Positioning method, apparatus and terminal

Abstract

The application discloses a positioning method, device and terminal, and belongs to the technical field of wireless communication. The positioning method of the application comprises the following steps: a first terminal broadcasts sidelink (SL) positioning related information; wherein the SL positioning related information is used for at least one second terminal to determine a target terminal, the target terminal is used for transmitting first information of at least one second terminal, and the first information comprises at least one of a positioning measurement result, a positioning result and positioning assistance information.

Description

Technical Field

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

[0002] In the 5G mobile communication system's New Radio (NR) system, the NR sidelink (SL, also known as a side link, direct link, secondary link, side link, etc.) supports advanced vehicle-to-everything (V2X) services and public safety services that have strict transmission requirements in terms of low latency and high reliability.

[0003] For SL positioning requirements in scenarios such as V2X and public safety, the process is similar to conventional positioning schemes, involving positioning capability interaction, positioning reference signal (PRS) configuration interaction, auxiliary information interaction, PRS measurement, measurement result reporting, and positioning result calculation. However, when the target terminal (User Equipment, UE, also known as terminal equipment or user terminal) uses multiple anchor UEs for positioning, multiple sidelink connections need to be established to interact, configure, and / or report measurement results, resulting in a large amount of signaling interaction between PC5 interfaces and / or Uu interfaces. Summary of the Invention

[0004] This application provides a positioning method, device, and terminal that can solve the problem of extensive signaling interaction between PC5 and / or Uu interfaces caused by SL positioning.

[0005] In a first aspect, a positioning method is provided, comprising: a first terminal broadcasting secondary link (SL) positioning-related information; wherein the SL positioning-related information is used by at least one second terminal to determine a target terminal, and the target terminal is used to transmit first information of at least one second terminal, the first information including at least one of positioning measurement results, positioning results, and positioning auxiliary information.

[0006] Secondly, a positioning method is provided, the method comprising: a second terminal receiving SL positioning-related information broadcast by at least one first terminal; the second terminal determining a target terminal among the at least one first terminal based on the positioning-related information; wherein the target terminal is used to transmit first information of the second terminal, the first information including at least one of positioning measurement results, positioning results, and positioning auxiliary information.

[0007] Thirdly, a positioning device is provided, applied to a first terminal, the device comprising: a first transmitting module for broadcasting secondary link (SL) positioning-related information; wherein the SL positioning-related information is at least used to assist a second terminal in performing SL positioning, and the SL positioning-related information includes the SL positioning-related information of the first terminal and / or the SL positioning-related information of at least one third terminal.

[0008] Fourthly, a positioning device is provided for use in a second terminal. The device includes: a receiving module for receiving SL positioning-related information; and a measuring module for performing SL positioning measurements based on the SL positioning-related information. The SL positioning-related information includes SL positioning-related information of a first terminal and / or SL positioning-related information of at least one third terminal.

[0009] Fifthly, a terminal is provided, the terminal including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method as described in the first or second aspect.

[0010] In a sixth aspect, a terminal is provided, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the steps of the method described in the first aspect, or to implement the steps of the method described in the second aspect.

[0011] In a seventh aspect, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect, or implement the steps of the method described in the second aspect.

[0012] Eighthly, a chip is provided, the chip including a processor and a communication interface coupled to the processor, the processor being configured to run a program or instructions to implement the steps of the method as described in the first aspect, or to implement the steps of the method as described in the second aspect.

[0013] A ninth aspect provides a computer program product / program product stored in a non-transient storage medium, the program / program product being executed by at least one processor to implement the steps of the method as described in the first aspect, or to implement the steps of the method as described in the second aspect.

[0014] In this embodiment, the first terminal broadcasts SL positioning-related information, enabling at least one second terminal to determine the target terminal based on the received SL positioning-related information. The target terminal then transmits the first information of the at least one second terminal. This allows multiple second terminals to interact with each other using the target terminal, effectively reducing the signaling overhead of the PC5 interface and / or Uu interface, and ensuring the stability and reliability of wireless communication. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a wireless communication system provided in an exemplary embodiment of this application.

[0016] Figure 2 This is a schematic diagram of an SL positioning scenario provided in an exemplary embodiment of this application.

[0017] Figure 3 This is a flowchart illustrating a positioning method provided in an exemplary embodiment of this application.

[0018] Figure 4 This is a schematic diagram of an SL positioning scenario provided by another exemplary embodiment of this application.

[0019] Figure 5 This is a flowchart illustrating a positioning method provided in another exemplary embodiment of this application.

[0020] Figure 6 This is a flowchart illustrating a positioning method provided in yet another exemplary embodiment of this application.

[0021] Figure 7 This is a schematic diagram of the structure of a positioning device provided in an exemplary embodiment of this application.

[0022] Figure 8 This is a schematic diagram of the structure of a positioning device provided in another exemplary embodiment of this application.

[0023] Figure 9 This is a schematic diagram of the structure of a terminal provided in an exemplary embodiment of this application. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0025] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, not limited in number; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0026] It is worth noting that the technologies described in this application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA), and other systems. The terms "system" and "network" in this application are often used interchangeably, and the described technologies can be used with the systems and radio technologies mentioned above, as well as with other systems and radio technologies. The following description describes New Radio (NR) systems for illustrative purposes, and the term NR is used in most of the following description; however, these technologies can also be applied to applications other than NR systems, such as 6th generation (6G) radio systems. th Generation 6G communication system.

[0027] Figure 1This diagram illustrates the structure of a wireless communication system applicable to embodiments of this application. The wireless communication system includes a terminal 11 and a network-side device 12. The terminal 11 can also be referred to as a terminal device or user equipment (UE). The terminal 11 can be a mobile phone, tablet computer, laptop computer, personal digital assistant (PDA), handheld computer, netbook, ultra-mobile personal computer (UMPC), mobile internet device (MID), wearable device, vehicle-mounted device (VUE), pedestrian terminal (PUE), etc. Wearable devices include smartwatches, wristbands, headphones, glasses, etc. It should be noted that this application does not limit the specific type of terminal 11. Network-side device 12 can be a base station or a core network. The base station can be referred to as a node B, evolved node B, access point, base transceiver station (BTS), radio base station, radio transceiver, basic service set (BSS), extended service set (ESS), B node, evolved B node (eNB), home B node, home evolved B node, WLAN access point, WiFi node, transmitting and receiving point (TRP), or any other suitable term in the field, as long as the same technical effect is achieved. The base station is not limited to specific technical terms. It should be noted that in this application embodiment, only the base station in the NR system is used as an example, but the specific type of base station is not limited.

[0028] In the SL positioning scenario, SL positioning may involve processes such as positioning capability interaction, PRS configuration interaction, auxiliary information interaction, PRS measurement, SL positioning measurement result reporting, and SL positioning result calculation. In this case, please refer to [the relevant documentation / reference]. Figure 2 If there are multiple Target UEs that need to be located (e.g., Figure 2If TargetUE1, TargetUE2, TargetUE3, and TargetUE4 are involved, then each of these Target UEs needs to establish a Uu connection or SL connection with the network-side device or other terminal device for auxiliary positioning. This inevitably leads to the establishment of a large number of PC5 interfaces, PC5 interface signaling interactions, and Uu interface signaling interactions, affecting the stability and reliability of wireless communication. To address this, this application provides a positioning method, apparatus, and terminal. The following description, in conjunction with the accompanying drawings, and through some embodiments and application scenarios, provides a detailed explanation of this technical solution.

[0029] like Figure 3 The diagram shown is a flowchart illustrating a positioning method 300 provided in an exemplary embodiment of this application. This method 300 can be executed by, but is not limited to, a terminal, such as a first terminal, specifically by hardware and / or software installed in the terminal. In this embodiment, the method 300 may include at least the following steps.

[0030] S310, the first terminal broadcasts SL location-related information.

[0031] Wherein, the SL positioning-related information is used by at least one second terminal to determine the target terminal, and the target terminal is used to transmit first information to at least one second terminal. The first information includes at least one of positioning measurement results (including SL positioning measurement results, non-SL positioning measurement results, etc.), positioning results (including SL positioning results, non-SL positioning results, etc.), and positioning auxiliary information (including SL positioning auxiliary information, non-SL positioning auxiliary information, etc.). The first terminal and the second terminal are terminals to be located.

[0032] Please refer to the following: Figure 4 The target terminal can be the master UE introduced in the SL positioning scenario of this application, which can be responsible for transmitting the first information of multiple secondary UEs. For example, in the SL positioning scenario given in this application, if there are multiple target UEs (including a first terminal and at least one second terminal) that need to perform SL positioning, then the target terminal, i.e., the master UE, can be determined from the multiple target UEs, and then the master UE can be used to interact with other network-side devices or terminals to achieve positioning measurement. That is, the first information transmitted by the target terminal can be SL positioning information for positioning or conventional positioning information other than SL positioning information, etc., and the information interaction between each second terminal and the target terminal, as well as between each second terminal, is based on the SL connection.

[0033] For example, please refer to [the document / reference]. Figure 4Assuming there are Target UE1, Target UE2, Target UE3, and Target UE4 that require location tracking, each of these Target UE1, Target UE2, Target UE3, and Target UE4 will broadcast location-related information (SL). In this case, if Target UE1 (which can be understood as the second terminal) receives the SL location-related information A, B, and C broadcast by Target UE2 (which can be understood as the first terminal), Target UE3 (which can be understood as the first terminal), and Target UE4 (which can be understood as the first terminal), then Target UE1 will determine the Master UE based on the SL location-related information A, B, and C. If it determines itself to be the Master UE, then Target UE2, Target UE3, and Target UE4 will all be Secondary UEs. The Secondary UEs will then interact with the network side through the Master UE to exchange location information and jointly report location measurement results / location results, etc.

