Method and apparatus for reselecting positioning assistance terminal device

Abstract

The present disclosure provides a positioning auxiliary terminal device reselection method, device and equipment, and a storage medium, and belongs to the technical field of communication. The method comprises at least one of the following operations: reselecting a positioning auxiliary terminal device; reporting information to a base station or sending information to a second terminal device; and terminating a positioning process. The present disclosure provides a processing method for the case of "reselection of a positioning auxiliary terminal device", so as to reselect the positioning auxiliary terminal device based on a first specific event, provide a reselection mechanism for the positioning auxiliary terminal device, reduce the case that the positioning information is determined inaccurately when the positioning auxiliary terminal device does not meet the SL positioning requirement, and improve the accuracy of the positioning information determination.

Description

Technical Field

[0001] This disclosure relates to the field of communication technology, and in particular to a method, apparatus, device, and storage medium for reselecting a positioning assist terminal device (anchor UE). Background Technology

[0002] In communication systems, sidelink positioning between terminal devices includes absolute positioning, relative positioning, and ranging. Ranging typically involves only two terminal devices, meaning distance is measured between them. However, absolute and relative positioning may involve multiple auxiliary terminal devices to improve accuracy. However, during the positioning process, the information of these auxiliary terminal devices may change, leading to lower positioning accuracy. Summary of the Invention

[0003] This disclosure discloses a method, apparatus, device, and storage medium for reselecting a positioning assistive terminal device, which reselects the positioning assistive terminal device based on a first specific event. It can provide a reselection mechanism for the positioning assistive terminal device, reduce the situation where the positioning information is inaccurate when the positioning assistive terminal device does not meet the SL positioning requirements, and improve the accuracy of the positioning information determination.

[0004] This disclosure provides a method for reselecting a positioning assistance terminal device according to one embodiment. The method is executed by a first terminal device and includes:

[0005] In response to the sidechain SL positioning process satisfying a first specific event, perform at least one of the following operations:

[0006] Select a new positioning auxiliary terminal device;

[0007] Report information to the base station or send information to the second terminal device;

[0008] The location process has been terminated.

[0009] Optionally, in one embodiment of this disclosure, the first specific event includes at least one of the following:

[0010] The signal quality of the current service positioning auxiliary terminal device does not meet the signal quality threshold requirement, wherein the current service positioning auxiliary terminal device is a terminal device participating in the SL positioning process;

[0011] The distance between the current service positioning auxiliary terminal device and the first terminal device does not meet the distance threshold requirement;

[0012] The first terminal device or the current service location-assisted terminal device leaves the specific area;

[0013] The time elapsed since the last report of SL positioning location information or measurement results exceeds the preset time limit;

[0014] The current service location-assisted terminal device and the first terminal device experienced a radio link failure (RLF) on their sidelink link.

[0015] Optionally, in one embodiment of this disclosure, the method further includes:

[0016] Receive the configuration sent by the base station; or,

[0017] The configuration is determined based on the pre-configuration information of the first terminal device.

[0018] The configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and period configuration.

[0019] Optionally, in one embodiment of this disclosure, the information includes at least one of the following:

[0020] Trigger the first reported event;

[0021] Current signal quality measurement results of the service positioning auxiliary terminal equipment;

[0022] The signal quality measurement results of other positioning auxiliary terminal devices, wherein the other positioning auxiliary terminal devices are terminal devices that did not participate in the SL positioning process;

[0023] The device identifier of the first terminal device.

[0024] Optionally, in one embodiment of this disclosure, the re-selection of the positioning assistance terminal device includes at least one of the following:

[0025] Send a first message to the current service location assistance terminal device that does not meet the SL location service requirements, wherein the first message is used to cancel the current service location assistance terminal device or deactivate the current service location assistance terminal device;

[0026] A second message is sent to the target positioning auxiliary terminal device that meets the requirements of the SL positioning service, wherein the second message is used to configure the target positioning auxiliary terminal device as a positioning auxiliary terminal device or to activate the configuration of the target positioning auxiliary terminal device.

[0027] Optionally, in one embodiment of this disclosure, the method further includes:

[0028] In response to triggering a second specific event, the system does not trigger a reselection of the location assistance terminal device; and / or does not report information to the base station or the second terminal device.

[0029] Optionally, in one embodiment of this disclosure, the second specific event includes at least one of the following:

[0030] The SL positioning process is SL-Round Trip Time (RTT);

[0031] The SL positioning process involves a current service positioning auxiliary terminal device;

[0032] The location reporting or measurement result reporting method of the SL positioning process is not periodic or event-triggered.

[0033] Optionally, in one embodiment of this disclosure, the termination of the positioning process includes:

[0034] A third message is sent to the current service location assist terminal device, wherein the third message is used to terminate the SL location process.

[0035] Optionally, in one embodiment of this disclosure, the method further includes:

[0036] Information exchange is performed with the base station or the second terminal device through at least one of the following messages:

[0037] Long Term Evolution (LTE) Location Protocol (LPP) messages for general mobile communications technologies;

[0038] Sidelink LPP message;

[0039] PC5-S message;

[0040] Radio Resource Control (RRC) message.

[0041] Another embodiment of this disclosure provides a method for reselecting a positioning auxiliary terminal device, the method being executed by a second terminal device, the method comprising:

[0042] Receive information reported by the first terminal device; and

[0043] Trigger the positioning assistance terminal device reselection process, wherein the information is reported by the first terminal device in response to the first terminal device's SL positioning process satisfying a first specific event.

[0044] Optionally, in one embodiment of this disclosure, the first specific event includes at least one of the following:

[0045] The signal quality of the current service positioning auxiliary terminal device does not meet the signal quality threshold requirement, wherein the current service positioning auxiliary terminal device is a terminal device participating in the SL positioning process;

[0046] The distance between the current service positioning auxiliary terminal device and the first terminal device does not meet the distance threshold requirement;

[0047] The first terminal device or the current service location-assisted terminal device leaves the specific area;

[0048] The time elapsed since the last report of SL positioning location information or measurement results exceeds the preset time limit;

[0049] The current service location assistance terminal device and the first terminal device experienced a wireless link failure (RLF) on their sidelink link.

[0050] Optionally, in one embodiment of this disclosure, triggering a location-assisted terminal device reselection process includes:

[0051] Send a first message to the current service positioning auxiliary terminal device that does not meet the SL positioning service requirements, wherein the first message is used to cancel the current service positioning auxiliary terminal device or deactivate the current service positioning auxiliary terminal device, wherein the current service positioning auxiliary terminal device is a terminal device participating in the SL positioning process;

[0052] A second message is sent to the target positioning auxiliary terminal device that meets the requirements of the SL positioning service, wherein the second message is used to configure the target positioning auxiliary terminal device as a positioning auxiliary terminal device or to activate the configuration of the target positioning auxiliary terminal device.

[0053] Optionally, in one embodiment of this disclosure, the method further includes:

[0054] In response to the second terminal device being the current service location auxiliary terminal device that does not meet the SL location service requirements, the target location service terminal device is determined, and the second terminal device is either canceled or deactivated.

[0055] Optionally, in one embodiment of this disclosure, the information includes at least one of the following:

[0056] Trigger the first reported event;

[0057] Current signal quality measurement results of the service positioning auxiliary terminal equipment;

[0058] The signal quality measurement results of other positioning auxiliary terminal devices, wherein the other positioning auxiliary terminal devices are terminal devices that did not participate in the SL positioning process;

[0059] The device identifier of the first terminal device.

[0060] Optionally, in one embodiment of this disclosure, the method further includes:

[0061] The first terminal device can be contacted via at least one of the following messages:

[0062] Long Term Evolution (LTE) Location Protocol (LPP) messages for general mobile communications technologies;

[0063] Sidelink LPP message;

[0064] PC5-S message;

[0065] Radio Resource Control (RRC) message.

[0066] Another embodiment of this disclosure proposes a method for reselecting a positioning assistance terminal device, characterized in that the method is executed by a base station, and the method includes:

[0067] Upon receiving information reported by the first terminal device, a positioning assistance terminal device reselection process is triggered, wherein the information is reported by the first terminal device in response to the SL positioning process performed by the first terminal device satisfying a first specific event.

[0068] Optionally, in one embodiment of this disclosure, triggering a location-assisted terminal device reselection process includes:

[0069] Send a first message to the current service positioning auxiliary terminal device that does not meet the SL positioning service requirements, wherein the first message is used to cancel the current service positioning auxiliary terminal device or deactivate the current service positioning auxiliary terminal device, wherein the current service positioning auxiliary terminal device is a terminal device participating in the SL positioning process;

[0070] A second message is sent to the target positioning auxiliary terminal device that meets the requirements of the SL positioning service, wherein the second message is used to configure the target positioning auxiliary terminal device as a positioning auxiliary terminal device or to activate the configuration of the target positioning auxiliary terminal device.

[0071] Optionally, in one embodiment of this disclosure, the method further includes:

[0072] The configuration is sent to the first terminal device, wherein the configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and period configuration.

[0073] Optionally, in one embodiment of this disclosure, the method further includes:

[0074] The configuration sent by the network-side device is received, wherein the configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and period configuration;

[0075] The configuration is forwarded to the first terminal device.

[0076] Optionally, in one embodiment of this disclosure, the method further includes:

[0077] The information is sent to the network-side device.

[0078] Optionally, in one embodiment of this disclosure, the information includes at least one of the following:

[0079] Trigger the first reported event;

[0080] Current signal quality measurement results of the service positioning auxiliary terminal equipment;

[0081] The signal quality measurement results of other positioning auxiliary terminal devices, wherein the other positioning auxiliary terminal devices are terminal devices that did not participate in the SL positioning process;

[0082] The device identifier of the first terminal device.

[0083] Optionally, in one embodiment of this disclosure, the method further includes:

[0084] The first terminal device can be contacted via at least one of the following messages:

[0085] Long Term Evolution (LTE) Location Protocol (LPP) messages for general mobile communications technologies;

[0086] Sidelink LPP message;

[0087] PC5-S message;

[0088] Radio Resource Control (RRC) message.

[0089] Another embodiment of this disclosure provides a reselection device for a positioning auxiliary terminal device, the device being disposed on the side of a first terminal device, the device comprising:

[0090] The selection module, in response to a first specific event being met during the sidechain SL positioning process, performs at least one of the following operations:

[0091] Select a new positioning auxiliary terminal device;

[0092] Report information to the base station or send information to the second terminal device;

[0093] The location process has been terminated.

[0094] Another embodiment of this disclosure provides a reselection device for a positioning auxiliary terminal device, the device being disposed on the side of a second terminal device, the device comprising:

[0095] The receiving module is used to receive information reported by the first terminal device; and

[0096] Trigger the positioning assistance terminal device reselection process, wherein the information is reported by the first terminal device in response to the first terminal device's SL positioning process satisfying a first specific event.

[0097] Another embodiment of this disclosure provides a reselection device for a positioning assistance terminal device, the device being disposed on a base station side, the device comprising:

[0098] The receiving module is used to receive information reported by the first terminal device; and

[0099] Trigger the positioning assistance terminal device reselection process, wherein the information is reported by the first terminal device in response to the first terminal device's SL positioning process satisfying a first specific event.

[0100] Another aspect of this disclosure provides a first terminal device, the device including a processor and a memory, the memory storing a computer program, the processor executing the computer program stored in the memory to cause the device to perform the method as described in the preceding aspect of the embodiment.

[0101] Another aspect of this disclosure provides a second terminal device, the device including a processor and a memory, the memory storing a computer program, the processor executing the computer program stored in the memory to cause the device to perform the method as described in the preceding aspect of the embodiment.

[0102] According to another aspect of this disclosure, a base station is provided, the device including a processor and a memory, the memory storing a computer program, and the processor executing the computer program stored in the memory to cause the device to perform the method as described in the preceding aspect of the embodiment.

[0103] Another aspect of this disclosure provides a communication device, comprising: a processor and an interface circuit;

[0104] The interface circuit is used to receive code instructions and transmit them to the processor;

[0105] The processor is configured to run the code instructions to perform the method as proposed in one aspect of the embodiments.

[0106] Another aspect of this disclosure provides a communication device, comprising: a processor and an interface circuit;

[0107] The interface circuit is used to receive code instructions and transmit them to the processor;

[0108] The processor is configured to run the code instructions to perform the method as described in the above-mentioned embodiment.

[0109] Another aspect of this disclosure provides a computer-readable storage medium for storing instructions that, when executed, cause the method described in one aspect of the disclosure to be implemented.

