Method and apparatus for position determination

Abstract

The application provides a method and device for position determination. The method can include: a first terminal device receiving a first message from a second terminal device, the first message being used for requesting a first target position, the first target position including at least one of a first relative position, an absolute position of a third terminal device, or a second relative position, wherein the first relative position is used for representing a relative position between the third terminal device and the first terminal device, and the second relative position is used for representing a relative position between the third terminal device and the second terminal device; and the first terminal device sending the first target position to the second terminal device according to the first message. According to the application, the first terminal device assists the second terminal device to obtain the relative position between the third terminal device and the second terminal device, so that the relative positioning between the second terminal device and the third terminal device can be realized, and the accuracy of the relative position between the third terminal device and the second terminal device can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of communication, and more particularly, to a method and apparatus for position determination. BACKGROUND

[0002] The relative position between terminal devices can be obtained by measuring the distance and / or angle between the terminal devices. The distance between the terminal devices can be obtained by ranging, and the angle between the terminal devices can be obtained by angulation.

[0003] Taking terminal device 1 and terminal device 2 as an example. At present, the ranging method between terminal device 1 and terminal device 2 includes that terminal device 1 sends a ranging signal to terminal device 2, terminal device 2 sends a feedback signal to terminal device 1 after receiving the ranging signal, and terminal device 1 calculates the distance between terminal device 1 and terminal device 2 according to the time difference between sending the ranging signal and receiving the feedback signal. The angulation method between terminal device 1 and terminal device 2 includes that terminal device 1 sends a signal to terminal device 2, and calculates the angle between terminal device 1 and terminal device 2 by measuring the included angle between the direction of sending the signal by terminal device 1 and a reference direction, or measuring the included angle between the direction of receiving the signal by terminal device 2 and the reference direction.

[0004] However, in some cases, such as the case where there is an obstruction between terminal device 1 and terminal device 2, due to the existence of the obstruction, the signal cannot be transmitted directly between terminal device 1 and terminal device 2 in line of sight, the direction of receiving the signal by terminal device 2 is not the real direction of sending the signal by terminal device 1, and the distance of signal transmission is longer than the real relative distance between terminal device 1 and terminal device 2. Using the above ranging method or angulation method will result in low accuracy of the relative position between terminal device 1 and terminal device 2. SUMMARY

[0005] The present application provides a method and apparatus for position determination, which can improve the accuracy of the relative position between terminal devices.

[0006] In a first aspect, a method for position determination is provided, which can be executed by a terminal device, or can also be executed by a component (such as a chip or circuit) of the terminal device, and no limitation is made in this regard. For ease of description, the following will be described by taking execution by a first terminal device as an example.

[0007] The method can include: receiving, by a first terminal device, a first message from a second terminal device, the first message being used to request a first target position, the first target position including at least one of: a first relative position, an absolute position of a third terminal device, or a second relative position, wherein the first relative position is used to represent a relative position between the third terminal device and the first terminal device, and the second relative position is used to represent a relative position between the third terminal device and the second terminal device; and sending, by the first terminal device, a second message to the second terminal device according to the first message, the second message including the first target position.

[0008] For a scenario in which there is an occlusion between the second terminal device and the third terminal device, due to the existence of the occlusion, a signal cannot be directly transmitted in a line-of-sight manner between the second terminal device and the third terminal device, and if the second terminal device uses the ranging method or the angle measurement method described above, the accuracy of the relative position between the second terminal device and the third terminal device obtained is low. In the embodiments of the present application, the first terminal device can assist the second terminal device to obtain the relative position between the third terminal device and the second terminal device. Specifically, the first terminal device receives a first message from the second terminal device, and sends a second message to the second terminal device according to the first message, the second message including a first target position, the first target position including at least one of: a relative position between the third terminal device and the first terminal device, an absolute position of the third terminal device, or a relative position between the third terminal device and the second terminal device. Through the embodiments of the present application, the first terminal device assists the second terminal device to obtain the relative position between the third terminal device and the second terminal device, which not only enables the relative positioning between the second terminal device and the third terminal device, but also improves the accuracy of the relative position between the third terminal device and the second terminal device.

[0009] With reference to the first aspect, in some implementations of the first aspect, the method further includes: determining, by the first terminal device, the first target position.

[0010] Based on the above scheme, after receiving the first message from the second terminal device, the first terminal device determines the first target position according to the first message, and sends the first target position to the second terminal device.

[0011] With reference to the first aspect, in some implementations of the first aspect, the first target position comprises the second relative position, and the first terminal device determines the first target position by: determining the first relative position; determining a third relative position, the third relative position being used to represent a relative position between the second terminal device and the first terminal device; and determining the second relative position according to the first relative position and the third relative position.

[0012] Based on the above scheme, if the first target position comprises a relative position between the third terminal device and the second terminal device, the first terminal device can determine the relative position between the third terminal device and the second terminal device according to a relative position between the third terminal device and the first terminal device, and a relative position between the second terminal device and the first terminal device.

[0013] With reference to the first aspect, in some implementations of the first aspect, the first target position comprises the second relative position, and the first terminal device determines the first target position by: obtaining an absolute position of the second terminal device; obtaining an absolute position of the third terminal device; and determining the second relative position according to the absolute position of the second terminal device and the absolute position of the third terminal device.

[0014] Based on the above scheme, if the first target position comprises a relative position between the third terminal device and the second terminal device, the first terminal device can determine the relative position between the third terminal device and the second terminal device according to an absolute position of the second terminal device and an absolute position of the third terminal device.

[0015] With reference to the first aspect, in some implementations of the first aspect, the first target position comprises an absolute position of the third terminal device, and the first terminal device determines the first target position by: determining the first relative position; and determining the absolute position of the third terminal device according to the first relative position and an absolute position of the first terminal device.

[0016] Based on the above scheme, if the first target position comprises an absolute position of the third terminal device, the first terminal device can determine the absolute position of the third terminal device according to a relative position between the third terminal device and the first terminal device, and an absolute position of the first terminal device.

[0017] In some implementations of the first aspect, the first message includes at least one of: an accuracy of the first target position, a threshold of the second relative position, or first information, wherein the first information is used to trigger the first terminal device to send the first target position to the third terminal device.

[0018] In some implementations of the first aspect, the first message includes an accuracy of the first target position, and the method further includes: determining, by the first terminal device, the first target position according to the accuracy of the first target position.

[0019] According to the above scheme, the first message sent by the second terminal device to the first terminal device includes an accuracy of the first target position, and the first terminal device determines the first target position according to the accuracy of the first target position, so that the first target position determined by the first terminal device meets the accuracy of the first target position.

[0020] In some implementations of the first aspect, the first target position includes the second relative position, and the method further includes: obtaining, by the first terminal device, a first accuracy and a second accuracy according to the accuracy of the first target position; determining, by the first terminal device, the first target position according to the accuracy of the first target position, including: determining, by the first terminal device, the first relative position according to the first accuracy; determining, by the first terminal device, the third relative position according to the second accuracy; and determining, by the first terminal device, the second relative position according to the first relative position and the third relative position.

[0021] According to the above scheme, if the first message sent by the second terminal device to the first terminal device includes an accuracy of the first target position, and the first terminal device determines the relative position between the third terminal device and the second terminal device according to the relative position between the third terminal device and the first terminal device and the relative position between the second terminal device and the first terminal device, the first terminal device can obtain a first accuracy and a second accuracy according to the accuracy of the first target position, and determine the relative position between the third terminal device and the first terminal device according to the first accuracy, and determine the relative position between the second terminal device and the first terminal device according to the second accuracy.

[0022] In some implementations of the first aspect, the first message includes the first information, and the first information is used to trigger the first terminal device to send the first target position to the third terminal device, and the method further includes: sending, by the first terminal device, the first target position to the third terminal device.

[0023] Based on the above scheme, the first message sent by the second terminal device to the first terminal device comprises the first information, and after the first terminal device determines the first target position, the first terminal device sends the first target position to the third terminal device according to the first information.

[0024] With reference to the first aspect, in some implementations of the first aspect, the first target position comprises the second relative position, and the first message comprises a threshold of the second relative position. The first terminal device sends a second message to the second terminal device, and the second message comprises the second relative position.

[0025] Based on the above scheme, the first message sent by the second terminal device to the first terminal device comprises a threshold of the second relative position, and after the first terminal device determines the second relative position, the first terminal device sends the second relative position to the second terminal device according to the second relative position and the threshold of the second relative position.

[0026] With reference to the first aspect, in some implementations of the first aspect, the method further comprises: the first terminal device sending a third message, wherein the third message is used for broadcasting information of a terminal device that establishes a communication connection with the first terminal device, or the third message is used for broadcasting information of a terminal device whose position is known to the first terminal device, and the third message comprises information of the third terminal device.

[0027] Based on the above scheme, the first terminal device can send a third message, and the third message is used for broadcasting information of one or more terminal devices. The one or more terminal devices can be terminal devices that establish a communication connection with the first terminal device, or the first terminal device has known absolute positions of the one or more terminal devices, or the first terminal device has known relative positions between the first terminal device and the one or more terminal devices.

[0028] With reference to the first aspect, in some implementations of the first aspect, the method further comprises: the first terminal device receiving a fourth message from the second terminal device, wherein the fourth message is used for discovering a terminal device that assists in positioning the third terminal device, and the fourth message comprises information of the third terminal device; and if the first terminal device satisfies a preset condition, the first terminal device sends a response message of the fourth message to the second terminal device.

[0029] Based on the above scheme, the first terminal device receives a fourth message from the second terminal device, the fourth message being used to discover a terminal device assisting in positioning the third terminal device, and if the first terminal device meets a preset condition, the first terminal device sends a response message of the fourth message to the second terminal device, so that the second terminal device learns that the first terminal device is a device assisting in positioning the third terminal device.

[0030] With reference to the first aspect, in some implementations of the first aspect, the first relative position comprises at least one of: a distance or an angle.

[0031] With reference to the first aspect, in some implementations of the first aspect, the second relative position comprises at least one of: a distance or an angle.

[0032] The second aspect provides a method for position determination, which can be executed by a terminal device, or can also be executed by a component (for example, a chip or a circuit) of the terminal device, and no limitation is made in this regard. For ease of description, the following is described by taking execution by a second terminal device as an example.

[0033] The method can comprise: the second terminal device sending a first message to a first terminal device, the first message being used to request a first target position, the first target position comprising at least one of: a first relative position, an absolute position of a third terminal device, or a second relative position, wherein the first relative position is used to represent a relative position between the third terminal device and the first terminal device, and the second relative position is used to represent a relative position between the third terminal device and the second terminal device; the second terminal device receiving a second message from the first terminal device, the second message comprising the first target position; and the second terminal device obtaining the second relative position according to the second message.

[0034] For a scenario where there is an occlusion between the second terminal device and the third terminal device, due to the existence of the occlusion, signals cannot be directly transmitted in line-of-sight between the second terminal device and the third terminal device, and if the second terminal device uses the ranging method or the angle measurement method described above, the relative position accuracy between the second terminal device and the third terminal device obtained will be low. In the embodiments of the present application, the second terminal device can obtain the relative position between the third terminal device and the second terminal device with the assistance of the first terminal device. Specifically, the second terminal device requests the first target position from the first terminal device, and receives a second message from the first terminal device, the second message including the first target position, and the second terminal device obtains the relative position between the third terminal device and the second terminal device according to the first target position, the first target position including at least one of the relative position between the third terminal device and the first terminal device, the absolute position of the third terminal device, or the relative position between the third terminal device and the second terminal device. The relative position between the third terminal device and the second terminal device. Through the embodiments of the present application, the first terminal device assists the second terminal device to obtain the relative position between the third terminal device and the second terminal device, which not only realizes the relative positioning between the second terminal device and the third terminal device, but also improves the accuracy of the relative position between the third terminal device and the second terminal device.

[0035] In combination with the second aspect, in some implementations of the second aspect, the first message includes at least one of: an accuracy of the first target position, a threshold of the second relative position, or first information; wherein the first information is used to trigger the first terminal device to send the first target position to the third terminal device.

[0036] In combination with the second aspect, in some implementations of the second aspect, the second terminal device sends a first message to the first terminal device, including: if the relative position between the third terminal device and the second terminal device stored by the second terminal device does not meet a preset condition, the second terminal device sends the first message to the first terminal device.

[0037] Based on the above scheme, in the case where the relative position between the third terminal device and the second terminal device stored by the second terminal device does not meet the preset condition, the second terminal device obtains the relative position between the third terminal device and the second terminal device with the assistance of the first terminal device, i.e., the second terminal device sends a first message to the first terminal device.

[0038] With reference to the second aspect, in some implementations of the second aspect, the method further includes: receiving, by the second terminal device, a third message from the first terminal device, the third message being used for broadcasting information of terminal devices that have established a communication connection with the first terminal device, or the third message being used for broadcasting information of terminal devices whose positions have been learned by the first terminal device, wherein the third message comprises information of the third terminal device.

[0039] Based on the above scheme, the first terminal device can send a third message, which is used for broadcasting information of one or more terminal devices, and if the one or more terminal devices include the third terminal device, it indicates that the first terminal device is a device capable of assisting in positioning the third terminal device, and then the second terminal device sends the first message to the first terminal device. The one or more terminal devices can be terminal devices that have established a communication connection with the first terminal device, or the first terminal device has learned the absolute positions of the one or more terminal devices, or the first terminal device has learned the relative positions between the first terminal device and the one or more terminal devices.

[0040] With reference to the second aspect, in some implementations of the second aspect, before the second terminal device sends the first message to the first terminal device, the method further includes: sending, by the second terminal device, a fourth message, the fourth message being used for discovering terminal devices that can assist in positioning the third terminal device, wherein the fourth message comprises information of the third terminal device; and receiving, by the second terminal device, a response message of the fourth message from the first terminal device.

[0041] Based on the above scheme, the second terminal device sends a fourth message, which is used for discovering terminal devices that can assist in positioning the third terminal device, and after the second terminal device receives a response message of the fourth message from the first terminal device, it indicates that the first terminal device is a device capable of assisting in positioning the third terminal device, and then the second terminal device sends the first message to the first terminal device.

[0042] With reference to the second aspect, in some implementations of the second aspect, the second relative position comprises at least one of: a distance or an angle.

[0043] The third aspect provides a method for position determination, which can be executed by a network device or a component (such as a chip or a circuit) of the network device, and the execution is not limited.

[0044] The method can include: receiving, by the network device, a fifth message from the second terminal device, the fifth message being used to trigger sending a second target position to the second terminal device, the second target position including at least one of: a second relative position, or an absolute position of a third terminal device, wherein the second relative position is used to represent a relative position between the third terminal device and the second terminal device; and sending, by the network device, a sixth message to the second terminal device according to the fifth message, the sixth message including the second target position.

[0045] For a scenario in which there is an occlusion between the second terminal device and the third terminal device, due to the existence of the occlusion, a signal cannot be directly transmitted in a line-of-sight manner between the second terminal device and the third terminal device, and if the second terminal device uses the ranging method or the angle measurement method described above, the accuracy of the relative position between the second terminal device and the third terminal device obtained is low. In the embodiments of the present application, the network device can assist the second terminal device to obtain the relative position between the third terminal device and the second terminal device. Specifically, the network device receives a fifth message from the second terminal device, and sends a sixth message to the second terminal device, the sixth message including a second target position, the second target position including at least one of: an absolute position of the third terminal device, or a relative position between the third terminal device and the second terminal device. Through the embodiments of the present application, the network device assists the second terminal device to obtain the relative position between the third terminal device and the second terminal device, which not only enables the relative positioning between the second terminal device and the third terminal device, but also improves the accuracy of the relative position between the third terminal device and the second terminal device.

[0046] With reference to the third aspect, in some implementations of the third aspect, the method further includes: determining, by the network device, the second target position.

[0047] With reference to the third aspect, in some implementations of the third aspect, the second target position includes the second relative position, and determining, by the network device, the second target position includes: determining, by the network device, an absolute position of the second terminal device; determining, by the network device, an absolute position of the third terminal device; and determining, by the network device, the second relative position according to the absolute position of the second terminal device and the absolute position of the third terminal device.

[0048] Based on the above scheme, if the second target position includes the relative position between the third terminal device and the second terminal device, the network device can determine the relative position between the third terminal device and the second terminal device according to the absolute position of the second terminal device and the absolute position of the third terminal device.

[0049] In some implementations of the third aspect, the fifth message includes at least one of: an accuracy of the second target position, a threshold of the second relative position, or second information, wherein the second information is used to trigger the network device to send the second target position to the third terminal device.

[0050] In some implementations of the third aspect, the fifth message includes an accuracy of the second target position, and the method further includes: determining, by the network device, the second target position according to the accuracy of the second target position.

[0051] Based on the above scheme, the fifth message sent by the second terminal device to the network device includes an accuracy of the second target position, and the network device determines the second target position according to the accuracy of the second target position, so that the second target position determined by the network device meets the accuracy of the second target position.

[0052] In some implementations of the third aspect, the second target position includes an absolute position of the third terminal device and an absolute position of the second terminal device, and determining, by the network device, the second target position according to the accuracy of the second target position includes: obtaining, by the network device, a third accuracy and a fourth accuracy according to the accuracy of the second target position; determining, by the network device, the absolute position of the second terminal device according to the third accuracy; and determining, by the network device, the absolute position of the third terminal device according to the fourth accuracy.

[0053] Based on the above scheme, if the fifth message sent by the second terminal device to the network device includes an accuracy of the second target position, and the network device determines a relative position between the third terminal device and the second terminal device according to the absolute position of the second terminal device and the absolute position of the third terminal device, the network device can obtain a third accuracy and a fourth accuracy according to the accuracy of the second target position, and determine the absolute position of the second terminal device according to the third accuracy and determine the absolute position of the third terminal device according to the fourth accuracy.

[0054] In some implementations of the third aspect, the fifth message includes first information, and the second information is used to trigger the network device to send the second target position to the third terminal device, and the method further includes: sending, by the network device, the second target position to the third terminal device.

[0055] Based on the above scheme, the fifth message sent by the second terminal device to the network device includes first information, and the network device sends the second target position to the third terminal device according to the second information after determining the second target position.

[0056] With reference to the third aspect, in some implementations of the third aspect, the second target position comprises the second relative position, the fifth message comprises a threshold of the second relative position, and the method further comprises: sending, by the network device, a sixth message to the second terminal device, the sixth message comprising the second relative position, in response to the second relative position and the threshold of the second relative position.