[0034] It should be noted that the process of determining the Master UE for Target UE2, Target UE3, and Target UE4 is similar to that for Target UE1, and will not be repeated here. Of course, in the embodiments of this application, the Master UE determined by different Target UEs can be the same or different, that is, there can be one or more Master UEs among multiple Target UEs that need to be located.

[0035] Based on this, in the positioning method 300 provided in this embodiment, the first terminal broadcasts SL positioning-related information, enabling at least one second terminal to determine the target terminal based on the received SL positioning-related information. Then, the target terminal transmits the first information of at least one second terminal. This enables multiple second terminals to interact with the positioning information through the target terminal, effectively reducing the number of PC5 connection establishments and / or Uu interface signaling overhead, and ensuring the stability and reliability of wireless communication.

[0036] like Figure 5 The diagram shown is a flowchart illustrating a positioning method 500 provided in an exemplary embodiment of this application. This method 500 can be executed by, but is not limited to, a terminal, such as a first terminal, specifically by hardware and / or software installed in the terminal. In this embodiment, the method 500 may include at least the following steps.

[0037] S510, the first terminal broadcasts SL location-related information.

[0038] Wherein, the SL positioning-related information is used by at least one second terminal to determine a target terminal, and the target terminal is used to transmit first information of at least one second terminal, the first information including at least one of positioning measurement results, positioning results, and positioning auxiliary information.

[0039] It is understood that, in addition to referring to the relevant description in the aforementioned method embodiment 300, the implementation process of S510 can also be implemented in a variety of ways. For example, the SL positioning information can be broadcast through a first message, which may include any one of the following (001)-(004).

[0040] (001) Direct Communication Request.

[0041] (002) Master Information Block (MIB) Sub-link information.

[0042] (003) PC5-S message.

[0043] The PC5-S message may be a new message specifically for transmitting the SL positioning-related information; or, the PC5-S message may be a message used in related technologies to transmit other information besides the SL positioning-related information, subject to limitation.

[0044] (004) PC5 - Radio Resource Control (RRC) message.

[0045] Similar to the PC5-S message described in (003) above, the PC5-RRC message can be a new message dedicated to the transmission of the SL positioning-related information, or it can be a message used in related technologies to transmit other information besides the SL positioning-related information, without any limitation.

[0046] Based on this, as a possible implementation, the SL positioning-related information may include at least one of the following (101)-(110).

[0047] (101) Identification information of the first terminal.

[0048] The identification information of the first terminal can be application layer identification information (Application Layer ID) or layer-2 ID, etc., without any restrictions.

[0049] (102) First threshold, the first threshold is a signal strength threshold, the first threshold is used by the second terminal to determine whether to establish or not establish an SL connection with the first terminal.

[0050] For example, if the signal strength measured by the second terminal is greater than the first threshold, the second terminal can establish an SL connection with the first terminal; otherwise, the second terminal cannot establish an SL connection with the first terminal.

[0051] Optionally, the signal strength threshold may be a reference signal received power (RSRP) threshold, etc. Furthermore, the first threshold can be implemented by protocol agreement, higher-layer configuration, or network-side configuration, and is not limited here.

[0052] (103) First indication information, the first indication information is used to indicate whether the first terminal has or does not have the ability to forward SL positioning assistance information of at least one third terminal.

[0053] The first indication information can be indicated explicitly or implicitly. For example, when indicating explicitly, "1" indicates that it has the information and "0" indicates that it does not have the information. Based on this, if the first indication information is "1", then the second terminal can request the first terminal to forward the SL positioning assistance information of at least one third terminal.

[0054] In addition, the third terminal can be an Anchor UE that assists the first terminal in performing SL positioning. That is, the second terminal can perform positioning measurement based on the SL positioning assistance information of the third terminal.

[0055] (104) Second indication information, the second indication information is used to indicate whether the first terminal has or does not have the ability to feed back the SL positioning measurement results of the second terminal.

[0056] The second indication information can be indicated explicitly or implicitly. For example, in explicit indication, "1" indicates presence and "0" indicates absence. Based on this, if the second indication information is "1", then the second terminal can request the first terminal to provide feedback on the SL positioning measurement result of the second terminal.

[0057] In addition, the SL positioning measurement result fed back by the first terminal may be obtained by measuring based on the positioning measurement signal or positioning measurement configuration information sent by the second terminal, or it may be the SL positioning measurement result of the second terminal forwarded by other terminals, etc., without any restrictions.

[0058] (105) Third indication information, the third indication information being used to indicate whether the first terminal has or does not have the ability to forward the location assistance information of the first network device.

[0059] The third indication information can be indicated explicitly or implicitly. For example, in an explicit indication, "1" indicates presence and "0" indicates absence. Based on this, if the third indication information is "1", then the second terminal can request the first terminal to forward the location assistance information of the first network device.

[0060] Furthermore, the first network-side device can be a network device that assists the first terminal in performing routine positioning; that is, the second terminal can perform positioning measurements based on the positioning assistance information from the first network device. In this embodiment, the first network-side device may also have the ability to calculate positioning results based on the positioning measurement results of the second terminal, etc.

[0061] (106) Fourth indication information, the fourth indication information being used to indicate whether the first terminal has or does not have the ability to provide feedback on the positioning measurement results of the first network device.

[0062] The fourth indication information can be indicated explicitly or implicitly. For example, in an explicit indication, "1" indicates presence and "0" indicates absence. Based on this, if the fourth indication information is "1", then the second terminal can request the first terminal to provide feedback on the positioning measurement results of the first network device.

[0063] (107) Fifth indication information, used to indicate whether the first terminal has cached or not cached the location result of the first terminal.

[0064] The fifth indication information can be indicated explicitly or implicitly. For example, in explicit indication, "1" indicates that it is cached and "0" indicates that it is not cached. Based on this, if the fifth indication information is "1", then the first terminal has its own location result cached; otherwise, it has its own location result not cached.

[0065] (108) First time information, used to indicate the time when the positioning result of the first terminal was acquired.

[0066] The acquisition time of the positioning result can be the time when the first terminal obtains its own positioning result from other network-side devices or terminal devices, or the time when the first terminal performs positioning measurements to obtain its own positioning result. The purpose of the acquisition time of the positioning result is to enable devices using the positioning result of the first terminal to determine whether they are within or outside the allowed time range based on the acquisition time, thereby ensuring the reliability of the positioning result.

[0067] (109) First positioning capability.

[0068] Wherein, the first positioning capability is used to indicate the positioning method supported by the first terminal; for example, in this embodiment, the positioning method supported by the first terminal may include at least one of the following: time difference-based positioning method (such as TDoA, round-trip time (RTT)), angle-based positioning method (such as angle of arrival (AoA), angle of departure (AoD)), signal strength-based positioning method, and phase difference-based positioning method, without limitation.

[0069] (110) The state of the first terminal.

[0070] The state of the first terminal may include at least one of the following (1101)-(1104).

[0071] (1101) The zone identifier of the first terminal. There are multiple ways to represent the zone identifier, which are not limited here.

[0072] (1102) The movement state of the first terminal; wherein the movement state of the first terminal includes at least one of moving, stationary, and moving with a movement speed within a predetermined range. The predetermined range may be implemented by means of protocol agreement, etc.

[0073] (1103) The network coverage status of the first terminal; wherein, the network coverage status of the first terminal includes being within the cellular network coverage area or not being within the cellular network coverage area, etc., which are not limited here.

[0074] The cellular network may include 2G networks, 3G networks, LTE networks, 5G networks, etc., and is not limited thereto.

[0075] (1104) The PC5 unicast link status of the first terminal. The PC5 unicast link status of the first terminal is used by the second terminal to determine whether or not to establish a PC5 unicast link with the first terminal.

[0076] Optionally, the PC5 unicast link status of the first terminal may include at least one of the following (11041)-(11044).

[0077] (11041) The number of PC5 unicast links that have been established.

[0078] (11042) The range to which the number of established PC5 unicast links belongs.

[0079] (11043) The range to which the number of established PC5 unicast links belongs.

[0080] (11044) The number of established PC5 unicast links exceeds or does not exceed a predetermined value. The predetermined value may be agreed upon by the protocol, configured by higher layers, or configured by the network side, etc., and is not limited here.

[0081] It should be noted that in this embodiment, the aforementioned SL positioning-related information can be transmitted through different information domains. For example, the identification information of the first terminal can be transmitted through the first information domain, the first threshold can be transmitted through the second information domain, the first indication information can be transmitted through the third information domain, and so on. In this regard, the specific information domain through which information is transmitted can be determined by protocol agreement, network configuration, or high-level configuration, and no restrictions are imposed here.

[0082] S520, if the first terminal is determined to be the target terminal, the first operation is performed.

[0083] In other words, when the first terminal is determined to be the target terminal responsible for transmitting first information to multiple second terminals, the first terminal may perform (i.e. the first operation) at least one of the following (201)-(204).

[0084] (201) Upon receiving a first request from the second terminal, the target terminal forwards SL positioning assistance information from at least one third terminal to the second terminal.

[0085] The SL positioning assistance information of the third terminal includes at least one of the following (2011)-(2014).

[0086] (2011) The identification information of the third terminal. The identification information of the third terminal may include the application layer ID of the third terminal, the layer-2 ID of the third terminal, or other newly agreed sequence identifiers, etc., which are not limited here.

[0087] (2012) The synchronization-related information of the third terminal. The synchronization-related information may include frame synchronization information (SFN initialization time), etc.

[0088] (2013) The absolute location information of the third terminal; wherein, the absolute location information may include latitude and longitude information, regional information, etc., without limitation.

[0089] (2014) The configuration information of the reference signal of the third terminal; wherein the reference signal may be SL PRS, etc., and its configuration information may be the time-frequency domain information, quantity information, period information, etc. of SL PRS, which are not limited here.

