Positioning method, apparatus and terminal

Abstract

The application provides a positioning method, device and terminal, and the method comprises the following steps: receiving first information sent by at least one second terminal, wherein the first information is used for indicating a positioning priority of the second terminal; and determining a positioning reference source from the at least one second terminal according to the positioning priority. The scheme of the application solves the problem that there is no positioning method suitable for a sidelink in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wireless transmission technology, and in particular to a positioning method, device and terminal. BACKGROUND

[0002] 3GPP (Third Generation Partnership Projects) Release 16 has carried out research and standardization of NR (New Radio) Positioning (cellular network downlink). In the coverage of the cellular network, the base station transmits cell-specific DL (downlink) PRS (Positioning Reference Signal), and the terminal transmits an uplink sounding signal SRS (sounding reference signal) for positioning. Correspondingly, the terminal can measure RSTD (Reference Signal Time Difference), or measure the RSRP (Real Time Streaming Protocol) of the DL PRS, or measure the time difference between the terminal receiving the DL PRS and the terminal transmitting the SRS; the base station can measure the uplink RTOA (Relative Time of Arrival), the RSRP of the SRS, the time difference between the gNB (NR Node B) receiving the SRS and the gNB transmitting the DL PRS, and the angle measurement value. By processing the measurement values, the position of the UE (User Equipment) is calculated.

[0003] Research and standardization related work on sidelink positioning is actively carried out. Sidelink is different from NR downlink and uplink. Since there may be no gNB scheduling scenario, after the SL (sidelink) UE requests positioning, especially in the out-of-coverage scenario, it may receive related position information and positioning reference signals transmitted by multiple positioning anchor nodes. In addition, when the UE transmits the SL-PRS, how to inform the receiving UE of the type of the positioning source of the UE itself, and how the receiving UE selects from among the numerous positioning reference signals are problems.

[0004] Release-16 / 17 sidelink does not introduce positioning-related features, so the design of related positioning reference signals is not considered. The existing DL PRS and SRS for positioning cannot be directly applied to sidelink, and many positioning mechanisms cannot be directly reused for sidelink because of the scheduling of gNB. Due to the diversity of anchor node types, a related mechanism needs to be introduced for the determination of anchor nodes and the selection of related positioning reference signals. SUMMARY

[0005] The present application provides a positioning method, device and terminal, which solves the problem of lack of positioning method suitable for sidelink in the prior art.

[0006] In a first aspect, embodiments of the present application provide a positioning method applied to a first terminal, comprising:

[0007] receiving first information sent by at least one second terminal, the first information being used to indicate a positioning priority of the second terminal;

[0008] determining a positioning reference source from the at least one second terminal according to the positioning priority.

[0009] Optionally, the determining the positioning reference source from the at least one second terminal according to the positioning priority comprises:

[0010] determining a number of available positioning reference points according to the first information;

[0011] determining the positioning reference source according to the number of available positioning reference points and the positioning priority.

[0012] Optionally, the number of available positioning reference points is a total number of the second terminals corresponding to the first information received by the first terminal.

[0013] Optionally, the determining the number of available positioning reference points according to the first information comprises:

[0014] determining the number of available positioning reference points according to a size relationship between the positioning priority and a positioning priority threshold of the first terminal;

[0015] wherein the positioning priority threshold of the first terminal is set according to a positioning requirement of the first terminal; the positioning requirement comprises a positioning accuracy requirement and / or a positioning type; the positioning type comprises absolute positioning, relative positioning and relative location.

[0016] Optionally, the determining the positioning reference source according to the number of the available positioning reference points and the positioning priority comprises:

[0017] In a case that the number of the available positioning reference points is greater than M, determining the positioning reference source according to the positioning priority corresponding to the available positioning reference points; wherein M is a preset number, and M is a positive integer;

[0018] In a case that the number of the available positioning reference points is less than or equal to M, determining the available positioning reference points as the positioning reference source.

[0019] Optionally, the determining the positioning reference source according to the positioning priority corresponding to the available positioning reference points comprises:

[0020] determining the available positioning reference points in the first M positions in the available positioning reference points as the positioning reference source according to the order from high to low of the positioning priority;

[0021] wherein the available positioning reference points with the same positioning priority are randomly sorted.

[0022] Optionally, the determining the positioning reference source according to the positioning priority corresponding to the available positioning reference points comprises:

[0023] determining the available positioning reference points in the first M positions in the available positioning reference points as the positioning reference source according to the order from high to low of the positioning priority;

[0024] wherein the available positioning reference points with the same positioning priority are sorted according to the order from high to low of the signal priority;

[0025] The signal priority is related to the positioning reference signal sent by the available positioning reference point.

[0026] Optionally, the signal priority corresponding to the available positioning reference point is determined according to at least one of the following: Reference Signal Received Power (RSRP) intensity of the positioning reference signal;

[0027] bandwidth and / or frequency band occupied by the positioning reference signal;

[0028] interference degree of the positioning reference signal;

[0029] Time of Arrival (TOA) measurement value of the positioning reference signal;

[0030] wherein the greater the RSRP intensity is, the higher the signal priority is.

[0031] The greater the bandwidth and / or the frequency band, the higher the signal priority;

[0032] The lower the interference level, the higher the signal priority;

[0033] The smaller the TOA measurement value, the higher the signal priority.

[0034] Optionally, the positioning priority of the second terminal is determined according to at least one of the following:

[0035] Positioning accuracy information of the second terminal;

[0036] Type information of the second terminal;

[0037] Positioning confidence information of the second terminal;

[0038] Positioning determination mode information of the second terminal;

[0039] Positioning reference source of the second terminal.

[0040] Optionally, the first information indicates the positioning priority of the second terminal by at least one of the following:

[0041] Positioning reference signal;

[0042] Control information associated with the positioning reference signal;

[0043] Media Access Control (MAC) layer control element (CE);

[0044] Radio Resource Control (RRC) signaling;

[0045] Sidelink Positioning Information (SPI);

[0046] Among them, the control information includes any one of the following:

[0047] 1st-stage sidelink control information (1st-stage SCI);

[0048] 2st-stage sidelink control information (2st-stage SCI);

[0049] First control information for positioning.

[0050] Optionally, when the first information indicates the positioning priority of the second terminal through a positioning reference signal, the positioning method further comprises at least one of the following:

[0051] determining an initialization identity (ID) of the positioning reference signal, and determining the positioning priority corresponding to the second terminal according to the initialization ID; wherein different positioning priorities correspond to different initialization ID intervals or initialization ID values;

[0052] determining a mapping pattern of the positioning reference signal, and determining the positioning priority corresponding to the second terminal according to the mapping pattern;

[0053] wherein the mapping pattern comprises at least one of the following:

[0054] time-frequency position of a positioning reference signal (PRS);

[0055] frequency domain mapping rule of the PRS;

[0056] cyclic shift (CS) adopted by the PRS;

[0057] orthogonal cover code (OCC) adopted by the PRS.

[0058] In a second aspect, embodiments of the present application provide a positioning method applied to a second terminal, comprising:

[0059] sending first information to a first terminal, wherein the first information is used to indicate the positioning priority of the second terminal.

[0060] Optionally, the positioning priority of the second terminal is determined according to at least one of the following:

[0061] positioning accuracy information of the second terminal;

[0062] type information of the second terminal;

[0063] positioning confidence information of the second terminal;

[0064] positioning determination mode information of the second terminal;

[0065] positioning reference source of the second terminal.

[0066] Optionally, the first information indicates the positioning priority of the second terminal through at least one of the following:

[0067] Positioning Reference Signal (PRS);

[0068] Control information associated with the PRS;

[0069] MAC layer CE;

[0070] RRC signaling;

[0071] SPI;

[0072] The control information includes any of the following:

[0073] 1st-stage SCI;

[0074] 2nd-stage SCI;

[0075] 1st-stage SCI for positioning.