[0110] In summary, in the embodiments of this disclosure, in response to the sidechain SL positioning process satisfying a first specific event, at least one of the following operations is performed: reselecting a positioning assistance terminal device; reporting information to a base station or sending information to a second terminal device; terminating the positioning process. In the embodiments of this disclosure, a reselection mechanism for the positioning assistance terminal device can be provided, allowing for reselection based on the first specific event. This disclosure provides a processing method for the scenario of "reselection of a positioning assistance terminal device," enabling reselection based on the first specific event. This provides a reselection mechanism for the positioning assistance terminal device, reducing the likelihood of inaccurate positioning information determination when the positioning assistance terminal device does not meet the SL positioning requirements, and improving the accuracy of positioning information determination. Attached Figure Description

[0111] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

[0112] Figure 1 This is an example schematic diagram illustrating a reselection method for a positioning assistance terminal device provided in one embodiment of the present disclosure;

[0113] Figure 2 A schematic flowchart illustrating a reselection method for a positioning assistance terminal device provided in one embodiment of this disclosure;

[0114] Figure 3A schematic flowchart illustrating a method for reselecting a positioning assistive terminal device, which is yet another embodiment of this disclosure;

[0115] Figure 4 A schematic flowchart illustrating a method for reselecting a positioning assistive terminal device, which is yet another embodiment of this disclosure;

[0116] Figure 5 An interactive schematic diagram of a reselection method for a positioning assistance terminal device provided in yet another embodiment of this disclosure;

[0117] Figure 6 A schematic flowchart illustrating a method for reselecting a positioning assistive terminal device, which is yet another embodiment of this disclosure;

[0118] Figure 7 A schematic flowchart illustrating a method for reselecting a positioning assistive terminal device, which is yet another embodiment of this disclosure;

[0119] Figure 8 A schematic flowchart illustrating a method for reselecting a positioning assistive terminal device, which is yet another embodiment of this disclosure;

[0120] Figure 9 An interactive schematic diagram of a reselection method for a positioning assistance terminal device provided in yet another embodiment of this disclosure;

[0121] Figure 10 A schematic flowchart illustrating a method for reselecting a positioning assistive terminal device, which is yet another embodiment of this disclosure;

[0122] Figure 11 An interactive schematic diagram of a reselection method for a positioning assistance terminal device provided in yet another embodiment of this disclosure;

[0123] Figure 12 An interactive schematic diagram of a reselection method for a positioning assistance terminal device provided in yet another embodiment of this disclosure;

[0124] Figure 13 An interactive schematic diagram of a reselection method for a positioning assistance terminal device provided in yet another embodiment of this disclosure;

[0125] Figure 14 A schematic flowchart illustrating a method for reselecting a positioning assistive terminal device, which is yet another embodiment of this disclosure;

[0126] Figure 15 A schematic flowchart illustrating a method for reselecting a positioning assistive terminal device, which is yet another embodiment of this disclosure;

[0127] Figure 16A schematic flowchart illustrating a method for reselecting a positioning assistive terminal device, which is yet another embodiment of this disclosure;

[0128] Figure 17 A schematic flowchart illustrating a method for reselecting a positioning assistive terminal device, which is yet another embodiment of this disclosure;

[0129] Figure 18 A schematic flowchart illustrating a method for reselecting a positioning assistive terminal device, which is yet another embodiment of this disclosure;

[0130] Figure 19 A schematic flowchart illustrating a method for reselecting a positioning assistive terminal device, which is yet another embodiment of this disclosure;

[0131] Figure 20 A schematic flowchart illustrating a method for reselecting a positioning assistive terminal device, which is yet another embodiment of this disclosure;

[0132] Figure 21 A schematic diagram of the structure of a reselection device for a positioning assistance terminal device provided in one embodiment of the present disclosure;

[0133] Figure 22 A schematic diagram of the structure of a reselection device for a positioning assist terminal device provided in another embodiment of this disclosure;

[0134] Figure 23 A schematic diagram of the structure of a reselection device for a positioning assist terminal device provided in another embodiment of this disclosure;

[0135] Figure 24 A schematic diagram of the structure of a reselection device for a positioning assist terminal device provided in another embodiment of this disclosure;

[0136] Figure 25 A schematic diagram of the structure of a reselection device for a positioning assist terminal device provided in another embodiment of this disclosure;

[0137] Figure 26 This is a block diagram of a terminal device provided in one embodiment of the present disclosure;

[0138] Figure 27 This is a block diagram of a network-side device provided in one embodiment of the present disclosure. Detailed Implementation

[0139] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this disclosure as detailed in the appended claims.

[0140] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. The singular forms “a” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0141] It should be understood that although the terms first, second, third, etc., may be used to describe various information in embodiments of this disclosure, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first information may also be referred to as second information without departing from the scope of embodiments of this disclosure, and similarly, second information may also be referred to as first information. Depending on the context, the words “if” and “suppose” as used herein may be interpreted as “when”, “when”, or “in response to a determination”.

[0142] The network elements or network functions involved in the embodiments of this disclosure can be implemented by independent hardware devices or by software in hardware devices. This disclosure does not limit this.

[0143] Positioning based on the user equipment (UE) and the sidelink link between UEs includes absolute positioning, relative positioning, and ranging. Absolute positioning determines the absolute coordinates of the UE, relative positioning determines the coordinates of the UE relative to a reference point, and ranging determines the distance and / or angle of the UE relative to a reference point. Ranging usually refers to measuring the distance between only two UEs, but absolute and relative positioning may involve multiple auxiliary UEs participating in the positioning process.

[0144] Figure 1 The diagram illustrates an example of a reselection method for a positioning assistance terminal device provided in an embodiment of this disclosure. Figure 1As shown, taking the positioning method based on downlink time difference of arrival (DL-TDOA) as an example, multiple Road Side Units (RSUs) can be set up on the roadside, and each RSU can correspond to fixed location information. The UE determines its specific position relative to the RSUs by measuring the positioning signals transmitted by the multiple RSUs through the sidelink. The multiple RSUs can be, for example, three or more. For example, the positioning signals may include the location information of the RSUs. The UE can, for example, measure the time difference of arrival of three positioning signals transmitted by three RSUs. Based on the time difference of arrival of the three positioning signals and the location information of each RSU, the UE can determine its own location information, or its location information relative to a specific RSU.

[0145] Besides DL-TDOA, other positioning schemes include Uplink Time Difference of Arrival (UL-TDOA), Multiple Round Trip Time (Multiple RTT), Angle of Arrival (AOA) or Angle of Departure (AOD), carrier phase positioning, and so on. If the positioning result does not convert absolute position information such as GPS from the RSU into absolute position coordinates, then the positioning result is relative positioning. Otherwise, it is absolute positioning. The RSU involved in relative or absolute positioning is the positioning-assisted UE.

[0146] In one embodiment of this disclosure, if positioning involves only two UEs, then the two UEs are each other's positioning assistance UEs.

[0147] Furthermore, in one embodiment of this disclosure, different types of positioning-assisted UEs exist, such as RSU-type positioning-assisted UEs. RSU-type positioning-assisted UEs are a type of infrastructure that can provide positioning services by collaborating with other RSUs. For example, a regular UE can also function as a positioning-assisted UE, but it would be difficult for it to assist in providing positioning services with other UEs. Additionally, some positioning-assisted UEs possess GPS or other location information, enabling them to assist other UEs in absolute positioning; others may not possess GPS or other location information.

[0148] The following describes in detail, with reference to the accompanying drawings, a method, apparatus, device, and storage medium for reselecting a positioning assistance terminal device provided in the embodiments of this disclosure.

[0149] Figure 2 This is a flowchart illustrating a reselection method for a positioning assistance terminal device provided in an embodiment of this disclosure. The method is executed by a first terminal device, such as... Figure 2 As shown, the method may include the following steps:

[0150] Step 201: In response to the sidechain SL positioning process satisfying a first specific event, perform at least one of the following operations:

[0151] Select a new positioning auxiliary terminal device;

[0152] Report information to the base station or send information to the second terminal device;

[0153] The location process has been terminated.

[0154] It should be noted that, in one embodiment of this disclosure, the terminal device can be a device that provides voice and / or data connectivity to a user. The terminal device can communicate with one or more core networks via a Radio Access Network (RAN). The terminal device can be an Internet of Things (IoT) terminal device, such as a sensor device, a mobile phone (or "cellular" phone), and a computer with an IoT terminal device. For example, it can be a fixed, portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted device. Examples include a station (STA), subscriber unit, subscriber station, mobile station, mobile station, remote station, access point, remote terminal, access terminal, user terminal, or user agent. Alternatively, the terminal device can also be a device from an unmanned aerial vehicle (UAV). Alternatively, the terminal device can also be a vehicle-mounted device, such as a vehicle computer with wireless communication capabilities, or a wireless terminal device connected to an external vehicle computer. Alternatively, the terminal device can also be a roadside device, such as a street light, traffic light, or other roadside device with wireless communication capabilities.

[0155] In one embodiment of this disclosure, the first terminal device may be, for example, a terminal performing an SL positioning process. The first terminal device may determine its location information based on location information reported by multiple positioning assistance terminal devices. The positioning assistance terminal device may be, for example, a RSU (Responsible Unit).

[0156] In one embodiment of this disclosure, during the ongoing SL positioning process, the location or measurement result reporting method may be periodic reporting, event-triggered reporting, or one-time reporting.

[0157] Furthermore, in one embodiment of this disclosure, one or more positioning assistance terminal devices may participate in the SL positioning process. The SL positioning process may include, for example, at least one of SL-TDOA, SL-AOA, and SL-AOD.

[0158] In one embodiment of this disclosure, when a base station or a second terminal device receives information reported by a first terminal device, it can trigger a location-assisted terminal device reselection process. The base station or the second terminal device is a device with reselection decision-making authority.

[0159] Furthermore, in one embodiment of this disclosure, the first specific event includes at least one of the following:

[0160] The signal quality of the current service positioning auxiliary terminal device does not meet the signal quality threshold requirements. The current service positioning auxiliary terminal device is the terminal device participating in the SL positioning process.

[0161] The distance between the current service positioning auxiliary terminal device and the first terminal device does not meet the distance threshold requirement;

[0162] The first terminal device or the current service location auxiliary terminal device leaves the specific area;

[0163] The time elapsed since the last report of SL positioning location information or measurement results exceeds the preset time limit;

[0164] The current service location assistance terminal device and the first terminal device's sidelink link has experienced a radio link failure (RLF).

[0165] Furthermore, in one embodiment of this disclosure, the method further includes:

[0166] Receive configuration sent by the base station; or

[0167] The configuration is determined based on the pre-configuration information of the first terminal device.

[0168] The configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and periodic configuration.

[0169] For example, in one embodiment of this disclosure, the signal quality may include at least one of the following: Reference Signal Receiving Power (RSRP), Reference Signal Receiving Quality (RSRQ), Received Signal Strength Indicator (RSSI), and Signal to Interference plus Noise Ratio (SINR). This signal includes, but is not limited to, one or more of the following: Positioning Reference Signal (PRS) transmitted by the positioning assist terminal device; Channel State Information-Reference Signal (CSI-RS) / CSI-RS transmitted by the positioning assist terminal device; and Primary Synchronization Signal (PSS) / Secondary Synchronization Signal (SSS) transmitted by the positioning assist terminal device.

[0170] For example, in one embodiment of this disclosure, the demodulation reference signal (DM-RS) may be the DM-RS of the Physical Sidelink Control Channel (PSCCH) or the Physical Sidelink Discovery Channel (PSDCH). The control channel PSCCH may be a serial communication interface (SCI) sent by the positioning assist terminal device, and the data channel PSDCH may be a data packet for discovery or a communication data packet sent by the positioning assist terminal device.

[0171] For example, in one embodiment of this disclosure, the signal quality of the current serving location-assisted terminal device does not meet the signal quality threshold requirement. For instance, the signal quality of the current serving location-assisted terminal device may be less than a threshold value. For example, the RSRP of the current serving location-assisted terminal device may be less than the RSRP threshold value.

[0172] For example, in one embodiment of this disclosure, the first terminal device may receive a configuration sent by the base station, wherein the configuration includes a signal quality threshold configuration; or, the first terminal device may determine the signal quality threshold configuration based on the pre-configuration information of the first terminal device.