[0090] It is understood that the condition for the second terminal to send the first request to the target terminal is that the first indication information carried in the SL positioning related information indicates that the first terminal has the ability to forward SL positioning assistance information of at least one third terminal.

[0091] (202) When the target terminal receives the second request sent by the second terminal, it forwards the location assistance information of the first network device to the second terminal.

[0092] Optionally, the location assistance information of the first network device includes at least one of the following (2021)-(2024).

[0093] (2021) Identification information of the first network device. The identification information of the first network device may be Layer-2 ID, or other newly agreed sequence identifiers, etc., which are not limited here.

[0094] (2022) Synchronization-related information of the first network device.

[0095] (2023) The absolute location information of the first network device. The absolute location information may include latitude and longitude information, regional information, etc., which are not limited here.

[0096] (2024) Configuration information of the reference signal of the first network device. The reference signal may be SLPRS, etc., and its configuration information may be the time-frequency domain information, quantity information, period information, etc. of SLPRS, which is not limited here.

[0097] It is understood that the condition for the second terminal to send the second request to the target terminal is that the third indication information carried in the SL positioning-related information indicates that the first terminal has the ability to forward positioning assistance information of at least one first network device.

[0098] (203) Upon receiving a third request from the second terminal, the location result of the target terminal is sent to the second terminal.

[0099] Optionally, the positioning result of the target terminal includes at least one of the following (2031)-(2032).

[0100] (2031) The absolute location information of the target terminal. For example, the latitude and longitude information of the target terminal.

[0101] (2032) The acquisition time of the positioning result of the target terminal. The acquisition time may be the time when the target terminal obtains its own positioning result from other network-side devices or terminal devices, or the time when the target terminal performs positioning measurement to obtain its own positioning result, and there is no limitation on this.

[0102] It is understood that the condition for the second terminal to send the third request to the target terminal is that the fifth indication information carried in the SL location-related information indicates that the first terminal has its own location result cached.

[0103] In this scenario, as a possible implementation, if the third request also carries a first time threshold, and the target terminal does not cache a location result that satisfies the first time threshold, the target terminal performs any one of the following (a)-(b). The first time threshold is used to indicate that the acquisition time of the location result requested by the second terminal must be after the first time threshold.

[0104] (a) Cancel the feedback of the location result of the target terminal. This can also be understood as ignoring / discarding / rejecting the third request if the target terminal does not have a location result that meets the first time threshold cached.

[0105] (b) Restart the positioning process, and if a positioning result that meets the first time threshold is obtained, feed back the positioning result to the second terminal.

[0106] In this embodiment, by setting the first time threshold, the acquisition time of the positioning result of the first terminal can be indicated to be within an allowable range, thereby ensuring the reliability of the positioning result of the target terminal. Furthermore, the size of the first time threshold can be implemented by protocol agreement, higher-level configuration, or network-side configuration, and is not limited here.

[0107] (204) Receive the positioning measurement result or positioning result sent by the second terminal.

[0108] After receiving the positioning measurement result sent by the second terminal, the target terminal can calculate the positioning result based on the positioning measurement result, or it can forward it to other devices with computing capabilities to calculate the positioning result of the second terminal. No restriction is imposed here.

[0109] In one possible implementation, the positioning measurement result may be obtained by the second terminal performing positioning measurement based on the SL positioning assistance information of the third terminal forwarded by the first target terminal or the positioning assistance information of the first network device. In this embodiment, the positioning measurement result sent by the second terminal may include at least one of the following (2041)-(2042).

[0110] (2041) The SL PRS measurement result of the second terminal with respect to the third terminal; wherein the SL PRS measurement result includes at least one of the following (20411)-(20417).

[0111] (20411) Identification information of the second terminal. The identification information of the second terminal includes ApplicationLayer ID or Layer-2 ID, etc., which are not limited here.

[0112] (20412) Identification information of the third terminal.

[0113] (20413) The identification information of the SL PRS. For example, the identification of the SL PRS measured by the second terminal, such as SL PRS1 RSRP = -100, SL PRS2 RSRP = -98, etc.

[0114] (20414) RSRP of the SL PRS.

[0115] (20415) The arrival time of the SL PRS (Time of Arrival, ToA).

[0116] The arrival time of the SL PRS can be the arrival time of the SL PRS sent by one or more third terminals that assist the second terminal in performing positioning measurements.

[0117] (20416) The Time Difference of Arrival (TDoA) of the SL PRS.

[0118] The arrival time difference of the SL PRS can be the difference between the arrival times of the SL PRS sent by at least two third terminals that assist the second terminal in performing positioning measurements.

[0119] (20417) The acquisition time of the SL PRS measurement results.

[0120] The acquisition time of the SL PRS measurement result is the time when the second terminal measures the SL PRS sent by the third terminal to obtain the measurement result.

[0121] (2042) The downlink (DL) PRS measurement result of the second terminal with respect to the first network device. The DL PRS measurement result includes at least one of the following (20421)-(20427).

[0122] (20421) Identification information of the second terminal.

[0123] (20422) Identification information of the first network device.

[0124] (20423) Identification information of the DL PRS.

[0125] (20424) RSRP of the DL PRS.

[0126] It is understood that the implementation process of (20421)-(20424) can refer to the relevant descriptions in (20411)-(20414) above. To avoid repetition, it will not be repeated here.

[0127] (20425) The ToA of the DL PRS.

[0128] The arrival time of the DL PRS can be the arrival time of the DL PRS sent by one or more first network devices that assist the second terminal in performing positioning measurements.

[0129] (20426) The TDoA of the DL PRS.

[0130] The arrival time difference of the DL PRS can be the difference between the arrival times of the SL PRS sent by at least two first network devices that assist the second terminal in performing positioning measurements.

[0131] (20427) The acquisition time of the DL PRS measurement results.

[0132] The acquisition time of the DL PRS measurement result is the time when the second terminal measures the DL PRS sent by the first network device to obtain the measurement result.

[0133] In another possible implementation, the positioning result sent by the second terminal to the target terminal may be obtained by the second terminal based on positioning measurement results, which are obtained by the second terminal based on the SL positioning assistance information of the third terminal or the positioning assistance information of the first network device forwarded by the first target terminal. In this case, the positioning result sent by the second terminal may include at least one of the following (2043)-(2045).

[0134] (2043) The absolute location information of the second terminal. The absolute location information may be latitude and longitude information, etc.

[0135] (2044) The relative position information of the second terminal. The relative position information may be the position information of the second terminal relative to the target terminal, the first network device, or the third terminal, etc., and is not limited here.

[0136] (2045) The acquisition time of the positioning result of the second terminal. The acquisition time may be the time when the second terminal determines the positioning result based on the positioning measurement result, etc., so that the device that uses the positioning result of the second terminal can determine whether it is valid or invalid based on the acquisition time.

[0137] It should be noted that before sending the aforementioned first request, second request, third request, positioning measurement results, positioning results, and other information to the target terminal (i.e., the first terminal), the second terminal may establish an SL connection (such as a Sidelink Unicast connection) with the first terminal based on the SL positioning-related information and / or the received application layer (such as V2X Application layer) indication information; wherein, the SL connection is used for the second terminal to report positioning measurement results and / or positioning results, and / or, the SL connection is used to receive positioning results forwarded by the first terminal.

[0138] Of course, the second terminal may establish an SL connection with the first terminal based on the SL positioning-related information and / or the received application layer indication information, provided that at least one of the following (301)-(307) is satisfied.

[0139] (301) The RSRP measured by the second terminal satisfies the first threshold.

[0140] The RSRP can be the RSRP of DL PRS or the RSRP of SL PRS, etc.

[0141] For example, assuming the RSRP measured by the second terminal is greater than the first threshold, the second terminal establishes an SL connection with the first terminal based on the SL positioning-related information and / or the received application layer indication information.

[0142] (302) The first indication information indicates that the first terminal has the ability to forward SL positioning assistance information of at least one third terminal.

[0143] (303) The second indication information indicates that the first terminal has the ability to provide feedback on the SL positioning measurement results of the second terminal.

[0144] (304) The third indication information indicates that the first terminal has the ability to forward the positioning assistance information of the first network device.

[0145] (305) The fourth indication information indicates that the first terminal has the ability to provide feedback on the positioning measurement results of the first network device.

[0146] (306) The fifth indication information indicates that the first terminal has cached the location result of the first terminal, and the first time information indicates that the acquisition time of the location result of the first terminal is within a first time range.

[0147] (307) Determine that the positioning capability of the first terminal meets the predetermined requirements based on the first positioning capability.

[0148] It is understood that the implementation process in (302)-(307) above can be referred to the relevant description in (301) above. To avoid repetition, it will not be repeated here.

[0149] Based on the description of the aforementioned positioning method, as a possible implementation, when the first terminal is determined to be the target terminal and the target terminal receives positioning measurement results or positioning results sent by multiple second terminals, the positioning measurement results or positioning results sent by multiple second terminals are reported in a differential manner.

[0150] In other words, when the target terminal is responsible for transmitting positioning measurement results or positioning results to multiple second terminals, it can use a differential reporting method. For example, assuming that the positioning result reported by the second terminal A is A, the positioning result reported by the second terminal B is A+b, the positioning result reported by the second terminal C is A+2b, and so on, then, after receiving the positioning results reported by the second terminals A, B, and C, the target terminal can report the positioning results of the second terminals A, B, and C to the network-side equipment in the manner of A, b, 2b. Therefore, compared with the reporting method of directly reporting A, A+b, A+2b, the differential reporting method adopted in this application can effectively reduce signaling overhead and the amount of reported data, and improve reporting efficiency.