[0076] Optionally, when the first information indicates the positioning priority of the second terminal through the PRS, the positioning method further includes at least one of the following:

[0077] The positioning priority of the second terminal is indicated through an initialization ID of the PRS; different positioning priorities correspond to different initialization ID intervals or initialization ID values;

[0078] The positioning priority of the second terminal is indicated through a mapping pattern of the PRS;

[0079] The mapping pattern includes at least one of the following:

[0080] Time-frequency position of PRS;

[0081] Frequency domain pattern mapping rule of PRS;

[0082] CS used by PRS;

[0083] OCC used by PRS.

[0084] In a third aspect, an embodiment of the present application provides a terminal, comprising: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the positioning method according to the first aspect when executing the computer program, or implements the steps of the positioning method according to the second aspect when executing the computer program.

[0085] In a fourth aspect, an embodiment of the present application provides a positioning device applied to a first terminal, comprising:

[0086] A receiving module is configured to receive first information sent by at least one second terminal, the first information being used to indicate a positioning priority of the second terminal.

[0087] determining module, configured to determine a positioning reference source from the at least one second terminal according to the positioning priority.

[0088] In a fifth aspect, embodiments of the present application provide a positioning apparatus applied to a second terminal, comprising:

[0089] a sending module, configured to send first information to a first terminal, the first information being used to indicate a positioning priority of the second terminal.

[0090] In a sixth aspect, embodiments of the present application provide a computer readable storage medium, which stores a computer program, the computer program being executed by a processor to implement steps of the positioning method according to the first aspect, or to implement steps of the positioning method according to the second aspect.

[0091] The above technical solution of the present application has the following beneficial effects:

[0092] Embodiments of the present application can select and filter the positioning reference signal SL-PRS in the first information based on the positioning priority, so as to determine a more suitable positioning reference source, and then determine the own position information according to the positioning reference source, which can make the positioning more accurate and is suitable for the positioning problem in the sidelink. BRIEF DESCRIPTION OF DRAWINGS

[0093] Figure 1 a flow chart of a positioning method according to an embodiment of the present application;

[0094] Figure 2 a schematic diagram of different PRS frequency domain pattern indicating the positioning priority according to an embodiment of the present application;

[0095] Figure 3 a flow chart of a positioning method according to another embodiment of the present application;

[0096] Figure 4 a structural block diagram of a positioning apparatus according to an embodiment of the present application;

[0097] Figure 5 a structural block diagram of a positioning apparatus according to another embodiment of the present application;

[0098] Figure 6 a structural block diagram of a terminal according to an embodiment of the present application;

[0099] Figure 7 a structural block diagram of a terminal according to another embodiment of the present application. DETAILED DESCRIPTION

[0100] To make the technical problems to be solved by the present application, technical solutions and advantages clearer, specific embodiments will be described in detail below with reference to the drawings. In the following description, specific details such as specific configurations and components are provided only to help a comprehensive understanding of embodiments of the present application. Therefore, it should be apparent to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, descriptions of known functions and configurations are omitted for clarity and conciseness.

[0101] It should be understood that every technical feature mentioned in the specification throughout the specification means that the specific feature, structure or property related to the embodiment is included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or properties can be combined in one or more embodiments in any suitable manner.

[0102] In various embodiments of the present application, it should be understood that the size of the serial number of the following processes does not mean the order of execution, and the execution order of the processes should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0103] In addition, the terms "system" and "network" are often used interchangeably herein.

[0104] In the embodiments provided in the present application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that the determination of B according to A does not mean that B is determined only according to A, but B can also be determined according to A and / or other information.

[0105] In the embodiments of the present application, the form of the access network is not limited, and can be an access network including a macro base station (Macro Base Station), a micro base station (Pico Base Station), a Node B (a name of a 3G mobile base station), an enhanced base station (eNB), a home enhanced base station (Femto eNB or Home eNode B or Home eNB or HeNB), a relay station, an access point, an RRU (Remote Radio Unit), an RRH (Remote Radio Head), and the like. The user terminal can be a mobile phone (or a handset), or other devices capable of transmitting or receiving wireless signals, including a user equipment, a personal digital assistant (PDA), a wireless modem, a wireless communication device, a handheld device, a laptop computer, a cordless phone, a wireless local loop (WLL) station, a CPE (Customer Premise Equipment) or a mobile smart hotspot capable of converting mobile signals into WiFi signals, a smart home appliance, or other devices capable of communicating with a mobile communication network autonomously without human operation.

[0106] Description of the positioning reference signal:

[0107] For Rel-16 NR positioning, two types of positioning reference signals for positioning are mainly introduced: downlink positioning reference signal PRS and uplink sounding reference signal SRS for positioning for positioning. The downlink positioning reference signal PRS adopts a Gold sequence, and introduces PRS resource, PRS resource set, and PRS positioning frequency layer design. The PRS resource frequency domain can adopt a comb structure, and the time domain can occupy a plurality of consecutive OFDM (Orthogonal Frequency Division Multiplexing) symbols. Single port is adopted, the maximum bandwidth cannot exceed 272 PRBs, and the minimum bandwidth cannot be lower than 24 PRBs. PRS only supports periodic transmission.

[0108] The uplink sounding reference signal SRS for positioning for positioning adopts a ZC sequence, and can continuously occupy a plurality of OFDM symbols in the time domain, and also adopts a comb structure in the frequency domain, which facilitates frequency division multiplexing of a plurality of SRS-POS on the same OFDM symbol. Single port is adopted, and compared with two-port transmission, the single port has the advantage of improving the power spectral density of the SRS-POS signal at the receiver side of the base station, thereby improving the coverage range and quality of the SRS-POS signal. The maximum bandwidth supported in the frequency domain is 272 RBs, and the minimum bandwidth is 4 RBs. SRS-POS supports periodic, semi-persistent, and non-periodic three resource type configurations.

[0109] In actual positioning scenarios, common positioning sources include fixed nodes, Global Navigation Satellite System (GNSS), local sensors, gNBs, eNBs, other UEs, inertial navigation, and the like.

[0110] Specifically, embodiments of the present application provide a positioning method, device and terminal, which solve the problem that there is no positioning method suitable for sidelink in the prior art.

[0111] Specifically, embodiments of the present application provide a positioning method, device and terminal, which solve the problem that there is no positioning method suitable for sidelink in the prior art.

[0112] First embodiment

[0113] As shown in the figure, embodiments of the present application provide a positioning method, applied to a first terminal, and specifically comprising the following steps: Figure 1 Step 11: receiving first information sent by at least one second terminal, the first information being used to indicate a positioning priority of the second terminal.

[0114] It should be noted that the first information includes a positioning reference signal SL-PRS.

[0115] Step 12: determining a positioning reference source from the at least one second terminal according to the positioning priority.

[0116] In this embodiment, after receiving the first information, the first terminal can obtain the positioning priority corresponding to the first information, that is, the positioning priority of the second terminal sending the first information, so that the first terminal can select and filter the positioning reference signal SL-PRS (in the first information) based on the positioning priority, thereby determining a more suitable positioning reference source.

[0117] It can be understood that after determining the positioning reference source according to the above-mentioned manner, the first terminal can determine its own position information according to the positioning reference source, thereby making the positioning more accurate and suitable for the positioning problem in sidelink.

[0118]

[0119] Optionally, the determining of the positioning reference source from the at least one second terminal according to the positioning priority comprises:

[0120] determining the number of available positioning reference points according to the first information;

[0121] determining the positioning reference source according to the number of available positioning reference points and the positioning priority.

[0122] ​In this embodiment, the determining the number of available positioning reference points according to the first information can include the following two cases:

[0123] In case one, the number of available positioning reference points is the total number of the second terminals corresponding to the first information received by the first terminal.

[0124] In this embodiment, all possible second terminals (i.e., the second terminals corresponding to the first information received by the first terminal) can be used as available positioning reference points.