[0057] According to the above scheme, the fifth message sent by the second terminal device to the network device comprises a threshold of the second relative position, and after the network device determines the second relative position, the network device sends the second relative position to the second terminal device according to the second relative position and the threshold of the second relative position.

[0058] With reference to the third aspect, in some implementations of the third aspect, the second relative position comprises at least one of: a distance or an angle.

[0059] A fourth aspect provides a method for position determination, which can be executed by a terminal device, or can also be executed by a component (for example, a chip or a circuit) of the terminal device, and no limitation is made in this regard. For ease of description, the following is described by taking execution by a second terminal device as an example.

[0060] The method can comprise: sending, by the second terminal device, a fifth message to a network device, the fifth message being used to trigger sending of a second target position to the second terminal device, the second target position comprising at least one of: a second relative position or an absolute position of a third terminal device, wherein the second relative position is used to represent a relative position between the third terminal device and the second terminal device; receiving, by the second terminal device, a sixth message from the network device, the sixth message comprising the second target position; and obtaining, by the second terminal device, the second relative position according to the sixth message.

[0061] For a scenario that there is an occlusion between the second terminal device and the third terminal device, due to the existence of the occlusion, signals cannot be directly transmitted in line-of-sight between the second terminal device and the third terminal device, and if the second terminal device uses the ranging method or the angle measurement method described above, the obtained relative position between the second terminal device and the third terminal device is low in accuracy. In the embodiments of the present application, the second terminal device can obtain the relative position between the third terminal device and the second terminal device with the assistance of the network device. Specifically, the second terminal device requests a second target position from the network device, and receives a sixth message from the network device, the sixth message including the second target position, and the second terminal device obtains the relative position between the third terminal device and the second terminal device according to the second target position, the second target position including at least one of the absolute position of the third terminal device or the relative position between the third terminal device and the second terminal device. Through the embodiments of the present application, the network device assists the second terminal device to obtain the relative position between the third terminal device and the second terminal device, which not only realizes the relative positioning between the second terminal device and the third terminal device, but also improves the accuracy of the relative position between the third terminal device and the second terminal device.

[0062] In combination with the fourth aspect, in some implementations of the fourth aspect, the fifth message includes at least one of: an accuracy of the second target position, a threshold of the second relative position, or second information; and the second information is used to trigger the network device to send the second target position to the third terminal device.

[0063] In combination with the fourth aspect, in some implementations of the fourth aspect, the second terminal device sends a fifth message to the network device, including: if the relative position between the third terminal device and the second terminal device stored by the second terminal device does not meet a preset condition, the second terminal device sends the fifth message to the network device.

[0064] In combination with the fourth aspect, in some implementations of the fourth aspect, the second relative position includes at least one of: a distance or an angle.

[0065] In a fifth aspect, a method for determining a position is provided, which can be executed by an application function (application function, AF) (such as a loCation services (LCS) client) or a component (such as a chip or a circuit) of the AF, and is not limited to this. For ease of description, the following is described by taking the execution by the AF as an example.

[0066] The method can comprise: sending, by the AF, a ninth message to the network device, the ninth message being used to request a second relative position, wherein the second relative position is used to represent a relative position between a third terminal device and a second terminal device; and receiving, by the AF, the second relative position from the network device.

[0067] Based on the above scheme, the AF can request the relative position between the two terminal devices from the network device, and then obtain the relative position between the two terminal devices with the assistance of the network device. By the embodiments of the present application, the relative position between the second terminal device and the third terminal device is determined by the network device based on the request of the AF, and the relative positioning between the second terminal device and the third terminal device can be achieved.

[0068] In combination with the fifth aspect, in some implementations of the fifth aspect, before the AF sends the ninth message to the network device, the method further comprises: receiving, by the AF, a tenth message from the second terminal device, the tenth message being used to request the second relative position.

[0069] A sixth aspect provides a method for position determination, which can be executed by a network device, or can also be executed by a component (such as a chip or a circuit) of the network device, and the implementation is not limited.

[0070] The method can comprise: receiving, by the network device, a ninth message from the AF, the ninth message being used to request a second relative position, wherein the second relative position is used to represent a relative position between a third terminal device and a second terminal device; determining, by the network device, the second relative position according to the ninth message; and sending, by the network device, the second relative position to the AF.

[0071] For example, the network device can be a network exposure function (NEF) or a gateway mobile location centre (GMLC).

[0072] In combination with the sixth aspect, in some implementations of the sixth aspect, the network device determining the second relative position comprises: determining, by the network device, an absolute position of UE2 and an absolute position of UE3, and determining, by the network device, the second relative position according to the absolute position of UE2 and the absolute position of UE3.

[0073] Based on the above scheme, the network device determines the relative position between the two terminal devices based on the request of the AF, and sends the relative position between the two terminal devices to the AF. By the embodiments of the present application, the relative position between the third terminal device and the second terminal device is determined by the network device based on the request of the AF, which can realize the relative positioning between the second terminal device and the third terminal device.

[0074] In conjunction with the fifth aspect or the sixth aspect, in some implementations, the ninth message includes at least one of: an accuracy of the second relative position, a threshold of the second relative position.

[0075] In conjunction with the fifth aspect or the sixth aspect, in some implementations, the second relative position includes at least one of: a distance or an angle.

[0076] A seventh aspect provides a method for position determination, which can be executed by a terminal device, or can also be executed by a component (such as a chip or a circuit) of the terminal device, which is not limited. For ease of description, the following is described by taking the execution by a second terminal device as an example.

[0077] The method can include: the second terminal device sends an eleventh message to a third terminal device, the eleventh message being used to trigger the third terminal device to send a first relative position, the first relative position being used to represent a relative position between the third terminal device and a first terminal device; the second terminal device receives a twelfth message from the third terminal device, the twelfth message including the first relative position; and the second terminal device determines a second relative position according to the first relative position and a third relative position, the third relative position being used to represent a relative position between the second terminal device and the first terminal device, the second relative position being used to represent a relative position between the third terminal device and the second terminal device.

[0078] For a scenario in which there is an occlusion between the second terminal device and the third terminal device, due to the existence of the occlusion, signals cannot be directly transmitted in line-of-sight between the second terminal device and the third terminal device, and if the second terminal device uses the ranging method or the angle measurement method described above, the obtained relative position between the second terminal device and the third terminal device will be low in accuracy. In the embodiments of the present application, the second terminal device can obtain the relative position between the third terminal device and the second terminal device with the assistance of the third terminal device. Specifically, the second terminal device receives a twelfth message from the third terminal device, the twelfth message including the relative position between the third terminal device and the first terminal device, and the second terminal device determines the relative position between the third terminal device and the second terminal device according to the relative position between the third terminal device and the first terminal device and the relative position between the second terminal device and the first terminal device. Through the embodiments of the present application, the third terminal device assists the second terminal device to obtain the relative position between the third terminal device and the second terminal device, which not only realizes the relative positioning between the second terminal device and the third terminal device, but also improves the accuracy of the relative position between the third terminal device and the second terminal device.

[0079] With reference to the seventh aspect, in some implementations of the seventh aspect, the method further includes that the second terminal device determines the third relative position.

[0080] With reference to the seventh aspect, in some implementations of the seventh aspect, the method further includes that the eleventh message includes the accuracy of the first relative position.

[0081] With reference to the seventh aspect, in some implementations of the seventh aspect, the method further includes that, before the second terminal device sends the eleventh message to the third terminal device, the method further includes that the first terminal device obtains the accuracy of the first relative position and the accuracy of the third relative position according to the accuracy of the second relative position.

[0082] With reference to the seventh aspect, in some implementations of the seventh aspect, the method further includes that the method further includes that the second terminal device receives a third message from the first terminal device, the third message being used to broadcast information of a terminal device that establishes a communication connection with the first terminal device, or the third message being used to broadcast information of a terminal device whose position is known to the first terminal device, wherein the third message includes the information of the third terminal device.

[0083] Based on the above scheme, the first terminal device can send a third message, the third message being used to broadcast information of one or more terminal devices, if the one or more terminal devices include the third terminal device, indicating that the first terminal device is a device capable of assisting in positioning the third terminal device, and then the second terminal device sends an eleventh message to the third terminal device. The one or more terminal devices can be terminal devices that establish a communication connection with the first terminal device, or the first terminal device has learned the absolute position of the one or more terminal devices, or the first terminal device has learned the relative position between the first terminal device and the one or more terminal devices.

[0084] In combination with the seventh aspect, in some implementations of the seventh aspect, the method further includes: before the second terminal device sends the eleventh message to the third terminal device, the method further includes: the second terminal device sends a fourth message, the fourth message being used to discover a terminal device assisting in positioning the third terminal device, wherein the fourth message includes information of the third terminal device; and the second terminal device receives a response message of the fourth message from the first terminal device.

[0085] Based on the above scheme, the second terminal device sends a fourth message, the fourth message being used to discover a terminal device assisting in positioning the third terminal device, and after the second terminal device receives a response message of the fourth message from the first terminal device, it is indicated that the first terminal device is a device capable of assisting in positioning the third terminal device, and then the second terminal device sends an eleventh message to the third terminal device.

[0086] In combination with the seventh aspect, in some implementations of the seventh aspect, the eleventh message includes information of the first terminal device.

[0087] In combination with the seventh aspect, in some implementations of the seventh aspect, the eleventh message includes a positioning time, the positioning time being used to represent a time of determining the first relative position.

[0088] Based on the above scheme, the second terminal device and the third terminal device can obtain the third relative position and the first relative position, respectively, according to the positioning time, improving the positioning accuracy.

[0089] In combination with the seventh aspect, in some implementations of the seventh aspect, the method further includes: the first relative position includes at least one of the following: distance or angle; the second relative position includes at least one of the following: distance or angle; and the third relative position includes at least one of the following: distance or angle.

[0090] The eighth aspect provides a method for position determination, which can be executed by a terminal device, or can also be executed by a component (such as a chip or a circuit) of the terminal device, and no limitation is made in this regard. For ease of description, the following is described by taking execution by a third terminal device as an example.

[0091] The method can comprise: receiving, by the third terminal device, an eleventh message from the second terminal device, the eleventh message being used to trigger the third terminal device to send a first relative position, the first relative position being used to represent a relative position between the third terminal device and the first terminal device; and sending, by the third terminal device, a twelfth message to the second terminal device, the twelfth message comprising the first relative position.

[0092] For a scenario in which there is an obstruction between the second terminal device and the third terminal device, due to the existence of the obstruction, signals cannot be directly transmitted in a line-of-sight manner between the second terminal device and the third terminal device, and if the second terminal device uses the ranging method or the angle measurement method described above, the accuracy of the relative position between the second terminal device and the third terminal device obtained will be low. In the embodiments of the present application, the second terminal device can obtain the relative position between the third terminal device and the second terminal device with the assistance of the third terminal device. Specifically, the third terminal device sends a twelfth message to the second terminal device, the twelfth message comprising the relative position between the third terminal device and the first terminal device, so that the second terminal device can determine the relative position between the third terminal device and the second terminal device according to the relative position between the third terminal device and the first terminal device and the relative position between the second terminal device and the first terminal device. Through the embodiments of the present application, the second terminal device obtains the relative position between the third terminal device and the second terminal device with the assistance of the third terminal device, which not only enables the relative positioning between the second terminal device and the third terminal device, but also improves the accuracy of the relative position between the third terminal device and the second terminal device.

[0093] With reference to the eighth aspect, in some implementations of the eighth aspect, the method further comprises: determining, by the third terminal device, the first relative position.

[0094] With reference to the eighth aspect, in some implementations of the eighth aspect, the eleventh message comprises an accuracy of the first relative position; and determining, by the third terminal device, the first relative position comprises: determining, by the third terminal device, the first relative position according to the accuracy of the first relative position.

[0095] With reference to the eighth aspect, in some implementations of the eighth aspect, the eleventh message comprises information of the first terminal device.

[0096] With reference to the eighth aspect, in some implementations of the eighth aspect, the eleventh message comprises a positioning time, the positioning time being used to represent a time of determining the first relative position; and determining, by the third terminal device, the first relative position comprises: determining, by the third terminal device, the first relative position according to the positioning time.

[0097] With reference to the eighth aspect, in some implementations of the eighth aspect, the first relative position comprises at least one of the following: a distance or an angle.

[0098] In a ninth aspect, a device for position determination is provided, which is configured to perform the method in any possible implementation of the first aspect to the eighth aspect. Specifically, the device can include units and / or modules for performing the method in any possible implementation of the first aspect to the eighth aspect, such as a processing unit and / or a communication unit.

[0099] In an implementation, the device is a communication device, such as a terminal device or a network device. When the device is a communication device, the communication unit can be a transceiver, or an input / output interface; the processing unit can be at least one processor. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0100] In another implementation, the device is a chip, chip system or circuit for a communication device, such as a terminal device or a network device. When the device is a chip, chip system or circuit for a communication device, the communication unit can be an input / output interface, interface circuit, output circuit, input circuit, pin or related circuitry, etc. on the chip, chip system or circuit; the processing unit can be at least one processor, processing circuit or logic circuit, etc.

[0101] In a tenth aspect, a device for position determination is provided, which includes at least one processor configured to execute computer programs or instructions stored in a memory to perform the method in any possible implementation of the first aspect to the second aspect, and the fourth aspect, the seventh aspect, the eighth aspect. Optionally, the device further includes the memory configured to store the computer programs or instructions. Optionally, the device further includes a communication interface through which the processor reads the computer programs or instructions stored in the memory.

[0102] In an implementation, the device is a terminal device.

[0103] In another implementation, the device is a chip, chip system or circuit for a terminal device.

[0104] In an eleventh aspect, a device for position determination is provided, which includes at least one processor configured to execute computer programs or instructions stored in a memory to perform the method in any possible implementation of the third aspect or the sixth aspect. Optionally, the device further includes the memory configured to store the computer programs or instructions. Optionally, the device further includes a communication interface through which the processor reads the computer programs or instructions stored in the memory.

[0105] In an implementation, the device is a network device.

[0106] In another implementation, the device is a chip, chip system or circuit for a network device.

[0107] In a twelfth aspect, a device for position determination is provided, which comprises at least one processor configured to execute computer programs or instructions stored in a memory to perform the method in any possible implementation of the fifth aspect. Optionally, the device further comprises the memory configured to store the computer programs or instructions. Optionally, the device further comprises a communication interface through which the processor reads the computer programs or instructions stored in the memory.

[0108] In an implementation, the device is an apparatus (e.g., an AF).

[0109] In another implementation, the device is a chip, chip system, or circuit for an apparatus.

[0110] In a thirteenth aspect, a processor is provided for performing the method provided in any of the aspects.

[0111] For the sending and obtaining / receiving operations involved in the processor, if not specially stated, or if not contrary to the actual role or internal logic in the related description, it can be understood as the processor output and receive, input, and other operations, and can also be understood as the sending and receiving operations performed by the radio frequency circuit and the antenna, which are not limited in the present application.

[0112] In a fourteenth aspect, a computer readable storage medium is provided, which stores program codes for execution by an apparatus, and the program codes comprise codes for performing the method in any possible implementation of the first aspect to the eighth aspect.

[0113] In a fifteenth aspect, a computer program product containing instructions is provided, which, when the computer program product is run on a computer, causes the computer to perform the method in any possible implementation of the first aspect to the eighth aspect.

[0114] In a sixteenth aspect, a system for position determination is provided, which comprises one or more of the first terminal device, the second terminal device, the third terminal device, the network device, and the AF. BRIEF DESCRIPTION OF DRAWINGS

[0115] Figure 1 A schematic diagram of a network architecture is shown.

[0116] Figure 2 A schematic diagram of another network architecture is shown.

[0117] Figure 3 is a schematic diagram of a position determination method 300 provided by an embodiment of the present application.

[0118] Figure 4is a schematic diagram of another method 400 for position determination provided by embodiments of the present application.

[0119] Figure 5 is a schematic flowchart of a method 500 for position determination provided by embodiments of the present application.

[0120] Figure 6 is a schematic flowchart of another method 600 for position determination provided by embodiments of the present application.

[0121] Figure 7 is a schematic flowchart of another method 700 for position determination provided by embodiments of the present application.

[0122] Figure 8 is a schematic flowchart of another method 800 for position determination provided by embodiments of the present application.

[0123] Figure 9 is a schematic flowchart of another method 900 for position determination provided by embodiments of the present application.

[0124] Figure 10 is a schematic flowchart of another method 1000 for position determination provided by embodiments of the present application.

[0125] Figure 11 is a schematic diagram of another method 1100 for position determination provided by embodiments of the present application.

[0126] Figure 12 is a schematic flowchart of another method 1200 for position determination provided by embodiments of the present application.

[0127] Figure 13 is a schematic diagram of an apparatus 1300 for position determination provided by embodiments of the present application.

[0128] Figure 14 is a schematic diagram of another apparatus 1400 for position determination provided by embodiments of the present application. DETAILED DESCRIPTION

[0129] The technical solutions in the present application will be described below with reference to the accompanying drawings.

[0130] The technical solutions provided in the present application can be applied to various communication systems, for example, a 5th generation (5G) or new radio (NR) system, a long term evolution (LTE) system, an LTE frequency division duplex (FDD) system, an LTE time division duplex (TDD) system, and the like. The technical solutions provided in the present application can also be applied to future communication systems, such as a 6th generation mobile communication system. The technical solutions provided in the present application can also be applied to device to device (D2D) communication, vehicle-to-everything (V2X) communication, machine to machine (M2M) communication, machine type communication (MTC), and an internet of things (IoT) communication system or other communication systems.

[0131] First, a network architecture suitable for the present application is briefly introduced as follows.

[0132] As an example, Figure 1 A schematic diagram of a network architecture is shown.

[0133] As Figure 1As shown, the network architecture takes the 5th generation system (5GS) as an example. The network architecture can include but is not limited to: a network slice selection function (NSSF), an authentication server function (AUSF), a unified data management (UDM), a network exposure function (NEF), a network repository function (NRF), a policy control function (PCF), an application function (AF), an access and mobility management function (AMF), a session management function (SMF), a user equipment (UE), a radio access network device, a user plane function (UPF), and a data network (DN).