[0151] Based on the description of the aforementioned positioning methods 300 and / or 500, the positioning process provided in this application will be further explained below with reference to examples.

[0152] Example 1

[0153] (401) The first terminal broadcasts a Sidelink Unicast request, which includes SL positioning information related to establishing the Sidelink connection. This request can be sent via a Direct communication request message.

[0154] (402) A second terminal interested in the broadcast location service determines whether the location capability of the first terminal broadcasting the service meets its own location requirements. If the requirements are met, it sends a message agreeing to establish a Sidelink connection. This feedback can be sent via a Direct communication accept message.

[0155] (403) After establishing the Sidelink connection, the second terminal can request the location assistance information of the third terminal or the first network device from the first terminal, including PRS configuration, etc.

[0156] (404) After the first terminal obtains the location assistance information of the third terminal or the first network device, it forwards the location assistance information to the second terminal through the SL connection.

[0157] (405) The second terminal performs positioning measurement based on positioning assistance information and calculates the positioning result based on terminal capabilities and requests, etc.

[0158] (401) The second terminal sends the positioning measurement result or positioning result to the first terminal via Sidelink.

[0159] (401) The first terminal sends the positioning measurement results to the network side, such as LMF (Location Management Function), and the network side calculates the positioning results of the second terminal based on the positioning measurement results.

[0160] (401) The network side sends the location result of the second terminal to the first terminal.

[0161] (401) The first terminal forwards the location result to the second terminal via Sidelink.

[0162] Example 2

[0163] The first terminal forwards the measurement or location results (such as UEMeasInformation and UELocaInformation) from multiple second terminals. The measurement / location results can be reported differentially (such as RSRP-ResultDiff and LocationInformationDiff) to reduce the amount of data reported.

[0164]

[0165]

[0166] In this embodiment, by further configuring SL positioning-related information and setting SL connection establishment conditions, the signaling volume of the PC5 interface and / or Uu interface can be further reduced, ensuring the reliability and stability of wireless communication.

[0167] like Figure 6 The diagram shown is a flowchart illustrating a positioning method 600 provided in an exemplary embodiment of this application. This method 600 can be executed by, but is not limited to, a terminal, specifically by hardware and / or software installed in the terminal. In this embodiment, the method 600 may include at least the following steps.

[0168] S610, the second terminal receives SL location-related information broadcast by at least one first terminal.

[0169] S620, the second terminal determines the target terminal among the at least one first terminal based on the location-related information.

[0170] The target terminal is used to transmit first information to the second terminal, the first information including at least one of positioning measurement results, positioning results, and positioning auxiliary information.

[0171] In one possible implementation, the location-related information includes at least one of the following: identification information of the first terminal; a first threshold, which is a signal strength threshold, used by the second terminal to determine whether to establish or not establish a SL connection with the first terminal; first indication information, used to indicate whether the first terminal has the ability to forward SL location assistance information from at least one third terminal; second indication information, used to indicate whether the first terminal has the ability to feedback the location measurement results of the second terminal; third indication information, used to indicate whether the first terminal has the ability to forward the location assistance information of the first network device; fourth indication information, used to indicate whether the first terminal has the ability to feedback the SL location measurement results of the second terminal; fifth indication information, used to indicate whether the first terminal has cached or not cached the location results of the first terminal; first time information, used to indicate the acquisition time of the location results of the first terminal; first positioning capability, used to indicate the positioning methods supported by the first terminal; and the state of the first terminal.

[0172] Another possible implementation is that the state of the first terminal includes at least one of the following: the area identifier where the first terminal is located; the movement state of the first terminal; the network coverage state of the first terminal; and the PC5 unicast link state of the first terminal.

[0173] Another possible implementation is that the movement state of the first terminal includes any of the following: moving; stationary; moving and the movement speed is within a predetermined range.

[0174] Another possible implementation is that the network coverage status of the first terminal includes any of the following: within cellular network coverage; not within cellular network coverage.

[0175] Another possible implementation is that the PC5 unicast link status of the first terminal includes at least one of the following: the number of established PC5 unicast links; the range to which the number of established PC5 unicast links belongs; the range indication information to which the number of established PC5 unicast links belongs; and whether the number of established PC5 unicast links exceeds or does not exceed a predetermined value.

[0176] Another possible implementation is that the SL positioning-related information is broadcast via a first message, which includes any of the following: a direct communication request; a primary information block secondary link information; a PC5-S message, which is dedicated to the transmission of the SL positioning-related information; or a PC5-RRC message, which is dedicated to the transmission of the SL positioning-related information.

[0177] Another possible implementation, the method further includes at least one of the following: based on the SL positioning-related information and / or the received application layer indication information, the second terminal establishes an SL connection with the first terminal; wherein, the SL connection is used for the second terminal to report positioning measurement results and / or positioning results, and / or, the SL connection is used to receive positioning results forwarded by the first terminal.

[0178] Another possible implementation, based on the location-related information and / or the received application layer indication information, the step of establishing an SL connection between the second terminal and the first terminal includes: the second terminal establishing an SL connection with the first terminal based on the SL location-related information and / or the received application layer indication information under at least one of the following conditions: the RSRP measured by the second terminal meets the first threshold; the first indication information indicates that the first terminal has the ability to forward SL location assistance information from at least one third terminal; the second indication information indicates that the first terminal has the ability to feedback the SL location measurement results of the second terminal; the third indication information indicates that the first terminal has the ability to forward location assistance information from a first network device; the fourth indication information indicates that the first terminal has the ability to feedback the location measurement results of the first network device; the fifth indication information indicates that the first terminal caches the location results of the first terminal, and the first time information indicates that the acquisition time of the location results of the first terminal is within a first time range; and determining that the location capability of the first terminal meets a predetermined requirement based on the first location capability.

[0179] In another possible implementation, after determining the target terminal among the at least one first terminal based on the positioning-related information, the method further includes at least one of the following: sending a first request to the target terminal, the first request being used to request the target terminal to forward SL positioning assistance information of at least one third terminal; sending a second request to the target terminal, the second request being used to request the target terminal to forward positioning assistance information of a first network device; sending a third request, the third request being used to request the target terminal to send the positioning result of the target terminal; and sending positioning measurement results or positioning results to the target terminal.

[0180] Another possible implementation is that the SL positioning assistance information of the third terminal includes at least one of the following: the identification information of the third terminal; the synchronization-related information of the third terminal; the absolute position information of the third terminal; and the configuration information of the reference signal of the third terminal.

[0181] Another possible implementation is that the positioning assistance information of the first network device includes at least one of the following: the identification information of the first network device; the synchronization-related information of the first network device; the absolute position information of the first network device; and the configuration information of the reference signal of the first network device.

[0182] Another possible implementation is that the positioning measurement results include at least one of the following: the SL PRS measurement results of the second terminal device with respect to the third terminal; and the DL PRS measurement results of the second terminal device with respect to the first network device.

[0183] Another possible implementation is that the SL PRS measurement result includes at least one of the following: the identification information of the second terminal; the identification information of the third terminal; the identification information of the SL PRS; the reference information received power (RSRP) of the SL PRS; the ToA of the SL PRS; the TDoA of the SL PRS; and the acquisition time of the SL PRS measurement result.

[0184] Another possible implementation is that the DL PRS measurement result includes at least one of the following: the identification information of the second terminal; the identification information of the first network device; the identification information of the DL PRS; the Reference Information Received Power (RSRP) of the DL PRS; the ToA of the DL PRS; the TDoA of the DL PRS; and the acquisition time of the DL PRS measurement result.

[0185] Another possible implementation is that the positioning result of the target terminal includes at least one of the following: the absolute location information of the target terminal; and the acquisition time of the positioning result of the target terminal.

[0186] In another possible implementation, the third request also carries a first time threshold, wherein the first time threshold is used to indicate that the acquisition time of the SL positioning result of the target terminal requested by the second terminal must be after the first time threshold.

[0187] Another possible implementation is that the positioning result sent by the second terminal to the target terminal includes at least one of the following: the absolute position information of the second terminal; the relative position information of the second terminal; and the acquisition time of the positioning result of the second terminal.

[0188] It is understood that the implementation process of each implementation method in method embodiment 600 can refer to the relevant descriptions in method embodiments 300 and / or 500, and can achieve the corresponding technical effects. To avoid repetition, it will not be described again here.

[0189] In this embodiment, the second terminal receives SL location-related information broadcast by the first terminal and determines the target terminal based on the SL location-related information. This enables the target terminal to transmit first information to at least one second terminal. As a result, multiple second terminals can interact with each other using the location information of the target terminal, effectively reducing the number of PC5 connection establishments and / or Uu interface signaling overhead, and ensuring the stability and reliability of wireless communication.

[0190] It should be noted that the positioning method provided in this application can be executed by a positioning device, or by a control module within the positioning device for executing the positioning method. This application uses the example of a positioning device executing the positioning method to illustrate the positioning device provided in this application.

[0191] like Figure 7 The diagram shown is a structural schematic of a positioning device 700 provided in an exemplary embodiment of this application. The device 700 includes a first transmitting module 710, which is used to broadcast sublink SL positioning-related information. The SL positioning-related information is used by at least one second terminal to determine a target terminal. The target terminal is used to transmit first information of at least one second terminal. The first information includes at least one of positioning measurement results, positioning results, and positioning auxiliary information.

[0192] Optionally, the device 700 may further include a configuration module for configuring the SL positioning-related information.