[0125] In case two, the determining the number of available positioning reference points according to the first information includes:

[0126] determining the number of available positioning reference points according to the relationship between the positioning priority and a positioning priority threshold of the first terminal, wherein the positioning priority threshold of the first terminal is set according to the positioning requirement of the first terminal, and the positioning requirement includes a positioning accuracy requirement and / or a positioning type, and the positioning type includes absolute positioning, relative positioning, and relative location.

[0127] In this embodiment, the first terminal can set a positioning priority threshold based on its own positioning requirement, so that the available positioning reference points with a positioning priority greater than or equal to the positioning priority threshold can be screened out. In this way, by screening the suitable available positioning reference points with a high positioning priority, the positioning can be more accurate.

[0128] Optionally, the determining the positioning reference source according to the number of available positioning reference points and the positioning priority includes:

[0129] In a case where the number of available positioning reference points is greater than M, determining the positioning reference source according to the positioning priority corresponding to the available positioning reference points, wherein M is a preset number, and M is a positive integer.

[0130] In a case where the number of available positioning reference points is less than or equal to M, determining the available positioning reference points as the positioning reference source.

[0131] It should be noted that the value of M can be set according to the positioning type (which can be an absolute positioning type or a relative positioning type). For example, at least three positioning reference sources are required to complete absolute positioning measurement, and M can be set to three.

[0132] In this embodiment, the screening can be performed based on the minimum number of positioning reference sources required to complete the positioning measurement and the positioning priority. Specifically, it can be first determined whether the current number of positioning reference sources can be used for absolute positioning. When the number of available positioning reference points is greater than the minimum number (i.e., M) required by the positioning type, the available positioning reference points can be further screened using the positioning priority to determine the positioning reference sources.

[0133] Alternatively, the determination of the positioning reference sources according to the positioning priority corresponding to the available positioning reference points can include the following two cases:

[0134] Case one: the first M available positioning reference points in the available positioning reference points are determined as the positioning reference sources in descending order of the positioning priority; wherein the available positioning reference points with the same positioning priority are randomly sorted.

[0135] It should be noted that, since there can be available positioning reference points with the same positioning priority, in this case, these available positioning reference points with the same positioning priority can be randomly sorted.

[0136] That is, when the available positioning reference points are sorted in descending order of the positioning priority, the available positioning reference points with the same positioning priority can be randomly sorted, and then the first M available positioning reference points are selected from the available positioning reference points as the positioning reference sources.

[0137] Case two: the first M available positioning reference points in the available positioning reference points are determined as the positioning reference sources in descending order of the positioning priority; wherein the available positioning reference points with the same positioning priority are sorted in descending order of the signal priority; the signal priority is related to the positioning reference signal sent by the available positioning reference point.

[0138] That is, when the available positioning reference points are sorted in descending order of the positioning priority, the available positioning reference points with the same positioning priority can be further sorted using the signal priority, and then the first M available positioning reference points are selected from the available positioning reference points as the positioning reference sources.

[0139] In this embodiment, for the case where there are multiple available positioning reference points, the suitable positioning reference sources can be selected by the above method, which is helpful to improve the positioning accuracy.

[0140] Alternatively, the signal priority corresponding to the available positioning reference point is determined according to at least one of the following:

[0141] a reference signal received power, RSRP, strength of the positioning reference signal;

[0142] a bandwidth and / or a frequency range occupied by the positioning reference signal;

[0143] an interference level of the positioning reference signal;

[0144] a time of arrival, TOA, measurement value of the positioning reference signal;

[0145] wherein the greater the RSRP strength, the higher the signal priority;

[0146] the greater the bandwidth and / or the frequency range, the higher the signal priority; for example, for frequency range (FR), FR2 is higher than FR1;

[0147] the lower the interference level, the higher the signal priority;

[0148] the smaller the TOA measurement value, the higher the signal priority.

[0149] wherein the interference level of the positioning reference signal is described as follows:

[0150] For two available positioning reference points with the same positioning priority, further screening can be performed according to the interference level of the positioning reference signal transmitted by the two available positioning reference points. For example, if the positioning reference signal transmitted by available positioning reference point 1 is multiplexed with other users in the same time-frequency resource, and the positioning reference signal transmitted by available positioning reference point 2 is not multiplexed with other users in the same time-frequency resource, available positioning reference point 2 is selected, i.e., it is determined that the signal priority of available positioning reference point 2 is higher than that of available positioning reference point 1.

[0151] For another example, the positioning reference signal transmitted by available positioning reference point 1 is multiplexed with other users in the same time-frequency resource by using different CS (or OCC), and the positioning reference signal transmitted by available positioning reference point 2 collides with other users in the same time-frequency resource, available positioning reference point 1 is selected, i.e., it is determined that the signal priority of available positioning reference point 1 is higher than that of available positioning reference point 2.

[0152] It should be noted that after determining the positioning reference source, the position information of the first terminal can be determined according to the positioning reference source, which can specifically include the following steps:

[0153] determining the position information of the first terminal according to the number of positioning reference sources;

[0154] In the case that the number of the positioning reference sources is equal to M, the absolute positioning information and / or the relative positioning information of the first terminal is solved to obtain the position information of the first terminal.

[0155] In the case that the number of the positioning reference sources is greater than zero and less than M, the relative position (or relative distance) information of the first terminal relative to the second terminal is solved to obtain the position information of the first terminal.

[0156] In this embodiment, it can be determined whether the number of the current positioning reference sources meets the demand of absolute positioning; if yes (i.e. the number of the positioning reference sources is equal to M), the absolute positioning is performed, or the absolute positioning and the relative positioning are performed, otherwise (i.e. the number of the positioning reference sources is greater than zero and less than M), only the relative position information is solved.

[0157] Optionally, the positioning priority of the second terminal is determined according to at least one of the following:

[0158] The position accuracy information of the second terminal;

[0159] The type information of the second terminal;

[0160] The position confidence information of the second terminal;

[0161] The position determination mode information of the second terminal;

[0162] The positioning reference source of the second terminal.

[0163] In this embodiment, for the division of the positioning priority of the positioning reference source, it needs to be explained that the higher the position accuracy of the second terminal is, the higher the corresponding positioning priority is, and the higher the position confidence is, the higher the corresponding positioning priority is.

[0164] In an optional embodiment of the present application, the division of the positioning priority can be based on the position confidence information, for example: when the positioning priority is P0 (i.e. Priority level P0), the corresponding position accuracy is range1 (i.e. range1); the position accuracy corresponding to Priority level P1 is range2; and so on, the position accuracy corresponding to Priority level P2 is range3; the position accuracy corresponding to Priority level P3 is range4……

[0165] Optionally, in the case that the positioning priority of the second terminal is determined according to the type information of the second terminal, the positioning priority is sorted from high to low as follows:

[0166] Road Side Unit (RSU);

[0167] OBU in static state (OBU On board Unit in static state);

[0168] OBU in motion state (OBU On board Unit in motion state).

[0169] Here, the type information of the second terminal indicates the type of the second terminal, for example, the type of the second terminal is RSU in motion (or static) state, OBU in motion (or static) state, etc.

[0170] In this embodiment, the positioning priority is divided based on the type of the positioning reference source (i.e. the type information of the second terminal), wherein the corresponding positioning priority of the second terminal as RSU is higher than the corresponding positioning priority of the second terminal as OBU, and the corresponding positioning priority of the OBU installed on the static vehicle is higher than the corresponding positioning priority of the OBU in non-static (i.e. in motion state).