[0134] Among them, the DN can be the Internet; the NSSF, AUSF, UDM, NEF, NRF, PCF, AF, AMF, SMF, and UPF belong to network elements in the core network, and since Figure 1 Taking the 5th generation system as an example, the core network can be referred to as a 5G core network (5GC or 5GCN).

[0135] The following briefly introduces each network element shown in the Figure 1

[0136] 1. UE: can be referred to as a terminal device, an access terminal, a user unit, a user station, a mobile station, a mobile station, a remote station, a remote terminal, a mobile device, a user terminal, a terminal, a wireless communication device, a user agent, or a user device.

[0137] ​The terminal device can be a device that provides voice / data to a user, for example, a handheld device with wireless connection function, a vehicle-mounted device, etc. At present, some examples of terminals are: mobile phone, tablet computer, notebook computer, palm computer, mobile internet device (MID), virtual reality (VR) device, augmented reality (AR) device, wireless terminal in industrial control, wireless terminal in self driving, uncrewed aerial vehicle (UAV), UAV controller, wireless terminal in remote medical surgery, wireless terminal in smart grid, wireless terminal in transportation safety, wireless terminal in smart city, wireless terminal in smart home, cellular phone, cordless phone, session initiation protocol (SIP) phone, wireless local loop (WLL) station, personal digital assistant (PDA), handheld device with wireless communication function, computing device or other processing device connected to a wireless modem, terminal device in a 5G network, or terminal device in a future evolved public land mobile network (PLMN), etc. The embodiments of the present application are not limited thereto.

[0138] By way of example and not limitation, in the embodiments of the present application, the terminal device can also be a wearable device. The wearable device can also be referred to as a wearable smart device, which is a general term for devices that are designed and developed by applying wearable technology to daily wear, such as glasses, gloves, watches, clothing, and shoes. The wearable device is a portable device that is directly worn on the body or integrated into the user's clothes or accessories. The wearable device is not only a hardware device, but also a device that realizes powerful functions through software support and data interaction and cloud interaction. The general wearable smart device includes devices with full functions, large size, and the ability to realize complete or partial functions without relying on a smart phone, such as smart watches or smart glasses, and devices that focus on a certain application function and need to be used in cooperation with other devices, such as smart phones, such as various smart wristbands and smart jewelry for monitoring vital signs.

[0139] In addition, in the embodiments of the present application, the terminal device can also be a terminal device in an IoT system. IoT is an important part of future information technology development, and its main technical feature is to connect objects through communication technology and network, so as to realize the intelligent network of man-machine interconnection and object-object interconnection.

[0140] It should be noted that the terminal device and the access network device can communicate with each other by using a certain air interface technology (such as NR or LTE technology, etc.). The terminal device and the terminal device can also communicate with each other by using a certain air interface technology (such as NR or LTE technology, etc.).

[0141] In the embodiments of the present application, the device for implementing the function of the terminal device can be a terminal device, or a device capable of supporting the terminal device to implement the function, such as a chip system or a chip, which can be installed in the terminal device. In the embodiments of the present application, the chip system can be composed of a chip, or can include a chip and other discrete devices.

[0142] 2, (wireless) access network ((radio) access network, (R) AN) device: can provide access to a communication network for authorized users in a specific area, which can specifically include a wireless network device in a third generation partnership project (3rd generation partnership project, 3GPP) network, and can also include an access point in a non-3GPP (non-3GPP) network. The following is for convenience to use AN device to represent.

[0143] AN device can be of different radio access technologies. There are two types of current radio access technologies: 3GPP radio access technology (e.g., radio access technology adopted in third generation (3G), fourth generation (4G) or 5G system) and non-3GPP radio access technology. 3GPP radio access technology refers to access technology conforming to 3GPP standard specification, for example, access network device in 5G system is called next generation Node Base station (gNB) or RAN device. Non-3GPP radio access technology can include air interface technology represented by access point (AP) in wireless fidelity (WiFi), worldwide interoperability for microwave access (WiMAX), code division multiple access (CDMA) and the like. AN device can allow terminal device and 3GPP core network to be interconnected and communicated by using non-3GPP technology.

[0144] AN device can be responsible for functions such as radio resource management on the air interface side, quality of service (QoS) management, data compression and encryption. AN device provides access service for terminal device, and then completes the forwarding of control signals and user data between terminal device and core network.

[0145] The AN device may include, but is not limited to, a macro base station, a micro base station (also referred to as a small station), a radio network controller (RNC), a Node B (NB), a base station controller (BSC), a base transceiver station (BTS), a home base station (for example, a home evolved NodeB or home Node B, HNB), a baseband unit (BBU), an AP in a WiFi system, a wireless relay node, a wireless backhaul node, a transmission point (TP) or a transmission and reception point (TRP), and the like, and can also be a gNB or a transmission point (TRP or TP) in a 5G (for example, NR) system, one or a group of antenna panels (including multiple antenna panels) of a base station in a 5G system, or a network node constituting a gNB or a transmission point, such as a distributed unit (DU), or a base station in a next-generation communication 6G system, and the like. The embodiments of the present application do not limit the specific technology and specific device form adopted by the AN device.

[0146] 3. AMF: mainly used for access control, mobility management, attachment and detachment, and the like.

[0147] 4. SMF: mainly used for user plane network element selection, user plane network element redirection, internet protocol (IP) address allocation of a terminal device, and session establishment, modification and release, and QoS control.

[0148] 5. UPF: mainly used for receiving and forwarding of user plane data. For example, the UPF can receive user plane data from a DN and send the user plane data to a terminal device through an AN device. The UPF can also receive user plane data from a terminal device through an AN device and forward the user plane data to a DN.

[0149] 6. NEF: mainly used for securely exposing services and capabilities provided by 3GPP network functions to the outside.

[0150] 7. PCF: mainly used for a unified policy framework for guiding network behavior, and providing policy rule information for control plane network elements (for example, AMF, SMF, and the like).

[0151] 8. AF: mainly used for providing services to a 3GPP network, such as interacting with a PCF for policy control, and the like.

[0152] 9. Network slice selection function (NSSF): mainly used for network slice selection.

[0153] 10. UDM: mainly used for subscription data management of the UE, including storage and management of UE identity, access authorization of the UE, etc.

[0154] 11. DN: mainly used for an operator network that provides data services for the UE. For example, Internet, third-party service network, IP multi-media service (IMS) network, etc.

[0155] 12. AUSF: mainly used for user authentication, etc.

[0156] 13. NRF: mainly used for storing description information of network function entities and services provided by the network function entities, etc.

[0157] As an example, Figure 2 a schematic diagram of another network architecture is shown.

[0158] As Figure 2 shown, the network architecture takes the 5G loCation services (LCS) (5G LCS) architecture as an example. The network architecture can include but is not limited to: UE, AN device, AMF, location management function (LMF), UDM, NEF, gateway mobile location centre (GMLC), location retrieval function (LRF), LCS client, AF. Among them, the LMF is mainly used for management and control of the UE's positioning service request, such as the LMF can send positioning related assistance information to the UE based on the LTE positioning protocol (LPP). The GMLC is mainly used to open the positioning service to the external LCS client. The LRF is mainly used to obtain the location information related to the UE for the external LCS client. In the unmanned aerial vehicle scenario, the NEF can also be replaced by the uncrewed aerial system (UAS) network opening (network function) (UAS NF). The UAS NF: mainly used for unmanned aerial vehicle authorization, tracking and identification. For other network elements in Figure 2 , please refer to the description above, and will not be repeated here.

[0159] It should be understood that the network architecture shown in the above Figure 1 and Figure 2 The network architecture shown in the above is only an example, and the network architecture applicable to the embodiments of the present application is not limited thereto, and any network architecture capable of realizing the functions of the above network elements is applicable to the embodiments of the present application.

[0160] It should also be understood that Figure 1 and Figure 2 The functions or network elements of AMF, SMF, UPF, PCF, UDM, NSSF, AUSF, etc. shown in the above can be understood as network elements for realizing different functions, for example, they can be combined into network slices as needed. These network elements can be independent devices, or can be integrated into the same device to realize different functions, or can be network elements in a hardware device, or can be software functions running on a dedicated hardware, or can be virtualized functions instantiated on a platform (e.g., a cloud platform), and the specific form of the network elements is not limited in the present application.

[0161] It should also be understood that the above naming is only defined for the purpose of distinguishing different functions and should not constitute any limitation on the present application. The present application does not exclude the possibility of using other names in 6G networks and other future networks. For example, in 6G networks, part or all of the above network elements can use the terms in 5G, or other names, etc.

[0162] For the purpose of understanding the embodiments of the present application, the terms involved in the present application are briefly explained.

[0163] 1. Absolute position of terminal device: can refer to the geographical position of the terminal device, which can be a specific fixed point, which can be represented by a coordinate system such as latitude and longitude.

[0164] The present application does not limit the way the terminal device obtains the absolute position of itself or other terminal devices. Taking UE1 obtaining the absolute position as an example.

[0165] In one possible way, UE1 can obtain its own absolute position from the network side, and UE1 can also obtain the absolute position of other terminal devices from the network side. The specific obtaining method can refer to the existing process, and the present application will not be repeated here.

[0166] In another possible way, UE1 can determine its own absolute position, and UE1 can also determine the absolute position of other terminal devices.

[0167] Taking UE1 determining its own absolute position as an example, for example, UE1 can use a geometric calculation method to determine its own absolute position according to the relative position between the UE1 and a certain terminal device and the absolute position of the certain terminal device.

[0168] For example, UE1 can determine the absolute position of a certain terminal device by using a geometric calculation method according to the relative position between the UE1 and the certain terminal device and the absolute position of the UE1.

[0169] It should be noted that the geometric calculation method belongs to the prior art, and details are not described herein.

[0170] The method for the network device to determine the absolute position of the terminal device is not limited herein. The method for the network device to determine the absolute position of the terminal device can refer to the prior art, and details are not described herein.

[0171] 2. Relative position between terminal devices: the position of one terminal device relative to another terminal device can be referred to as a relative position.

[0172] For example, the relative position between UE1 and UE2 can be described as the position of UE2 relative to UE1, or can be described as the position of UE1 relative to UE2.

[0173] The relative position can include a distance and / or an angle. For example, the relative position between UE1 and UE2 can include at least one of the distance between UE1 and UE2 or the angle between UE1 and UE2.

[0174] The distance between UE1 and UE2 can be an absolute distance between UE1 and UE2.

[0175] The angle between UE1 and UE2 can be an angle of arrival (AoA) or an angle of departure (AoD). The angle of arrival is used to represent the included angle between the direction of the received signal and the reference direction, and the angle of departure is used to represent the included angle between the direction of the transmitted signal and the reference direction.

[0176] The reference direction can be a direction determined according to the position and / or shape of the antenna. As an example, the reference direction can be a direction perpendicular to the normal direction of the antenna array.

[0177] The application is not limited to the way of determining the relative position between the two terminal devices. Taking the relative position between UE1 and UE2 as an example, the relative position between UE1 and UE2 can be determined by relative positioning between UE1 and UE2. The relative positioning between UE1 and UE2 can include measuring the distance between UE1 and UE2, and / or measuring the angle between UE1 and UE2.

[0178] The way of measuring the distance between UE1 and UE2 can include: UE1 sends a ranging signal to UE2, UE2 sends a feedback signal to UE1 after receiving the ranging signal, UE1 receives the feedback signal, and UE1 calculates the distance between UE1 and UE2 according to the time difference between sending the ranging signal and receiving the feedback signal. Specifically, the distance between UE1 and UE2 is denoted as D, which can be determined by the following formula: D = time of flight × light speed, wherein the time of flight (TOF) satisfies: TOF = T prop = (T round -T reply ) / 2. Wherein T round represents the time length between the time when UE1 sends the ranging signal to UE2 and the time when UE1 receives the feedback signal from UE2, and T reply represents the time length between the time when UE2 receives the ranging signal from UE1 and the time when UE2 sends the feedback signal to UE1.

[0179] The way of measuring the angle between UE1 and UE2 can include: UE1 sends a signal to UE2, UE2 receives the signal, and the angle of UE1 relative to UE2 is taken as the angle between UE1 and UE2. The angle of UE1 relative to UE2 can be the included angle between the direction of UE2 receiving the signal and the reference direction (i.e. the angle of arrival), or the included angle between the direction of the signal sent by UE1 and the reference direction (i.e. the angle of departure).

[0180] The above is an example for illustration, and the application is not limited thereto. The way of determining the relative position can refer to the existing process and is not limited.

[0181] 3. Accuracy: the degree of error between the measured data and the actual data, which can be referred to as accuracy.

[0182] The accuracy of the position is used to represent the degree of error between the measured position and the actual position (or referred to as the true position). If the accuracy is high, it means that the error between the measured position and the actual position is small, i.e. the measured position is close to the actual position.

[0183] Generally, the accuracy can be a range. Assuming the object of measurement includes a distance, the accuracy can be: less than or equal to m, where m is a number greater than 0. For example, if m is 0.5 meters, i.e., the accuracy is: less than or equal to 0.5 meters, then the error between the distance between UE1 and UE2 measured by UE1 and the actual distance between UE1 and UE2 is less than or equal to 0.5 meters.

[0184] It can be understood that when the object of measurement includes a distance and an angle, there can be two accuracies, one for measuring the distance (e.g., the accuracy is less than or equal to 0.5 meters, i.e., the error between the distance between UE1 and UE2 measured by UE1 and the actual distance between UE1 and UE2 is not more than 0.5 meters) and the other for measuring the angle (e.g., the accuracy is less than or equal to 2 degrees, i.e., the error between the angle between UE1 and UE2 measured by UE1 and the actual angle between UE1 and UE2 is not more than 2 degrees).

[0185] The accuracy can be used to select appropriate transmission parameters in the measurement process. The transmission parameters may, for example, include at least one of: a bandwidth used to transmit and / or receive a signal in the measurement process, a beam used to transmit and / or receive a signal in the measurement process (e.g., a beam width used to transmit and / or receive a signal). Assuming the object of measurement includes a distance between UE1 and UE2, the transmission parameters can include a bandwidth used to transmit and / or receive a signal in the measurement of the distance between UE1 and UE2. Specifically, if the accuracy is higher, it means that the error between the measured position and the actual position is small, so a larger bandwidth can be used to transmit and / or receive a signal when measuring the distance between UE1 and UE2 (because the larger the signal bandwidth, the shorter the time slot for transmitting the signal, and the more accurate the calculated distance). Assuming the object of measurement includes an angle between UE1 and UE2, the transmission parameters can include a beam width used to transmit and / or receive a signal in the measurement of the distance between UE1 and UE2. Specifically, if the accuracy is higher, it means that the error between the measured position and the actual position is small, so a finer beam can be used to transmit and / or receive a signal when measuring the angle between UE1 and UE2 (because the finer the beam, the more accurate the direction).

[0186] It can be understood that the term "and / or" herein is merely a description of the association relationship between the associated objects, and can represent three relationships, for example, A and / or B can represent: A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after it.

[0187] The above briefly describes the terms involved in the present application, which will not be repeated in the following embodiments. In addition, the following repeatedly mentions determining a relative position or an absolute position, and the specific determination manner can refer to the above description, which will not be repeated in the following embodiments.

[0188] The method for determining a position provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments provided by the present application can be applied to the network architecture shown in the above Figure 1 or Figure 2 without limitation.

[0189] Figure 3 FIG. 3 is a schematic diagram of a method 300 for determining a position provided by an embodiment of the present application. The method 300 can include the following steps.

[0190] S301, the second terminal device sends a first message to the first terminal device.

[0191] Correspondingly, the first terminal device receives the first message from the second terminal device.

[0192] The first message can be used to request a first target position. The first target position includes at least one of the following: a first relative position, an absolute position of the third terminal device, or a second relative position.

[0193] The first relative position can be used to represent the relative position between the third terminal device and the first terminal device. The first relative position includes at least one of the following: a distance or an angle. Specifically, the first relative position includes at least one of the following: a distance between the third terminal device and the first terminal device, or an angle between the third terminal device and the first terminal device.

[0194] The second relative position can be used to represent the relative position between the third terminal device and the second terminal device. The second relative position includes at least one of the following: a distance or an angle. Specifically, the second relative position includes at least one of the following: a distance between the third terminal device and the second terminal device, or an angle between the third terminal device and the second terminal device.

[0195] The first message can be an existing message, such as a proximity-based services communication 5 (PC5) radio resource control (RRC) (PC5-RRC) message or a PC5-signalling (PC5-S), or a newly defined message, such as a location request message, without limitation.

[0196] S302, the first terminal device sends a second message to the second terminal device according to the first message.

[0197] The second message can comprise the first target position.

[0198] For example, if the first message is used to request the first relative position, the second message sent by the first terminal device to the second terminal device comprises the first relative position. For another example, if the first message is used to request the absolute position of the third terminal device, the second message sent by the first terminal device to the second terminal device comprises the absolute position of the third terminal device. For another example, if the first message is used to request the second relative position, the second message sent by the first terminal device to the second terminal device comprises the second relative position.

[0199] Correspondingly, the second terminal device receives the second message from the first terminal device, and the second message comprises the first target position. The further method 300 can comprise: the second terminal device obtains the second relative position according to the second message. For example, if the second message comprises the first relative position, the second terminal device obtains the second relative position according to the second message, comprising: the second terminal device determines the second relative position according to the first relative position. For another example, if the second message comprises the absolute position of the third terminal device, the second terminal device obtains the second relative position according to the second message, comprising: the second terminal device determines the second relative position according to the absolute position of the third terminal device. For another example, if the second message comprises the second relative position, the second terminal device obtains the second relative position according to the second message, comprising: the second terminal device obtains the second relative position from the second message. Obviously, in the case that the second message comprises the second relative position, the second terminal device obtaining the second relative position according to the second message can be understood as directly obtaining the second relative position from the second message, and obviously, in this case, the step of the second terminal device obtaining the second relative position according to the second message can not be performed.