[0193] Optionally, the SL positioning-related information includes at least one of the following: identification information of the first terminal; a first threshold, which is a signal strength threshold, used by the second terminal to determine whether to establish or not establish an SL connection with the first terminal; first indication information, used to indicate whether the first terminal has the ability to forward SL positioning assistance information from at least one third terminal; second indication information, used to indicate whether the first terminal has the ability to feed back the SL positioning measurement results of the second terminal; third indication information, used to indicate whether the first terminal has the ability to forward positioning assistance information from the first network device; fourth indication information, used to indicate whether the first terminal has the ability to feed back the positioning measurement results of the first network device; fifth indication information, used to indicate whether the first terminal has cached or not cached the positioning results of the first terminal; first time information, used to indicate the acquisition time of the positioning results of the first terminal; first positioning capability, used to indicate the positioning methods supported by the first terminal; and the status of the first terminal.

[0194] Optionally, the state of the first terminal includes at least one of the following: the area identifier where the first terminal is located; the movement state of the first terminal; the network coverage state of the first terminal; and the PC5 unicast link state of the first terminal.

[0195] Optionally, the movement state of the first terminal includes any of the following: moving; stationary; moving and the movement speed is within a predetermined range.

[0196] Optionally, the network coverage status of the first terminal includes any one of the following: within the cellular network coverage area; not within the cellular network coverage area.

[0197] Optionally, the PC5 unicast link status of the first terminal includes at least one of the following: the number of established PC5 unicast links; the range to which the number of established PC5 unicast links belongs; the range indication information to which the number of established PC5 unicast links belongs; and whether the number of established PC5 unicast links exceeds or does not exceed a predetermined value.

[0198] Optionally, the SL positioning-related information is broadcast via a first message; wherein the first message includes any one of the following: a direct communication request; a primary information block secondary link information; a PC5-S message, the PC5-S message being dedicated to the transmission of the SL positioning-related information; a PC5-Radio Resource Control (RRC) message, the PC5-RRC message being dedicated to the transmission of the SL positioning-related information.

[0199] Optionally, the device 700 further includes: an execution module, configured to, when the first terminal is determined to be the target terminal, perform at least one of the following: upon receiving a first request sent by the second terminal, forwarding SL positioning assistance information of at least one third terminal to the second terminal; upon receiving a second request sent by the second terminal, forwarding positioning assistance information of the first network device to the second terminal; upon receiving a third request sent by the second terminal, sending the positioning result of the target terminal to the second terminal; and receiving positioning measurement results or positioning results sent by the second terminal.

[0200] Optionally, the SL positioning assistance information of the third terminal includes at least one of the following: the identification information of the third terminal; the synchronization-related information of the third terminal; the absolute position information of the third terminal; and the configuration information of the reference signal of the third terminal.

[0201] Optionally, the positioning assistance information of the first network device includes at least one of the following: the identification information of the first network device; the synchronization-related information of the first network device; the absolute position information of the first network device; and the configuration information of the reference signal of the first network device.

[0202] Optionally, the positioning measurement results include at least one of the following: the SL PRS measurement results of the second terminal with respect to the third terminal; and the DL PRS measurement results of the second terminal with respect to the first network device.

[0203] Optionally, the SL PRS measurement result includes at least one of the following: identification information of the second terminal; identification information of the third terminal; identification information of the SL PRS; reference information received power (RSRP) of the SL PRS; ToA of the SL PRS; TDoA of the SL PRS; and acquisition time of the SL PRS measurement result.

[0204] Optionally, the DL PRS measurement result includes at least one of the following: the identification information of the second terminal; the identification information of the first network device; the identification information of the DL PRS; the Reference Information Received Power (RSRP) of the DL PRS; the ToA of the DL PRS; the TDoA of the DL PRS; and the acquisition time of the DL PRS measurement result.

[0205] Optionally, the positioning result of the target terminal includes at least one of the following: the absolute location information of the target terminal; and the acquisition time of the positioning result of the target terminal.

[0206] Optionally, the execution module is further configured to: when the third request also carries a first time threshold and the target terminal does not cache a location result that satisfies the first time threshold, the target terminal performs any of the following: cancels the feedback of the location result of the target terminal; restarts the location process; and, if a location result that satisfies the first time threshold is obtained, feeds back the location result to the second terminal; wherein, the first time threshold is used to indicate that the time of obtaining the location result of the target terminal requested by the second terminal must be after the first time threshold.

[0207] Optionally, the positioning result sent by the second terminal to the target terminal includes at least one of the following: the absolute position information of the second terminal; the relative position information of the second terminal; and the acquisition time of the positioning result of the second terminal.

[0208] Optionally, the first sending module 710 is further configured to, when the first terminal is determined to be the target terminal and the target terminal receives positioning measurement results or positioning results sent by multiple second terminals, report the positioning measurement results or positioning results sent by multiple second terminals in a differential manner.

[0209] like Figure 8The diagram shown is a schematic representation of the structure of a positioning device 800 provided in an exemplary embodiment of this application. The device 800 includes a receiving module 810 for receiving SL positioning-related information broadcast by at least one first terminal; and a determining module 820 for determining a target terminal among the at least one first terminal based on the positioning-related information. The target terminal is used to transmit first information of the second terminal, and the first information includes at least one of positioning measurement results, positioning results, and positioning auxiliary information.

[0210] Optionally, the location-related information includes at least one of the following: the identification information of the first terminal;

[0211] The first threshold, which is a signal strength threshold, is used by the second terminal to determine whether to establish or not establish an SL connection with the first terminal; the first indication information indicates whether the first terminal has the ability to forward SL positioning assistance information from at least one third terminal; the second indication information indicates whether the first terminal has the ability to feedback the positioning measurement results of the second terminal; the third indication information indicates whether the first terminal has the ability to forward positioning assistance information from the first network device; the fourth indication information indicates whether the first terminal has the ability to feedback the SL positioning measurement results of the second terminal; the fifth indication information indicates whether the first terminal has cached or not cached the positioning results of the first terminal; the first time information indicates the acquisition time of the positioning results of the first terminal; the first positioning capability indicates the positioning methods supported by the first terminal; and the state of the first terminal.

[0212] Optionally, the state of the first terminal includes at least one of the following: the area identifier where the first terminal is located; the movement state of the first terminal; the network coverage state of the first terminal; and the PC5 unicast link state of the first terminal.

[0213] Optionally, the movement state of the first terminal includes any of the following: moving; stationary; moving and the movement speed is within a predetermined range.

[0214] Optionally, the network coverage status of the first terminal includes any one of the following: within the cellular network coverage area; not within the cellular network coverage area.

[0215] Optionally, the PC5 unicast link status of the first terminal includes at least one of the following: the number of established PC5 unicast links; the range to which the number of established PC5 unicast links belongs; the range indication information to which the number of established PC5 unicast links belongs; and whether the number of established PC5 unicast links exceeds or does not exceed a predetermined value.

[0216] Optionally, the SL positioning-related information is broadcast via a first message, which includes any one of the following: a direct communication request; a primary information block secondary link information; a PC5-S message, which is dedicated to the transmission of the SL positioning-related information; or a PC5-RRC message, which is dedicated to the transmission of the SL positioning-related information.

[0217] Optionally, the execution module is used to establish an SL connection with the first terminal based on the SL positioning-related information and / or the received application layer indication information; wherein, the SL connection is used for the second terminal to report positioning measurement results and / or positioning results, and / or, the SL connection is used to receive positioning results forwarded by the first terminal.

[0218] Optionally, the execution module establishes an SL connection with the first terminal based on the SL positioning-related information and / or the received application layer indication information, provided that at least one of the following conditions is met: the RSRP measured by the second terminal meets the first threshold; the first indication information indicates that the first terminal has the ability to forward SL positioning assistance information from at least one third terminal; the second indication information indicates that the first terminal has the ability to provide feedback on the SL positioning measurement results of the second terminal; the third indication information indicates that the first terminal has the ability to forward positioning assistance information from the first network device; the fourth indication information indicates that the first terminal has the ability to provide feedback on the positioning measurement results of the first network device; the fifth indication information indicates that the first terminal caches the positioning results of the first terminal, and the first time information indicates that the acquisition time of the positioning results of the first terminal is within a first time range; and the positioning capability of the first terminal is determined to meet a predetermined requirement based on the first positioning capability.

[0219] The device 800 further includes a second sending module, which is used for at least one of the following: sending a first request to the target terminal, the first request being used to request the target terminal to forward SL positioning assistance information of at least one third terminal; sending a second request to the target terminal, the second request being used to request the target terminal to forward positioning assistance information of a first network device; sending a third request, the third request being used to request the target terminal to send the positioning result of the target terminal; and sending positioning measurement result or positioning result to the target terminal.

[0220] Optionally, the SL positioning assistance information of the third terminal includes at least one of the following: the identification information of the third terminal; the synchronization-related information of the third terminal; the absolute position information of the third terminal; and the configuration information of the reference signal of the third terminal.

[0221] Optionally, the positioning assistance information of the first network device includes at least one of the following: the identification information of the first network device; the synchronization-related information of the first network device; the absolute position information of the first network device; and the configuration information of the reference signal of the first network device.

[0222] Optionally, the positioning measurement results include at least one of the following: the SL PRS measurement results of the second terminal device with respect to the third terminal; and the DL PRS measurement results of the second terminal device with respect to the first network device.

[0223] Optionally, the SL PRS measurement result includes at least one of the following: the identification information of the second terminal; the identification information of the third terminal; the identification information of the SL PRS; the reference information received power (RSRP) of the SL PRS; the ToA of the SL PRS; the TDoA of the SL PRS; and the acquisition time of the SL PRS measurement result.

[0224] Optionally, the DL PRS measurement result includes at least one of the following: the identification information of the second terminal; the identification information of the first network device; the identification information of the DL PRS; the Reference Information Received Power (RSRP) of the DL PRS; the ToA of the DL PRS; the TDoA of the DL PRS; and the acquisition time of the DL PRS measurement result.

[0225] Optionally, the positioning result of the target terminal includes at least one of the following: the absolute location information of the target terminal; and the acquisition time of the positioning result of the target terminal.