[0173] Furthermore, in one embodiment of this disclosure, the first specific event may be, for example, that the distance between the current service positioning assistance terminal device and the first terminal device does not meet a distance threshold requirement. The first terminal device calculates the distance between the two based on the GPS location of the first terminal device and the GPS location of the positioning assistance terminal device.

[0174] For example, in one embodiment of this disclosure, the first terminal device can calculate the distance between the GPS location of the first terminal device and the center location of the cell zone to which the positioning assistance terminal device belongs. The zone to which the positioning assistance terminal device belongs can be broadcast to the first terminal device by the positioning assistance terminal device, or the positioning assistance terminal device can inform the first terminal device through SCI or other means.

[0175] For example, in one embodiment of this disclosure, the first specific event may be that the distance between the current service positioning auxiliary terminal device and the first terminal device does not meet the distance threshold requirement, for example, the distance between the current service positioning auxiliary terminal device and the first terminal device may be greater than the distance threshold.

[0176] For example, in one embodiment of this disclosure, the first terminal device may receive a configuration sent by the base station, wherein the configuration includes a distance threshold configuration; or, the first terminal device may determine the distance threshold configuration based on the pre-configuration information of the first terminal device.

[0177] Furthermore, in one embodiment of this disclosure, the signal quality of the currently serving location-assisted terminal device does not meet the signal quality threshold requirement, for example, if the first terminal device or the currently serving location-assisted terminal device leaves a specific area. The specific area can be at least one of the following: a cell list, a tracking area (TA) / RNA-based notification area (RNA) list, or a zone list.

[0178] For example, in one embodiment of this disclosure, the first terminal device may receive configuration sent by the base station, wherein the configuration includes a specific area configuration; or, the first terminal device may determine the specific area configuration based on the pre-configuration information of the first terminal device.

[0179] Furthermore, in one embodiment of this disclosure, the signal quality of the current service positioning assist terminal device does not meet the signal quality threshold requirements. For example, the time elapsed since the last reported location information or measurement result of SL positioning exceeds a preset time. For instance, the timer for periodic location information or measurement result reporting may time out.

[0180] For example, in one embodiment of this disclosure, the first terminal device may receive a configuration sent by the base station, wherein the configuration includes a periodic configuration; or, the first terminal device may determine the periodic configuration based on the pre-configuration information of the first terminal device.

[0181] Furthermore, in one embodiment of this disclosure, the signal quality of the current serving location assisting terminal device (LSTP) does not meet the signal quality threshold requirements. For example, a radio link failure (RLF) may occur in the sidelink link between the current serving location assisting terminal device and the first terminal device. For instance, a unicast SL link has been established between the first terminal device and the current serving location assisting terminal device.

[0182] For example, in one embodiment of this disclosure, the information includes at least one of the following:

[0183] Trigger the first reported event;

[0184] Current signal quality measurement results of the service positioning auxiliary terminal equipment;

[0185] The signal quality measurement results of other positioning auxiliary terminal devices, where other positioning auxiliary terminal devices are terminal devices that did not participate in the SL positioning process;

[0186] The device identifier of the first terminal device.

[0187] For example, in one embodiment of this disclosure, the first terminal device may report the measurement results of the currently serving positioning auxiliary terminal device that does not meet the signal quality threshold requirements, or report the measurement results of all positioning auxiliary terminal devices.

[0188] For example, in one embodiment of this disclosure, when the first terminal device reports the measurement result of the current serving location-assisted terminal device, it may simultaneously report the identification ID of the location-assisted terminal device. This ID includes, but is not limited to, at least one or more of the following: Cell-RadioNetworkTemporaryIdentifier (C-RNTI), International Mobile Subscriber Identity (IMSI), Temporary Mobile Subscriber Identity (TMSI), Sidelink Link Layer 2 Source ID / Sidelink Link Layer 2 Destination ID, Sidelink Link System Information ID (SLSSID), Inactive-RadioNetworkTemporaryIdentifier (I-RNTI), and Application Layer ID.

[0189] For example, in one embodiment of this disclosure, when the first terminal device reports the measurement result of the current service location-assisted terminal device, it may simultaneously report the SL-PRS resource ID and / or resource set ID corresponding to the measurement result.

[0190] For example, in one embodiment of this disclosure, the first terminal device can report the signal quality measurement results of other positioning auxiliary terminal devices, wherein the other positioning auxiliary terminal devices are terminal devices that did not participate in the SL positioning process. For instance, if the number of other positioning auxiliary terminal devices detected by the first terminal device is greater than the maximum reportable value X, the first terminal device can report the top X positioning auxiliary terminal devices according to their RSRP and / or RSRQ values. Here, X is a positive integer.

[0191] For example, in one embodiment of this disclosure, when the first terminal device reports the measurement results of the positioning assistance terminal device, it also reports the ID of the positioning assistance terminal device, such as C-RNTI, IMSI, TMSI, SL L2 source ID / SLL2 destination ID, SLSSID, I-RNTI, and application layer ID.

[0192] For example, in one embodiment of this disclosure, when the first terminal device reports the measurement results of the positioning assistance terminal device, it also reports the SL-PRS resource ID and / or resource set ID corresponding to the measurement results.

[0193] In one embodiment of this disclosure, the reselection of the positioning assistance terminal device includes at least one of the following:

[0194] Send a first message to the current service location auxiliary terminal device that does not meet the SL location service requirements, wherein the first message is used to cancel the current service location auxiliary terminal device or deactivate the current service location auxiliary terminal device;

[0195] A second message is sent to the target positioning auxiliary terminal device that meets the requirements of the SL positioning service. The second message is used to configure the target positioning auxiliary terminal device as a positioning auxiliary terminal device or to activate the configuration of the target positioning auxiliary terminal device.

[0196] In one embodiment of this disclosure, the first message refers to a message sent by the first terminal device to a current service location assist terminal device that does not meet the requirements of the SL location service. The first message does not specifically refer to a certain fixed message, and the "first" in the "first message" is only used to distinguish it from other messages.

[0197] Furthermore, in one embodiment of this disclosure, the second message refers to a message sent by the first terminal device to a target positioning auxiliary terminal device that meets the requirements of the SL positioning service. The second message does not specifically refer to a certain fixed message, and the "second" in the "second message" is only used to distinguish it from other messages.

[0198] For example, in one embodiment of this disclosure, the positioning assistance terminal device required by the SL positioning service may include at least one of the following: signal quality meets a threshold, distance meets a distance threshold, and the location meets a specific area threshold.

[0199] For example, in one embodiment of this disclosure, canceling the current service location assistance terminal device can be achieved by unconfiguring the previous configuration (such as SL-PRS resource configuration) or by instructing the location assistance terminal device to terminate the current location process. Deactivating the location assistance terminal device means retaining the previous configuration, but the configuration is not activated.

[0200] For example, in one embodiment of this disclosure, configuring the target positioning assistive terminal device includes configuring the target positioning assistive terminal device SL-PRS resources, and activating the positioning assistive terminal device means activating the previous positioning assistive terminal device configuration, including the SL-PRS resource configuration.

[0201] For example, in one embodiment of this disclosure, if multiple candidate positioning assistance terminal devices meet the threshold requirements, the first terminal device can select the positioning assistance terminal device with the highest ranking as the target positioning assistance terminal device according to RSRP and / or RSRQ from high to low.

[0202] For example, in one embodiment of this disclosure, the method further includes:

[0203] In response to the triggering of a second specific event, the reselection of the positioning auxiliary terminal device is not triggered; and / or no information is reported to the base station or the second terminal device.

[0204] For example, in one embodiment of this disclosure, the second specific event includes at least one of the following:

[0205] The SL positioning process is SL - Round Trip Time (RTT).

[0206] The SL positioning process involves a current service positioning auxiliary terminal device;

[0207] The location reporting or measurement result reporting in the SL positioning process is not triggered by periodic triggering or event triggering.

[0208] For example, in one embodiment of this disclosure, terminating the location process includes:

[0209] Send a third message to the current service location assist terminal device, wherein the third message is used to terminate the SL location process.

[0210] For example, in one embodiment of this disclosure, the first terminal device may send the third message only to the current service location-assisted terminal device that does not meet the requirements, or it may send the third message to all location-assisted terminal devices.

[0211] For example, in one embodiment of this disclosure, if the current service positioning auxiliary terminal device that does not meet the requirements is responsible for at least one of the functions such as positioning calculation, PRS resource coordination, positioning auxiliary terminal device selection and reselection, and positioning method selection, the first terminal device may terminate the current positioning process.

[0212] For example, in one embodiment of this disclosure, the method further includes:

[0213] Information is exchanged with the base station or the second terminal device through at least one of the following messages:

[0214] Long Term Evolution (LTE) Location Protocol (LPP) messages for general mobile communications technologies;

[0215] Sidelink LPP message;

[0216] PC5-S message;

[0217] Radio Resource Control (RRC) message.

[0218] For example, in one embodiment of this disclosure, information interaction using LPP messages or Sidelink LPP messages may specifically involve requesting auxiliary information and / or providing auxiliary information.

[0219] For example, in one embodiment of this disclosure, the method further includes:

[0220] Information is exchanged with the current service location auxiliary terminal device or the target location auxiliary terminal device through at least one of the following messages:

[0221] Long Term Evolution (LTE) Location Protocol (LPP) messages for general mobile communications technologies;

[0222] Sidelink LPP message;

[0223] PC5-S message;

[0224] Radio Resource Control (RRC) message.

[0225] In summary, in the embodiments of this disclosure, at least one of the following operations is performed: reselecting a positioning assistance terminal device; reporting information to a base station or sending information to a second terminal device; and terminating the positioning process. In the embodiments of this disclosure, a reselection mechanism for the positioning assistance terminal device can be provided, which can be based on a first specific event. This disclosure provides a processing method for the scenario of "reselection of a positioning assistance terminal device," which reselects the positioning assistance terminal device based on a first specific event. This provides a reselection mechanism for the positioning assistance terminal device, reducing the possibility of inaccurate positioning information determination when the positioning assistance terminal device does not meet the SL positioning requirements, and improving the accuracy of positioning information determination.

[0226] Figure 3 This is a flowchart illustrating a reselection method for a positioning assistance terminal device provided in an embodiment of this disclosure. The method is executed by a first terminal device, such as... Figure 3 As shown, the method may include the following steps:

[0227] Step 301: Receive the configuration sent by the base station, wherein the configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and period configuration;

[0228] Step 302: Determine the configuration based on the pre-configuration information of the first terminal device, wherein the configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and periodic configuration.

[0229] In one embodiment of this disclosure, steps 301 and 302 can be executed selectively, that is, only one of steps 301 and 302 can be executed, or they can be executed simultaneously.

[0230] In summary, in the embodiments of this disclosure, the configuration is received from the base station; or the configuration is determined based on the pre-configuration information of the first terminal device, wherein the configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and periodic configuration. In the embodiments of this disclosure, a reselection mechanism for the positioning assistance terminal device can be provided, allowing for reselection based on a first specific event. The embodiments of this disclosure specifically disclose a scheme for determining the configuration in the first specific event, thereby improving the accuracy of whether to reselect the positioning assistance terminal device. This disclosure provides a processing method for the scenario of "reselection of the positioning assistance terminal device," allowing for reselection based on a first specific event. This provides a reselection mechanism for the positioning assistance terminal device, reducing the likelihood of inaccurate positioning information determination when the positioning assistance terminal device does not meet the SL positioning requirements, and improving the accuracy of positioning information determination.

[0231] Figure 4 This is a flowchart illustrating a reselection method for a positioning assistance terminal device provided in an embodiment of this disclosure. The method is executed by a first terminal device, such as... Figure 4 As shown, the method may include the following steps:

[0232] Step 401: In response to the first specific event being met during the sidechain SL positioning process, a first message is sent to the current service positioning auxiliary terminal device that does not meet the SL positioning service requirements, wherein the first message is used to cancel the current service positioning auxiliary terminal device or deactivate the current service positioning auxiliary terminal device;

[0233] Step 402: In response to the first specific event being met during the sidechain SL positioning process, a second message is sent to the target positioning auxiliary terminal device that meets the SL positioning service requirements. The second message is used to configure the target positioning auxiliary terminal device as a positioning auxiliary terminal device or to activate the configuration of the target positioning auxiliary terminal device.

[0234] In one embodiment of this disclosure, the first message refers to a message sent by the first terminal device to a current service location assist terminal device that does not meet the requirements of the SL location service. The first message does not specifically refer to a certain fixed message, and the "first" in the "first message" is only used to distinguish it from other messages.