[0200] For a scenario in which there is an occlusion between the second terminal device and the third terminal device, due to the existence of the occlusion, signals cannot be directly transmitted in a line-of-sight manner between the second terminal device and the third terminal device. If the second terminal device directly uses a ranging method to measure the distance between the second terminal device and the third terminal device, or directly uses an angle measurement method to measure the angle between the second terminal device and the third terminal device, the relative position accuracy between the second terminal device and the third terminal device obtained is low. By using the method provided in the above embodiment, the first terminal device can assist the second terminal device to obtain the relative position between the third terminal device and the second terminal device. Specifically, the first terminal device receives a first message from the second terminal device, and sends a second message to the second terminal device according to the first message, the second message including the first target position, the first target position including at least one of the relative position between the third terminal device and the first terminal device, the absolute position of the third terminal device, or the relative position between the third terminal device and the second terminal device. By using the method provided in the above embodiment, the first terminal device assists the second terminal device to obtain the relative position between the third terminal device and the second terminal device, which not only realizes the relative positioning between the second terminal device and the third terminal device, but also improves the accuracy of the relative position between the third terminal device and the second terminal device.

[0201] Optionally, the method 300 further includes that the first terminal device determines the first target position.

[0202] For example, the first terminal device can determine the first target position according to a first message, wherein the first terminal device receives the first message, and the first terminal device determines the first target position is triggered.

[0203] The first terminal device can determine the first target position by different implementation manners. The following are described in detail respectively.

[0204] As a first possible case, the first target position includes a second relative position, and the first terminal device determines the first target position, including: the first terminal device obtains an absolute position of the second terminal device and an absolute position of the third terminal device; and the first terminal device determines the second relative position according to the absolute position of the second terminal device and the absolute position of the third terminal device.

[0205] For example, the first terminal device obtains the absolute position of the second terminal device and the absolute position of the third terminal device, and the first terminal device uses a geometric calculation method to obtain the relative position between the third terminal device and the second terminal device according to the absolute position of the second terminal device and the absolute position of the third terminal device.

[0206] It should be noted that obtaining the relative position between two terminal devices according to the absolute positions of the two terminal devices by using a geometric calculation method belongs to the prior art, and the present application will not be described again.

[0207] The specific manner of obtaining the absolute position of the second terminal device and the absolute position of the third terminal device can refer to the description of obtaining the absolute position of other terminal devices by UE1 in the foregoing, and will not be described again.

[0208] Further, in combination with the first possible case, the second terminal device obtaining the second relative position according to the second message can include that the second terminal device obtains the second relative position from the second message.

[0209] Specifically, the first terminal device determines the second relative position according to the absolute position of the second terminal device and the absolute position of the third terminal device, and sends a second message including the second relative position to the second terminal device; the second terminal device receives the second message from the first terminal device, and the second terminal device can obtain the second relative position from the second message.

[0210] As the second possible case, the first target position includes the second relative position, and the first terminal device determining the first target position includes that the first terminal device determines the first relative position and the third relative position, and determines the second relative position according to the first relative position and the third relative position.

[0211] The third relative position can be used to represent the relative position between the second terminal device and the first terminal device. The third relative position includes at least one of the following: distance or angle. Specifically, the third relative position includes at least one of the following: the distance between the second terminal device and the first terminal device, or the angle between the second terminal device and the first terminal device.

[0212] For example, the first terminal device determines the relative position between the third terminal device and the first terminal device, and the relative position between the second terminal device and the first terminal device, and the first terminal device obtains the relative position between the third terminal device and the second terminal device by using a geometric calculation method according to the relative position between the third terminal device and the first terminal device, and the relative position between the second terminal device and the first terminal device. In this example, how to obtain the relative position between the third terminal device and the second terminal device by using the geometric calculation method belongs to the prior art, and will not be described again.

[0213] The relative position between the third terminal device and the first terminal device, and the relative position between the second terminal device and the first terminal device can refer to the description of determining the relative position between UE1 and UE2 in the foregoing, and will not be described again.

[0214] Further, in combination with the second possible scenario, the second terminal device obtaining the second relative position according to the second message can include: the second terminal device obtaining the second relative position from the second message.

[0215] Specifically, the first terminal device determines the second relative position according to the relative position between the third terminal device and the first terminal device, and the relative position between the second terminal device and the first terminal device, and sends a second message including the second relative position to the second terminal device; the second terminal device receives the second message from the first terminal device, and the second terminal device can obtain the second relative position from the second message.

[0216] As the third possible scenario, the first target position includes the absolute position of the third terminal device, and the first terminal device determining the first target position includes: the first terminal device determining the first relative position, and determining the absolute position of the third terminal device according to the first relative position and the absolute position of the first terminal device.

[0217] For example, the first terminal device determines the relative position between the third terminal device and the first terminal device, and the first terminal device uses a geometric calculation method to obtain the absolute position of the third terminal device according to the relative position between the third terminal device and the first terminal device, and the absolute position of the first terminal device. Wherein, the relative position between the third terminal device and the first terminal device can refer to the description of determining the relative position between UE1 and UE2 in the foregoing, and will not be described again.

[0218] For the specific way of obtaining the absolute position of the first terminal device, refer to the description of UE1 obtaining its own absolute position in the foregoing, and will not be described again.

[0219] Further, in combination with the third possible scenario, the second terminal device obtaining the second relative position according to the second message can include: the second terminal device determining the second relative position according to the absolute position of the third terminal device.

[0220] Specifically, the first terminal device determines the absolute position of the third terminal device according to the first relative position and the absolute position of the first terminal device, and sends a second message including the absolute position of the third terminal device to the second terminal device; the second terminal device receives the second message from the first terminal device, and the second terminal device determines the second relative position according to the absolute position of the third terminal device.

[0221] In the fourth possible scenario, the first target position comprises the first relative position, and the first terminal device determining the first target position comprises: the first terminal device determining the first relative position.

[0222] In the fourth possible scenario, the first target position comprises the first relative position, and the first terminal device determining the first target position comprises: the first terminal device determining the first relative position.

[0223] In the fourth possible scenario, the first target position comprises the first relative position, and the first terminal device determining the first target position comprises: the first terminal device determining the first relative position.

[0224] Further, in the fourth possible scenario, the second terminal device obtaining the second relative position according to the second message comprises: the second terminal device determining the second relative position according to the first relative position.

[0225] Specifically, the first terminal device determines the first target position, and sends a second message to the second terminal device, the second message comprising the first relative position; the second terminal device receives the second message from the first terminal device, and determines the second relative position according to the first relative position.

[0226] In the fourth possible scenario, the first target position comprises the first relative position, and the first terminal device determining the first target position comprises: the first terminal device determining the first relative position.

[0227] Alternatively, the second terminal device determines the second relative position according to the first relative position, which can include: the second terminal device determines an absolute position of the third terminal device according to the first relative position and the absolute position of the first terminal device; and the second terminal device determines the second relative position according to the absolute position of the third terminal device and the absolute position of the second terminal device. For example, the second terminal device determines the absolute position of the third terminal device according to the relative position between the third terminal device and the first terminal device and the absolute position of the first terminal device by using a geometric calculation method, and obtains the relative position between the third terminal device and the second terminal device according to the absolute position of the third terminal device and the absolute position of the second terminal device. Wherein, the relative position between the third terminal device and the first terminal device can refer to the description of the relative position between UE1 and UE2 in the foregoing, and will not be described again. The specific way of obtaining the absolute position of the first terminal device can refer to the description of the absolute position of UE1 in the foregoing, and will not be described again.

[0228] As a fifth possible case, the first target position includes the first relative position and the absolute position of the third terminal device, and the first terminal device determines the first target position, which includes: the first terminal device determines the first relative position and the absolute position of the third terminal device.

[0229] Wherein, the first terminal device determines the absolute position of the third terminal device can refer to the description in the third possible case in the foregoing, and will not be described again. The first terminal device determines the first relative position can refer to the description in the fourth possible case in the foregoing, and will not be described again.

[0230] Further, in combination with the fifth possible case, the second terminal device obtains the second relative position according to the second message can include: the second terminal device determines the second relative position according to the first relative position and the absolute position of the third terminal device.

[0231] Specifically, the first terminal device determines the first relative position and the absolute position of the third terminal device, and sends a second message including the first relative position and the absolute position of the third terminal device to the second terminal device; the second terminal device receives the second message from the first terminal device, and the second terminal device determines the second relative position according to the first relative position and the absolute position of the third terminal device.

[0232] In some embodiments, the second terminal device determines the second relative position according to the first relative position and the absolute position of the third terminal device, which can include: the second terminal device determines an absolute position of the first terminal device according to the first relative position and the absolute position of the third terminal device; the second terminal device determines a third relative position according to the absolute position of the first terminal device and an absolute position of the second terminal device; and the second terminal device determines the second relative position according to the first relative position and the third relative position. For example, the second terminal device determines the absolute position of the first terminal device according to the relative position between the third terminal device and the first terminal device and the absolute position of the third terminal device by using a geometric calculation method; determines the relative position between the second terminal device and the first terminal device according to the absolute position of the first terminal device and the absolute position of the second terminal device; and determines the relative position between the third terminal device and the second terminal device according to the relative position between the third terminal device and the first terminal device and the relative position between the second terminal device and the first terminal device. The specific manner of obtaining the absolute position of the second terminal device can refer to the description of obtaining the absolute position of UE1 in the foregoing description.

[0233] It can be understood that the above is only an example description and is not limited.

[0234] Optionally, in an implementation scenario of the above embodiment, the first message includes at least one of: an accuracy of the first target position, a threshold of the second relative position, or the first information.

[0235] In the first example, the first message includes the accuracy of the first target position. Further optionally, the method 300 further includes: the first terminal device determines the first target position according to the accuracy of the first target position.

[0236] The accuracy of the first target position can be used by the first terminal device to select appropriate transmission parameters in the process of determining the first target position. The transmission parameters can include at least one of: a bandwidth used for transmitting and / or receiving a signal, and a beam used for transmitting and / or receiving a signal (such as a beam width used for transmitting and / or receiving a signal). Taking the first target position including the second relative position as an example. Specifically, if the accuracy of the second relative position is high, it means that the error between the measured second relative position and the actual second relative position is small, so a larger bandwidth can be used to transmit and / or receive a signal when measuring the second relative position (because the larger the signal bandwidth, the shorter the time slot length for transmitting the signal, and the more accurate the calculated distance), and / or a finer beam can be used to transmit and / or receive a signal (because the finer the beam, the more accurate the direction).

[0237] Optionally, if the first target position comprises the first relative position and / or the second relative position in step S301, the accuracy of the first target position comprises at least one of: accuracy of distance, or accuracy of angle. Taking the case that the first target position comprises the second relative position as an example. For example, the accuracy of distance is less than or equal to m, which means that the error between the distance between the third terminal device and the second terminal device determined by the first terminal device (or measured by the first terminal device) and the actual distance between the third terminal device and the second terminal device does not exceed m. For another example, the accuracy of angle is less than or equal to d (the unit of d is, for example, degree), which means that the error between the angle between the third terminal device and the second terminal device determined by the first terminal device (or measured by the first terminal device) and the actual angle between the third terminal device and the second terminal device does not exceed d.

[0238] Optionally, the first target position comprises the second relative position in step S301, and the method 300 further comprises: the first terminal device obtaining the first accuracy and the second accuracy according to the accuracy of the first target position; and the first terminal device determining the first target position according to the accuracy of the first target position, which can comprise: the first terminal device determining the first relative position according to the first accuracy; the first terminal device determining the third relative position according to the second accuracy; and the first terminal device determining the second relative position according to the first relative position and the third relative position.

[0239] The first terminal device obtaining the first accuracy and the second accuracy according to the accuracy of the first target position can be implemented in two ways.

[0240] In the first way, the accuracy of the first target position comprises the first accuracy and the second accuracy, and the first terminal device obtaining the first accuracy and the second accuracy according to the accuracy of the first target position can be understood as directly obtaining the accuracy of the first target position from the first message. Obviously, in this case, the step of the first terminal device obtaining the first accuracy and the second accuracy according to the accuracy of the first target position can not be performed.

[0241] In the second way, the first terminal device determines the first accuracy and the second accuracy according to the accuracy of the first target position.

[0242] For example, the accuracy of the first target position includes a distance accuracy, and the distance accuracy is less than or equal to m. The first terminal device can determine that the first accuracy is less than or equal to x1*m, and the second accuracy is less than or equal to x2*m. Wherein, x1 and x2 are greater than 0 and less than 1, and the sum of x1 and x2 is less than or equal to 1, for example, x1 and x2 are 0.5. Specifically, the error between the distance between the third terminal device and the first terminal device determined by the first terminal device and the actual distance between the third terminal device and the first terminal device is less than or equal to x1*m; the error between the distance between the second terminal device and the first terminal device determined by the first terminal device and the actual distance between the second terminal device and the first terminal device is less than or equal to x2*m.

[0243] For example, the accuracy of the first target position includes an angle accuracy, and the angle accuracy is less than or equal to d. The first terminal device can determine that the first accuracy is less than or equal to y1*d, and the second accuracy is less than or equal to y2*d. Wherein, y1 and y2 are greater than 0 and less than 1, and the sum of y1 and y2 is less than or equal to 1, for example, y1 and y2 are 0.5. Specifically, the error between the angle between the third terminal device and the first terminal device determined by the first terminal device and the actual angle between the third terminal device and the first terminal device is less than or equal to y1*d; the error between the angle between the second terminal device and the first terminal device determined by the first terminal device and the actual angle between the second terminal device and the first terminal device is less than or equal to y2*d.

[0244] For example, the accuracy of the first target position includes the first accuracy, the first terminal device determines the second accuracy according to the first accuracy, and then the first terminal device obtains the first accuracy and the second accuracy. For example, if the accuracy of the first target position includes the first accuracy, the second accuracy determined by the first terminal device can be the same as the first accuracy, or can be different, which is not limited.

[0245] For another example, the accuracy of the first target position includes the second accuracy, the first terminal device determines the first accuracy according to the second accuracy, and then the first terminal device obtains the first accuracy and the second accuracy. For example, if the accuracy of the first target position includes the second accuracy, the first accuracy determined by the first terminal device can be the same as the second accuracy, or can be different, which is not limited.

[0246] In the second example, the first message includes the first information. Further optionally, the method 300 further includes: the first terminal device sends the first target position to the third terminal device.

[0247] It should be noted that the second example can be combined with the above-mentioned various examples, which is not limited.

[0248] The first information can be used to trigger (or represent, or indicate, or notify) the first terminal device to send the first target position to the third terminal device.

[0249] Specifically, the first message comprises the first information, and the first terminal device learns to send the first target position to the third terminal device according to the first information, so that the first terminal device can send the first target position to the third terminal device after determining the first target position.

[0250] In a possible implementation, the first information is implemented by one or more bits. For example, it is assumed that 1 bit is used to indicate whether the first terminal device sends the first target position to the third terminal device. If the bit is set to "0", it means that the first terminal device sends the first target position to the third terminal device; if the bit is set to "1", it means that the first terminal device does not send the first target position to the third terminal device. It should be understood that the above is only an exemplary description and is not limited.

[0251] In the third example, the first message comprises a threshold of the second relative position. Further optionally, the step S302 comprises: the first terminal device sends a second message to the second terminal device according to the second relative position and the threshold of the second relative position, and the second message comprises the second relative position.

[0252] It should be pointed out that the third example can be combined with the above-mentioned various examples, which is not limited.

[0253] The threshold of the second relative position can be used by the first terminal device to determine (or judge) whether to send the second relative position to the second terminal device.

[0254] The "the first terminal device sends a second message to the second terminal device according to the second relative position and the threshold of the second relative position, and the second message comprises the second relative position" can be understood by the following examples.

[0255] For example, if the second relative position is the distance between the third terminal device and the second terminal device, and the threshold of the second relative position is the distance (which can be referred to as the distance threshold), the first terminal device determines that the distance between the third terminal device and the second terminal device is less than or equal to the distance threshold, and the first terminal device sends a second message to the second terminal device, and the second message comprises the distance between the third terminal device and the second terminal device.

[0256] For another example, if the second relative position comprises an angle between the third terminal device and the second terminal device, and the threshold of the second relative position comprises an angle threshold (may be referred to as an angle threshold), the first terminal device determines that the angle between the third terminal device and the second terminal device is less than or equal to the angle threshold, and the first terminal device sends the second message to the second terminal device, the second message comprising the angle between the third terminal device and the second terminal device; or the first terminal device determines that the angle between the third terminal device and the second terminal device is greater than or equal to the angle threshold, and the first terminal device sends the second message to the second terminal device, the second message comprising the angle between the third terminal device and the second terminal device.

[0257] For another example, if the second relative position comprises an angle between the third terminal device and the second terminal device, and the threshold of the second relative position comprises an angle threshold (may be referred to as an angle threshold), the first terminal device determines that the angle between the third terminal device and the second terminal device is less than or equal to the angle threshold, and the first terminal device sends the second message to the second terminal device, the second message comprising the angle between the third terminal device and the second terminal device; or the first terminal device determines that the angle between the third terminal device and the second terminal device is greater than or equal to the angle threshold, and the first terminal device sends the second message to the second terminal device, the second message comprising the angle between the third terminal device and the second terminal device.

[0258] In a fourth example, the first message comprises the first information and the threshold of the second relative position. Further optionally, the method 300 further comprises: the first terminal device sends the second relative position to the third terminal device according to the second relative position and the threshold of the second relative position.

[0259] For example, if the second relative position is a distance between the third terminal device and the second terminal device, and the threshold of the second relative position is a distance threshold, the first terminal device determines that the distance between the third terminal device and the second terminal device is less than or equal to the distance threshold, and if the first message comprises the first information, the first terminal device sends the distance between the third terminal device and the second terminal device to the third terminal device.

[0260] For another example, if the second relative position is an angle between the third terminal device and the second terminal device, and the threshold of the second relative position is an angle threshold, in a case that the first terminal device determines that the angle between the third terminal device and the second terminal device is less than or equal to the angle threshold, if the first message comprises the first information, the first terminal device sends the angle between the third terminal device and the second terminal device to the third terminal device; or in a case that the first terminal device determines that the angle between the third terminal device and the second terminal device is greater than or equal to the angle threshold, if the first message comprises the first information, the first terminal device sends the angle between the third terminal device and the second terminal device to the third terminal device.

[0261] It should be noted that the order between the judgment condition based on the first information and the judgment condition based on the threshold of the second relative position can be exchanged. For example, in a case that the first message comprises the first information, if the first terminal device determines that the distance between the third terminal device and the second terminal device is less than or equal to the distance threshold, the first terminal device sends the distance between the third terminal device and the second terminal device to the third terminal device.

[0262] It can be understood that the above is only an exemplary description and is not limited.