[0226] Optionally, the third request may also carry a first time threshold, wherein the first time threshold is used to indicate that the acquisition time of the SL positioning result of the target terminal requested by the second terminal must be after the first time threshold.

[0227] Optionally, the positioning result sent by the second terminal to the target terminal includes at least one of the following: the absolute position information of the second terminal; the relative position information of the second terminal; and the acquisition time of the positioning result of the second terminal.

[0228] The positioning device 700 or 800 in this application embodiment can be a device, a device with an operating system, or an electronic device, or it can be a component, integrated circuit, or chip in a terminal. This device or electronic device can be a mobile terminal or a non-mobile terminal. For example, a mobile terminal can include, but is not limited to, the types of terminals 11 listed above, while a non-mobile terminal can be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the type of terminal.

[0229] The positioning device 700 or 800 provided in the embodiments of this application can achieve... Figures 3 to 6 The various processes implemented in the method embodiments achieve the same technical effect, and will not be described again here to avoid repetition.

[0230] This application also provides a terminal, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the steps of the method described in method embodiments 200, 500, or 600. This terminal embodiment corresponds to the above-described terminal-side method embodiments, and all implementation processes and methods of the above-described method embodiments can be applied to this terminal embodiment and achieve the same technical effect. Specifically, Figure 9 A schematic diagram of the hardware structure of a terminal to implement an embodiment of this application.

[0231] The terminal 900 includes, but is not limited to, at least some of the following components: radio frequency unit 901, network module 902, audio output unit 903, input unit 904, sensor 905, display unit 906, user input unit 907, interface unit 908, memory 909, and processor 910.

[0232] Those skilled in the art will understand that the terminal 900 may also include a power supply (such as a battery) for supplying power to various components. The power supply may be logically connected to the processor 910 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 9 The terminal structure shown does not constitute a limitation on the terminal. The terminal may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0233] It should be understood that, in this embodiment, the input unit 904 may include a graphics processing unit (GPU) 1041 and a microphone 9042. The GPU 9041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 906 may include a display panel 9061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 907 includes a touch panel 9071 and other input devices 9072. The touch panel 9071 is also called a touch screen. The touch panel 9071 may include a touch detection device and a touch controller. Other input devices 9072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, power buttons, etc.), trackballs, mice, and joysticks, which will not be described in detail here.

[0234] In this embodiment, the radio frequency unit 901 receives downlink data from the network-side device and processes it for the processor 910; additionally, it sends uplink data to the network-side device. Typically, the radio frequency unit 901 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low-noise amplifier, a duplexer, etc.

[0235] The memory 909 can be used to store software programs or instructions and various data. The memory 909 may primarily include a program or instruction storage area and a data storage area. The program or instruction storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 909 may include high-speed random access memory and non-volatile memory, which may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. For example, at least one disk storage device, flash memory device, or other non-volatile solid-state storage device.

[0236] Processor 910 may include one or more processing units; optionally, processor 910 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications or instructions, and the modem processor mainly handles wireless communication, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 910.

[0237] In one possible implementation, when the terminal 900 is the aforementioned first terminal, the radio frequency unit 901 is used to broadcast sublink SL positioning-related information; wherein the SL positioning-related information is used by at least one second terminal to determine a target terminal, and the target terminal is used to transmit first information of at least one second terminal, the first information including at least one of positioning measurement results, positioning results, and positioning auxiliary information.

[0238] Optionally, the SL positioning-related information includes at least one of the following: identification information of the first terminal; a first threshold, which is a signal strength threshold, used by the second terminal to determine whether to establish or not establish an SL connection with the first terminal; first indication information, used to indicate whether the first terminal has the ability to forward SL positioning assistance information from at least one third terminal; second indication information, used to indicate whether the first terminal has the ability to feed back the SL positioning measurement results of the second terminal; third indication information, used to indicate whether the first terminal has the ability to forward positioning assistance information from the first network device; fourth indication information, used to indicate whether the first terminal has the ability to feed back the positioning measurement results of the first network device; fifth indication information, used to indicate whether the first terminal has cached or not cached the positioning results of the first terminal; first time information, used to indicate the acquisition time of the positioning results of the first terminal; first positioning capability, used to indicate the positioning methods supported by the first terminal; and the status of the first terminal.

[0239] Optionally, the state of the first terminal includes at least one of the following: the area identifier where the first terminal is located; the movement state of the first terminal; the network coverage state of the first terminal; and the PC5 unicast link state of the first terminal.

[0240] Optionally, the movement state of the first terminal includes any of the following: moving; stationary; moving and the movement speed is within a predetermined range.

[0241] Optionally, the network coverage status of the first terminal includes any one of the following: within the cellular network coverage area; not within the cellular network coverage area.

[0242] Optionally, the PC5 unicast link status of the first terminal includes at least one of the following: the number of established PC5 unicast links; the range to which the number of established PC5 unicast links belongs; the range indication information to which the number of established PC5 unicast links belongs; and whether the number of established PC5 unicast links exceeds or does not exceed a predetermined value.

[0243] Optionally, the SL positioning-related information is broadcast via a first message; wherein the first message includes any one of the following: a direct communication request; a primary information block secondary link information; a PC5-S message, the PC5-S message being dedicated to the transmission of the SL positioning-related information; a PC5-Radio Resource Control (RRC) message, the PC5-RRC message being dedicated to the transmission of the SL positioning-related information.

[0244] Optionally, the processor 910 is configured to, when the first terminal is determined to be the target terminal, perform at least one of the following: upon receiving a first request from the second terminal, forwarding SL positioning assistance information of at least one third terminal to the second terminal; upon receiving a second request from the second terminal, forwarding positioning assistance information of the first network device to the second terminal; upon receiving a third request from the second terminal, sending the positioning result of the target terminal to the second terminal; and receiving positioning measurement results or positioning results sent by the second terminal.

[0245] Optionally, the SL positioning assistance information of the third terminal includes at least one of the following: the identification information of the third terminal; the synchronization-related information of the third terminal; the absolute position information of the third terminal; and the configuration information of the reference signal of the third terminal.

[0246] Optionally, the positioning assistance information of the first network device includes at least one of the following: the identification information of the first network device; the synchronization-related information of the first network device; the absolute position information of the first network device; and the configuration information of the reference signal of the first network device.

[0247] Optionally, the positioning measurement results include at least one of the following: the SL PRS measurement results of the second terminal with respect to the third terminal; and the DL PRS measurement results of the second terminal with respect to the first network device.

[0248] Optionally, the SL PRS measurement result includes at least one of the following: identification information of the second terminal; identification information of the third terminal; identification information of the SL PRS; reference information received power (RSRP) of the SL PRS; ToA of the SL PRS; TDoA of the SL PRS; and acquisition time of the SL PRS measurement result.

[0249] Optionally, the DL PRS measurement result includes at least one of the following: the identification information of the second terminal; the identification information of the first network device; the identification information of the DL PRS; the Reference Information Received Power (RSRP) of the DL PRS; the ToA of the DL PRS; the TDoA of the DL PRS; and the acquisition time of the DL PRS measurement result.

[0250] Optionally, the positioning result of the target terminal includes at least one of the following: the absolute location information of the target terminal; and the acquisition time of the positioning result of the target terminal.

[0251] Optionally, the processor 910 is further configured to: when the third request also carries a first time threshold and the target terminal does not cache a location result that satisfies the first time threshold, the target terminal performs any of the following: cancels the feedback of the location result of the target terminal; restarts the location process; and, if a location result that satisfies the first time threshold is obtained, feeds back the location result to the second terminal; wherein the first time threshold is used to indicate that the time of obtaining the location result of the target terminal requested by the second terminal must be after the first time threshold.

[0252] Optionally, the positioning result sent by the second terminal to the target terminal includes at least one of the following: the absolute position information of the second terminal; the relative position information of the second terminal; and the acquisition time of the positioning result of the second terminal.

[0253] Optionally, the radio frequency unit 901 is further configured to report the positioning measurement results or positioning results sent by multiple second terminals in a differential manner when the first terminal is determined to be the target terminal and the target terminal receives positioning measurement results or positioning results sent by multiple second terminals.

[0254] In the aforementioned implementation, the first terminal broadcasts SL positioning-related information, enabling at least one second terminal to determine the target terminal based on the received SL positioning-related information. Subsequently, the target terminal transmits the first information of at least one second terminal. This allows multiple second terminals to interact with the positioning information through the target terminal, effectively reducing the signaling overhead of the PC5 interface and / or Uu interface, and ensuring the stability and reliability of wireless communication.

[0255] In another possible implementation, when the terminal 900 is the aforementioned second terminal, the radio frequency unit 901 is used to receive SL positioning-related information broadcast by at least one first terminal; the processor 910 is used to determine a target terminal among the at least one first terminal based on the positioning-related information; wherein the target terminal is used to transmit first information of the second terminal, the first information including at least one of positioning measurement results, positioning results, and positioning assistance information.

[0256] Optionally, the positioning-related information includes at least one of the following: identification information of the first terminal; a first threshold, which is a signal strength threshold, used by the second terminal to determine whether to establish or not establish an SL connection with the first terminal; first indication information, used to indicate whether the first terminal has the ability to forward SL positioning assistance information from at least one third terminal; second indication information, used to indicate whether the first terminal has the ability to feed back the positioning measurement results of the second terminal; third indication information, used to indicate whether the first terminal has the ability to forward positioning assistance information from the first network device; fourth indication information, used to indicate whether the first terminal has the ability to feed back the SL positioning measurement results of the second terminal; fifth indication information, used to indicate whether the first terminal has cached or not cached the positioning results of the first terminal; first time information, used to indicate the acquisition time of the positioning results of the first terminal; first positioning capability, used to indicate the positioning methods supported by the first terminal; and the status of the first terminal.