[0235] Furthermore, in one embodiment of this disclosure, the second message refers to a message sent by the first terminal device to a target positioning auxiliary terminal device that meets the requirements of the SL positioning service. The second message does not specifically refer to a certain fixed message, and the "second" in the "second message" is only used to distinguish it from other messages.

[0236] For example, in one embodiment of this disclosure, the positioning assistance terminal device required by the SL positioning service may include at least one of the following: signal quality meets a threshold, distance meets a distance threshold, and the location meets a specific area threshold.

[0237] For example, in one embodiment of this disclosure, canceling the current service location assistance terminal device can be achieved by unconfiguring the previous configuration (such as SL-PRS resource configuration) or by instructing the location assistance terminal device to terminate the current location process. Deactivating the location assistance terminal device means retaining the previous configuration, but the configuration is not activated.

[0238] For example, in one embodiment of this disclosure, configuring the target positioning assistive terminal device includes configuring the target positioning assistive terminal device SL-PRS resources, and activating the positioning assistive terminal device means activating the previous positioning assistive terminal device configuration, including the SL-PRS resource configuration.

[0239] For example, in one embodiment of this disclosure, if multiple candidate positioning assistance terminal devices meet the threshold requirements, the first terminal device can select the positioning assistance terminal device with the highest ranking as the target positioning assistance terminal device according to RSRP and / or RSRQ from high to low.

[0240] Furthermore, in one embodiment of this disclosure, Figure 5 This is an interactive schematic diagram of a reselection method for a positioning assistance terminal device provided in an embodiment of this disclosure, as shown below. Figure 5 As shown, in response to the first specific event being met during the sidechain SL positioning process, the first terminal device may send a first message to the current service positioning auxiliary terminal device that does not meet the SL positioning service requirements, or send a second message to the target positioning auxiliary terminal device that meets the SL positioning service requirements.

[0241] In one embodiment of this disclosure, steps 401 and 402 can be performed selectively or simultaneously.

[0242] In summary, in the embodiments of this disclosure, in response to the sidechain SL positioning process satisfying a first specific event, a first message is sent to the current service positioning auxiliary terminal device that does not meet the SL positioning service requirements. The first message is used to cancel or deactivate the current service positioning auxiliary terminal device. In response to the sidechain SL positioning process satisfying the first specific event, a second message is sent to the target positioning auxiliary terminal device that meets the SL positioning service requirements. The second message is used to configure the target positioning auxiliary terminal device as a positioning auxiliary terminal device or activate the configuration of the target positioning auxiliary terminal device. In the embodiments of this disclosure, a reselection mechanism for positioning auxiliary terminal devices can be provided, allowing for reselection based on the first specific event. Specifically, the embodiments of this disclosure disclose a scheme for how the first terminal device reselects the positioning auxiliary terminal device. This disclosure provides a processing method for the scenario of "reselection of positioning auxiliary terminal devices" to reselect positioning auxiliary terminal devices based on the first specific event. It provides a reselection mechanism for positioning auxiliary terminal devices, reducing the possibility of inaccurate positioning information determination when the positioning auxiliary terminal device does not meet the SL positioning requirements, and improving the accuracy of positioning information determination.

[0243] Figure 6 This is a flowchart illustrating a reselection method for a positioning assistance terminal device provided in an embodiment of this disclosure. The method is executed by a first terminal device, such as... Figure 6 As shown, the method may include the following steps:

[0244] Step 601: In response to triggering the second specific event, do not trigger the reselection of the positioning auxiliary terminal device; and / or do not report information to the base station or the second terminal device.

[0245] In one embodiment of this disclosure, the second specific event includes at least one of the following:

[0246] The SL positioning process is SL - Round Trip Time (RTT).

[0247] The SL positioning process involves a current service positioning auxiliary terminal device;

[0248] The location reporting or measurement result reporting in the SL positioning process is not triggered by periodic triggering or event triggering.

[0249] In summary, in the embodiments of this disclosure, in response to the triggering of a second specific event, the reselection of the positioning assistance terminal device is not triggered; and / or information is not reported to the base station, LMF, or second terminal device. In the embodiments of this disclosure, a reselection mechanism for the positioning assistance terminal device can be provided, which can reselect the positioning assistance terminal device based on a first specific event. Specifically, this disclosure discloses a scheme that prevents the reselection of the positioning assistance terminal device when the second specific event is triggered; and / or prevents information from being reported to the base station or second terminal device. This disclosure provides a processing method for the scenario of "reselection of the positioning assistance terminal device" to reselect the positioning assistance terminal device based on a first specific event. This provides a reselection mechanism for the positioning assistance terminal device, reduces the possibility of inaccurate positioning information determination when the positioning assistance terminal device does not meet the SL positioning requirements, and improves the accuracy of positioning information determination.

[0250] Figure 7 This is a flowchart illustrating a reselection method for a positioning assistance terminal device provided in an embodiment of this disclosure. The method is executed by a first terminal device, such as... Figure 7 As shown, the method may include the following steps:

[0251] Step 701: In response to the first specific event being met during the sidechain SL positioning process, a third message is sent to the current service positioning auxiliary terminal device, wherein the third message is used to terminate the SL positioning process.

[0252] For example, in one embodiment of this disclosure, the first terminal device may send the third message only to the current service location-assisted terminal device that does not meet the requirements, or it may send the third message to all location-assisted terminal devices.

[0253] For example, in one embodiment of this disclosure, if the current service positioning auxiliary terminal device that does not meet the requirements is responsible for at least one of the functions such as positioning calculation, PRS resource coordination, positioning auxiliary terminal device selection and reselection, and positioning method selection, the first terminal device may terminate the current positioning process.

[0254] In summary, in the embodiments of this disclosure, in response to the fulfillment of a first specific event during the sidechain SL positioning process, a third message is sent to the currently serving positioning auxiliary terminal device, wherein the third message is used to terminate the SL positioning process. In the embodiments of this disclosure, a reselection mechanism for the positioning auxiliary terminal device can be provided, allowing for reselection based on the first specific event. Specifically, the embodiments of this disclosure disclose a scheme for the first terminal device to terminate the SL positioning process. This disclosure provides a processing method for the scenario of "reselection of positioning auxiliary terminal device," enabling reselection based on a first specific event. It provides a reselection mechanism for the positioning auxiliary terminal device, reducing the likelihood of inaccurate positioning information determination when the positioning auxiliary terminal device does not meet the SL positioning requirements, and improving the accuracy of positioning information determination.

[0255] Figure 8 This is a flowchart illustrating a reselection method for a positioning assistance terminal device provided in an embodiment of this disclosure. The method is executed by a second terminal device, such as... Figure 8 As shown, the method may include the following steps:

[0256] Step 801: Receive information reported by the first terminal device; and

[0257] Trigger the reselection process of the positioning assistance terminal device, wherein the information is the first terminal device responding to the SL positioning process performed by the first terminal device and reporting a first specific event.

[0258] In one embodiment of this disclosure, the first specific event includes at least one of the following:

[0259] The signal quality of the current service positioning auxiliary terminal device does not meet the signal quality threshold requirements. The current service positioning auxiliary terminal device is the terminal device participating in the SL positioning process.

[0260] The distance between the current service positioning auxiliary terminal device and the first terminal device does not meet the distance threshold requirement;

[0261] The first terminal device or the current service location auxiliary terminal device leaves the specific area;

[0262] The time elapsed since the last report of SL positioning location information or measurement results exceeds the preset time limit;

[0263] The current service location assistance terminal device and the first terminal device's sidelink link has experienced a radio link failure (RLF).

[0264] In one embodiment of this disclosure, triggering a location-assisted terminal device reselection process includes:

[0265] Send a first message to the current service positioning auxiliary terminal device that does not meet the SL positioning service requirements, wherein the first message is used to cancel or deactivate the current service positioning auxiliary terminal device, wherein the current service positioning auxiliary terminal device is a terminal device participating in the SL positioning process;

[0266] A second message is sent to the target positioning auxiliary terminal device that meets the requirements of the SL positioning service. The second message is used to configure the target positioning auxiliary terminal device as a positioning auxiliary terminal device or to activate the configuration of the target positioning auxiliary terminal device.

[0267] In one embodiment of this disclosure, the first specific event includes at least one of the following:

[0268] The signal quality of the current service positioning auxiliary terminal device does not meet the signal quality threshold requirements. The current service positioning auxiliary terminal device is the terminal device participating in the SL positioning process.

[0269] The distance between the current service positioning auxiliary terminal device and the first terminal device does not meet the distance threshold requirement;

[0270] The first terminal device or the current service location auxiliary terminal device leaves the specific area;

[0271] The time elapsed since the last report of SL positioning location information or measurement results exceeds the preset time limit;

[0272] The current service location assistance terminal device and the first terminal device's sidelink link has experienced a radio link failure (RLF).

[0273] For example, in one embodiment of this disclosure, Figure 9 This is an interactive schematic diagram of a reselection method for a positioning assistance terminal device provided in an embodiment of this disclosure, as shown below. Figure 9 As shown, in response to the fulfillment of a first specific event during the sidechain SL positioning process, the first terminal device can report information to the second terminal device. The second terminal device can receive this information and trigger a positioning assistance terminal device reselection process.

[0274] For example, in one embodiment of this disclosure, the method further includes:

[0275] In response to the second terminal device being a current service location auxiliary terminal device that does not meet the requirements of the SL location service, the target location service terminal device is determined, and the second terminal device is either canceled or deactivated.

[0276] Furthermore, in one embodiment of this disclosure, the second terminal device may be a terminal device that is responsible for selecting and reselecting location-assisted terminal devices, such as a location service terminal device (UE).

[0277] For example, in one embodiment of this disclosure, the information includes at least one of the following:

[0278] Trigger the first reported event;

[0279] Current signal quality measurement results of the service positioning auxiliary terminal equipment;

[0280] The signal quality measurement results of other positioning auxiliary terminal devices, where other positioning auxiliary terminal devices are terminal devices that did not participate in the SL positioning process;

[0281] The device identifier of the first terminal device.

[0282] For example, in one embodiment of this disclosure, the method further includes:

[0283] Information is exchanged with the first terminal device through at least one of the following messages:

[0284] Long Term Evolution (LTE) Location Protocol (LPP) messages for general mobile communications technologies;

[0285] Sidelink LPP message;

[0286] PC5-S message;

[0287] Radio Resource Control (RRC) message.

[0288] In summary, in the embodiments of this disclosure, information reported by the first terminal device is received; and a reselection process for the positioning assistance terminal device is triggered, wherein the information is reported by the first terminal device in response to the SL positioning process performed by the first terminal device satisfying a first specific event. In the embodiments of this disclosure, a reselection mechanism for the positioning assistance terminal device can be provided, and the reselection of the positioning assistance terminal device can be triggered by receiving information reported by the first terminal device. This disclosure provides a processing method for the scenario of "reselection of the positioning assistance terminal device," which reselects the positioning assistance terminal device based on the information reported by the first terminal device. It provides a reselection mechanism for the positioning assistance terminal device, reducing the possibility of inaccurate positioning information determination when the positioning assistance terminal device does not meet the SL positioning requirements, and improving the accuracy of positioning information determination.

[0289] Figure 10 This is a flowchart illustrating a reselection method for a positioning assistance terminal device provided in an embodiment of this disclosure. The method is executed by a base station, such as... Figure 10 As shown, the method may include the following steps:

[0290] Step 1001: Receive information reported by the first terminal device; and

[0291] Trigger the reselection process of the positioning assistance terminal device, wherein the information is the first terminal device responding to the SL positioning process performed by the first terminal device and reporting a first specific event.

[0292] In one embodiment of this disclosure, the first specific event includes at least one of the following:

[0293] The signal quality of the current service positioning auxiliary terminal device does not meet the signal quality threshold requirements. The current service positioning auxiliary terminal device is the terminal device participating in the SL positioning process.

[0294] The distance between the current service positioning auxiliary terminal device and the first terminal device does not meet the distance threshold requirement;

[0295] The first terminal device or the current service location auxiliary terminal device leaves the specific area;

[0296] The time elapsed since the last report of SL positioning location information or measurement results exceeds the preset time limit;

[0297] The current service location assistance terminal device and the first terminal device's sidelink link has experienced a radio link failure (RLF).

[0298] In one embodiment of this disclosure, the first specific event includes at least one of the following:

[0299] The signal quality of the current service positioning auxiliary terminal device does not meet the signal quality threshold requirements. The current service positioning auxiliary terminal device is the terminal device participating in the SL positioning process.