[0263] Optionally, in another implementation scenario of the above embodiment, the method 300 further comprises: the first terminal device sends a third message.

[0264] The third message can be an existing message such as a discovery announcement message, or can be a newly defined message, which is not limited.

[0265] The third message can be used to broadcast information of a terminal device that establishes a communication connection with the first terminal device, or the third message can be used to broadcast information of a terminal device whose position is known by the first terminal device. The terminal device whose position is known by the first terminal device can include at least one of the following: a terminal device whose absolute position is known by the first terminal device, or a terminal device whose relative position with the first terminal device is known by the first terminal device.

[0266] The third message comprises information of the third terminal device, which can be an identifier of the third terminal device for example. Further, the step S301 can comprise: the second terminal device receives the third message from the first terminal device, and if the third message comprises the information of the third terminal device, the second terminal device sends the first message to the first terminal device.

[0267] For example, the first terminal device establishes a communication connection with one or more terminal devices, the one or more terminal devices including the third terminal device; the first terminal device sends a third message for broadcasting information of terminal devices (i.e. information of the one or more terminal devices) that have established a communication connection with the first terminal device, the information of terminal devices that have established a communication connection with the first terminal device broadcasted by the third message including information of the third terminal device (e.g. an identifier of the third terminal device); after receiving the third message from the first terminal device, the second terminal device can send a first message to the first terminal device to request the first target location.

[0268] For another example, the first terminal device has learned absolute locations of one or more terminal devices, the one or more terminal devices including the third terminal device; the first terminal device sends a third message for broadcasting information of terminal devices (i.e. information of the one or more terminal devices) for which the first terminal device has learned absolute locations, the information of terminal devices for which the first terminal device has learned absolute locations broadcasted by the third message including information of the third terminal device (e.g. an identifier of the third terminal device); after receiving the third message from the first terminal device, the second terminal device can send a first message to the first terminal device to request the first target location, e.g. an absolute location of the third terminal device.

[0269] For another example, the first terminal device has learned relative locations between the first terminal device and one or more terminal devices, the one or more terminal devices including the third terminal device; the first terminal device sends a third message for broadcasting information of terminal devices (i.e. information of the one or more terminal devices) for which the first terminal device has learned relative locations, the information of terminal devices for which the first terminal device has learned relative locations broadcasted by the third message including information of the third terminal device (e.g. an identifier of the third terminal device); after receiving the third message from the first terminal device, the second terminal device can send a first message to the first terminal device to request the first target location, e.g. a relative location between the third terminal device and the first terminal device.

[0270] Optionally, in another implementation scenario of the above embodiment, the method 300 further includes: the first terminal device receives a fourth message from the second terminal device, and if the first terminal device satisfies a preset condition, the first terminal device sends a response message to the second terminal device for the fourth message.

[0271] The fourth message can be used to discover a terminal device that assists in positioning the third terminal device. Specifically, the second terminal device sends (or broadcasts) the fourth message, the first terminal device receives the fourth message sent by the second terminal device, and if the first terminal device meets a preset condition, the first terminal device sends a response message to the fourth message to the second terminal device. Through the response message, it can be indicated that the first terminal device is a device for assisting in positioning. It can be understood that the first terminal device is a device with sidelink positioning capability.

[0272] The fourth message includes information of the third terminal device, and the information of the third terminal device is used to identify (or know or determine) that the terminal device that needs to be assisted in positioning is the third terminal device. The information of the third terminal device may, for example, be an identifier of the third terminal device. Alternatively, the fourth message further includes capability indication information, and the capability indication information is used to discover a device with sidelink positioning capability.

[0273] It can be understood that the fourth message can be an existing message, such as a discovery solicitation message, or a newly defined message, which is not limited.

[0274] If the first terminal device meets a preset condition, the first terminal device sends a response message to the fourth message to the second terminal device, which can be in the following manner.

[0275] In mode 1, if the first terminal device establishes a communication connection with the third terminal device, the first terminal device sends a response message to the fourth message to the second terminal device.

[0276] Specifically, the second terminal device sends the fourth message, the first terminal device receives the fourth message sent by the second terminal device, the first terminal device identifies the third terminal device according to the information of the third terminal device included in the fourth message, and if the first terminal device establishes a communication connection with the third terminal device, the first terminal device sends a response message to the fourth message to the second terminal device. Alternatively, the first terminal device sends a response message to the fourth message to the second terminal device, which includes: if the first terminal device determines that it has sidelink positioning capability, the first terminal device sends a response message to the fourth message to the second terminal device.

[0277] In mode 2, if the first terminal device has known the absolute position of the third terminal device, the first terminal device sends a response message to the fourth message to the second terminal device.

[0278] Specifically, the second terminal device sends the fourth message, the first terminal device receives the fourth message sent by the second terminal device, the first terminal device identifies the third terminal device according to the information of the third terminal device included in the fourth message, and if the first terminal device has learned the absolute position of the third terminal device, the first terminal device sends a response message of the fourth message to the second terminal device.

[0279] In mode 3, if the first terminal device has learned the relative position between the first terminal device and the third terminal device, the first terminal device sends a response message of the fourth message to the second terminal device.

[0280] Specifically, the second terminal device sends the fourth message, the first terminal device receives the fourth message sent by the second terminal device, the first terminal device identifies the third terminal device according to the information of the third terminal device included in the fourth message, and if the first terminal device has learned the relative position between the first terminal device and the third terminal device, the first terminal device sends a response message of the fourth message to the second terminal device.

[0281] In mode 4, if the first terminal device can discover the third terminal device, the first terminal device sends a response message of the fourth message to the second terminal device.

[0282] Specifically, the second terminal device sends the fourth message, the first terminal device receives the fourth message sent by the second terminal device, the first terminal device sends the seventh message, and the seventh message is used to discover the third terminal device; if the first terminal device can discover the third terminal device, such as receiving a response message of the seventh message from the third terminal device, the first terminal device sends a response message of the fourth message to the second terminal device. Optionally, the first terminal device sends a response message of the fourth message to the second terminal device, including: if the first terminal device determines that it has sidelink positioning capability, the first terminal device sends a response message of the fourth message to the second terminal device. It should be understood that when the first terminal device has sidelink positioning capability, the first terminal device sends the seventh message, and after receiving the response message of the seventh message, the first terminal device sends a response message of the fourth message to the second terminal device.

[0283] It can be understood that the above examples of sending a response message of the fourth message to the second terminal device by the first terminal device if the first terminal device meets the preset condition are only for understanding, and the present application is not limited thereto.

[0284] The above describes the scheme of assisting the second terminal device to obtain the relative position between the third terminal device and the second terminal device by the first terminal device in combination with the method 300, and the following describes the scheme of assisting the second terminal device to obtain the relative position between the third terminal device and the second terminal device by the network device in combination with the method 400.

[0285] Figure 4 is a schematic diagram of another method 400 for determining a position provided by an embodiment of the present application. The method 400 can comprise the following steps.

[0286] S401, the second terminal device sends a fifth message to the network device.

[0287] Correspondingly, the network device receives the fifth message from the second terminal device.

[0288] The fifth message can be used to trigger sending a second target position to the second terminal device. The second target position comprises at least one of the following: a second relative position, or an absolute position of the third terminal device. The second relative position is described above and will not be repeated here.

[0289] The fifth message can be an existing message, such as an uplink NAS transport message or an MO-LR Request message, or a newly defined message, which is not limited.

[0290] S402, the network device sends a sixth message to the second terminal device according to the fifth message, the sixth message comprising the second target position.

[0291] For example, if the fifth message is used to trigger sending the absolute position of the third terminal device to the second terminal device, the network device sends the absolute position of the third terminal device to the second terminal device. For another example, if the fifth message is used to trigger sending the second relative position to the second terminal device, the network device sends the second relative position to the second terminal device.

[0292] Correspondingly, the second terminal device receives the sixth message from the network device, the sixth message comprising the second target position. The method 400 can further comprise: the second terminal device obtains the second relative position according to the sixth message. For example, if the sixth message comprises the absolute position of the third terminal device, the second terminal device obtains the second relative position according to the sixth message, comprising: the second terminal device determines the second relative position according to the absolute position of the third terminal device. For another example, if the sixth message comprises the second relative position, the second terminal device obtains the second relative position according to the sixth message, comprising: the second terminal device obtains the second relative position from the sixth message. Obviously, in the case where the sixth message comprises the second relative position, the second terminal device obtaining the second relative position according to the sixth message can be understood as directly obtaining the second relative position from the sixth message. Obviously, in this case, the step of the second terminal device obtaining the second relative position according to the sixth message can not be performed.

[0293] For the scenario that there is an occlusion between the second terminal device and the third terminal device, due to the existence of the occlusion, signals cannot be directly transmitted in line-of-sight between the second terminal device and the third terminal device, and if the second terminal device directly uses a ranging method to measure the distance between the second terminal device and the third terminal device, or the second terminal device directly uses an angle measurement method to measure the angle between the second terminal device and the third terminal device, the relative position accuracy between the second terminal device and the third terminal device obtained will be low. By using the method provided in the above embodiment, the network device can assist the second terminal device to obtain the relative position between the third terminal device and the second terminal device. Specifically, the network device receives a fifth message from the second terminal device, and sends a sixth message to the second terminal device, where the sixth message includes the second target position, and the second target position includes at least one of the absolute position of the third terminal device or the relative position between the third terminal device and the second terminal device. By using the method provided in the above embodiment, the network device assists the second terminal device to obtain the relative position between the third terminal device and the second terminal device, which not only can realize the relative positioning between the second terminal device and the third terminal device, but also can improve the accuracy of the relative position between the third terminal device and the second terminal device.

[0294] Optionally, the method 400 further includes that the network device determines the second target position.

[0295] For example, the network device can determine the second target position according to the fifth message, where the network device receives the fifth message, and the determination of the second target position by the network device is triggered.

[0296] The network device can determine the second target position by different implementation manners, which are described in detail as follows.

[0297] As a first case, the second target position includes the second relative position, and the network device determines the second target position, including: the network device determines the absolute position of the second terminal device and the absolute position of the third terminal device; and the network device determines the second relative position according to the absolute position of the second terminal device and the absolute position of the third terminal device.

[0298] For example, the network device determines the absolute position of the second terminal device and the absolute position of the third terminal device, and the network device can use a geometric calculation method to obtain the relative position between the third terminal device and the second terminal device according to the absolute position of the second terminal device and the absolute position of the third terminal device. Wherein, the manner in which the network device determines the absolute position of the terminal device can refer to the existing process, and will not be described herein.

[0299] It should be noted that obtaining the relative position between the two terminal devices according to the absolute positions of the two terminal devices by using a geometric calculation method belongs to the prior art, and the present application will not be described again.

[0300] Further, in combination with the first case, the second terminal device obtaining the second relative position according to the sixth message can include that the second terminal device obtains the relative position between the third terminal device and the second terminal device according to the second target position included in the sixth message.

[0301] Specifically, the network device determines the second relative position according to the absolute position of the second terminal device and the absolute position of the third terminal device, and sends the sixth message including the second relative position to the second terminal device; the second terminal device receives the sixth message from the network device, and the second terminal device can obtain the second relative position from the sixth message.

[0302] As the second case, the second target position includes the absolute position of the third terminal device, and the network device determining the second target position includes that the network device determines the absolute position of the third terminal device.

[0303] The manner in which the network device determines the absolute position of the third terminal device can refer to the existing process, and will not be described again.

[0304] Further, in combination with the second case, the second terminal device obtaining the second relative position according to the sixth message can include that the second terminal device determines the relative position between the third terminal device and the second terminal device according to the second target position included in the sixth message.

[0305] Specifically, the network device determines the absolute position of the third terminal device, and sends the sixth message including the absolute position of the third terminal device to the second terminal device; the second terminal device receives the sixth message from the network device, and the second terminal device determines the second relative position according to the absolute position of the third terminal device. For example, the second terminal device can obtain the relative position between the third terminal device and the second terminal device according to the absolute position of the third terminal device and the absolute position of the second terminal device. The absolute position of the second terminal device can be determined by the network device, such as the second target position including the absolute position of the second terminal device. The manner in which the network device determines the absolute position of the terminal device can refer to the existing process, and will not be described again.

[0306] As the third case, the second target position includes the second relative position and the absolute position of the third terminal device, and the network device determining the second target position includes that the network device determines the second relative position and the absolute position of the third terminal device.

[0307] The network device determines the absolute position of the third terminal device in a manner that can refer to an existing procedure, and thus details are not repeated. The network device determines the second relative position in a manner that can refer to the description in the first scenario, and thus details are not repeated.

[0308] Further, in combination with the third scenario, the second terminal device obtaining the second relative position from the sixth message can include that the second terminal device acquires the second relative position from the sixth message.

[0309] Optionally, in an implementation scenario of the above embodiment, the fifth message includes at least one of the following: an accuracy of the second target position, a threshold of the second relative position, or the second information.

[0310] In the first example, the fifth message includes the accuracy of the second target position. Further optionally, the method 400 further includes: determining, by the network device, the second target position according to the accuracy of the second target position.

[0311] The accuracy of the second target position can be used by the network device to select a suitable transmission parameter in the process of determining the second target position. The transmission parameter can include at least one of the following: a bandwidth used for transmitting and / or receiving a signal, and a beam used for transmitting and / or receiving a signal (such as a beam width used for transmitting and / or receiving a signal). The accuracy of the second target position can refer to the description above, and thus details are not repeated.

[0312] Optionally, the second target position in step S401 includes an absolute position of the second terminal device and an absolute position of the third terminal device, and the method 400 further includes: obtaining, by the network device, a third accuracy and a fourth accuracy according to the accuracy of the second target position; and determining, by the network device, the second target position according to the accuracy of the second target position includes: determining, by the network device, the absolute position of the second terminal device according to the third accuracy, and determining, by the network device, the absolute position of the third terminal device according to the fourth accuracy.

[0313] The network device obtains the third accuracy and the fourth accuracy according to the accuracy of the second target position can be implemented in the following two ways.

[0314] In the first way, the accuracy of the second target position includes the third accuracy and the fourth accuracy, and the network device obtains the third accuracy and the fourth accuracy according to the accuracy of the second target position can be understood as directly acquiring from the accuracy of the second target position in the fifth message. Obviously, in this case, the step of obtaining the third accuracy and the fourth accuracy according to the accuracy of the second target position by the network device can not be performed.

[0315] In the second mode, the network device determines the third accuracy and the fourth accuracy according to the accuracy of the second target position. If the accuracy of the second target position is less than or equal to n, the network device can determine that the third accuracy is less than or equal to z1*n and the fourth accuracy is less than or equal to z2*n. Here, z1 and z2 are numbers greater than 0 and less than 1, for example, the sum of z1 and z2 is less than or equal to 1, for example, z1 is 0.4 and z2 is 0.6. Specifically, the error between the absolute position of the second terminal device determined by the network device (or measured by the network device) and the actual absolute position of the second terminal device is less than or equal to z1*n, and the error between the absolute position of the third terminal device determined by the network device (or measured by the network device) and the actual absolute position of the third terminal device is less than or equal to z2*n.

[0316] For example, the accuracy of the second target position includes the third accuracy, the network device determines the fourth accuracy according to the third accuracy, and then the network device obtains the third accuracy and the fourth accuracy. For example, if the accuracy of the second target position includes the third accuracy, the fourth accuracy determined by the network device can be the same as the third accuracy, or can be different, which is not limited.

[0317] For another example, the accuracy of the second target position includes the fourth accuracy, the network device determines the third accuracy according to the fourth accuracy, and then the network device obtains the third accuracy and the fourth accuracy. For example, if the accuracy of the second target position includes the fourth accuracy, the third accuracy determined by the network device can be the same as the fourth accuracy, or can be different, which is not limited.

[0318] In the second example, the fifth message includes the second information. Further optionally, the method 400 further includes: the network device sends the second target position to the third terminal device.

[0319] It should be noted that the second example can be combined with the above-mentioned various examples, which is not limited.

[0320] Here, the second information can be used to trigger (or represent, or indicate, or notify) the network device to send the second target position to the third terminal device.

[0321] Specifically, the fifth message includes the second information, and the network device obtains the second target position according to the second information. Therefore, after the network device determines the second target position, the network device can send the second target position to the third terminal device.

[0322] In a possible implementation, the second information is implemented by one or more bits. For example, it is assumed that 1 bit is used to indicate whether the network device sends the second target position to the third terminal device. If the bit is set to "0", it indicates that the network device sends the second target position to the third terminal device; if the bit is set to "1", it indicates that the network device does not send the second target position to the third terminal device. It should be understood that the above is only an example and is not limited.

[0323] In a third example, the fifth message includes a threshold of the second relative position. Further optionally, the step S402 includes: sending, by the network device, a sixth message to the second terminal device according to the second relative position and the threshold of the second relative position, the sixth message including the second relative position.

[0324] It should be noted that the third example can be combined with the above-mentioned examples, and is not limited.

[0325] The threshold of the second relative position can be used by the network device to determine (or judge) whether to send the second relative position to the second terminal device.

[0326] The "sending, by the network device, a sixth message to the second terminal device according to the second relative position and the threshold of the second relative position, the sixth message including the second relative position" can be understood by the following examples.

[0327] For example, if the second relative position is a distance between the third terminal device and the second terminal device, and the threshold of the second relative position is a distance (which can be referred to as a distance threshold), the network device determines that the distance between the third terminal device and the second terminal device is less than or equal to the distance threshold, and the network device sends a sixth message to the second terminal device, the sixth message including the distance between the third terminal device and the second terminal device.

[0328] For another example, if the second relative position is an angle between the third terminal device and the second terminal device, and the threshold of the second relative position is an angle (which can be referred to as an angle threshold), the network device determines that the angle between the third terminal device and the second terminal device is less than or equal to the angle threshold, and the network device sends a sixth message to the second terminal device, the sixth message including the angle between the third terminal device and the second terminal device; or the network device determines that the angle between the third terminal device and the second terminal device is greater than or equal to the angle threshold, and the network device sends a sixth message to the second terminal device, the sixth message including the angle between the third terminal device and the second terminal device.