[0171] Optionally, considering the diversity of the positioning reference source, or supporting non-fixed nodes as the positioning reference source, the positioning priority can be divided according to the position determination mode information of the positioning reference source (i.e. the SL-PRS signal sending end), for example:

[0172] Example one, example of the higher priority part, wherein the positioning priority can also be sorted from high to low as follows:

[0173] Calibrated position of fixed node;

[0174] From GNSS and Real time kinematic (RTK) type positioning mode;

[0175] From Local sensor (higher reliability); here, the accuracy of Local sensor is higher under normal working conditions, but it will be degraded under certain working conditions, see the example in example two for details;

[0176] From PRS sent by RSU satisfying a preset number;

[0177] From Ultra Wide Band (UWB);

[0178] From NR Uu Positioning (high accuracy).

[0179] It should be noted that in the above example one, at least two of the above ways can also be combined.

[0180] Example two, an example about lower priority part, in which, the positioning priority can also be sorted from high to low as follows:

[0181] from GNSS;

[0182] from NR Uu Positioning (low accuracy);

[0183] from PRS sent by RSU which does not meet the preset number;

[0184] from Local sensor; here, the Local sensor in example one can be distinguished by credibility or positioning accuracy, in which, the credibility of the Local sensor is degraded but available, for example, the Local sensor in the case of low light intensity or rainy and snowy weather;

[0185] Wireless Local Area Networks (WLAN) positioning;

[0186] Bluetooth positioning;

[0187] Inertial navigation maintenance.

[0188] It should be noted that in the above example two, at least two of the above can be combined.

[0189] Optionally, the first information indicates the positioning priority of the second terminal by at least one of the following:

[0190] positioning reference signal;

[0191] control information associated with the positioning reference signal;

[0192] medium access control (MAC) layer control element (CE);

[0193] radio resource control (RRC) signaling;

[0194] positioning-specific information (SPI);

[0195] wherein the control information includes any of the following:

[0196] first-stage sidelink control information (1st-stage SCI);

[0197] second-stage sidelink control information (2nd-stage SCI);

[0198] first control information for positioning.

[0199] In this embodiment, the first information can implicitly indicate the positioning priority of the second terminal through the positioning reference signal, or explicitly indicate the positioning priority of the second terminal through information such as control information associated with the positioning reference signal.

[0200] In the explicit indication mode, the following cases can be included:

[0201] (1) The positioning priority of the second terminal is indicated through control information associated with the positioning reference signal, i.e., 1st-stage SCI, or 2nd-stage SCI, or the first control information for positioning.

[0202] In this case, the first terminal can determine the positioning priority of the second terminal by receiving the control information in the first information.

[0203] (2) The positioning priority of the second terminal is indicated through a MAC control unit (i.e., MAC CE); and the second terminal places a MAC subheader of a PC5 interface for carrying its own positioning priority in the MAC CE.

[0204] In this case, the first terminal can determine the positioning priority corresponding to the positioning reference signal by receiving the MAC CE associated with the positioning reference signal in the first information.

[0205] (3) The positioning priority of the second terminal is indicated through RRC signaling.

[0206] In this case, the first terminal can determine the positioning priority corresponding to the positioning reference signal by receiving the RRC signaling associated with the positioning reference signal in the first information.

[0207] (4) The positioning priority of the second terminal is indicated through SPI.

[0208] In this case, the first terminal can determine the positioning priority corresponding to the positioning reference signal by receiving the SPI in the first information.

[0209] The implicit indication mode, i.e., the first information indicates the positioning priority of the second terminal through the positioning reference signal, is described as follows:

[0210] Optionally, when the first information indicates the positioning priority of the second terminal through the positioning reference signal, the positioning method further includes at least one of the following:

[0211] (1) Determine the initialization ID of the positioning reference signal, and determine the positioning priority corresponding to the second terminal according to the initialization ID; wherein different positioning priorities correspond to different initialization ID intervals or initialization ID values.

[0212] Here, the initial ID is set to the configured ID.

[0213] In this embodiment, the initialization ID of the positioning reference signal can be used to implicitly indicate the positioning priority (i.e., priority level) of the second terminal. Different initialization ID ranges (i.e., SL-PRSID ranges) or initialization ID values ​​can be defined for different positioning priorities. Thus, through this implicit association, the first terminal can determine the positioning priority of the second terminal by detecting the initialization ID. For example:

[0214] Priority level Positioning method SL-PRS ID range P0 Fixed node's calibrated position ID Range1 P1 GNSS+RTK ID Range2 P2 Local sensor (higher confidence) ID Range3 P3 RSU meeting preset number ID Range4 P4 NR Uu Positioning ID Range5 P5 …… …… P6 …… ……

[0215] (ii) Determine the mapping pattern of the positioning reference signal, and determine the positioning priority corresponding to the second terminal based on the mapping pattern;

[0216] The mapping pattern includes at least one of the following:

[0217] Locate the time-frequency position of the reference signal PRS;

[0218] Frequency domain pattern mapping rules of PRS;

[0219] PRS uses cyclic shift CS;

[0220] PRS uses the orthogonal overlay code OCC.

[0221] It should be noted that CS is used when the PRS is a ZC sequence, and OCC is used when the PRS is a gold sequence.

[0222] Among these, different time-domain symbols and / or different frequency-domain resource locations (i.e., instantaneous frequency locations) correspond to different positioning priorities; different CS (or OCC) correspond to different positioning priorities; and different frequency-domain patterns correspond to different positioning priorities. For example... Figure 2 As shown, a comb structure is used in the frequency domain. Taking PRS occupying 4 time-domain symbols and the comb size as an example (the time-domain symbol indicated by the arrow in the figure is the first time-domain symbol, as shown in Figure 1), st As shown in the symbol, each positioning priority (Priority1, Priority2, Priority3, Priority4) has a different frequency domain mapping method.

[0223] In this embodiment of the invention, the positioning reference signal SL-PRS in the first information can be selected and filtered based on positioning priority to determine a more suitable positioning reference source, and then the self-position information can be determined based on the positioning reference source, which can make the positioning more accurate and is applicable to the positioning problem in the sidelink.

[0224] Second embodiment

[0225] As Figure 3 shown, the embodiment of the present application provides a positioning method applied to a second terminal, specifically comprising the following steps:

[0226] Step 31: sending first information to a first terminal, wherein the first information is used to indicate a positioning priority of the second terminal.

[0227] In this embodiment, the second terminal can indicate the positioning priority of the second terminal by sending the first information to the first terminal, so that the first terminal can obtain the positioning priority of the second terminal after receiving the first information. In this way, the first terminal can perform selective filtering processing on the positioning reference signal SL-PRS (in the first information) based on the positioning priority, so as to determine a more suitable positioning reference source, and further determine the own position information according to the positioning reference source, thereby making the positioning of the first terminal more accurate, which is suitable for the positioning problem in the sidelink.

[0228] Optionally, the positioning priority of the second terminal is determined according to at least one of the following:

[0229] Positioning accuracy information of the second terminal;

[0230] Type information of the second terminal;

[0231] Position confidence information of the second terminal (PositionConfidence);

[0232] Positioning determination mode information of the second terminal;

[0233] Positioning reference source of the second terminal.

[0234] In this embodiment, for the division of the positioning priority of the second terminal (i.e. the sending end of the positioning reference signal SL-PRS), it needs to be noted that the higher the position accuracy of the second terminal is, the higher the corresponding positioning priority is, and the higher the position confidence is, the higher the corresponding positioning priority is.

[0235] In an optional embodiment of the present application, the division of the positioning priority can be based on the position confidence information, for example: when the positioning priority is P0 (i.e. Priority level P0), the corresponding position accuracy is range1 (i.e. range1); the position accuracy corresponding to Priority level P1 is range2; and so on, the position accuracy corresponding to Priority level P2 is range3; the position accuracy corresponding to Priority level P3 is range4, and so on.

[0236] Optionally, the first information indicates the positioning priority of the second terminal by at least one of the following:

[0237] a positioning reference signal;

[0238] control information associated with the positioning reference signal;

[0239] a MAC layer CE;

[0240] RRC signaling;

[0241] an SPI;

[0242] wherein the control information includes any of the following:

[0243] 1st-stage SCI;

[0244] 2nd-stage SCI;

[0245] first control information for positioning.