[0300] The distance between the current service positioning auxiliary terminal device and the first terminal device does not meet the distance threshold requirement;

[0301] The first terminal device or the current service location auxiliary terminal device leaves the specific area;

[0302] The time elapsed since the last report of SL positioning location information or measurement results exceeds the preset time limit;

[0303] The current service location assistance terminal device and the first terminal device's sidelink link has experienced a radio link failure (RLF).

[0304] For example, in one embodiment of this disclosure, Figure 11This is an interactive schematic diagram of a reselection method for a positioning assistance terminal device provided in an embodiment of this disclosure, as shown below. Figure 11 As shown, in response to the first specific event being met during the sidechain SL positioning process, the first terminal device can report information to the base station. The base station can receive this information and trigger a positioning assistance terminal device reselection process.

[0305] For example, in one embodiment of this disclosure, triggering a location-assisted terminal device reselection process includes:

[0306] Send a first message to the current service positioning auxiliary terminal device that does not meet the SL positioning service requirements, wherein the first message is used to cancel or deactivate the current service positioning auxiliary terminal device, wherein the current service positioning auxiliary terminal device is a terminal device participating in the SL positioning process;

[0307] A second message is sent to the target positioning auxiliary terminal device that meets the requirements of the SL positioning service. The second message is used to configure the target positioning auxiliary terminal device as a positioning auxiliary terminal device or to activate the configuration of the target positioning auxiliary terminal device.

[0308] For example, in one embodiment of this disclosure, the method further includes:

[0309] The configuration is sent to the first terminal device, wherein the configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and periodic configuration.

[0310] For example, in one embodiment of this disclosure, the method further includes:

[0311] Receive configuration sent by network-side device, wherein the configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration and period configuration;

[0312] Forward the configuration to the first terminal device.

[0313] For example, in one embodiment of this disclosure, Figure 12 This is an interactive schematic diagram of a reselection method for a positioning assistance terminal device provided in an embodiment of this disclosure, as shown below. Figure 12 As shown, the network-side device can be, for example, a Location Management Function (LMF). The base station can receive configuration sent by the network-side device, which can be, for example, an LMF. In this case, the base station can receive the configuration sent by the LMF. The base station can forward this configuration to the first terminal device.

[0314] For example, in one embodiment of this disclosure, the method further includes:

[0315] Send information to network-side devices.

[0316] For example, in one embodiment of this disclosure, Figure 13 This is an interactive schematic diagram of a reselection method for a positioning assistance terminal device provided in an embodiment of this disclosure, as shown below. Figure 13 As shown, in response to the fulfillment of a first specific event during the sidechain SL positioning procedure, the first terminal device can report information to the base station. The base station can receive this information and send it to the LMF. The LMF can receive this information and trigger a positioning assist terminal device reselection procedure.

[0317] For example, in one embodiment of this disclosure, the information includes at least one of the following:

[0318] Trigger the first reported event;

[0319] Current signal quality measurement results of the service positioning auxiliary terminal equipment;

[0320] The signal quality measurement results of other positioning auxiliary terminal devices, where other positioning auxiliary terminal devices are terminal devices that did not participate in the SL positioning process;

[0321] The device identifier of the first terminal device.

[0322] For example, in one embodiment of this disclosure, the method further includes:

[0323] Information is exchanged with the first terminal device through at least one of the following messages:

[0324] Long Term Evolution (LTE) Location Protocol (LPP) messages for general mobile communications technologies;

[0325] Sidelink LPP message;

[0326] PC5-S message;

[0327] Radio Resource Control (RRC) message.

[0328] For example, in one embodiment of this disclosure, the method further includes:

[0329] Information is exchanged with network-side devices through at least one of the following messages:

[0330] Long Term Evolution (LTE) Location Protocol (LPP) messages for general mobile communications technologies;

[0331] Sidelink LPP message;

[0332] PC5-S message;

[0333] Radio Resource Control (RRC) message.

[0334] In summary, in the embodiments of this disclosure, information reported by the first terminal device is received; and a reselection process for the positioning assistance terminal device is triggered, wherein the information is reported by the first terminal device in response to the SL positioning process performed by the first terminal device satisfying a first specific event. In the embodiments of this disclosure, a reselection mechanism for the positioning assistance terminal device can be provided, and the reselection of the positioning assistance terminal device can be triggered by receiving information reported by the first terminal device. This disclosure provides a processing method for the scenario of "reselection of the positioning assistance terminal device," which reselects the positioning assistance terminal device based on the information reported by the first terminal device. It provides a reselection mechanism for the positioning assistance terminal device, reducing the possibility of inaccurate positioning information determination when the positioning assistance terminal device does not meet the SL positioning requirements, and improving the accuracy of positioning information determination.

[0335] Figure 14 This is a flowchart illustrating a reselection method for a positioning assistance terminal device provided in an embodiment of this disclosure. The method is executed by a base station, such as... Figure 14 As shown, the method may include the following steps:

[0336] Step 1401: Receive information reported by the first terminal device and send a first message to the current service positioning auxiliary terminal device that does not meet the SL positioning service requirements. The first message is used to cancel or deactivate the current service positioning auxiliary terminal device. The current service positioning auxiliary terminal device is a terminal device that participates in the SL positioning process.

[0337] Step 1402: Receive the information reported by the first terminal device and send a second message to the target positioning auxiliary terminal device that meets the SL positioning service requirements. The second message is used to configure the target positioning auxiliary terminal device as a positioning auxiliary terminal device or to activate the configuration of the target positioning auxiliary terminal device.

[0338] For example, in one embodiment of this disclosure, the method further includes:

[0339] Information is exchanged with the first terminal device, the current service location auxiliary terminal device, or the target location auxiliary terminal device through at least one of the following messages:

[0340] Long Term Evolution (LTE) Location Protocol (LPP) messages for general mobile communications technologies;

[0341] Sidelink LPP message;

[0342] PC5-S message;

[0343] Radio Resource Control (RRC) message.

[0344] In summary, in the embodiments of this disclosure, information reported by a first terminal device is received, and a first message is sent to a current service positioning auxiliary terminal device that does not meet the SL positioning service requirements. The first message is used to cancel or deactivate the current service positioning auxiliary terminal device, where the current service positioning auxiliary terminal device is a terminal device participating in the SL positioning process. Information reported by the first terminal device is also received, and a second message is sent to a target positioning auxiliary terminal device that meets the SL positioning service requirements. The second message is used to configure the target positioning auxiliary terminal device as a positioning auxiliary terminal device or to activate the configuration of the target positioning auxiliary terminal device. In the embodiments of this disclosure, a reselection mechanism for positioning auxiliary terminal devices can be provided, which can be triggered by receiving information reported by the first terminal device. Specifically, the embodiments of this disclosure disclose a scheme for how a base station performs the reselection of positioning auxiliary terminal devices. This disclosure provides a processing method for the scenario of "reselection of positioning auxiliary terminal devices," which reselects positioning auxiliary terminal devices based on information reported by the first terminal device. This provides a reselection mechanism for positioning auxiliary terminal devices, reducing the possibility of inaccurate positioning information determination when the positioning auxiliary terminal device does not meet the SL positioning requirements, and improving the accuracy of positioning information determination.

[0345] Figure 15 This is a flowchart illustrating a reselection method for a positioning assistance terminal device provided in an embodiment of this disclosure. The method is executed by a base station, such as... Figure 15 As shown, the method may include the following steps:

[0346] Step 1501: Send configuration to the first terminal device, wherein the configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and periodic configuration.

[0347] For example, in one embodiment of this disclosure, the method further includes:

[0348] Information is exchanged with the first terminal device through at least one of the following messages:

[0349] Long Term Evolution (LTE) Location Protocol (LPP) messages for general mobile communications technologies;

[0350] Sidelink LPP message;

[0351] PC5-S message;

[0352] Radio Resource Control (RRC) message.

[0353] In summary, in the embodiments of this disclosure, configuration is sent to the first terminal device, wherein the configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and periodic configuration. In the embodiments of this disclosure, a reselection mechanism for the positioning assistance terminal device can be provided, allowing reselection based on a first specific event. The embodiments of this disclosure specifically disclose a scheme for determining the configuration in the first specific event to improve the accuracy of whether to reselect the positioning assistance terminal device. This disclosure provides a processing method for the scenario of "reselection of the positioning assistance terminal device," which reselects the positioning assistance terminal device based on information reported by the first terminal device. This provides a reselection mechanism for the positioning assistance terminal device, reducing the possibility of inaccurate positioning information determination when the positioning assistance terminal device does not meet the SL positioning requirements, and improving the accuracy of positioning information determination.

[0354] Figure 16 This is a flowchart illustrating a reselection method for a positioning assistance terminal device provided in an embodiment of this disclosure. The method is executed by a base station, such as... Figure 16 As shown, the method may include the following steps:

[0355] Step 1601: Receive configuration sent by the network-side device, wherein the configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and period configuration;

[0356] Step 1602: Forward the configuration to the first terminal device.

[0357] In summary, in the embodiments of this disclosure, the configuration sent by the network-side device is received, wherein the configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and periodic configuration; the configuration is then forwarded to the first terminal device. In the embodiments of this disclosure, a reselection mechanism for the positioning assistance terminal device can be provided, which can reselect the positioning assistance terminal device based on a first specific event. The embodiments of this disclosure specifically disclose a scheme for determining the configuration in the first specific event, thereby improving the accuracy of whether to reselect the positioning assistance terminal device. This disclosure provides a processing method for the scenario of "reselection of the positioning assistance terminal device," which reselects the positioning assistance terminal device based on information reported by the first terminal device. This provides a reselection mechanism for the positioning assistance terminal device, reducing the possibility of inaccurate positioning information determination when the positioning assistance terminal device does not meet the SL positioning requirements, and thus improving the accuracy of positioning information determination.

[0358] Figure 17 This is a flowchart illustrating a reselection method for a positioning assistance terminal device provided in an embodiment of this disclosure. The method is executed by a base station, such as... Figure 17As shown, the method may include the following steps:

[0359] Step 1701: Receive information reported by the first terminal device, wherein the information is a report of the first terminal device responding to the SL positioning process performed by the first terminal device satisfying the first specific event.

[0360] Step 1702: Send information to the network-side device.

[0361] In one embodiment of this disclosure, the base station can send information to a network-side device. This network-side device may be, for example, an LMF (Location Assistive Device). When the LMF receives the information, it can trigger a location assistive device reselection process.

[0362] In summary, in the embodiments of this disclosure, information reported by the first terminal device is received, wherein the information is a report submitted by the first terminal device in response to the SL positioning process performed by the first terminal device satisfying a first specific event; and information is sent to the network-side device. In the embodiments of this disclosure, a reselection mechanism for the positioning assistance terminal device can be provided, which can be triggered by receiving information reported by the first terminal device. This disclosure provides a processing method for the scenario of "reselection of the positioning assistance terminal device," in which the network-side device reselects the positioning assistance terminal device based on the information reported by the first terminal device. This provides a reselection mechanism for the positioning assistance terminal device, reducing the possibility of inaccurate positioning information determination when the positioning assistance terminal device does not meet the SL positioning requirements, and improving the accuracy of positioning information determination.

[0363] Figure 18 This is a flowchart illustrating a reselection method for a positioning assistance terminal device provided in an embodiment of this disclosure. The method is executed by a base station, such as... Figure 18 As shown, the method may include the following steps:

[0364] Step 1801: Receive configuration sent by the network-side device, wherein the configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and periodic configuration;

[0365] Step 1802: Forward the configuration to the first terminal device.

[0366] In summary, in the embodiments of this disclosure, the configuration sent by the network-side device is received, wherein the configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and periodic configuration; the configuration is then forwarded to the first terminal device. In the embodiments of this disclosure, a reselection mechanism for the positioning assistance terminal device can be provided, which can reselect the positioning assistance terminal device based on a first specific event. The embodiments of this disclosure specifically disclose a scheme for determining the configuration in the first specific event, thereby improving the accuracy of whether to reselect the positioning assistance terminal device. This disclosure provides a processing method for the scenario of "reselection of the positioning assistance terminal device," which reselects the positioning assistance terminal device based on information reported by the first terminal device. This provides a reselection mechanism for the positioning assistance terminal device, reducing the possibility of inaccurate positioning information determination when the positioning assistance terminal device does not meet the SL positioning requirements, and thus improving the accuracy of positioning information determination.