[0329] For another example, if the second relative position comprises: an angle between the third terminal device and the second terminal device, and a distance between the third terminal device and the second terminal device, and the threshold of the second relative position comprises an angle threshold and a distance threshold, the network device sends the sixth message to the second terminal device, the sixth message comprising the distance and the angle between the third terminal device and the second terminal device, in a case that the network device determines that the distance between the third terminal device and the second terminal device is less than or equal to the distance threshold, and the angle between the third terminal device and the second terminal device is less than or equal to the angle threshold; or the network device sends the sixth message to the second terminal device, the sixth message comprising the distance and the angle between the third terminal device and the second terminal device, in a case that the network device determines that the distance between the third terminal device and the second terminal device is less than or equal to the distance threshold, and the angle between the third terminal device and the second terminal device is greater than or equal to the angle threshold.

[0330] In a fourth example, the fifth message comprises the second information and the threshold of the second relative position. Further optionally, the method 400 further comprises: sending, by the network device, the second relative position to the third terminal device according to the second relative position and the threshold of the second relative position.

[0331] For example, if the second relative position is a distance between the third terminal device and the second terminal device, and the threshold of the second relative position is a distance threshold, the network device sends the distance between the third terminal device and the second terminal device to the third terminal device in a case that the network device determines that the distance between the third terminal device and the second terminal device is less than or equal to the distance threshold, if the fifth message comprises the second information.

[0332] For another example, if the second relative position is an angle between the third terminal device and the second terminal device, and the threshold of the second relative position is an angle threshold, the network device sends the angle between the third terminal device and the second terminal device to the third terminal device in a case that the network device determines that the angle between the third terminal device and the second terminal device is less than or equal to the angle threshold, if the fifth message comprises the second information; or the network device sends the angle between the third terminal device and the second terminal device to the third terminal device in a case that the network device determines that the angle between the third terminal device and the second terminal device is greater than or equal to the angle threshold, if the fifth message comprises the second information.

[0333] It should be noted that the order between the judgment condition based on the second information and the judgment condition based on the threshold of the second relative position can be exchanged. For example, the network device sends the distance between the third terminal device and the second terminal device to the third terminal device in a case that the network device determines that the distance between the third terminal device and the second terminal device is less than or equal to the distance threshold, if the fifth message comprises the second information.

[0334] It can be understood that the above is only an example description and is not limited.

[0335] For ease of understanding, the following describes the embodiments of the present application in conjunction with Figures 5 to 9 The embodiments of the present application are described by way of example. In the following examples, it is assumed that the first terminal device is UE1, the second terminal device is UE2, and the third terminal device is UE3. The steps involved can be referred to the description above.

[0336] Figure 5 FIG. 5 is a schematic flowchart of a method 500 for determining a position according to an embodiment of the present application. The method 500 can be used in a scenario where UE1 determines the relative position between UE3 and UE2. The method 500 can include the following steps.

[0337] S501, UE2 determines the relative position between UE3 and UE2.

[0338] The determination of the relative position between UE3 and UE2 by UE2 can include measuring at least one of the following by UE2: the distance between UE3 and UE2, or the angle between UE3 and UE2. The specific process of determining the relative position between UE3 and UE2 by UE2 can be referred to the description of the relative position between UE1 and UE2 above, and will not be described in detail.

[0339] If UE2 cannot determine the relative position between UE3 and UE2 (for example, UE2 is far away from UE3, and UE3 cannot receive the ranging signal sent by UE2, so UE2 cannot determine the relative position between UE3 and UE2), or if the accuracy of the relative position between UE2 and UE3 is low (for example, the accuracy of the relative position between UE3 and UE2 is lower than a preset value), the method 500 can further include step S502.

[0340] S502, UE2 determines a device for assisting in positioning UE3.

[0341] The determination (or discovery) of the device (which can be referred to as UE1) for assisting in positioning UE3 by UE2 can be implemented in different embodiments, which are described in detail as follows.

[0342] Manner 1, UE1 sends a third message, the third message can be used to broadcast information of UEs that have established a communication connection with UE1, or the third message can be used to broadcast information of UEs whose positions (such as absolute positions, or relative positions between UE1 and the UEs) have been learned by UE1; if the third message includes information of UE3, UE2 determines that UE1 is a device for assisting in positioning UE3. Specifically, UE1 broadcasts the third message, the third message includes capability indication information and information of one or more UEs, wherein the capability indication information is used to indicate that UE1 has sidelink positioning capability, and the one or more UEs are UEs that have established a communication connection with UE1 or UEs whose positions have been learned by UE1, and the one or more UEs include UE3; after UE2 receives the third message, if UE2 wants to obtain the relative position between UE3 and UE2, UE2 establishes a PC5 connection with UE1. The specific process of establishing a PC5 connection between UE2 and UE1 can refer to the description in the prior art, which is not limited.

[0343] Manner 2, UE2 sends a fourth message, the fourth message can be used to discover a device for assisting in positioning UE3; if UE2 receives a response message of the fourth message from UE1, UE2 determines that UE1 is a device for assisting in positioning UE3. Specifically, UE2 broadcasts the fourth message, the fourth message is used to discover a device for assisting in positioning UE3, and the fourth message includes capability indication information and information (such as UE3 ID) of UE3, wherein the capability indication information is used to indicate that the device for assisting in positioning UE3 needs to have sidelink positioning capability; after UE1 receives the fourth message, if it judges that it is not UE3 and has sidelink positioning capability, the UE1 sends a response message of the fourth message to UE2, and the UE1 is a UE for assisting in positioning UE3. As one case, UE2 sends the fourth message, and multiple UEs receive the fourth message. If the multiple UEs judge that they are not UE3 and have sidelink positioning capability, the multiple UEs send an eighth message; UE3 can receive the eighth message sent by part or all of the multiple UEs, and UE3 can select UE1 from the part or all of the UEs (for example, UE3 selects UE1 that communicates with UE3 in line of sight (LOS), that is, UE3 receives the eighth message from the UE1 through LOS), and the UE1 is a UE for assisting in positioning UE3; UE3 returns a response message of the eighth message to UE1; after UE1 receives the response message of the eighth message returned by UE3, UE1 sends a response message of the fourth message to UE2. Alternatively, the multiple UEs send the eighth message to UE3, including: if the multiple UEs receive the fourth message from UE2 through LOS, the multiple UEs send the eighth message to UE3. Wherein, the LOS can refer to the prior art, which is not limited.

[0344] S503, UE2 sends a first message to UE1.

[0345] The first message can be used to request the relative position between UE3 and UE2. The relative position between UE3 and UE2 can include at least one of a distance between UE3 and UE2 or an angle between UE3 and UE2.

[0346] Optionally, the first message includes at least one of an accuracy of the relative position between UE3 and UE2, a threshold of the relative position between UE3 and UE2, or first information.

[0347] The accuracy of the relative position between UE3 and UE2 can include at least one of an accuracy of the distance between UE3 and UE2 or an accuracy of the angle between UE3 and UE2. For example, the accuracy of the distance between UE3 and UE2 is less than or equal to m, which means that the error between the measured distance between UE3 and UE2 and the actual distance between UE3 and UE2 is not more than m. For another example, the accuracy of the angle between UE3 and UE2 is less than or equal to d, which means that the error between the measured angle between UE3 and UE2 and the actual angle between UE3 and UE2 is not more than d.

[0348] The threshold of the relative position between UE3 and UE2 can be used by UE1 to determine (or judge) whether to send the relative position between UE3 and UE2 to UE2. Specifically, UE1 sends the relative position between UE3 and UE2 to UE2 according to the relative position between UE3 and UE2 and the threshold of the relative position between UE3 and UE2.

[0349] The first information can be used to trigger (or represent, or indicate, or notify) UE1 to send the relative position between UE3 and UE2 to UE3.

[0350] For the accuracy, the threshold, and the first information, please refer to the relevant description above, which will not be repeated here.

[0351] S504, UE1 determines the relative position between UE3 and UE2.

[0352] The determination of the relative position between UE3 and UE2 by UE1 can include the following manners.

[0353] Manner 1: UE1 determines the relative position between UE3 and UE2 according to the relative position between UE2 and UE1 and the relative position between UE3 and UE1.

[0354] For example, UE1 determines the relative position between UE2 and UE1, UE1 determines the relative position between UE3 and UE1, and UE1 determines the relative position between UE3 and UE2 according to the relative position between UE2 and UE1 and the relative position between UE3 and UE1 by using a geometric calculation method.

[0355] In mode 2, UE1 determines the absolute position of UE2 and the absolute position of UE3, and determines the relative position between UE3 and UE2 according to the absolute position of UE2 and the absolute position of UE3.

[0356] For example, UE1 determines the relative position between UE2 and UE1, and determines the absolute position of UE2 according to the relative position between UE2 and UE1 and the absolute position of UE1; UE1 determines the relative position between UE3 and UE1, and determines the absolute position of UE3 according to the relative position between UE3 and UE1 and the absolute position of UE1. It should be understood that the above is an example for illustration, and the present application is not limited thereto. For example, UE2 can also carry its absolute position in the first message and send it to UE1.

[0357] Optionally, the method 500 further comprises: UE1 obtaining the first accuracy and the second accuracy according to the accuracy of the relative position between UE3 and UE2; UE1 determining the relative position between UE3 and UE1 comprises: UE1 determining the relative position between UE3 and UE1 according to the first accuracy; UE1 determining the relative position between UE2 and UE1 comprises: UE1 determining the relative position between UE2 and UE1 according to the second accuracy.

[0358] The "UE1 obtaining the first accuracy and the second accuracy according to the accuracy of the relative position between UE3 and UE2" can be implemented in the following two modes.

[0359] In mode 1, the accuracy of the relative position between UE3 and UE2 includes the first accuracy and the second accuracy, and UE1 obtaining the first accuracy and the second accuracy according to the accuracy of the relative position between UE3 and UE2 can be understood as directly obtaining from the accuracy of the relative position between UE3 and UE2 in the first message. Obviously, in this case, the step of UE1 obtaining the first accuracy and the second accuracy according to the accuracy of the relative position between UE3 and UE2 can not be performed.

[0360] In mode 2, UE1 determines the first accuracy and the second accuracy according to the accuracy of the relative position between UE3 and UE2.

[0361] For example, the relative position between UE3 and UE2 includes a first accuracy, UE1 determines a second accuracy according to the first accuracy, and then UE1 obtains the first accuracy and the second accuracy. For example, if the relative position between UE3 and UE2 includes the first accuracy, the second accuracy determined by UE1 can be the same as the first accuracy, or can be different, which is not limited.

[0362] For example, the relative position between UE3 and UE2 includes a first accuracy, UE1 determines a second accuracy according to the first accuracy, and then UE1 obtains the first accuracy and the second accuracy. For example, if the relative position between UE3 and UE2 includes the first accuracy, the second accuracy determined by UE1 can be the same as the first accuracy, or can be different, which is not limited.

[0363] For example, the relative position between UE3 and UE2 includes a first accuracy, UE1 determines a second accuracy according to the first accuracy, and then UE1 obtains the first accuracy and the second accuracy. For example, if the relative position between UE3 and UE2 includes the first accuracy, the second accuracy determined by UE1 can be the same as the first accuracy, or can be different, which is not limited.

[0364] For example, the relative position between UE3 and UE2 includes a first accuracy, UE1 determines a second accuracy according to the first accuracy, and then UE1 obtains the first accuracy and the second accuracy. For example, if the relative position between UE3 and UE2 includes the first accuracy, the second accuracy determined by UE1 can be the same as the first accuracy, or can be different, which is not limited.

[0365] S505, UE1 sends the relative position between UE3 and UE2 to UE2.

[0366] For example, UE1 sends the second message to UE2, and the second message includes the relative position between UE3 and UE2. For the second message, please refer to the description of the method 300 above, which will not be repeated here.

[0367] Optionally, if the first message in S503 comprises a threshold of the relative position between UE3 and UE2, S505 comprises: UE1 sends the relative position between UE3 and UE2 to UE2 according to the relative position between UE3 and UE2 and the threshold of the relative position between UE3 and UE2.

[0368] For example, if the relative position between UE3 and UE2 comprises a distance between UE3 and UE2, and the threshold of the relative position between UE3 and UE2 comprises a distance threshold, S505 comprises: UE1 sends the distance between UE3 and UE2 to UE2 if the distance between UE3 and UE2 determined by UE1 is less than or equal to the distance threshold.

[0369] For another example, if the relative position between UE3 and UE2 comprises an angle between UE3 and UE2, and the threshold of the relative position between UE3 and UE2 comprises an angle threshold, S505 comprises: UE1 sends the angle between UE3 and UE2 to UE2 if the angle between UE3 and UE2 determined by UE1 is less than or equal to the angle threshold; or UE1 sends the angle between UE3 and UE2 to UE2 if the angle between UE3 and UE2 determined by UE1 is greater than or equal to the angle threshold.

[0370] For another example, if the relative position between UE3 and UE2 comprises an angle between UE3 and UE2 and a distance between UE3 and UE2, and the threshold of the relative position between UE3 and UE2 comprises an angle threshold and a distance threshold, S505 comprises: UE1 sends the distance between UE3 and UE2 and the angle between UE3 and UE2 to UE2 if the distance between UE3 and UE2 determined by UE1 is less than or equal to the distance threshold, and the angle between UE3 and UE2 determined by UE1 is less than or equal to the angle threshold; or UE1 sends the distance between UE3 and UE2 and the angle between UE3 and UE2 to UE2 if the distance between UE3 and UE2 determined by UE1 is less than or equal to the distance threshold, and the angle between UE3 and UE2 determined by UE1 is greater than or equal to the angle threshold.

[0371] Optionally, if the first message in S503 comprises the first information, the method 500 further comprises: UE1 sends the relative position between UE3 and UE2 to UE3.

[0372] Based on the above scheme, if UE2 cannot determine the relative position between UE3 and UE2, or if the accuracy of the relative position between UE2 and UE3 is low, UE2 can obtain the relative position between UE3 and UE2 with the assistance of UE1. Specifically, UE2 sends a first message to UE1, requesting the relative position between UE3 and UE2; UE1 determines the relative position between UE3 and UE2 based on the first message, and sends the relative position between UE3 and UE2 to UE2. Thus, not only the relative positioning between UE2 and UE3 can be achieved, but also the accuracy of the relative position between UE3 and UE2 can be improved.

[0373] Figure 6 is a schematic flowchart of another method 600 of position determination provided by the embodiments of the present application. The method 600 can be used in the scenario that UE2 determines the relative position between UE3 and UE2. The method 600 can include the following steps.

[0374] S601, UE2 determines the relative position between UE3 and UE2.

[0375] S602, UE2 determines a device for assisting in positioning UE3.

[0376] Steps S601-S602 are similar to steps S501-S502, and are not described herein again.

[0377] S603, UE2 sends a first message to UE1.

[0378] The first message can be used to request the relative position between UE3 and UE1, or the first message can be used to request the absolute position of UE3. The relative position between UE3 and UE1 includes at least one of the following: the distance between UE3 and UE1, or the angle between UE3 and UE1.

[0379] Optionally, if the first message is used to request the relative position between UE3 and UE1, the first message includes at least one of the following: the accuracy of the relative position between UE3 and UE1, the threshold of the relative position between UE3 and UE1, or the first information.

[0380] Optionally, if the first message is used to request the absolute position of UE3, the first message includes the accuracy of the absolute position of UE3, or the first information.

[0381] For the accuracy, the threshold, and the first information, please refer to the relevant description above, which is not described herein again.

[0382] S604, UE1 determines the relative position between UE3 and UE1, or UE1 determines the absolute position of UE3.

[0383] As a first case, if the first message is used to request the relative position between UE3 and UE1 in step S603, S604 comprises: UE1 determines the relative position between UE3 and UE1.

[0384] In one possible way, the relative positioning between UE1 and UE3 is performed to determine the relative position between UE3 and UE1.

[0385] Optionally, if the first message comprises the accuracy of the relative position between UE3 and UE1, S604 comprises: UE1 determines the relative position between UE3 and UE1 according to the accuracy of the relative position between UE3 and UE1.

[0386] For example, if the accuracy of the relative position between UE3 and UE1 comprises the accuracy of the distance, which is less than 0.4 meters, the error between the distance between UE3 and UE1 determined by UE1 and the actual distance between UE3 and UE1 is less than 0.4 meters. It should be understood that 0.4 meters is an example and the present application is not limited thereto.

[0387] For example, if the accuracy of the relative position between UE3 and UE1 comprises the accuracy of the angle, which is less than 1 degree, the error between the angle between UE3 and UE1 determined by UE1 and the actual angle between UE3 and UE1 is less than 1 degree. It should be understood that 1 degree is an example and the present application is not limited thereto.

[0388] As a second case, if the first message is used to request the absolute position of UE3 in step S603, S604 comprises: UE1 determines the absolute position of UE3.

[0389] In one possible way, the relative positioning between UE1 and UE3 is performed to determine the relative position between UE3 and UE1, and UE1 determines the absolute position of UE3 according to the relative position between UE3 and UE1 and the absolute position of UE1.

[0390] Optionally, if the first message comprises the accuracy of the absolute position of UE3, S604 comprises: UE1 determines the absolute position of UE3 according to the accuracy of the absolute position of UE3. For the way of determining the position based on the accuracy, refer to the relevant description above, which will not be repeated here.

[0391] S605, UE1 sends a second message to UE2.

[0392] As a first case, if the first message in step S603 is used to request the relative position between UE3 and UE1, S605 comprises: UE1 sends a second message to UE2, the second message comprising the relative position between UE3 and UE1.

[0393] Optionally, if the first message in S603 comprises a threshold of the relative position between UE3 and UE1, S605 comprises: UE1 sends the relative position between UE3 and UE1 to UE2 according to the relative position between UE3 and UE1 and the threshold of the relative position between UE3 and UE1. For details, refer to the implementation manner in step S505, which will not be described here.

[0394] Optionally, if the first message comprises the first information, the method 600 further comprises: UE1 sends the relative position between UE3 and UE1 to UE3.

[0395] As a second case, if the first message in step S603 is used to request the absolute position of UE3, S605 comprises: UE1 sends a second message to UE2, the second message comprising the absolute position of UE3.

[0396] Optionally, if the first message comprises the first information, the method 600 further comprises: UE1 sends the absolute position of UE3 to UE3.

[0397] S606, UE2 determines the relative position between UE3 and UE2.

[0398] As a first case, the first message in step S603 is used to request the relative position between UE3 and UE1.

[0399] Further, in combination with the first case, S606 can comprise: UE2 determines the relative position between UE3 and UE2 according to the relative position between UE3 and UE1 and the relative position between UE2 and UE1.