[0246] In this embodiment, the first information can implicitly indicate the positioning priority of the second terminal through a positioning reference signal, or explicitly indicate the positioning priority of the second terminal through control information associated with the positioning reference signal, etc.

[0247] wherein the explicit indication mode can include the following cases:

[0248] (1) indicating the positioning priority of the second terminal through control information, i.e., 1st-stage SCI, or 2nd-stage SCI, or first control information for positioning;

[0249] (2) indicating the positioning priority of the second terminal through a MAC control unit (i.e., a MAC CE); wherein the second terminal places a MAC subheader of a PC5 interface for carrying its own positioning priority in the MAC CE.

[0250] (3) indicating the positioning priority of the second terminal through RRC signaling;

[0251] (4) indicating the positioning priority of the second terminal through an SPI.

[0252] The implicit indication mode, i.e., indicating the positioning priority of the second terminal through a positioning reference signal, is specifically described as follows:

[0253] Optionally, when the first information indicates the positioning priority of the second terminal through a positioning reference signal, the positioning method further includes at least one of the following:

[0254] The initialization ID of the positioning reference signal indicates the positioning priority of the second terminal; different positioning priorities correspond to different initialization ID ranges or initialization ID values;

[0255] The mapping pattern of the positioning reference signal indicates the positioning priority of the second terminal.

[0256] The mapping pattern includes at least one of the following:

[0257] The time-frequency position of the PRS;

[0258] The frequency domain pattern mapping rule of the PRS;

[0259] The CS used by the PRS;

[0260] The OCC used by the PRS.

[0261] It should be noted that the PRS uses CS when it is a ZC sequence, and the PRS uses OCC when it is a gold sequence.

[0262] In this embodiment, the initialization ID of the positioning reference signal can be used to implicitly indicate the positioning priority (i.e., Priority level) of the second terminal, wherein different initialization ID ranges (i.e., SL-PRSID range) or initialization ID values can be divided for different positioning priorities. In this way, through this implicit association, the first terminal can confirm the positioning priority of the second terminal by detecting the initialization ID. For example, an association between the initialization ID of the positioning reference signal and the positioning priority can be established, and the specific association is shown in the following table:

[0263] Priority level Positioning method SL-PRS ID range P0 Fixed node's calibrated position ID Range1 P1 GNSS+RTK ID Range2 P2 Local sensor (higher confidence) ID Range3 P3 RSU meeting preset number ID Range4 P4 NR Uu Positioning ID Range5 P5 …… …… P6 …… ……

[0264] In the embodiment of the application, the second terminal can indicate the positioning priority of the second terminal by sending first information to the first terminal, so that the first terminal can obtain the positioning priority of the second terminal after receiving the first information. In this way, the first terminal can determine a more suitable positioning reference source based on the positioning priority, and further determine its own position information according to the positioning reference source, so that the positioning of the first terminal is more accurate, and is suitable for positioning problems in the sidelink.

[0265] Third embodiment

[0266] As shown in Figure 4 The embodiment of the application provides a positioning device 400 applied to a first terminal, which comprises:

[0267] The receiving module 401 is configured to receive first information sent by at least one second terminal, wherein the first information is used to indicate the positioning priority of the second terminal.

[0268] determining, by a determining module 402, a positioning reference source from the at least one second terminal according to the positioning priority.

[0269] Optionally, the determining module 402 comprises:

[0270] a first determining sub-module, configured to determine a number of available positioning reference points according to the first information;

[0271] a second determining sub-module, configured to determine the positioning reference source according to the number of available positioning reference points and the positioning priority.

[0272] Optionally, the number of available positioning reference points is a total number of the second terminals corresponding to the first information received by the first terminal.

[0273] Optionally, the first determining sub-module comprises:

[0274] a first determining unit, configured to determine a number of available positioning reference points according to a size relationship between the positioning priority and a positioning priority threshold of the first terminal;

[0275] wherein the positioning priority threshold of the first terminal is set according to a positioning requirement of the first terminal; the positioning requirement comprises a positioning accuracy requirement and / or a positioning type; the positioning type comprises absolute positioning, relative positioning and relative location.

[0276] Optionally, the second determining sub-module comprises:

[0277] a second determining unit, configured to determine the positioning reference source according to the positioning priority corresponding to the available positioning reference points in a case that the number of available positioning reference points is greater than M; wherein M is a preset number, and M is a positive integer.

[0278] a third determining unit, configured to determine the available positioning reference points as the positioning reference source in a case that the number of available positioning reference points is less than or equal to M.

[0279] Optionally, the second determining unit comprises:

[0280] a first determining sub-unit, configured to determine, from the available positioning reference points, the available positioning reference points in a front M position in a descending order of the positioning priority as the positioning reference source.

[0281] wherein the available positioning reference points with the same positioning priority are randomly sorted.

[0282] Optionally, the second determining unit comprises:

[0283] a second determining sub-unit, configured to determine, according to the order from high to low of the positioning priority, the available positioning reference points in the first M positions as the positioning reference sources from the available positioning reference points;

[0284] wherein the available positioning reference points with the same positioning priority are sorted according to the order from high to low of the signal priority;

[0285] The signal priority is related to the positioning reference signal sent by the available positioning reference point.

[0286] Optionally, the signal priority of the available positioning reference point is determined according to at least one of the following:

[0287] Reference signal receiving power (RSRP) strength of the positioning reference signal;

[0288] Bandwidth and / or frequency band occupied by the positioning reference signal;

[0289] Interference degree of the positioning reference signal;

[0290] Time of arrival (TOA) measurement value of the positioning reference signal;

[0291] Wherein, the greater the RSRP strength, the higher the signal priority;

[0292] The greater the bandwidth and / or frequency band, the higher the signal priority;

[0293] The lower the interference degree, the higher the signal priority;

[0294] The smaller the TOA measurement value, the higher the signal priority.

[0295] Optionally, the positioning priority of the second terminal is determined according to at least one of the following:

[0296] Positioning accuracy information of the second terminal;

[0297] Type information of the second terminal;

[0298] Positioning confidence information of the second terminal;

[0299] Positioning determination mode information of the second terminal;

[0300] Positioning reference source of the second terminal.

[0301] Optionally, the first information indicates the positioning priority of the second terminal by at least one of the following:

[0302] Positioning reference signal;

[0303] Control information associated with a positioning reference signal;

[0304] A media access control, MAC, layer control element, CE;

[0305] Radio resource control, RRC, signaling;

[0306] Positioning-specific information, SPI;

[0307] The control information includes any of the following:

[0308] First-stage sidelink control information, 1st-stage SCI;

[0309] Second-stage sidelink control information, 2nd-stage SCI;

[0310] First control information for positioning.

[0311] Optionally, when the first information indicates a positioning priority of the second terminal through a positioning reference signal, the positioning apparatus further includes at least one of the following:

[0312] A third determining sub-module configured to determine an initialization identifier, ID, of the positioning reference signal, and determine the positioning priority corresponding to the second terminal according to the initialization ID; different positioning priorities correspond to different initialization ID intervals or initialization ID values;

[0313] A fourth determining sub-module configured to determine a mapping pattern of the positioning reference signal, and determine the positioning priority corresponding to the second terminal according to the mapping pattern;

[0314] The mapping pattern includes at least one of the following:

[0315] A time-frequency position of a positioning reference signal, PRS;

[0316] A frequency domain pattern mapping rule of the PRS;

[0317] A cyclic shift, CS, adopted by the PRS;

[0318] An orthogonal cover code, OCC, adopted by the PRS.

[0319] The third embodiment of the present application is corresponding to the method of the above-mentioned first embodiment, all the implementation means in the above-mentioned first embodiment are applicable to the embodiment of the positioning apparatus, and the same technical effects can also be achieved.