[0367] Figure 19 This is a flowchart illustrating a reselection method for a positioning assistance terminal device provided in an embodiment of this disclosure. The method is executed by a network-side device, such as... Figure 19 As shown, the method may include the following steps:

[0368] Step 1901: Receive information sent by the base station, wherein the information is a report sent by the first terminal device to the base station in response to the first terminal device's SL positioning process satisfying a first specific event.

[0369] In one embodiment of this disclosure, the base station can send information to a network-side device. This network-side device may be, for example, an LMF (Location Assistive Device). When the LMF receives the information, it can trigger a location assistive device reselection process.

[0370] In summary, in the embodiments of this disclosure, information sent by the base station is received, wherein the information is reported to the base station by the first terminal device in response to the SL positioning process performed by the first terminal device satisfying a first specific event. In the embodiments of this disclosure, a reselection mechanism for the positioning assistance terminal device can be provided, which can be triggered by receiving information reported by the first terminal device. This disclosure provides a processing method for the scenario of "reselection of positioning assistance terminal device," in which the network-side device reselects the positioning assistance terminal device based on the information reported by the base station. This provides a reselection mechanism for the positioning assistance terminal device, reducing the possibility of inaccurate positioning information determination when the positioning assistance terminal device does not meet the SL positioning requirements, and improving the accuracy of positioning information determination.

[0371] Figure 20This is a flowchart illustrating a reselection method for a positioning assistance terminal device provided in an embodiment of this disclosure. The method is executed by a network-side device, such as... Figure 20 As shown, the method may include the following steps:

[0372] Step 2001: Send configuration to base station, wherein the configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration and periodic configuration, and the configuration is used to instruct the base station to send configuration to the first terminal device.

[0373] In one embodiment of this disclosure, the network-side device may be, for example, an LMF (Local Signal Filter). The LMF can send configurations to the base station, wherein the configurations include at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and periodic configuration. When the base station receives the configurations sent by the LMF, the base station can send the configurations to the first terminal device.

[0374] In summary, in the embodiments of this disclosure, a configuration is sent to the base station. This configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and periodic configuration. The configuration is used to instruct the base station to send the configuration to the first terminal device. In the embodiments of this disclosure, a reselection mechanism for the positioning assistance terminal device can be provided, allowing for reselection based on a first specific event. The embodiments of this disclosure specifically disclose a scheme for determining the configuration in the first specific event, thereby improving the accuracy of whether to reselect the positioning assistance terminal device. This disclosure provides a processing method for the scenario of "reselection of the positioning assistance terminal device," reselecting the positioning assistance terminal device based on information reported by the first terminal device. This provides a reselection mechanism for the positioning assistance terminal device, reducing the likelihood of inaccurate positioning information determination when the positioning assistance terminal device does not meet the SL positioning requirements, and improving the accuracy of positioning information determination.

[0375] Figure 21 This is a schematic diagram of the structure of a reselection device for a positioning assistance terminal device provided in an embodiment of this disclosure, as shown below. Figure 21 As shown, the device 2100 can be disposed on the side of the first terminal device, and the device 2100 may include:

[0376] Select module 2101 to perform at least one of the following operations:

[0377] Select a new positioning auxiliary terminal device;

[0378] Report information to the base station or send information to the second terminal device;

[0379] The location process has been terminated.

[0380] In summary, in the reselection device for the positioning assistance terminal device in this embodiment of the present disclosure, the selection module performs at least one of the following operations: reselecting the positioning assistance terminal device; reporting information to the base station or sending information to the second terminal device; terminating the positioning process. In this embodiment of the present disclosure, a reselection mechanism for the positioning assistance terminal device can be provided, which can reselect the positioning assistance terminal device based on a first specific event. This disclosure provides a processing device for the scenario of "reselection of the positioning assistance terminal device" to reselect the positioning assistance terminal device based on a first specific event. It can provide a reselection mechanism for the positioning assistance terminal device, reduce the situation where the positioning assistance terminal device does not meet the SL positioning requirements, resulting in inaccurate positioning information determination, and improve the accuracy of positioning information determination.

[0381] Optionally, in one embodiment of this disclosure, the first specific event includes at least one of the following:

[0382] The signal quality of the current service positioning auxiliary terminal device does not meet the signal quality threshold requirements. The current service positioning auxiliary terminal device is the terminal device participating in the SL positioning process.

[0383] The distance between the current service positioning auxiliary terminal device and the first terminal device does not meet the distance threshold requirement;

[0384] The first terminal device or the current service location auxiliary terminal device leaves the specific area;

[0385] The time elapsed since the last report of SL positioning location information or measurement results exceeds the preset time limit;

[0386] The current service location assistance terminal device and the first terminal device's sidelink link has experienced a radio link failure (RLF).

[0387] Alternatively, in one embodiment of this disclosure, wherein, Figure 22 This is a schematic diagram of the structure of a reselection device for a positioning assistance terminal device provided in an embodiment of this disclosure, as shown below. Figure 22 As shown, the device 2100 may include a receiving module 2102, used for:

[0388] Receive configuration sent by the base station; or

[0389] The configuration is determined based on the pre-configuration information of the first terminal device.

[0390] The configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and periodic configuration.

[0391] Optionally, in one embodiment of this disclosure, the information includes at least one of the following:

[0392] Trigger the first reported event;

[0393] Current signal quality measurement results of the service positioning auxiliary terminal equipment;

[0394] The signal quality measurement results of other positioning auxiliary terminal devices, where other positioning auxiliary terminal devices are terminal devices that did not participate in the SL positioning process;

[0395] The device identifier of the first terminal device.

[0396] Optionally, in one embodiment of this disclosure, the selection module 2101 is used to reselect the positioning assistance terminal device, specifically for at least one of the following:

[0397] Send a first message to the current service location auxiliary terminal device that does not meet the SL location service requirements, wherein the first message is used to cancel the current service location auxiliary terminal device or deactivate the current service location auxiliary terminal device;

[0398] A second message is sent to the target positioning auxiliary terminal device that meets the requirements of the SL positioning service. The second message is used to configure the target positioning auxiliary terminal device as a positioning auxiliary terminal device or to activate the configuration of the target positioning auxiliary terminal device.

[0399] Optionally, in one embodiment of this disclosure, the selection module 2101 is further configured to:

[0400] In response to the triggering of a second specific event, the reselection of the positioning auxiliary terminal device is not triggered; and / or no information is reported to the base station or the second terminal device.

[0401] Optionally, in one embodiment of this disclosure, the second specific event includes at least one of the following:

[0402] The SL positioning process is SL - Round Trip Time (RTT).

[0403] The SL positioning process involves a current service positioning auxiliary terminal device;

[0404] The location reporting or measurement result reporting in the SL positioning process is not triggered by periodic triggering or event triggering.

[0405] Optionally, in one embodiment of this disclosure, the selection module 2101, when terminating the positioning process, is specifically used for:

[0406] Send a third message to the current service location assist terminal device, wherein the third message is used to terminate the SL location process.

[0407] Optionally, in one embodiment of this disclosure, the selection module 2101 is further configured to:

[0408] Information is exchanged with the base station or the second terminal device through at least one of the following messages:

[0409] Long Term Evolution (LTE) Location Protocol (LPP) messages for general mobile communications technologies;

[0410] Sidelink LPP message;

[0411] PC5-S message;

[0412] Radio Resource Control (RRC) message.

[0413] Figure 23 This is a schematic diagram of the structure of a reselection device for a positioning assistance terminal device provided in an embodiment of this disclosure, as shown below. Figure 23 As shown, the device 2300 can be disposed on the second terminal device side, and the device 2300 may include:

[0414] Receiver module 2301 is used to receive information reported by the first terminal device; and

[0415] Trigger the reselection process of the positioning assistance terminal device, wherein the information is the first terminal device responding to the SL positioning process performed by the first terminal device and reporting a first specific event.

[0416] In summary, in the reselection device for the positioning assist terminal device in this embodiment of the present disclosure, the receiving module receives information reported by the first terminal device and triggers a reselection process for the positioning assist terminal device. The information is reported by the first terminal device in response to the SL positioning process performed by the first terminal device satisfying a first specific event. In this embodiment of the present disclosure, a reselection mechanism for the positioning assist terminal device can be provided, which can receive information reported by the first terminal device to trigger the reselection of the positioning assist terminal device. This disclosure provides a processing device for the scenario of "reselection of the positioning assist terminal device" to reselect the positioning assist terminal device based on information reported by the first terminal device. It can provide a reselection mechanism for the positioning assist terminal device, reducing the possibility of inaccurate positioning information determination when the positioning assist terminal device does not meet the SL positioning requirements, and improving the accuracy of positioning information determination.

[0417] Optionally, in one embodiment of this disclosure, the first specific event includes at least one of the following:

[0418] The signal quality of the current service positioning auxiliary terminal device does not meet the signal quality threshold requirements. The current service positioning auxiliary terminal device is the terminal device participating in the SL positioning process.

[0419] The distance between the current service positioning auxiliary terminal device and the first terminal device does not meet the distance threshold requirement;

[0420] The first terminal device or the current service location auxiliary terminal device leaves the specific area;

[0421] The time elapsed since the last report of SL positioning location information or measurement results exceeds the preset time limit;

[0422] The current service location assistance terminal device and the first terminal device's sidelink link has experienced a radio link failure (RLF).

[0423] Optionally, in one embodiment of this disclosure, the receiving module 2301, when triggering the reselection process of the positioning assistance terminal device, is specifically used for:

[0424] Send a first message to the current service positioning auxiliary terminal device that does not meet the SL positioning service requirements, wherein the first message is used to cancel or deactivate the current service positioning auxiliary terminal device, wherein the current service positioning auxiliary terminal device is a terminal device participating in the SL positioning process;

[0425] A second message is sent to the target positioning auxiliary terminal device that meets the requirements of the SL positioning service. The second message is used to configure the target positioning auxiliary terminal device as a positioning auxiliary terminal device or to activate the configuration of the target positioning auxiliary terminal device.

[0426] Optionally, in one embodiment of this disclosure, the receiving module 2301 is further configured to:

[0427] In response to the second terminal device being a current service location auxiliary terminal device that does not meet the requirements of the SL location service, the target location service terminal device is determined, and the second terminal device is either canceled or deactivated.

[0428] Optionally, in one embodiment of this disclosure, the information includes at least one of the following:

[0429] Trigger the first reported event;

[0430] Current signal quality measurement results of the service positioning auxiliary terminal equipment;

[0431] The signal quality measurement results of other positioning auxiliary terminal devices, where other positioning auxiliary terminal devices are terminal devices that did not participate in the SL positioning process;

[0432] The device identifier of the first terminal device.

[0433] Optionally, in one embodiment of this disclosure, the receiving module 2301 is further configured to:

[0434] Information is exchanged with the first terminal device through at least one of the following messages:

[0435] Long Term Evolution (LTE) Location Protocol (LPP) messages for general mobile communications technologies;

[0436] Sidelink LPP message;

[0437] PC5-S message;

[0438] Radio Resource Control (RRC) message.

[0439] Figure 24 This is a schematic diagram of the structure of a reselection device for a positioning assistance terminal device provided in an embodiment of this disclosure, as shown below. Figure 24 As shown, the device 2400 can be disposed on the base station side, and the device 2400 may include:

[0440] Receiver module 2401 is used to receive information reported by the first terminal device; and

[0441] Trigger the reselection process of the positioning assistance terminal device, wherein the information is the first terminal device responding to the SL positioning process performed by the first terminal device and reporting a first specific event.

[0442] In summary, in the reselection device for the positioning assist terminal device in this embodiment of the present disclosure, the receiving module receives information reported by the first terminal device and triggers a reselection process for the positioning assist terminal device. The information is reported by the first terminal device in response to the SL positioning process performed by the first terminal device satisfying a first specific event. In this embodiment of the present disclosure, a reselection mechanism for the positioning assist terminal device can be provided, which can receive information reported by the first terminal device to trigger the reselection of the positioning assist terminal device. This disclosure provides a processing method for the scenario of "reselection of the positioning assist terminal device," which reselects the positioning assist terminal device based on information reported by the first terminal device. This provides a reselection mechanism for the positioning assist terminal device, reducing the possibility of inaccurate positioning information determination when the positioning assist terminal device does not meet the SL positioning requirements, and improving the accuracy of positioning information determination.