[0257] Optionally, the state of the first terminal includes at least one of the following: the area identifier where the first terminal is located; the movement state of the first terminal; the network coverage state of the first terminal; and the PC5 unicast link state of the first terminal.

[0258] Optionally, the movement state of the first terminal includes any of the following: moving; stationary; moving and the movement speed is within a predetermined range.

[0259] Optionally, the network coverage status of the first terminal includes any one of the following: within the cellular network coverage area; not within the cellular network coverage area.

[0260] Optionally, the PC5 unicast link status of the first terminal includes at least one of the following: the number of established PC5 unicast links; the range to which the number of established PC5 unicast links belongs; the range indication information to which the number of established PC5 unicast links belongs; and whether the number of established PC5 unicast links exceeds or does not exceed a predetermined value.

[0261] Optionally, the SL positioning-related information is broadcast via a first message, which includes any one of the following: a direct communication request; a primary information block secondary link information; a PC5-S message, which is dedicated to the transmission of the SL positioning-related information; or a PC5-RRC message, which is dedicated to the transmission of the SL positioning-related information.

[0262] Optionally, the processor 910 is configured to establish an SL connection with the first terminal based on the SL positioning-related information and / or the received application layer indication information; wherein the SL connection is used for the second terminal to report positioning measurement results and / or positioning results, and / or, the SL connection is used to receive positioning results forwarded by the first terminal.

[0263] Optionally, the processor 910 establishes an SL connection with the first terminal based on the SL positioning-related information and / or the received application layer indication information, provided that at least one of the following conditions is met: the RSRP measured by the second terminal meets the first threshold; the first indication information indicates that the first terminal has the ability to forward SL positioning assistance information from at least one third terminal; the second indication information indicates that the first terminal has the ability to feed back the SL positioning measurement results of the second terminal; the third indication information indicates that the first terminal has the ability to forward positioning assistance information from the first network device; the fourth indication information indicates that the first terminal has the ability to feed back the positioning measurement results of the first network device; the fifth indication information indicates that the first terminal caches the positioning results of the first terminal, and the first time information indicates that the acquisition time of the positioning results of the first terminal is within a first time range; and the positioning capability of the first terminal is determined to meet a predetermined requirement based on the first positioning capability.

[0264] The radio frequency unit 901 is used for at least one of the following: sending a first request to the target terminal, the first request being used to request the target terminal to forward SL positioning assistance information of at least one third terminal; sending a second request to the target terminal, the second request being used to request the target terminal to forward positioning assistance information of a first network device; sending a third request, the third request being used to request the target terminal to send the positioning result of the target terminal; and sending positioning measurement result or positioning result to the target terminal.

[0265] Optionally, the SL positioning assistance information of the third terminal includes at least one of the following: the identification information of the third terminal; the synchronization-related information of the third terminal; the absolute position information of the third terminal; and the configuration information of the reference signal of the third terminal.

[0266] Optionally, the positioning assistance information of the first network device includes at least one of the following: the identification information of the first network device; the synchronization-related information of the first network device; the absolute position information of the first network device; and the configuration information of the reference signal of the first network device.

[0267] Optionally, the positioning measurement results include at least one of the following: the SL PRS measurement results of the second terminal device with respect to the third terminal; and the DL PRS measurement results of the second terminal device with respect to the first network device.

[0268] Optionally, the SL PRS measurement result includes at least one of the following: the identification information of the second terminal; the identification information of the third terminal; the identification information of the SL PRS; the reference information received power (RSRP) of the SL PRS; the ToA of the SL PRS; the TDoA of the SL PRS; and the acquisition time of the SL PRS measurement result.

[0269] Optionally, the DL PRS measurement result includes at least one of the following: the identification information of the second terminal; the identification information of the first network device; the identification information of the DL PRS; the Reference Information Received Power (RSRP) of the DL PRS; the ToA of the DL PRS; the TDoA of the DL PRS; and the acquisition time of the DL PRS measurement result.

[0270] Optionally, the positioning result of the target terminal includes at least one of the following: the absolute location information of the target terminal; and the acquisition time of the positioning result of the target terminal.

[0271] Optionally, the third request may also carry a first time threshold, wherein the first time threshold is used to indicate that the acquisition time of the SL positioning result of the target terminal requested by the second terminal must be after the first time threshold.

[0272] Optionally, the positioning result sent by the second terminal to the target terminal includes at least one of the following: the absolute position information of the second terminal; the relative position information of the second terminal; and the acquisition time of the positioning result of the second terminal.

[0273] In the aforementioned implementation, the second terminal receives the SL positioning-related information broadcast by the first terminal and determines the target terminal based on the SL positioning-related information. This enables the target terminal to transmit the first information of at least one second terminal. As a result, multiple second terminals can interact with the positioning information through the target terminal, effectively reducing the number of PC5 connection establishments and / or Uu interface signaling overhead, and ensuring the stability and reliability of wireless communication.

[0274] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described positioning method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0275] The processor mentioned above is the processor in the terminal described in the above embodiments. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM).

[0276] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run network-side device programs or instructions to implement the various processes of the above-described positioning method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0277] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0278] This application also provides a computer program product, which includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor. When the program or instructions are executed by the processor, they implement the various processes of the above-described positioning method embodiments and achieve the same technical effects. To avoid repetition, they will not be described again here.

[0279] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0280] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0281] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A positioning method, characterized in that, include: The first terminal broadcasts location-related information from the secondary link SL; Wherein, the SL positioning-related information is used by at least one second terminal to determine the target terminal, and the target terminal is used to forward the first information of at least one second terminal, the first information including at least one of positioning measurement results, positioning results, and positioning auxiliary information, and the first terminal and the second terminal are terminals to be located; The SL positioning-related information includes at least one of the following: First indication information, the first indication information is used to indicate whether the first terminal has or does not have the ability to forward SL positioning assistance information of at least one third terminal; The second indication information is used to indicate whether the first terminal has the ability to feed back the SL positioning measurement results of the second terminal; The third indication information is used to indicate whether the first terminal has or does not have the ability to forward the positioning assistance information of the first network device; The fourth indication information is used to indicate whether the first terminal has the ability to feed back the positioning measurement results of the first network device; The status of the first terminal.

2. The method as described in claim 1, characterized in that, The SL positioning-related information also includes at least one of the following: The identification information of the first terminal; The first threshold is a signal strength threshold, which is used by the second terminal to determine whether to establish or not establish an SL connection with the first terminal. The fifth indication information is used to indicate whether the first terminal has cached or not cached the location result of the first terminal; First-time information is used to indicate the time when the positioning result of the first terminal was acquired; The first positioning capability is used to indicate the positioning methods supported by the first terminal.

3. The method as described in claim 1, characterized in that, The state of the first terminal includes at least one of the following: The area identifier where the first terminal is located; The movement status of the first terminal; Network coverage status of the first terminal; The unicast link status of the PC5 of the first terminal.

4. The method as described in claim 3, characterized in that, The movement state of the first terminal includes any of the following: move; still; It moves while its speed is within a predetermined range.

5. The method as described in claim 3, characterized in that, The network coverage status of the first terminal includes any of the following: Within cellular network coverage area; Not within cellular network coverage area.

6. The method as described in claim 3, characterized in that, The PC5 unicast link status of the first terminal includes at least one of the following: The number of established PC5 unicast links; The range to which the number of established PC5 unicast links belongs; Information indicating the range to which the number of established PC5 unicast links belongs; The number of established PC5 unicast links has exceeded or not exceeded the predetermined value.

7. The method according to any one of claims 1-6, characterized in that, The SL positioning-related information is broadcast via a first message; The first message includes any one of the following: Direct communication request; Primary information block secondary link information; PC5-S message, the PC5-S message being dedicated to the transmission of the SL positioning-related information; PC5-RRC message, the PC5-RRC message is dedicated to the transmission of SL positioning-related information.

8. The method according to any one of claims 2-6, characterized in that, After the step of the first terminal broadcasting SL location-related information, the method further includes: If the first terminal is determined to be the target terminal, at least one of the following shall be performed: Upon receiving a first request from the second terminal, the SL positioning assistance information of at least one third terminal is forwarded to the second terminal. Upon receiving a second request from the second terminal, the location assistance information of the first network device is forwarded to the second terminal; Upon receiving a third request from the second terminal, the location result of the target terminal is sent to the second terminal; Receive the positioning measurement results or positioning results sent by the second terminal.

9. The method as described in claim 8, characterized in that, The SL positioning assistance information of the third terminal includes at least one of the following: The identification information of the third terminal; The synchronization-related information of the third terminal; The absolute location information of the third terminal; Configuration information of the reference signal of the third terminal.

10. The method as described in claim 8, characterized in that, The location assistance information of the first network device includes at least one of the following: The identification information of the first network device; Synchronization-related information of the first network device; The absolute location information of the first network device; Configuration information of the reference signal of the first network device.

11. The method as described in claim 8, characterized in that, The positioning measurement results include at least one of the following: The SL PRS measurement results of the second terminal with respect to the third terminal; The second terminal's downlink DL PRS measurement results with respect to the first network device.

12. The method as described in claim 11, characterized in that, The SL PRS measurement results include at least one of the following: Identification information of the second terminal; The identification information of the third terminal; The identification information of the SL PRS; The reference information received power RSRP of the SL PRS; The arrival time ToA of the SL PRS; The Time Difference of Arrival (TDoA) of the SL PRS; The acquisition time of the SL PRS measurement results.

13. The method as described in claim 11, characterized in that, The DL PRS measurement results include at least one of the following: The identification information of the second terminal; The identification information of the first network device; The identification information of the DL PRS; The reference information reception power RSRP of the DL PRS; The ToA of the DL PRS; The TDoA of the DL PRS; The acquisition time of the DL PRS measurement results.