[0320] Fourth embodiment

[0321] As shown in Figure 5 The embodiment of the present application provides a positioning apparatus 500 applied to a second terminal, which comprises:

[0322] The sending module 501 is configured to send first information to the first terminal, the first information being used to indicate a positioning priority of the second terminal.

[0323] Optionally, the positioning priority of the second terminal is determined according to at least one of the following:

[0324] positioning accuracy information of the second terminal;

[0325] type information of the second terminal;

[0326] positioning confidence information of the second terminal;

[0327] positioning determination manner information of the second terminal;

[0328] a positioning reference source of the second terminal.

[0329] Optionally, the first information indicates the positioning priority of the second terminal by at least one of the following:

[0330] a positioning reference signal;

[0331] control information associated with the positioning reference signal;

[0332] a MAC layer CE;

[0333] RRC signaling;

[0334] an SPI;

[0335] The control information includes any one of the following:

[0336] 1st-stage SCI;

[0337] 2nd-stage SCI;

[0338] first control information for positioning.

[0339] Optionally, when the first information indicates the positioning priority of the second terminal by a positioning reference signal, the sending module includes at least one of the following:

[0340] a first indicating unit, configured to indicate the positioning priority of the second terminal by an initialization ID of the positioning reference signal; different positioning priorities correspond to different initialization ID intervals or initialization ID values;

[0341] a second indicating unit, configured to indicate the positioning priority of the second terminal by a mapping pattern of the positioning reference signal;

[0342] The mapping pattern includes at least one of the following:

[0343] time-frequency location of the PRS;

[0344] frequency-domain pattern mapping rule of the PRS;

[0345] CS adopted by the PRS;

[0346] OCC adopted by the PRS.

[0347] The fourth embodiment of the present application is corresponding to the method of the second embodiment described above, all the implementation means in the second embodiment described above are applicable to the embodiment of the positioning device, and the same technical effects can be achieved.

[0348] Fifth embodiment

[0349] In order to better achieve the above purpose, as shown in the fifth embodiment of the present application, a terminal is also provided, which is a first terminal, comprising: Figure 6 a processor 600; and a memory 620 connected with the processor 600 through a bus interface, the memory 620 is used to store programs and data used by the processor 600 in executing operations, and the processor 600 calls and executes the programs and data stored in the memory 620.

[0350] The transceiver 610 is connected with the bus interface, and is used to receive and send data under the control of the processor 600; the processor 600 is used to read the programs in the memory 620 to execute the following steps:

[0351] receive first information sent by at least one second terminal, the first information is used to indicate a positioning priority of the second terminal;

[0352] determine a positioning reference source from the at least one second terminal according to the positioning priority.

[0353] The transceiver 610 is connected with the bus interface, and is used to receive and send data under the control of the processor 600; the processor 600 is used to read the programs in the memory 620 to execute the following steps:

[0354] Figure 6 The transceiver 610 is connected with the bus interface, and is used to receive and send data under the control of the processor 600; the processor 600 is used to read the programs in the memory 620 to execute the following steps:In particular embodiments, the bus architecture can include any number of interconnecting buses and bridges, and the various circuitry representative of the processor 600 and the memory 620, for example, can be linked through various busses and bridges that are well-known in the art, and therefore, will not be further described herein. The bus interface provides an interface to the memory. The transceiver 610 can be a plurality of elements, including a transmitter and a receiver, that provides a means for communicating with various other apparatus over a transmission medium. The user interface 630 can also be an interface to other means such as a keypad, a display, a speaker, a microphone, a joystick, etc. The processor 600 is responsible for managing the bus architecture and general processing, and the memory 620 can store data for use by the processor 600 in executing operations.

[0355] Optionally, the processor 600 is configured to determine the positioning reference source from the at least one second terminal according to the positioning priority, specifically configured to:

[0356] determine the number of available positioning reference points according to the first information;

[0357] determine the positioning reference source according to the number of available positioning reference points and the positioning priority.

[0358] Optionally, the number of available positioning reference points is the total number of the second terminals corresponding to the first information received by the first terminal.

[0359] Optionally, the processor 600 is configured to determine the number of available positioning reference points according to the first information, specifically configured to:

[0360] determine the number of available positioning reference points according to the size relationship between the positioning priority and a positioning priority threshold of the first terminal;

[0361] wherein the positioning priority threshold of the first terminal is set according to a positioning requirement of the first terminal; the positioning requirement includes a positioning accuracy requirement and / or a positioning type; the positioning type includes absolute positioning, relative positioning and relative location.

[0362] Optionally, the processor 600 is configured to determine the positioning reference source according to the number of available positioning reference points and the positioning priority, specifically configured to:

[0363] determine the positioning reference source according to the positioning priority corresponding to the available positioning reference points in the case that the number of available positioning reference points is greater than M; wherein M is a preset number, and M is a positive integer;

[0364] In a case where the number of the available positioning reference points is less than or equal to M, the available positioning reference points are determined as the positioning reference source.

[0365] Optionally, when determining the positioning reference source according to the positioning priority corresponding to the available positioning reference points, the processor 600 is specifically configured to:

[0366] determine, from the available positioning reference points, the available positioning reference points ranked in the first M positions as the positioning reference source in the order from high to low of the positioning priority;

[0367] wherein the available positioning reference points with the same positioning priority are randomly ranked.

[0368] Optionally, when determining the positioning reference source according to the positioning priority corresponding to the available positioning reference points, the processor 600 is specifically configured to:

[0369] determine, from the available positioning reference points, the available positioning reference points ranked in the first M positions as the positioning reference source in the order from high to low of the positioning priority;

[0370] wherein the available positioning reference points with the same positioning priority are ranked in the order from high to low of a signal priority;

[0371] The signal priority is related to a positioning reference signal sent by the available positioning reference point.

[0372] Optionally, the signal priority corresponding to the available positioning reference point is determined according to at least one of the following:

[0373] Reference signal receiving power (RSRP) strength of the positioning reference signal;

[0374] Bandwidth and / or frequency band occupied by the positioning reference signal;

[0375] Interference degree of the positioning reference signal;

[0376] Time of arrival (TOA) measurement value of the positioning reference signal;

[0377] wherein the greater the RSRP strength is, the higher the signal priority is;

[0378] the greater the bandwidth and / or the frequency band are, the higher the signal priority is;

[0379] the lower the interference degree is, the higher the signal priority is;

[0380] the smaller the TOA measurement value is, the higher the signal priority is.

[0381] Optionally, the positioning priority of the second terminal is determined according to at least one of the following:

[0382] positioning accuracy information of the second terminal;

[0383] type information of the second terminal;

[0384] positioning confidence information of the second terminal;

[0385] positioning determination manner information of the second terminal;

[0386] a positioning reference source of the second terminal.

[0387] Optionally, the first information indicates the positioning priority of the second terminal by at least one of the following:

[0388] a positioning reference signal;

[0389] control information associated with the positioning reference signal;

[0390] a medium access control (MAC) control element (CE);

[0391] radio resource control (RRC) signaling;

[0392] positioning-specific information (SPI);

[0393] wherein the control information comprises any one of the following:

[0394] first-stage sidelink control information (SCI);

[0395] second-stage sidelink control information (SCI);

[0396] first control information for positioning.

[0397] Optionally, when the processor 600 is configured to indicate the positioning priority of the second terminal by a positioning reference signal, the processor 600 is further configured to perform at least one of the following:

[0398] determine an initialization identifier (ID) of the positioning reference signal, and determine the positioning priority corresponding to the second terminal according to the initialization ID; wherein different positioning priorities correspond to different initialization ID intervals or initialization ID values;

[0399] determine a mapping pattern of the positioning reference signal, and determine the positioning priority corresponding to the second terminal according to the mapping pattern;

[0400] wherein the mapping pattern comprises at least one of the following:

[0401] Time-frequency position of a positioning reference signal (PRS);

[0402] Mapping rule of a frequency domain pattern of a PRS;

[0403] Cyclic shift (CS) adopted by a PRS;

[0404] Orthogonal cover code (OCC) adopted by a PRS.