[0443] Optionally, in one embodiment of this disclosure, the first specific event includes at least one of the following:

[0444] The signal quality of the current service positioning auxiliary terminal device does not meet the signal quality threshold requirements. The current service positioning auxiliary terminal device is the terminal device participating in the SL positioning process.

[0445] The distance between the current service positioning auxiliary terminal device and the first terminal device does not meet the distance threshold requirement;

[0446] The first terminal device or the current service location auxiliary terminal device leaves the specific area;

[0447] The time elapsed since the last report of SL positioning location information or measurement results exceeds the preset time limit;

[0448] The current service location assistance terminal device and the first terminal device's sidelink link has experienced a radio link failure (RLF).

[0449] Optionally, in one embodiment of this disclosure, the receiving module 2401, when triggering the reselection process of the positioning assistance terminal device, is specifically used for:

[0450] Send a first message to the current service positioning auxiliary terminal device that does not meet the SL positioning service requirements, wherein the first message is used to cancel or deactivate the current service positioning auxiliary terminal device, wherein the current service positioning auxiliary terminal device is a terminal device participating in the SL positioning process;

[0451] A second message is sent to the target positioning auxiliary terminal device that meets the requirements of the SL positioning service. The second message is used to configure the target positioning auxiliary terminal device as a positioning auxiliary terminal device or to activate the configuration of the target positioning auxiliary terminal device.

[0452] Alternatively, in one embodiment of this disclosure, wherein, Figure 25 This is a schematic diagram of the structure of a reselection device for a positioning assistance terminal device provided in an embodiment of this disclosure, as shown below. Figure 25 As shown, the device 2400 may include a transmitting module 2402, used for:

[0453] The configuration is sent to the first terminal device, wherein the configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and periodic configuration.

[0454] Optionally, in one embodiment of this disclosure, the receiving module 2401 is further configured to:

[0455] Receive configuration sent by network-side device, wherein the configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration and period configuration;

[0456] Forward the configuration to the first terminal device.

[0457] Optionally, in one embodiment of this disclosure, the sending module 2402 is further configured to:

[0458] Send information to network-side devices.

[0459] Optionally, in one embodiment of this disclosure, the information includes at least one of the following:

[0460] Trigger the first reported event;

[0461] Current signal quality measurement results of the service positioning auxiliary terminal equipment;

[0462] The signal quality measurement results of other positioning auxiliary terminal devices, where other positioning auxiliary terminal devices are terminal devices that did not participate in the SL positioning process;

[0463] The device identifier of the first terminal device.

[0464] Optionally, in one embodiment of this disclosure, the receiving module 2401 is further configured to:

[0465] Information is exchanged with the first terminal device through at least one of the following messages:

[0466] Long Term Evolution (LTE) Location Protocol (LPP) messages for general mobile communications technologies;

[0467] Sidelink LPP message;

[0468] PC5-S message;

[0469] Radio Resource Control (RRC) message.

[0470] Figure 26 This is a block diagram of a terminal device UE2600 provided in one embodiment of this disclosure. For example, UE2600 may be a mobile phone, computer, digital broadcasting terminal device, messaging transceiver, game console, tablet device, medical device, fitness device, personal digital assistant, etc.

[0471] Reference Figure 26 UE2600 may include at least one of the following components: processing component 2602, memory 2604, power supply component 2606, multimedia component 2608, audio component 2610, input / output (I / O) interface 2612, sensor component 2614, and communication component 2616.

[0472] Processing component 2602 typically controls the overall operation of UE 2600, such as operations associated with display, telephone calls, data communication, camera operation, and recording operations. Processing component 2602 may include at least one processor 2620 to execute instructions to perform all or part of the steps of the methods described above. Furthermore, processing component 2602 may include at least one module to facilitate interaction between processing component 2602 and other components. For example, processing component 2602 may include a multimedia module to facilitate interaction between multimedia component 2608 and processing component 2602.

[0473] Memory 2604 is configured to store various types of data to support operation on UE 2600. Examples of this data include instructions for any application or method operating on UE 2600, contact data, phonebook data, messages, pictures, videos, etc. Memory 2604 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0474] Power supply component 2606 provides power to various components of UE2600. Power supply component 2606 may include a power management system, at least one power supply, and other components associated with generating, managing, and distributing power to UE2600.

[0475] Multimedia component 2608 includes a screen that provides an output interface between the UE 2600 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes at least one touch sensor to sense touch, swipe, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or swipe action but also detect the wake-up time and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 2608 includes a front-facing camera and / or a rear-facing camera. When the UE 2600 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0476] Audio component 2610 is configured to output and / or input audio signals. For example, audio component 2610 includes a microphone (MIC) configured to receive external audio signals when UE 2600 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 2604 or transmitted via communication component 2616. In some embodiments, audio component 2610 also includes a speaker for outputting audio signals.

[0477] I / O interface 2612 provides an interface between processing component 2602 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0478] Sensor assembly 2614 includes at least one sensor for providing status assessment of various aspects of UE 2600. For example, sensor assembly 2614 can detect the on / off state of device 2600, the relative positioning of components, such as the display and keypad of UE 2600, changes in position of UE 2600 or one of its components, the presence or absence of user contact with UE 2600, orientation or acceleration / deceleration of UE 2600, and temperature changes of UE 2600. Sensor assembly 2614 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 2614 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 2614 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0479] Communication component 2616 is configured to facilitate wired or wireless communication between UE2600 and other devices. UE2600 can access wireless networks based on communication standards, such as WiFi, 2G, 3G, 4G, 5G, or combinations thereof. In one exemplary embodiment, communication component 2616 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 2616 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0480] In an exemplary embodiment, the UE2600 may be implemented by at least one application-specific integrated circuit (ASIC), digital signal processor (DSP), digital signal processing device (DSPD), programmable logic device (PLD), field-programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic component to perform the above method.

[0481] Figure 27 This is a block diagram of a network-side device 2700 provided in an embodiment of this disclosure. For example, the network-side device 2700 can be provided as a network-side device. (Refer to...) Figure 27The network-side device 2700 includes a processing component 2722, which further includes at least one processor, and memory resources represented by memory 2732 for storing instructions, such as application programs, that can be executed by the processing component 2722. The application programs stored in memory 2732 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processing component 2722 is configured to execute instructions to perform any of the methods described above applied to the network-side device.

[0482] The network-side device 2700 may also include a power supply component 2727 configured to perform power management of the network-side device 2700, a wired or wireless network interface 2750 configured to connect the network-side device 2700 to a network, and an input / output (I / O) interface 2758. The network-side device 2700 can operate on an operating system stored in memory 2732, such as Windows Server™, Mac OS X™, Unix™, Linux™, Free BSD™, or similar.

[0483] In the embodiments provided above, the methods provided by the present disclosure have been described from the perspectives of the network-side device and the UE, respectively. To implement the functions of the methods provided in the embodiments of the present disclosure, the network-side device and the UE may include hardware structures and software modules, implementing the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. One of the above functions can be executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules.

[0484] In the embodiments provided above, the methods provided by the present disclosure have been described from the perspectives of the network-side device and the UE, respectively. To implement the functions of the methods provided in the embodiments of the present disclosure, the network-side device and the UE may include hardware structures and software modules, implementing the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. One of the above functions can be executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules.

[0485] This disclosure provides a communication device. The communication device may include a transceiver module and a processing module. The transceiver module may include a sending module and / or a receiving module. The sending module is used to implement the sending function, and the receiving module is used to implement the receiving function. The transceiver module can implement both sending and / or receiving functions.

[0486] The communication device can be a terminal device (such as the terminal device in the aforementioned method embodiments), a device within a terminal device, or a device that can be used in conjunction with a terminal device. Alternatively, the communication device can be a network device, a device within a network device, or a device that can be used in conjunction with a network device.

[0487] This disclosure provides another communication device. The communication device can be a network device, a terminal device (such as the terminal device in the foregoing method embodiments), a chip, chip system, or processor that supports the network device in implementing the above methods, or a chip, chip system, or processor that supports the terminal device in implementing the above methods. This device can be used to implement the methods described in the above method embodiments; for details, please refer to the descriptions in the above method embodiments.

[0488] A communication device may include one or more processors. The processor may be a general-purpose processor or a dedicated processor. For example, it may be a baseband processor or a central processing unit (CPU). The baseband processor can be used to process communication protocols and communication data, while the CPU can be used to control the communication device (e.g., network-side equipment, baseband chip, terminal equipment, terminal equipment chip, DU or CU, etc.), execute computer programs, and process data from the computer programs.

[0489] Optionally, the communication device may further include one or more memories, on which computer programs may be stored. The processor executes the computer programs to cause the communication device to perform the methods described in the above method embodiments. Optionally, the memories may also store data. The communication device and the memories may be provided separately or integrated together.

[0490] Optionally, the communication device may also include a transceiver and an antenna. The transceiver, also known as a transceiver unit, transceiver, or transceiver circuit, is used to implement transmission and reception functions. The transceiver may include a receiver and a transmitter; the receiver, also known as a receiver circuit, is used to implement the receiving function; the transmitter, also known as a transmitter or transmitting circuit, is used to implement the transmitting function.

[0491] Optionally, the communication device may further include one or more interface circuits. The interface circuits are used to receive code instructions and transmit them to the processor. The processor executes the code instructions to cause the communication device to perform the methods described in the above method embodiments.

[0492] The communication device is a first terminal device (such as the terminal device in the aforementioned method embodiments): the processor is used to execute... Figures 2-7 Any of the methods shown.

[0493] The communication device is a second terminal device (such as the terminal device in the aforementioned method embodiments): the processor is used to execute... Figures 8-9 Any of the methods shown.

[0494] The communication device is a base station: the processor is used to execute... Figures 10-18 Any of the methods shown.

[0495] The communication device is a network-side device: the processor is used to execute... Figures 19-20 Any of the methods shown.

[0496] In one implementation, the processor may include a transceiver for implementing receive and transmit functions. For example, the transceiver may be a transceiver circuit, an interface, or an interface circuit. The transceiver circuit, interface, or interface circuit for implementing receive and transmit functions may be separate or integrated. The aforementioned transceiver circuit, interface, or interface circuit can be used for reading and writing code / data, or it can be used for transmitting or relaying signals.

[0497] In one implementation, the processor may store a computer program that runs on the processor, causing the communication device to perform the methods described in the above method embodiments. The computer program may be embedded in the processor; in this case, the processor may be implemented in hardware.

[0498] In one implementation, the communication device may include circuitry that performs the functions of transmitting, receiving, or communicating as described in the foregoing method embodiments. The processor and transceiver described in this disclosure can be implemented on integrated circuits (ICs), analog ICs, radio frequency integrated circuits (RFICs), mixed-signal ICs, application-specific integrated circuits (ASICs), printed circuit boards (PCBs), electronic devices, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal oxide semiconductors (CMOS), n-metal-oxide-semiconductor (NMOS), positive-channel metal oxide semiconductors (PMOS), bipolar junction transistors (BJTs), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.

[0499] The communication device described in the above embodiments can be a network device or a terminal device (such as the terminal device in the foregoing method embodiments), but the scope of the communication device described in this disclosure is not limited thereto, and the structure of the communication device is not limited. The communication device can be a standalone device or part of a larger device. For example, the communication device can be:

[0500] (1) Independent integrated circuit IC, or chip, or chip system or subsystem;

[0501] (2) A collection of one or more ICs, optionally including storage components for storing data and computer programs;

[0502] (3) ASIC, such as modem;

[0503] (4) Modules that can be embedded in other devices;

[0504] (5) Receivers, terminal equipment, smart terminal equipment, cellular phones, wireless equipment, handheld devices, mobile units, vehicle-mounted equipment, network equipment, cloud equipment, artificial intelligence equipment, etc.

[0505] (6) Others, etc.

[0506] When the communication device can be a chip or a chip system, the chip includes a processor and an interface. There can be one or more processors, and multiple interfaces.

[0507] Optionally, the chip also includes a memory for storing necessary computer programs and data.

[0508] Those skilled in the art will also understand that the various illustrative logical blocks and steps listed in the embodiments of this disclosure can be implemented by electronic hardware, computer software, or a combination of both. Whether such functionality is implemented in hardware or software depends on the specific application and the overall system design requirements. Those skilled in the art can implement the described functionality using various methods for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of this disclosure.

[0509] This disclosure also provides a readable storage medium having instructions stored thereon that, when executed by a computer, implement the functions of any of the above method embodiments.