14. The method as described in claim 8, characterized in that, The location result of the target terminal includes at least one of the following: The absolute location information of the target terminal; The time when the location result of the target terminal is acquired.

15. The method as described in claim 8, characterized in that, Upon receiving a third request from the second terminal, the method further includes: If the third request also carries a first time threshold, and the target terminal does not have a location result that satisfies the first time threshold cached, the target terminal performs any of the following: Cancel the feedback of the location result of the target terminal; Restart the positioning process, and if a positioning result that meets the first time threshold is obtained, feed back the positioning result to the second terminal; The first time threshold is used to indicate that the acquisition time of the location result of the target terminal requested by the second terminal must be after the first time threshold.

16. The method as described in claim 8, characterized in that, The location result sent by the second terminal to the target terminal includes at least one of the following: The absolute location information of the second terminal; The relative position information of the second terminal; The time when the location result of the second terminal was acquired.

17. The method as described in claim 8, characterized in that, After the step of receiving the positioning measurement result or positioning result sent by the second terminal, the method further includes: When the first terminal is identified as the target terminal and the target terminal receives positioning measurement results or positioning results sent by multiple second terminals, the positioning measurement results or positioning results sent by multiple second terminals are reported in a differential manner.

18. A positioning method, characterized in that, include: The second terminal receives SL location-related information broadcast by at least one first terminal; The second terminal determines the target terminal among the at least one first terminal based on the location-related information. The target terminal is used to forward the first information of the second terminal. The first information includes at least one of positioning measurement results, positioning results, and positioning auxiliary information. The first terminal and the second terminal are terminals to be located. The SL positioning-related information includes at least one of the following: First indication information, the first indication information is used to indicate whether the first terminal has or does not have the ability to forward SL positioning assistance information of at least one third terminal; The second indication information is used to indicate whether the first terminal has the ability to feed back the SL positioning measurement results of the second terminal; The third indication information is used to indicate whether the first terminal has or does not have the ability to forward the positioning assistance information of the first network device; The fourth indication information is used to indicate whether the first terminal has the ability to feed back the positioning measurement results of the first network device; The status of the first terminal.

19. The method as described in claim 18, characterized in that, The location-related information includes at least one of the following: The identification information of the first terminal; The first threshold is a signal strength threshold, which is used by the second terminal to determine whether to establish or not establish an SL connection with the first terminal. The fifth indication information is used to indicate whether the first terminal has cached or not cached the location result of the first terminal; First-time information is used to indicate the time when the positioning result of the first terminal was acquired; The first positioning capability is used to indicate the positioning methods supported by the first terminal.

20. The method as described in claim 18, characterized in that, The state of the first terminal includes at least one of the following: The area identifier where the first terminal is located; The movement status of the first terminal; Network coverage status of the first terminal; The unicast link status of the PC5 of the first terminal.

21. The method as described in claim 20, characterized in that, The movement state of the first terminal includes any of the following: move; still; It moves while its speed is within a predetermined range.

22. The method as described in claim 20, characterized in that, The network coverage status of the first terminal includes any of the following: Within cellular network coverage area; Not within cellular network coverage area.

23. The method as described in claim 20, characterized in that, The PC5 unicast link status of the first terminal includes at least one of the following: The number of established PC5 unicast links; The range to which the number of established PC5 unicast links belongs; Information indicating the range to which the number of established PC5 unicast links belongs; The number of established PC5 unicast links has exceeded or not exceeded the predetermined value.

24. The method according to any one of claims 18-23, characterized in that, The SL positioning-related information is broadcast via a first message, which includes any one of the following: Direct communication request; Primary information block secondary link information; PC5-S message, the PC5-S message being dedicated to the transmission of the SL positioning-related information; PC5-RRC message, the PC5-RRC message is dedicated to the transmission of SL positioning-related information.

25. The method according to any one of claims 19-23, characterized in that, The method further includes: Based on the SL positioning-related information and / or the received application layer indication information, the second terminal establishes an SL connection with the first terminal; The SL connection is used for the second terminal to report positioning measurement results and / or positioning results, and / or for the SL connection to receive positioning results forwarded by the first terminal.

26. The method as described in claim 25, characterized in that, Based on the location-related information and / or the received application layer indication information, the step of establishing an SL connection between the second terminal and the first terminal includes: The second terminal establishes an SL connection with the first terminal based on the SL location-related information and / or the received application layer indication information, provided that at least one of the following conditions is met: The location-related information also includes a first threshold, and the RSRP measured by the second terminal satisfies the first threshold; The first indication information indicates that the first terminal has the ability to forward SL positioning assistance information from at least one third terminal; The second indication information indicates that the first terminal has the ability to provide feedback on the SL positioning measurement results of the second terminal; The third indication information indicates that the first terminal has the ability to forward the location assistance information of the first network device; The fourth indication information indicates that the first terminal has the ability to provide feedback on the positioning measurement results of the first network device; The location-related information also includes a fifth indication information, wherein the fifth indication information indicates that the first terminal has cached the location result of the first terminal, and the first time information indicates that the location result of the first terminal was acquired within a first time range. The location-related information also includes a first location capability, and the location capability of the first terminal is determined to meet predetermined requirements based on the first location capability.

27. The method as described in claim 18, characterized in that, After determining the target terminal among the at least one first terminal based on the location-related information, the method further includes at least one of the following: Send a first request to the target terminal, the first request being used to request the target terminal to forward SL positioning assistance information from at least one third terminal; A second request is sent to the target terminal, the second request being used to request the target terminal to forward the location assistance information of the first network device; Send a third request, the third request being used to request the target terminal to send the location result of the target terminal; Send the positioning measurement results or positioning results to the target terminal.

28. The method as described in claim 27, characterized in that, The SL positioning assistance information of the third terminal includes at least one of the following: The identification information of the third terminal; The synchronization-related information of the third terminal; The absolute location information of the third terminal; Configuration information of the reference signal of the third terminal.

29. The method as described in claim 27, characterized in that, The location assistance information of the first network device includes at least one of the following: The identification information of the first network device; Synchronization-related information of the first network device; The absolute location information of the first network device; Configuration information of the reference signal of the first network device.

30. The method as described in claim 27, characterized in that, The positioning measurement results include at least one of the following: The SL PRS measurement results of the second terminal device regarding the third terminal; The second terminal device's downlink DL PRS measurement results regarding the first network device.

31. The method as described in claim 30, characterized in that, The SL PRS measurement results include at least one of the following: The identification information of the second terminal; The identification information of the third terminal; The identification information of the SL PRS; The reference information received power RSRP of the SL PRS; The arrival time ToA of the SL PRS; The Time Difference of Arrival (TDoA) of the SL PRS; The acquisition time of the SL PRS measurement results.

32. The method as described in claim 30, characterized in that, The DL PRS measurement results include at least one of the following: The identification information of the second terminal; The identification information of the first network device; The identification information of the DL PRS; The reference information reception power RSRP of the DL PRS; The ToA of the DL PRS; The TDoA of the DL PRS; The acquisition time of the DL PRS measurement results.

33. The method as described in claim 27, characterized in that, The location result of the target terminal includes at least one of the following: The absolute location information of the target terminal; The time when the location result of the target terminal is acquired.

34. The method as described in claim 27, characterized in that, The third request also carries a first time threshold, wherein the first time threshold is used to indicate that the acquisition time of the SL positioning result of the target terminal requested by the second terminal must be after the first time threshold.

35. The method as described in claim 27, characterized in that, The location result sent by the second terminal to the target terminal includes at least one of the following: The absolute location information of the second terminal; The relative position information of the second terminal; The time when the location result of the second terminal was acquired.

36. A positioning device, characterized in that, Applied to a first terminal, the device includes: The first transmitting module is used to broadcast location-related information for the secondary link SL. Wherein, the SL positioning-related information is used by at least one second terminal to determine the target terminal, and the target terminal is used to forward the first information of at least one second terminal, the first information including at least one of positioning measurement results, positioning results, and positioning auxiliary information, and the first terminal and the second terminal are terminals to be located; The SL positioning-related information includes at least one of the following: First indication information, the first indication information is used to indicate whether the first terminal has or does not have the ability to forward SL positioning assistance information of at least one third terminal; The second indication information is used to indicate whether the first terminal has the ability to feed back the SL positioning measurement results of the second terminal; The third indication information is used to indicate whether the first terminal has or does not have the ability to forward the positioning assistance information of the first network device; The fourth indication information is used to indicate whether the first terminal has the ability to feed back the positioning measurement results of the first network device; The status of the first terminal.

37. A positioning device, characterized in that, Applied to a second terminal, the device includes: The receiving module is used to receive SL positioning-related information broadcast by at least one first terminal; The determining module is used to determine the target terminal among the at least one first terminal based on the location-related information. The target terminal is used to forward the first information of the second terminal. The first information includes at least one of positioning measurement results, positioning results, and positioning auxiliary information. The first terminal and the second terminal are terminals to be located. The SL positioning-related information includes at least one of the following: First indication information, the first indication information is used to indicate whether the first terminal has or does not have the ability to forward SL positioning assistance information of at least one third terminal; The second indication information is used to indicate whether the first terminal has the ability to feed back the SL positioning measurement results of the second terminal; The third indication information is used to indicate whether the first terminal has or does not have the ability to forward the positioning assistance information of the first network device; The fourth indication information is used to indicate whether the first terminal has the ability to feed back the positioning measurement results of the first network device; The status of the first terminal.

38. A terminal, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the positioning method as claimed in any one of claims 1 to 17, or implement the steps of the positioning method as claimed in any one of claims 18 to 35.

39. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the positioning method as described in any one of claims 1-17, or implement the steps of the positioning method as described in any one of claims 18-35.

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