message after receiving the target message.

22. The method according to claim 21, characterized in that, The target message includes a location request; The third message includes location assistance data; The fourth message includes a location response; Wherein, when the positioning request includes an SL-PRS measurement or reporting request, the positioning response includes time-frequency resources for SL-PRS measurement reporting or feedback. When the location request includes a request to report or provide feedback on location information, the location response includes the location information of the target terminal; When the positioning request includes an SL-PRS measurement reporting or feedback request, the positioning response includes the measurement information of the target terminal; The target terminal is any one of the following: the first terminal, the second terminal, or the third terminal.

23. The method according to claim 1, characterized in that, The target operation also includes selecting the target first resource; The target first resource is also used to transmit the target message; The target message also includes at least one of the following: positioning assistance data, first resource configuration information; The first resource configuration information is used to configure at least one first resource; The target first resource is one or more of the at least one first resource.

24. A positioning device, characterized in that, include: The execution module is used to perform the target operation to assist the first terminal in positioning. The target operation includes: transmitting a target message and transmitting a first sidelink positioning reference signal (SL-PRS). The target message includes: a location request and time-domain offset information; The first SL-PRS is used to determine: the location information of the first terminal and / or the second terminal, and / or, SL-PRS measurement information; The second terminal is a peer terminal that performs SL communication or SL positioning with the first terminal; The target message is transmitted via Side Link Control Information (SCI), wherein the SCI is dedicated to scheduling SL-PRS. The location request includes SL-PRS request indication information, wherein the SL-PRS request indication information is used to indicate whether to request SL-PRS; The time-domain offset information includes the offset information between the SCI and SL-PRS; The acquisition module is used to acquire a second parameter provided by a higher layer, the second parameter being used to select a target first resource, the target first resource being used to transmit the first SL-PRS; The second parameter includes: Indication information for at least one first resource, wherein the target first resource is one or more of the at least one first resource; At least one dedicated resource pool parameter for SL-PRS.

25. A communication device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the positioning method as described in any one of claims 1 to 23.

26. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the positioning method as described in any one of claims 1 to 23.

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