[0510] This disclosure also provides a computer program product that, when executed by a computer, implements the functions of any of the above method embodiments.

[0511] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer programs. When the computer program is loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this disclosure are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer program can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program can be transferred from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., high-density digital video discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)).

[0512] Those skilled in the art will understand that the various numerical designations such as "first," "second," etc., used in this disclosure are merely for the convenience of description and are not intended to limit the scope of the embodiments of this disclosure, nor do they indicate the order of events.

[0513] At least one of the features described in this disclosure can also be described as one or more, and multiple features can be two, three, four or more, and this disclosure does not impose any limitations. In the embodiments of this disclosure, for a technical feature, the technical features in that technical feature are distinguished by "first", "second", "third", "A", "B", "C" and "D", etc., and there is no sequential order or size order among the technical features described by "first", "second", "third", "A", "B", "C" and "D".

[0514] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0515] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A method for reselecting a positioning auxiliary terminal device, characterized in that, The method is executed by a first terminal device performing the SL positioning process. The first terminal device determines its location information based on location information reported by multiple positioning auxiliary terminal devices. The method includes: In response to the first specific event being met during the sidechain SL positioning process, information is reported to the base station or information is sent to the second terminal device and a new positioning auxiliary terminal device is selected. The first specific event includes the distance between the current serving positioning auxiliary terminal device and the first terminal device not meeting the distance threshold requirement. In response to the triggering of a second specific event, the reselection of the location assistance terminal device is not triggered and no information is reported to the base station or the second terminal device; The second specific event includes at least one of the following: The SL positioning process is SL-Round Trip Time (RTT). The SL positioning process involves a current service positioning auxiliary terminal device; The location reporting or measurement result reporting method of the SL positioning process is not periodic or event-triggered.

2. The method according to claim 1, characterized in that, in, The first specific event also includes at least one of the following: The signal quality of the current service positioning auxiliary terminal device does not meet the signal quality threshold requirement, wherein the current service positioning auxiliary terminal device is a terminal device participating in the SL positioning process; The first terminal device or the current service location-assisted terminal device leaves the specific area; The time elapsed since the last report of SL positioning location information or measurement results exceeds the preset time limit; The current service location assistance terminal device and the first terminal device experienced a wireless link failure (RLF) on their sidelink link.

3. The method according to claim 2, characterized in that, The method further includes: Receive the configuration sent by the base station; or The configuration is determined based on the pre-configuration information of the first terminal device. The configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and period configuration.

4. The method according to claim 1, characterized in that, in, The information includes at least one of the following: Trigger the first reported event; Current signal quality measurement results of the service positioning auxiliary terminal equipment; The signal quality measurement results of other positioning auxiliary terminal devices, wherein the other positioning auxiliary terminal devices are terminal devices that did not participate in the SL positioning process; The device identifier of the first terminal device.

5. The method according to claim 1, characterized in that, The repositioning assistance terminal device includes at least one of the following: Send a first message to the current service location assistance terminal device that does not meet the SL location service requirements, wherein the first message is used to cancel the current service location assistance terminal device or deactivate the current service location assistance terminal device; A second message is sent to the target positioning auxiliary terminal device that meets the requirements of the SL positioning service, wherein the second message is used to configure the target positioning auxiliary terminal device as a positioning auxiliary terminal device or to activate the configuration of the target positioning auxiliary terminal device.

6. The method according to claim 1, characterized in that, The method further includes: Information exchange is performed with the base station or the second terminal device through at least one of the following messages: Long Term Evolution Positioning Protocol (LPP) messages for general mobile communication technologies; Sidelink LPP message; PC5-S message; Radio Resource Control (RRC) message.

7. A method for reselecting a positioning auxiliary terminal device, characterized in that, The method is executed by a second terminal device, and the method includes: The system receives information reported by a first terminal device performing the SL positioning process. Based on location information reported by multiple positioning auxiliary terminal devices, the first terminal device determines its own location information. Trigger the location assistance terminal device reselection process, wherein the information is reported by the first terminal device in response to the SL location process performed by the first terminal device satisfying the first specific event, and the first specific event includes the distance between the current service location assistance terminal device and the first terminal device not meeting the distance threshold requirement; Among them, the first terminal device responds to the triggering of the second specific event by not triggering the reselection of the positioning auxiliary terminal device and not reporting information to the base station or the second terminal device; The second specific event includes at least one of the following: The SL positioning process is SL-Round Trip Time (RTT). The SL positioning process involves a current service positioning auxiliary terminal device; The location reporting or measurement result reporting method of the SL positioning process is not periodic or event-triggered.

8. The method according to claim 7, characterized in that, in, The first specific event includes at least one of the following: The signal quality of the current service positioning auxiliary terminal device does not meet the signal quality threshold requirement, wherein the current service positioning auxiliary terminal device is a terminal device participating in the SL positioning process; The first terminal device or the current service location-assisted terminal device leaves the specific area; The time elapsed since the last report of SL positioning location information or measurement results exceeds the preset time limit; The current service location assistance terminal device and the first terminal device experienced a wireless link failure (RLF) on their sidelink link.

9. The method according to claim 7, characterized in that, Triggering the location assistance terminal device reselection process includes: Send a first message to the current service positioning auxiliary terminal device that does not meet the SL positioning service requirements, wherein the first message is used to cancel the current service positioning auxiliary terminal device or deactivate the current service positioning auxiliary terminal device, wherein the current service positioning auxiliary terminal device is a terminal device participating in the SL positioning process; A second message is sent to the target positioning auxiliary terminal device that meets the requirements of the SL positioning service, wherein the second message is used to configure the target positioning auxiliary terminal device as a positioning auxiliary terminal device or to activate the configuration of the target positioning auxiliary terminal device.

10. The method according to claim 7, characterized in that, The method further includes: In response to the second terminal device being the current service location auxiliary terminal device that does not meet the SL location service requirements, the target location service terminal device is determined, and the second terminal device is either canceled or deactivated.

11. The method according to claim 7, characterized in that, in, The information includes at least one of the following: Trigger the first reported event; Current signal quality measurement results of the service positioning auxiliary terminal equipment; The signal quality measurement results of other positioning auxiliary terminal devices, wherein the other positioning auxiliary terminal devices are terminal devices that did not participate in the SL positioning process; The device identifier of the first terminal device.

12. The method according to claim 7, characterized in that, The method further includes: The first terminal device can be contacted via at least one of the following messages: Long Term Evolution Positioning Protocol (LPP) messages for general mobile communication technologies; Sidelink LPP message; PC5-S message; Radio Resource Control (RRC) message.

13. A method for reselecting a positioning auxiliary terminal device, characterized in that, The method is executed by a base station, and the method includes: The system receives information reported by a first terminal device performing the SL positioning process. Based on location information reported by multiple positioning auxiliary terminal devices, the first terminal device determines its own location information. Trigger the location assistance terminal device reselection process, wherein the information is reported by the first terminal device in response to the SL location process performed by the first terminal device satisfying the first specific event, and the first specific event includes the distance between the current service location assistance terminal device and the first terminal device not meeting the distance threshold requirement; Wherein, the first terminal device responds to the triggering of the second specific event by not triggering the reselection of the positioning auxiliary terminal device and not reporting information to the base station or the second terminal device; The second specific event includes at least one of the following: The SL positioning process is SL-Round Trip Time (RTT). The SL positioning process involves a current service positioning auxiliary terminal device; The location reporting or measurement result reporting method of the SL positioning process is not periodic or event-triggered.

14. The method according to claim 13, characterized in that, Triggering the location assistance terminal device reselection process includes: Send a first message to the current service positioning auxiliary terminal device that does not meet the SL positioning service requirements, wherein the first message is used to cancel the current service positioning auxiliary terminal device or deactivate the current service positioning auxiliary terminal device, wherein the current service positioning auxiliary terminal device is a terminal device participating in the SL positioning process; A second message is sent to the target positioning auxiliary terminal device that meets the requirements of the SL positioning service, wherein the second message is used to configure the target positioning auxiliary terminal device as a positioning auxiliary terminal device or to activate the configuration of the target positioning auxiliary terminal device.

15. The method according to claim 13, characterized in that, The method further includes: The configuration is sent to the first terminal device, wherein the configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and period configuration.

16. The method according to claim 13, characterized in that, The method further includes: The configuration sent by the network-side device is received, wherein the configuration includes at least one of signal quality threshold configuration, distance threshold configuration, specific area configuration, and period configuration; The configuration is forwarded to the first terminal device.

17. The method according to claim 13, characterized in that, The method further includes: The information is sent to the network-side device.

18. The method according to claim 13 or 17, characterized in that, in, The information includes at least one of the following: Trigger the first reported event; Current signal quality measurement results of the service positioning auxiliary terminal equipment; The signal quality measurement results of other positioning auxiliary terminal devices, wherein the other positioning auxiliary terminal devices are terminal devices that did not participate in the SL positioning process; The device identifier of the first terminal device.

19. The method according to claim 13, characterized in that, The method further includes: The first terminal device can be contacted via at least one of the following messages: Long Term Evolution Positioning Protocol (LPP) messages for general mobile communication technologies; Sidelink LPP message; PC5-S message; Radio Resource Control (RRC) message.

20. A reselection device for a positioning auxiliary terminal device, characterized in that, The device is disposed on the side of the first terminal device performing the SL positioning process. The first terminal device determines its own location information based on location information reported by multiple positioning auxiliary terminal devices. The device includes: The selection module is configured to, in response to the sidechain SL positioning process satisfying a first specific event, report information to the base station or send information to the second terminal device and reselect a positioning auxiliary terminal device; the selection module is also configured to, in response to triggering the second specific event, not trigger the reselection of the positioning auxiliary terminal device and not report information to the base station or the second terminal device. The second specific event includes at least one of the following: The SL positioning process is SL-Round Trip Time (RTT). The SL positioning process involves a current service positioning auxiliary terminal device; The location reporting or measurement result reporting method of the SL positioning process is not periodic or event-triggered.

21. A reselection device for a positioning auxiliary terminal device, characterized in that, The device is disposed on the side of the second terminal device, and the device includes: The receiving module is configured to receive information reported by a first terminal device performing the SL positioning process, wherein the first terminal device determines its location information based on location information reported by multiple positioning auxiliary terminal devices; and Trigger the positioning assistance terminal device reselection process, wherein the information is reported by the first terminal device in response to the first terminal device performing the SL positioning process and satisfying the first specific event; Among them, the first terminal device responds to the triggering of the second specific event by not triggering the reselection of the positioning auxiliary terminal device and not reporting information to the base station or the second terminal device; The second specific event includes at least one of the following: The SL positioning process is SL-Round Trip Time (RTT). The SL positioning process involves a current service positioning auxiliary terminal device; The location reporting or measurement result reporting method of the SL positioning process is not periodic or event-triggered.

22. A reselection device for a positioning auxiliary terminal device, characterized in that, The device is disposed on the base station side, and the device includes: The receiving module is used to receive information reported by the first terminal device during the SL positioning process. The first terminal device determines its location information based on location information reported by multiple positioning auxiliary terminal devices. Trigger the positioning assistance terminal device reselection process, wherein the information is reported by the first terminal device in response to the first terminal device performing the SL positioning process and satisfying the first specific event; Wherein, the first terminal device responds to the triggering of the second specific event by not triggering the reselection of the positioning auxiliary terminal device and not reporting information to the base station or the second terminal device; The second specific event includes at least one of the following: The SL positioning process is SL-Round Trip Time (RTT). The SL positioning process involves a current service positioning auxiliary terminal device; The location reporting or measurement result reporting method of the SL positioning process is not periodic or event-triggered.

23. A first terminal device, characterized in that, The device includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program stored in the memory to cause the first terminal device to perform the method as described in any one of claims 1 to 6.

24. A second terminal device, characterized in that, The device includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program stored in the memory to cause the second terminal device to perform the method as described in any one of claims 7 to 12.

25. A base station, characterized in that, The device includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program stored in the memory to cause the base station to perform the method as described in any one of claims 13 to 19.

26. A communication device, characterized in that, include: Processor and interface circuitry, among which The interface circuit is used to receive code instructions and transmit them to the processor; The processor is configured to run the code instructions to perform the method as described in any one of claims 1 to 6, 7 to 12, or 13 to 19.

27. A computer-readable storage medium, characterized in that, It is used to store instructions that, when executed, cause the method as described in any one of claims 1 to 6, 7 to 12, or 13 to 19 to be implemented.

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