[0405] The terminal provided by the application can perform selection filtering processing on the positioning reference signal (SL-PRS) in the first information based on the positioning priority, thereby determining a more suitable positioning reference source, and further determining the own position information according to the positioning reference source, so that the positioning is more accurate, and the application is suitable for the positioning problem in the sidelink.

[0406] Sixth embodiment

[0407] In order to better achieve the above purpose, as Figure 7 The sixth embodiment of the application further provides a terminal, which is a second terminal and comprises:

[0408] a processor 700; and a memory 720 connected with the processor 700 through a bus interface, the memory 720 being used for storing programs and data used by the processor 700 in performing operations, and the processor 700 calling and executing the programs and data stored in the memory 720.

[0409] The transceiver 710 is connected with the bus interface and is used for receiving and sending data under the control of the processor 700; and the processor 700 is used for reading the programs in the memory 720 to perform the following steps:

[0410] sending first information to a first terminal, the first information being used for indicating a positioning priority of the second terminal.

[0411] The transceiver 710 is connected with the bus interface and is used for receiving and sending data under the control of the processor 700; and the processor 700 is used for reading the programs in the memory 720 to perform the following steps: Figure 7In particular embodiments, the bus architecture can include any number of interconnecting buses and bridges, depending on the specific application of the processor 700. The bus architecture can link various circuits of the various circuitries represented by the processor 700 and the memory 720, which can be represented by one or more processors and memories, respectively. The bus architecture can also link various other circuits, such as peripheral devices, voltage regulators, and power management circuitry, which are well known in the art and thus, not further described herein. The bus interface provides an interface to the transceiver 710, which can be a plurality of elements, including a transmitter and a receiver, that provide a means for communicating with various other apparatus over a transmission medium. The user interface 730 can also be an interface to peripheral devices that can be attached to or detached from the apparatus, including, but not limited to, a keypad, a display, a speaker, a microphone, a joystick, etc., depending on the particular apparatus. The processor 700 is responsible for managing the bus architecture and general processing, and the memory 720 can store data used by the processor 700 in executing its operations.

[0412] Optionally, the positioning priority of the second terminal is determined according to at least one of:

[0413] positioning accuracy information of the second terminal;

[0414] type information of the second terminal;

[0415] positioning confidence information of the second terminal;

[0416] positioning determination manner information of the second terminal;

[0417] a positioning reference source of the second terminal.

[0418] Optionally, the first information indicates the positioning priority of the second terminal by at least one of:

[0419] a positioning reference signal;

[0420] control information associated with the positioning reference signal;

[0421] a MAC layer CE;

[0422] RRC signaling;

[0423] an SPI;

[0424] wherein the control information comprises any one of:

[0425] 1st-stage SCI;

[0426] 2nd-stage SCI;

[0427] first control information for positioning.

[0428] Optionally, the processor 700 is configured to indicate the positioning priority of the second terminal by the positioning reference signal, in particular, configured to perform at least one of the following:

[0429] indicating the positioning priority of the second terminal by an initialization ID of the positioning reference signal; wherein different positioning priorities correspond to different initialization ID intervals or initialization ID values;

[0430] indicating the positioning priority of the second terminal by a mapping pattern of the positioning reference signal;

[0431] wherein the mapping pattern comprises at least one of the following:

[0432] time-frequency position of PRS;

[0433] frequency domain pattern mapping rule of PRS;

[0434] CS used by PRS;

[0435] OCC used by PRS.

[0436] The terminal provided by the present application can indicate the positioning priority of the second terminal by sending first information to the first terminal, so that the first terminal can obtain the positioning priority of the second terminal after receiving the first information. In this way, the first terminal can determine a more suitable positioning reference source based on the positioning priority, and further determine its own position information according to the positioning reference source, so as to make the positioning of the first terminal more accurate, and be suitable for positioning problems in sidelink.

[0437] Those skilled in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or by computer programs instructing related hardware to complete part or all of the steps of the above-mentioned methods. The computer program can be stored in a readable storage medium, which can be any form of storage medium.

[0438] In addition, the embodiment of the present application also provides a computer readable storage medium, which stores a computer program, and the program is executed by the processor to realize the steps of the method in the first embodiment or the steps of the method in the second embodiment. The same technical effects can be achieved, and details are not repeated here to avoid repetition.

[0439] Moreover, it is pointed out that in the device and method of the present application, obviously, the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions of the present application. Also, the steps of performing the above series of processes can naturally be executed in time sequence according to the order of description, but do not necessarily have to be executed in time sequence. Some steps can be executed in parallel or independently of each other. It can be understood by those skilled in the art that all or any steps or components of the method and device of the present application can be implemented in hardware, firmware, software, or a combination thereof, in any computing device (including a processor, a storage medium, etc.) or a network of computing devices, using the basic programming skills of those skilled in the art upon reading the description of the present application.

[0440] Therefore, the object of the present application can also be achieved by running a program or a set of programs on any computing device. The computing device can be a commonly known general-purpose device. Therefore, the object of the present application can also be achieved only by providing a program product containing program code for implementing the method or device. That is, such a program product also constitutes the present application, and a storage medium storing such a program product also constitutes the present application. Obviously, the storage medium can be any commonly known storage medium or any storage medium developed in the future. It is also pointed out that in the device and method of the present application, obviously, the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions of the present application. Also, the steps of performing the above series of processes can naturally be executed in time sequence according to the order of description, but do not necessarily have to be executed in time sequence. Some steps can be executed in parallel or independently of each other.

[0441] The above is the preferred embodiment of the present application. It should be pointed out that for those skilled in the art, several improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A positioning method, characterized in that, Applied to the first terminal, including: Receive first information sent by at least one second terminal, the first information being used to indicate the positioning priority of the second terminal; A positioning reference source is determined from the at least one second terminal according to the positioning priority; The step of determining the positioning reference source from the at least one second terminal according to the positioning priority includes: Based on the first information, determine the number of available positioning reference points; The positioning reference source is determined based on the number of available positioning reference points and the positioning priority; Wherein, if the number of available positioning reference points is greater than M, the positioning reference source is determined according to the positioning priority corresponding to the available positioning reference points; wherein, M is a preset number and M is a positive integer; The step of determining the positioning reference source based on the positioning priority corresponding to the available positioning reference point includes: According to the positioning priority from high to low, the first M available positioning reference points are determined as positioning reference sources. Among them, the available positioning reference points with the same positioning priority are sorted in descending order of signal priority; The signal priority is related to the positioning reference signal sent by the available positioning reference point; The signal priority corresponding to the available positioning reference point is determined according to at least one of the following: The reference signal received power (RSRP) strength of the positioning reference signal; The bandwidth and / or frequency band occupied by the positioning reference signal; The degree of interference to the positioning reference signal; The time of arrival (TOA) measurement value of the positioning reference signal; The step of determining the number of available positioning reference points based on the first information includes: The number of available positioning reference points is determined based on the relationship between the positioning priority and the positioning priority threshold of the first terminal. The positioning priority threshold of the first terminal is set according to the positioning requirements of the first terminal; the positioning requirements include: positioning accuracy requirements and / or positioning type; the positioning type includes: absolute positioning, relative positioning and relative position. Wherein, when the first information indicates the positioning priority of the second terminal through a positioning reference signal, the positioning method further includes at least one of the following: The initialization identifier ID of the positioning reference signal is determined, and the positioning priority corresponding to the second terminal is determined based on the initialization ID; wherein, different positioning priorities correspond to different initialization ID ranges or initialization ID values; Determine the mapping pattern of the positioning reference signal, and determine the positioning priority corresponding to the second terminal based on the mapping pattern; The mapping pattern includes at least one of the following: Locate the time-frequency position of the reference signal PRS; Frequency domain pattern mapping rules of PRS; PRS uses cyclic shift CS; PRS uses the orthogonal overlay code OCC.