[0400] The relative position between UE2 and UE1 can be obtained in the following manner. In one way, UE2 determines the relative position between UE2 and UE1. Specifically, UE2 and UE1 perform relative positioning to determine the relative position between UE2 and UE1. In another way, UE2 obtains the relative position between UE2 and UE1 from UE1. Specifically, the first message further comprises the relative position between UE2 and UE1, UE1 determines the relative position between UE2 and UE1 according to the first message, and sends the relative position between UE2 and UE1 to UE2.

[0401] Alternatively, further to the first scenario, S606 can comprise: UE2 determining the absolute position of UE3 based on the relative position between UE3 and UE1 and the absolute position of UE1; and UE2 determining the relative position between UE3 and UE2 based on the absolute position of UE3 and the absolute position of UE2.

[0402] The absolute position of UE1 can be obtained in the following ways. In one way, UE2 can obtain the absolute position of UE1 from the network side. In another way, UE2 determines the absolute position of UE1. Specifically, UE2 determines the relative position between UE2 and UE1, and determines the absolute position of UE1 based on the relative position between UE2 and UE1 and the absolute position of UE2.

[0403] As the second scenario, the first message in S603 is used to request the absolute position of UE3.

[0404] Further to the second scenario, S606 can comprise: UE2 determining the relative position between UE3 and UE2 based on the absolute position of UE3 and the absolute position of UE2.

[0405] The absolute position of UE2 can be obtained in the following ways. In one way, UE2 can obtain the absolute position of UE2 from the network side. In another way, UE2 obtains the absolute position of UE2 from UE1. Specifically, the first message further comprises the absolute position of UE2, and UE1 determines the absolute position of UE2 based on the first message and sends the absolute position of UE2 to UE2.

[0406] Based on the above scheme, if UE2 cannot determine the relative position between UE3 and UE2, or if the accuracy of the relative position between UE2 and UE3 is low, UE2 can obtain the relative position between UE3 and UE2 with the assistance of UE1. Specifically, UE2 sends the first message to UE1 to request the relative position between UE3 and UE1; UE1 determines the relative position between UE3 and UE1 based on the first message and sends the relative position between UE3 and UE1 to UE2; and UE2 determines the relative position between UE3 and UE2 based on the relative position between UE3 and UE1. Alternatively, UE2 sends the first message to UE1 to request the absolute position of UE3; UE1 determines the absolute position of UE3 based on the first message and sends the absolute position of UE3 to UE2; and UE2 determines the relative position between UE3 and UE2 based on the absolute position of UE3 and the absolute position of UE2. Thus, not only the relative positioning between UE2 and UE3 can be achieved, but also the accuracy of the relative position between UE3 and UE2 can be improved.

[0407] Figure 7is a schematic flowchart of another method 700 of position determination provided by embodiments of the present application. The method 700 can be used in a scenario where the AMF determines the relative position between UE3 and UE2. The method 700 can include the following steps.

[0408] S701, UE2 determines the relative position between UE3 and UE2.

[0409] The step S701 is similar to the step S501, and thus is not described again here.

[0410] S702, UE2 sends a fifth message to the AMF.

[0411] The fifth message can be used to request triggering sending the relative position between UE3 and UE2 to UE2.

[0412] The fifth message can be an uplink NAS transmission message or an MO-LR Request message.

[0413] Optionally, the fifth message is embodied in a message form, which can be a mobile originated location request message or an LTE positioning protocol (LPP) message.

[0414] Optionally, the fifth message is embodied in a container form, which can be a mobile originated location request container.

[0415] Optionally, the fifth message includes at least one of the following: an accuracy of the relative position between UE3 and UE2, a threshold of the relative position between UE3 and UE2, or second information. The second information can be used to trigger (or represent, or indicate, or notify) the AMF to send the relative position between UE3 and UE2 to UE3. For the accuracy and the threshold, refer to the relevant description above, which is not described again.

[0416] Optionally, the AMF obtains whether UE2 is allowed to obtain the absolute position of UE3 from a UDM or a PCF. Specifically, the AMF obtains a LCS privacy profile from the UDM or the PCF, and the LCS privacy profile can include information of UEs allowed to obtain the absolute position of UE3. If the UEs allowed to obtain the absolute position of UE3 include UE2, the method 700 can further include a step S703.

[0417] S703, the AMF sends a request message to the GMLC to request the absolute position of UE3.

[0418] The request message can be a provide location request message.

[0419] Optionally, the AMF sends a request message to the GMLC according to the fifth message. For example, when the fifth message is a mobile-originated location request message, the AMF sends the request message to the GMLC.

[0420] Optionally, the request message comprises an accuracy of the absolute location of the UE 3. Specifically, for example, if the accuracy of the relative location between the UE 3 and the UE 2 is comprised in the fifth message in step S702, the request message sent by the AMF to the GMLC in step S803 carries the accuracy of the absolute location of the UE 3, which can be determined according to the accuracy of the relative location between the UE 3 and the UE 2. Specifically, if the accuracy of the distance between the UE 3 and the UE 2 is less than or equal to m, the AMF can determine that the accuracy of the absolute location of the UE 3 is less than or equal to x1*m. x1 is a number greater than 0 and less than 1, and x1 is 0.5, for example.

[0421] Further, based on the request message, the GMLC locates the UE 3 to obtain the absolute location of the UE 3. Optionally, the request message comprises the accuracy of the absolute location of the UE 3, and the GMLC locates the UE 3 according to the accuracy of the absolute location of the UE 3. The specific process of locating the UE 3 by the GMLC can refer to the description in the prior art, which is not limited.

[0422] S704, the GMLC sends the absolute location of the UE 3 to the AMF.

[0423] S705, the AMF determines the relative location between the UE 3 and the UE 2 according to the absolute location of the UE 2 and the absolute location of the UE 3.

[0424] Specifically, the AMF determines the absolute location of the UE 2, and can determine the relative location between the UE 3 and the UE 2 according to the absolute location of the UE 2 and the absolute location of the UE 3 by using a geometric calculation method. The specific process of determining the absolute location of the UE 2 by the AMF can refer to the description in the prior art, which is not limited.

[0425] S706, the AMF sends the relative location between the UE 3 and the UE 2 to the UE 2.

[0426] Optionally, if the fifth message comprises a threshold of the relative location between the UE 3 and the UE 2, S706 comprises: the AMF sends the relative location between the UE 3 and the UE 2 to the UE 2 according to the relative location between the UE 3 and the UE 2 and the threshold of the relative location between the UE 3 and the UE 2.

[0427] For example, if the relative position between UE3 and UE2 includes a distance between UE3 and UE2, and the threshold of the relative position between UE3 and UE2 includes a distance threshold, S706 includes: in a case that the AMF determines that the distance between UE3 and UE2 is less than or equal to the distance threshold, the AMF sends the distance between UE3 and UE2 to UE2.

[0428] For another example, if the relative position between UE3 and UE2 includes an angle between UE3 and UE2, and the threshold of the relative position between UE3 and UE2 includes an angle threshold, S706 includes: in a case that the AMF determines that the angle between UE3 and UE2 is less than or equal to the angle threshold, the AMF sends the angle between UE3 and UE2 to UE2; or, in a case that the AMF determines that the angle between UE3 and UE2 is greater than or equal to the angle threshold, the AMF sends the angle between UE3 and UE2 to UE2.

[0429] For another example, if the relative position between UE3 and UE2 includes an angle between UE3 and UE2 and a distance between UE3 and UE2, and the threshold of the relative position between UE3 and UE2 includes an angle threshold and a distance threshold, S706 includes: in a case that the AMF determines that the distance between UE3 and UE2 is less than or equal to the distance threshold, and the angle between UE3 and UE2 is less than or equal to the angle threshold, the AMF sends the distance and the angle between UE3 and UE2 to UE2; or, in a case that the AMF determines that the distance between UE3 and UE2 is less than or equal to the distance threshold, and the angle between UE3 and UE2 is greater than or equal to the angle threshold, the AMF sends the distance and the angle between UE3 and UE2 to UE2.

[0430] Optionally, if the fifth message includes the second information, the method 700 further includes: the AMF sends the relative position between UE3 and UE2 to UE3.

[0431] Based on the above scheme, if UE2 cannot determine the relative position between UE3 and UE2, or if the accuracy of the relative position between UE2 and UE3 is low, UE2 can obtain the relative position between UE3 and UE2 with the assistance of the AMF. Specifically, UE2 sends a fifth message to the AMF, requesting the relative position between UE3 and UE2; the AMF determines the relative position between UE3 and UE2 based on the fifth message, and sends the relative position between UE3 and UE2 to UE2. Thus, not only the relative positioning between UE2 and UE3 can be achieved, but also the accuracy of the relative position between UE3 and UE2 can be improved.

[0432] Figure 8is a schematic flowchart of another method 800 of position determination provided by embodiments of the present application. The method 800 can be used in a scenario where a GMLC or LMF determines the relative position between UE3 and UE2. The method 800 can comprise the following steps.

[0433] S801, UE2 determines the relative position between UE3 and UE2.

[0434] S802, UE2 sends a fifth message to the AMF.

[0435] Steps S801-S802 are similar to steps S701-S702, and are not described again here.

[0436] S803, the AMF sends a request message to the GMLC or LMF for requesting the relative position between UE3 and UE2.

[0437] Optionally, the AMF sends the request message to the GMLC or LMF according to the fifth message. For example, when the fifth message is a mobile-originated location request message, the AMF sends the request message to the GMLC or LMF.

[0438] Optionally, the request message comprises the accuracy of the relative position between UE3 and UE2. Specifically, in one example, if the fifth message in step S802 comprises the accuracy of the relative position between UE3 and UE2, the request message sent by the AMF to the GMLC or LMF in step S803 carries the accuracy of the relative position between UE3 and UE2; or in another example, the AMF determines the accuracy of the relative position between UE3 and UE2, and the request message sent by the AMF to the GMLC or LMF in step S803 carries the accuracy of the relative position between UE3 and UE2.

[0439] As one scenario, the AMF sends the request message to the GMLC for requesting the relative position between UE3 and UE2.

[0440] In this scenario, the request message can be a Provide Location Request message.

[0441] Further, based on the request message, the GMLC determines the relative position between UE3 and UE2. Optionally, the GMLC obtains from the UDM or PCF whether UE2 is allowed to obtain the absolute position of UE3. Specifically, the GMLC obtains from the UDM or PCF a LCS privacy profile, which can comprise information of UEs allowed to obtain the absolute position of UE3. The GMLC determines the relative position between UE3 and UE2, comprising: if the UEs allowed to obtain the absolute position of UE3 comprise UE2, the GMLC determines the relative position between UE3 and UE2.

[0442] Optionally, if the request message in step S803 comprises an accuracy of the relative position between UE3 and UE2, the GMLC determines the relative position between UE3 and UE2 according to the accuracy of the relative position between UE3 and UE2. For the manner of determining the position based on the accuracy, reference can be made to the foregoing description, and details are not described herein.

[0443] Optionally, the GMLC determines the relative position between UE3 and UE2, comprising: the GMLC determines the relative position between UE3 and UE2 according to the absolute position of UE2 and the absolute position of UE3.

[0444] Specifically, the GMLC respectively locates UE2 and UE3 to determine the absolute position of UE2 and the absolute position of UE3, and the GMLC determines the relative position between UE3 and UE2 according to the absolute position of UE2 and the absolute position of UE3. For the specific process of the GMLC locating UE2 and UE3, reference can be made to the description in the prior art, and is not limited.

[0445] As another case, the AMF sends a request message to the LMF for requesting the relative position between UE3 and UE2.

[0446] In this case, the request message can be a determine location request message.

[0447] Further, based on the request message, the LMF determines the relative position between UE3 and UE2. Optionally, the LMF obtains whether UE2 is allowed to obtain the absolute position of UE3 from the UDM or the PCF. Specifically, the LMF obtains a LCS privacy profile from the UDM or the PCF, and the LCS privacy profile can comprise information of UE allowed to obtain the absolute position of UE3. The LMF determines the relative position between UE3 and UE2, comprising: if the UE allowed to obtain the absolute position of UE3 comprises UE2, the LMF determines the relative position between UE3 and UE2.

[0448] Optionally, if the request message in step S803 comprises an accuracy of the relative position between UE3 and UE2, the LMF determines the relative position between UE3 and UE2 according to the accuracy of the relative position between UE3 and UE2. For the manner of determining the position based on the accuracy, reference can be made to the foregoing description, and details are not described herein.

[0449] Optionally, the LMF determines the relative position between UE3 and UE2, comprising: the LMF determines the relative position between UE3 and UE2 according to the absolute position of UE2 and the absolute position of UE3.

[0450] Specifically, the LMF locates UE2 and UE3 respectively, determines the absolute position of UE2 and the absolute position of UE3, and determines the relative position between UE3 and UE2 according to the absolute position of UE2 and the absolute position of UE3. The specific process of the LMF locating UE2 and UE3 can refer to the description in the prior art, which is not limited.

[0451] S804, the GMLC or the LMF sends the relative position between UE3 and UE2 to the AMF.

[0452] Specifically, if the AMF sends the request message to the GMLC in step S803, the GMLC sends the relative position between UE3 and UE2 to the AMF in step S804; if the AMF sends the request message to the LMF in step S803, the LMF sends the relative position between UE3 and UE2 to the AMF in step S804.

[0453] Optionally, if the request message includes a threshold of the relative position between UE3 and UE2, step S804 includes: the GMLC or the LMF sends the relative position between UE3 and UE2 to the AMF according to the relative position between UE3 and UE2 and the threshold of the relative position between UE3 and UE2. For details, please refer to the description above, which will not be repeated.

[0454] S805, the AMF sends the relative position between UE3 and UE2 to UE2.

[0455] Optionally, if the fifth message includes a threshold of the relative position between UE3 and UE2, step S805 includes: the AMF sends the relative position between UE3 and UE2 to UE2 according to the relative position between UE3 and UE2 and the threshold of the relative position between UE3 and UE2. For details, please refer to the description above, which will not be repeated.

[0456] Optionally, if the fifth message includes the second information, the method 800 further includes: the AMF sends the relative position between UE3 and UE2 to UE3.

[0457] Based on the above scheme, if UE2 cannot determine the relative position between UE3 and UE2, or if the accuracy of the relative position between UE2 and UE3 is low, UE2 can obtain the relative position between UE3 and UE2 with the assistance of GMLC / LMF. Specifically, UE2 sends a fifth message to the AMF to request the relative position between UE3 and UE2; the AMF sends a request to the GMLC / LMF to request the GMLC / LMF to determine the relative position between UE3 and UE2, and sends the relative position between UE3 and UE2 to UE2. Thus, not only can the relative positioning between UE2 and UE3 be achieved, but also the accuracy of the relative position between UE3 and UE2 can be improved.

[0458] Figure 9 is a schematic flowchart of another method 900 of position determination provided by the embodiments of the present application. The method 900 can be used in the scenario in which UE2 determines the relative position between UE3 and UE2. The difference between the method 900 and the method 600 is that in the method 600, UE1 provides the absolute position of UE3, and in the method 900, the AMF provides the absolute position of UE3, and UE2 determines the relative position between UE3 and UE2 according to the absolute position of UE3 provided by the AMF. The method 900 can include the following steps.

[0459] S901, UE2 determines the relative position between UE3 and UE2.

[0460] Wherein, step S901 is similar to step S501, which will not be repeated here.

[0461] S902, UE2 obtains its own absolute position.

[0462] Specifically, UE2 can obtain its own absolute position from the network side, and the specific process can refer to the description in the prior art, which is not limited.

[0463] S903, UE2 sends a fifth message to the AMF.

[0464] Wherein, the fifth message is used to trigger the sending of the absolute position of UE3 to UE2.

[0465] Optionally, the first message is an uplink NAS transmission message or an MO-LR Request message.

[0466] Optionally, the fifth message is embodied in the form of a message, which can be a mobile terminal initiated location request message or an LTE LPP message.

[0467] Optionally, the fifth message is embodied in the form of a container, which can be a mobile terminal initiated location request container.

[0468] Optionally, the fifth message comprises at least one of: an accuracy of the absolute position of the UE 3, second information. The second information can be used to trigger (or characterize, or indicate, or inform) the AMF to send the absolute position of the UE 3 to the UE 3. The accuracy can refer to the description above, and will not be repeated here.

[0469] Optionally, the AMF obtains whether the UE 2 is allowed to obtain the absolute position of the UE 3 from the UDM or the PCF. Specifically, the AMF obtains a LCS privacy profile from the UDM or the PCF, and the LCS privacy profile can comprise information of UEs allowed to obtain the absolute position of the UE 3. If the UEs allowed to obtain the absolute position of the UE 3 comprise the UE 2, the method 900 further comprises step S904.

[0470] S904, the AMF sends a request message to the GMLC.

[0471] The request message can be a Provide Location Request message.

[0472] Optionally, the AMF sends the request message to the GMLC or the LMF according to the fifth message. For example, when the fifth message is a Mobile Terminated Location Request message, the AMF sends the request message to the GMLC or the LMF.

[0473] Further, based on the request message, the GMLC performs positioning on the UE 3 to determine the absolute position of the UE 3. Optionally, if the request message comprises the accuracy of the absolute position of the UE 3, the GMLC performs positioning on the UE 3 according to the accuracy of the absolute position of the UE 3. The specific process of the GMLC performing positioning on the UE 3 can refer to the description in the prior art, and will not be limited.

[0474] S905, the GMLC sends the absolute position of the UE 3 to the AMF.

[0475] S906, the AMF sends the absolute position of the UE 3 to the UE 2.

[0476] Optionally, if the fifth message comprises the second information, the method 900 further comprises: the AMF sends the absolute position of the UE 3 to the UE 3.

[0477] S907, the UE 2 determines the relative position between the UE 3 and the UE 2 according to the absolute position of the UE 2 and the absolute position of the UE 3.

[0478] Specifically, the UE 2 can utilize a geometric calculation method to determine the relative position between the UE 3 and the UE 2 according to the absolute position of the UE 2 and the absolute position of the UE 3.