2. The positioning method according to claim 1, characterized in that, Determining the positioning reference source based on the number of available positioning reference points and the positioning priority includes: If the number of available positioning reference points is less than or equal to M, the available positioning reference points are determined as the positioning reference source.

3. The positioning method according to claim 1, characterized in that, The greater the RSRP strength, the higher the signal priority; The larger the bandwidth and / or the frequency band, the higher the signal priority. The lower the level of interference, the higher the signal priority; The smaller the TOA measurement value, the higher the signal priority.

4. The positioning method according to claim 1, characterized in that, The positioning priority of the second terminal is determined according to at least one of the following: The position accuracy information of the second terminal; The type information of the second terminal; The location confidence information of the second terminal; Information on the location determination method of the second terminal; The positioning reference source for the second terminal.

5. The positioning method according to claim 1, characterized in that, The first information indicates the positioning priority of the second terminal through at least one of the following: Positioning reference signal; Control information associated with the positioning reference signal; Media access control MAC layer control unit (CE); Radio Resource Control (RRC) signaling; SPI (Special Information for Positioning) The control information includes any one of the following: First-stage SCI (Straight-through Link Control Information); Second-stage SCI (Second-stage Straight-through Link Control Information); First control information used for positioning.

6. A positioning method, characterized in that, Applied to the second terminal, including: Send first information to the first terminal, the first information being used to indicate the positioning priority of the second terminal, the positioning priority being used to determine the positioning reference source, wherein, when the number of available positioning reference points is greater than M, the first terminal determines the positioning reference source according to the positioning priority and the signal priority corresponding to the available positioning reference points, the signal priority being related to the positioning reference signal sent by the available positioning reference points; The signal priority corresponding to the available positioning reference point is determined according to at least one of the following: The reference signal received power (RSRP) strength of the positioning reference signal; The bandwidth and / or frequency band occupied by the positioning reference signal; The degree of interference to the positioning reference signal; The time of arrival (TOA) measurement value of the positioning reference signal; The number of available positioning reference points is determined by the first terminal based on the relationship between the positioning priority and the positioning priority threshold of the first terminal. The positioning priority threshold of the first terminal is set according to the positioning requirements of the first terminal; the positioning requirements include: positioning accuracy requirements and / or positioning type; the positioning type includes: absolute positioning, relative positioning and relative position. Wherein, when the first information indicates the positioning priority of the second terminal through a positioning reference signal, the positioning method further includes at least one of the following: The initialization ID of the positioning reference signal indicates the positioning priority of the second terminal; wherein, different positioning priorities correspond to different initialization ID ranges or initialization ID values; The positioning priority of the second terminal is indicated by the mapping pattern of the positioning reference signal; The mapping pattern includes at least one of the following: The time-frequency position of PRS; Frequency domain pattern mapping rules of PRS; PRS uses CS; PRS uses the OCC.

7. The positioning method according to claim 6, characterized in that, The positioning priority of the second terminal is determined according to at least one of the following: The position accuracy information of the second terminal; The type information of the second terminal; The location confidence information of the second terminal; Information on the location determination method of the second terminal; The positioning reference source for the second terminal.

8. The positioning method according to claim 6, characterized in that, The first information indicates the positioning priority of the second terminal through at least one of the following: Positioning reference signal; Control information associated with the positioning reference signal; MAC layer CE; RRC signaling; SPI; The control information includes any one of the following: 1st-stage SCI; 2nd-stage SCI; First control information used for positioning.

9. A terminal, comprising: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the steps of the positioning method as described in any one of claims 1 to 5, or implements the steps of the positioning method as described in any one of claims 6 to 8.

10. A positioning device, characterized in that, Applied to the first terminal, including: A receiving module is configured to receive first information sent by at least one second terminal, wherein the first information is used to indicate the positioning priority of the second terminal; The determining module is configured to determine a positioning reference source from the at least one second terminal according to the positioning priority; The determining module includes: The first determining submodule is used to determine the number of available positioning reference points based on the first information; The second determining submodule is used to determine the positioning reference source based on the number of available positioning reference points and the positioning priority; The second determining submodule includes: The second determining unit is used to determine the positioning reference source according to the positioning priority corresponding to the available positioning reference points when the number of available positioning reference points is greater than M; wherein M is a preset number and M is a positive integer; The second determining unit includes: The second determining subunit is used to determine the first M available positioning reference points from the available positioning reference points as positioning reference sources, according to the positioning priority from high to low. Among them, the available positioning reference points with the same positioning priority are sorted in descending order of signal priority; The signal priority is related to the positioning reference signal sent by the available positioning reference point; The signal priority corresponding to the available positioning reference point is determined according to at least one of the following: The reference signal received power (RSRP) strength of the positioning reference signal; The bandwidth and / or frequency band occupied by the positioning reference signal; The degree of interference to the positioning reference signal; The time of arrival (TOA) measurement value of the positioning reference signal; The first determining submodule includes: The first determining unit is used to determine the number of available positioning reference points based on the relationship between the positioning priority and the positioning priority threshold of the first terminal. The positioning priority threshold of the first terminal is set according to the positioning requirements of the first terminal; the positioning requirements include: positioning accuracy requirements and / or positioning type; the positioning type includes: absolute positioning, relative positioning and relative position. Wherein, when the first information indicates the positioning priority of the second terminal through a positioning reference signal, the positioning device further includes at least one of the following: The third determining submodule is used to determine the initialization identifier ID of the positioning reference signal, and determine the positioning priority corresponding to the second terminal based on the initialization ID; wherein, different positioning priorities correspond to different initialization ID ranges or initialization ID values; The fourth determining submodule is used to determine the mapping pattern of the positioning reference signal and determine the positioning priority corresponding to the second terminal based on the mapping pattern; The mapping pattern includes at least one of the following: Locate the time-frequency position of the reference signal PRS; Frequency domain pattern mapping rules of PRS; PRS uses cyclic shift CS; PRS uses the orthogonal overlay code OCC.

11. A positioning device, characterized in that, Applied to the second terminal, including: A sending module is used to send first information to a first terminal, the first information being used to indicate the positioning priority of the second terminal, the positioning priority being used to determine a positioning reference source, wherein, when the number of available positioning reference points is greater than M, the first terminal determines the positioning reference source according to the positioning priority and the signal priority corresponding to the available positioning reference points, the signal priority being related to the positioning reference signal sent by the available positioning reference points; The signal priority corresponding to the available positioning reference point is determined according to at least one of the following: The reference signal received power (RSRP) strength of the positioning reference signal; The bandwidth and / or frequency band occupied by the positioning reference signal; The degree of interference to the positioning reference signal; The time of arrival (TOA) measurement value of the positioning reference signal; The number of available positioning reference points is determined by the first terminal based on the relationship between the positioning priority and the positioning priority threshold of the first terminal. The positioning priority threshold of the first terminal is set according to the positioning requirements of the first terminal; the positioning requirements include: positioning accuracy requirements and / or positioning type; the positioning type includes: absolute positioning, relative positioning and relative position. The sending module includes at least one of the following: The first indication unit is used to indicate the positioning priority of the second terminal through the initialization ID of the positioning reference signal; wherein, different positioning priorities correspond to different initialization ID ranges or initialization ID values; The second indication unit is used to indicate the positioning priority of the second terminal through the mapping pattern of the positioning reference signal; The mapping pattern includes at least one of the following: The time-frequency position of PRS; Frequency domain pattern mapping rules of PRS; PRS uses CS; PRS uses the OCC.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the positioning method as described in any one of claims 1 to 5, or implements the steps of the positioning method as described in any one of claims 6 to 8.

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