[0479] Based on the above scheme, if UE2 cannot determine the relative position between UE3 and UE2, or if the accuracy of the relative position between UE2 and UE3 is low, UE2 can obtain the relative position between UE3 and UE2 with the assistance of UE1. Specifically, UE2 sends a fifth message to the AMF to request the absolute position of UE3; the AMF requests the absolute position of UE3 from the GMLC; the GMLC determines the absolute position of UE3 and sends the absolute position of UE3 to UE2 through the AMF; and UE2 determines the relative position between UE3 and UE2 based on the absolute position of UE3 and the absolute position of UE2. Thus, not only the relative positioning between UE2 and UE3 can be achieved, but also the accuracy of the relative position between UE3 and UE2 can be improved.

[0480] Figure 10 is a schematic flowchart of another method 1000 of position determination provided by the embodiments of the present application. The method 1000 can be used in the scenario that the LCS client requests the relative position between UE3 and UE2 from the GMLC. The method 1000 can include the following steps.

[0481] S1002, the LCS client sends a ninth message to the GMLC.

[0482] The ninth message can include the identity of UE2 and the identity of UE3. The identity can be a generic public subscription identity (GPSI).

[0483] The ninth message can be a LCS service request message.

[0484] Optionally, the ninth message includes at least one of the following: the accuracy of the relative position between UE3 and UE2, and the threshold of the relative position between UE3 and UE2. For the accuracy and the threshold, refer to the description above, which will not be repeated here.

[0485] Optionally, before step S1002, the method 1000 further includes step S1001. S1001, UE2 sends a tenth message to the LCS client. The tenth message is used to request the relative position between UE3 and UE2. Specifically, UE2 can send the tenth message to the LCS client through the application layer to request the relative position between UE3 and UE2; and after receiving the tenth message from the LCS client, UE2 sends the ninth message to the GMLC.

[0486] Optionally, the LCS client sends the ninth message to the GMLC includes that the LCS client sends the ninth message to the GMLC through the NEF.

[0487] S1003, the GMLC determines the relative position between UE3 and UE2.

[0488] Optionally, the GMLC obtains whether UE2 is allowed to obtain the absolute position of UE3 from the UDM or the PCF. Specifically, the GMLC obtains the LCS privacy profile from the UDM or the PCF, and the LCS privacy profile can include information of UEs allowed to obtain the absolute position of UE3. The GMLC determines the relative position between UE3 and UE2, including: if the UEs allowed to obtain the absolute position of UE3 include UE2, the GMLC determines the relative position between UE3 and UE2.

[0489] Optionally, if the ninth message includes the accuracy of the relative position between UE3 and UE2, the GMLC determines the relative position between UE3 and UE2 according to the accuracy of the relative position between UE3 and UE2. For the manner of determining the position based on the accuracy, reference can be made to the description above, and will not be repeated here.

[0490] Optionally, the GMLC determines the relative position between UE3 and UE2, including: the GMLC determines the relative position between UE3 and UE2 according to the absolute position of UE2 and the absolute position of UE3.

[0491] Specifically, the GMLC respectively locates UE2 and UE3 to determine the absolute position of UE2 and the absolute position of UE3, and the GMLC determines the relative position between UE3 and UE2 according to the absolute position of UE2 and the absolute position of UE3. For the specific process of the GMLC locating UE2 and UE3, reference can be made to the description in the prior art, and will not be limited.

[0492] S1004, the GMLC sends the relative position between UE3 and UE2 to the LCS client.

[0493] Optionally, if the ninth message includes the threshold of the relative position between UE3 and UE2, S1004 includes: the GMLC sends the relative position between UE3 and UE2 to UE2 according to the relative position between UE3 and UE2 and the threshold of the relative position between UE3 and UE2. For details, reference can be made to the description above, which will not be repeated here.

[0494] Optionally, the method 1000 further includes step S1005. S1005, the LCS client sends the relative position between UE3 and UE2 to UE2.

[0495] In a possible scenario, if UE2 sends a tenth message for requesting the relative location between UE3 and UE2 to the LCS client in step S1001, the LCS receives the relative location between UE3 and UE2 from the GMLS, and then sends the relative location between UE3 and UE2 to UE2.

[0496] Based on the above scheme, UE2 can obtain the relative location between UE3 and UE2 with the assistance of the GMLC. Specifically, UE2 sends a ninth message for requesting the relative location between UE3 and UE2 to the GMLC through the LCS client; the GMLC determines the relative location between UE3 and UE2 based on the ninth message, and sends the relative location between UE3 and UE2 to UE2. Thus, not only the relative positioning between UE2 and UE3 can be achieved, but also the accuracy of the relative location between UE3 and UE2 can be improved.

[0497] It can be understood that the method 1000 is mainly exemplarily described by taking the GMLC determining the relative location between UE3 and UE2 as an example, and the present application is not limited thereto. In an example, the relative location between UE3 and UE2 can also be determined by the LMF. Specifically, S1003 can be replaced by: the GMLC requests the relative location between UE3 and UE2 from the LMF through the AMF; the LMF determines the relative location between UE3 and UE2, and sends the relative location between UE3 and UE2 to the GMLC.

[0498] It can also be understood that the method 1000 can also determine the relative location between UE3 and UE2 by the NEF. For example, when the LCS client requests the relative location between UE3 and UE2, the LCS client can request the relative positioning from the NEF, and the NEF initiates the positioning of UE2 and UE3 to obtain the absolute locations of UE2 and UE3; the NEF determines the relative location between UE3 and UE2 according to the absolute location of UE2 and the absolute location of UE3. Wherein, the NEF initiates the positioning of UE2, specifically, the NEF requests the absolute location of UE2 from the GMLC; the NEF initiates the positioning of UE3, specifically, the NEF requests the absolute location of UE3 from the GMLC, and the NEF can determine the relative location between UE3 and UE2 according to the absolute location of UE2 and the absolute location of UE3.

[0499] The above introduces the scheme of assisting the second terminal device to obtain the relative location between the third terminal device and the second terminal device by the first terminal device, and the scheme of assisting the second terminal device to obtain the relative location between the third terminal device and the second terminal device by the network device. The following introduces the scheme of assisting the second terminal device to obtain the relative location between the third terminal device and the second terminal device by the third terminal device.

[0500] Figure 11 FIG. 11 is a schematic diagram of another method 1100 of position determination provided by an embodiment of the present application. The method 1100 can include the following steps.

[0501] S1101, the second terminal device sends an eleventh message to the third terminal device.

[0502] The eleventh message can be used to trigger the third terminal device to send the first relative position, or the eleventh message can be used to request the first relative position.

[0503] Correspondingly, the third terminal device receives the eleventh message from the second terminal device.

[0504] The first relative position is described above and will not be repeated.

[0505] The eleventh message is a PC5-RRC message or a PC5-S message.

[0506] The eleventh message can be an existing message, for example, a link modification request message; the eleventh message can also be a newly defined message, which can be referred to as a position request message or a relative position request message, without limitation.

[0507] Taking the eleventh message as the link modification request message as an example, one possible implementation manner is that the link modification request message can carry indication information used to trigger the third terminal device to send the first relative position. The indication information can be implemented by one or more bits. For example, 1 bit is used to indicate whether the link modification request message is used to trigger the third terminal device to send the first relative position. For example, if the bit is set to "1", it indicates that the link modification request message triggers the third terminal device to send the first relative position; if the bit is set to "0", it indicates that the link modification request message does not trigger the third terminal device to send the first relative position. Another possible implementation manner is that if the link modification request message is carried in a certain specific container (for example, a relative positioning request container), the link modification request message is used to trigger the third terminal device to send the first relative position.

[0508] S1102, the second terminal device receives a twelfth message from the third terminal device.

[0509] The twelfth message includes the first relative position.

[0510] Optionally, the method 1100 further includes: determining, by the third terminal device, the first relative position. For example, the third terminal device can determine the first relative position according to an eleventh message, wherein the third terminal device receives the eleventh message, and the third terminal device is triggered to determine the first relative position. The description of the second relative position is referred to the description above, and is not described herein again.

[0511] For determining the third relative position, the description of the relative position between UE1 and UE2 is referred to the description above, and is not described herein again.

[0512] S1103, determining, by the second terminal device, the second relative position according to the first relative position and the third relative position.

[0513] For the third relative position, the description is referred to the description above, and is not described herein again.

[0514] For example, according to the third relative position between the third terminal device and the first terminal device (i.e., the first relative position) received in step S1102, and the relative position between the second terminal device and the first terminal device (i.e., the third relative position), the first terminal device utilizes a geometric calculation method to obtain the relative position between the third terminal device and the second terminal device (i.e., the second relative position) according to the third relative position between the third terminal device and the first terminal device, and the relative position between the second terminal device and the first terminal device. In this example, how to utilize the geometric calculation method to obtain the relative position between the third terminal device and the second terminal device belongs to the prior art, and is not described herein again.

[0515] The second terminal device can obtain the relative position between the second terminal device and the first terminal device in two ways. One possible way is that the second terminal device determines the relative position between the second terminal device and the first terminal device. Another possible way is that the first terminal device determines the relative position between the second terminal device and the first terminal device, and sends the relative position between the second terminal device and the first terminal device to the second terminal device.

[0516] For the third relative position and the relative position between the second terminal device and the first terminal device, the description of the relative position between UE1 and UE2 is referred to the description above, and is not described herein again.

[0517] Optionally, in one implementation scenario of the above embodiment, the eleventh message in step S1101 includes the accuracy of the first relative position. Further optionally, the method 1100 further includes: determining, by the third terminal device, the first relative position according to the accuracy of the first relative position.

[0518] The accuracy of the first relative position can be used by the third terminal device to select a suitable transmission parameter when determining the first relative position. The transmission parameter can include at least one of a bandwidth used for transmitting and / or receiving a signal, and a beam used for transmitting and / or receiving a signal (e.g., a beam width used for transmitting and / or receiving a signal). For example, if the accuracy of the first relative position is high, it means that the error between the first relative position determined by the third terminal device and the actual first relative position is small, and thus when the third terminal device determines the first relative position, a larger bandwidth can be used for transmitting and / or receiving a signal (because the larger the bandwidth of a signal, the shorter the time slot for transmitting the signal, and the more accurate the calculated distance), and / or a finer beam can be used for transmitting and / or receiving a signal (because the finer the beam, the more accurate the direction).

[0519] The accuracy of the first relative position can be referred to the description above, and will not be repeated here.

[0520] Optionally, the eleventh message in step S1101 includes the accuracy of the first relative position, and the method 1100 further includes: obtaining, by the second terminal device, the accuracy of the first relative position and the accuracy of the third relative position according to the accuracy of the second relative position.

[0521] Taking distance as an example, if the accuracy of the second relative position includes the accuracy of the distance, and the accuracy of the distance is less than or equal to m, the second terminal device can determine that the accuracy of the first relative position is less than or equal to a1*m, and the accuracy of the second relative position is less than or equal to a2*m. Wherein a1 and a2 are numbers greater than 0 and less than 1. For example, the sum of a1 and a2 is less than or equal to 1, such as a1 and a2 are 0.5. Specifically, the error between the distance between the third terminal device and the first terminal device determined by the third terminal device (i.e., the distance between the third terminal device and the first terminal device measured by the third terminal device) and the actual distance between the third terminal device and the first terminal device is less than or equal to a1*m; the error between the distance between the second terminal device and the first terminal device determined by the second terminal device (i.e., the distance between the second terminal device and the first terminal device measured by the second terminal device) and the actual distance between the second terminal device and the first terminal device is less than or equal to a2*m.

[0522] For example, if the accuracy of the second relative position includes the accuracy of the angle, and the accuracy of the angle is less than or equal to d, the second terminal device can determine that the accuracy of the first relative position is less than or equal to b1*d, and the accuracy of the second relative position is less than or equal to b2*d. Wherein b1 and b2 are numbers greater than 0 and less than 1, for example, the sum of b1 and b2 is less than or equal to 1, such as b1 and b2 are 0.5. Specifically, the error between the angle between the third terminal device and the first terminal device determined by the third terminal device (i.e., the angle between the third terminal device and the first terminal device measured by the third terminal device) and the actual angle between the third terminal device and the first terminal device is less than or equal to b1*d; the error between the angle between the second terminal device and the first terminal device determined by the second terminal device (i.e., the angle between the second terminal device and the first terminal device measured by the second terminal device) and the actual angle between the second terminal device and the first terminal device is less than or equal to b2*d.

[0523] Optionally, in another implementation scenario of the above embodiment, the method 1100 further includes: the first terminal device sends a third message. For the third message, refer to the description in the method 300, which will not be repeated here. Wherein, the third message can include the information of the third terminal device, which can be, for example, the identifier of the third terminal device. Further, the step S1101 can include: the second terminal device receives the third message from the first terminal device, and if the third message includes the information of the third terminal device, the second terminal device sends an eleventh message to the third terminal device.

[0524] For example, the first terminal device establishes a communication connection with one or more terminal devices, which include the third terminal device; the first terminal device sends a third message, which is used to broadcast the information of the terminal device (i.e., the information of the one or more terminal devices) that establishes a communication connection with the first terminal device, and the information of the terminal device broadcast by the third message that establishes a communication connection with the first terminal device includes the information (such as the identifier) of the third terminal device; after the second terminal device receives the third message from the first terminal device, the second terminal device can send an eleventh message to the third terminal device to request the relative position between the third terminal device and the first terminal device.

[0525] For another example, the first terminal device has learned absolute positions of one or more terminal devices, the one or more terminal devices including the third terminal device; the first terminal device sends a third message, the third message being used for broadcasting information of the terminal devices whose absolute positions the first terminal device has learned (i.e., information of the one or more terminal devices), the information of the terminal devices whose absolute positions the first terminal device has learned broadcasted by the third message including information of the third terminal device (e.g., an identifier of the third terminal device); after receiving the third message from the first terminal device, the second terminal device can send an eleventh message to the third terminal device to request a relative position between the third terminal device and the first terminal device.

[0526] For another example, the first terminal device has learned relative positions between the first terminal device and one or more terminal devices, the one or more terminal devices including the third terminal device; the first terminal device sends a third message, the third message being used for broadcasting information of the terminal devices whose relative positions the first terminal device has learned (i.e., information of the one or more terminal devices), the information of the terminal devices whose relative positions the first terminal device has learned broadcasted by the third message including information of the third terminal device (e.g., an identifier of the third terminal device); after receiving the third message from the first terminal device, the second terminal device can send an eleventh message to the third terminal device to request a relative position between the third terminal device and the first terminal device.

[0527] Optionally, in another implementation scenario of the above embodiment, the method 1100 further includes that the second terminal device sends a fourth message, the fourth message being used for discovering a terminal device that assists in positioning the third terminal device.

[0528] The fourth message can include information of the third terminal device.

[0529] Correspondingly, the second terminal device receives a response message to the fourth message from the first terminal device.

[0530] For the fourth message, refer to the description in the method 300, which will not be repeated here.

[0531] Optionally, in another implementation scenario of the above embodiment, the eleventh message includes information of the first terminal device.

[0532] The information of the first terminal device is used by the third terminal device to determine the relative position for the first terminal device, i.e., the third terminal device determines a relative position between the third terminal device and the first terminal device.

[0533] Optionally, in another implementation scenario of the above-mentioned embodiments, the eleventh message comprises a positioning time, the positioning time being used to represent a time for determining the first relative position. The time for determining the first relative position can also be understood as a time for obtaining or calculating the first relative position. After receiving the positioning time, the third terminal device determines the first relative position according to the positioning time. Further optionally, the method 1100 further comprises: determining, by the second terminal device, the third relative position according to the positioning time.

[0534] The positioning time can also be referred to as a scheduled positioning time. The positioning time can be a time point or a time period, which is not limited.

[0535] The "determining, by the second terminal device, the third relative position according to the positioning time" can include any of the following cases.

[0536] As a first possible case, the second terminal device determines the relative position between the second terminal device and the first terminal device at the positioning time (i.e., at the above-mentioned time point or within the above-mentioned time period). For example, the second terminal device sends a ranging signal to the first terminal device at the positioning time, the first terminal device sends a feedback signal to the second terminal device after receiving the ranging signal, and the second terminal device calculates the distance between the second terminal device and the first terminal device according to the time difference between sending the ranging signal and receiving the feedback signal. For another example, the second terminal device sends the positioning time to the first terminal device, the first terminal device sends a ranging signal to the second terminal device at the positioning time, and the second terminal device determines the angle or direction between the second terminal device and the first terminal device according to the received ranging signal.

[0537] As a second possible case, the second terminal device determines the relative position between the second terminal device and the first terminal device within a preset time period before the positioning time. For example, the second terminal device sends a ranging signal to the first terminal device within the preset time period before the positioning time, the first terminal device sends a feedback signal to the second terminal device after receiving the ranging signal, and the second terminal device calculates the distance between the second terminal device and the first terminal device according to the time difference between sending the ranging signal and receiving the feedback signal. For another example, the second terminal device sends the positioning time to the first terminal device, the first terminal device sends a ranging signal to the second terminal device within the preset time period before the positioning time, and the second terminal device determines the angle or direction between the second terminal device and the first terminal device according to the received ranging signal.

[0538] The above two cases are mainly described by taking the second terminal device determining the third relative position as an example. As described above, the first terminal device can also determine the third relative position and send the third relative position to the second terminal device. If the first terminal device determines the third relative position and sends the third relative position to the second terminal device, the method 1100 further includes: the second terminal device sends a positioning time to the first terminal device, and the first terminal device determines the third relative position according to the positioning time. For the scheme that the first terminal device determines the third relative position according to the positioning time, reference can be made to the above two cases, which will not be described here.

[0539] The "third terminal device determines the first relative position according to the positioning time" can include any of the following cases.

[0540] As a first possible case, the third terminal device determines the relative position between the third terminal device and the first terminal device according to the positioning time. Specifically, reference can be made to the description of the first possible case in the above description of the second terminal device determining the third relative position according to the positioning time.

[0541] As a second possible case, the third terminal device determines the relative position between the third terminal device and the first terminal device within a preset time period before the positioning time. Specifically, reference can be made to the description of the second possible case in the above description of the second terminal device determining the third relative position according to the positioning time.

[0542] Optionally, in another implementation scenario of the above embodiment, the eleventh message in step S1101 includes the accuracy of the first relative position and the positioning time. Further optionally, the method 1100 further includes: the third terminal device determines the first relative position according to the accuracy of the first relative position and the positioning time.

[0543] In the first example, taking the accuracy of the distance as the accuracy of the first relative position as an example, it is assumed that the accuracy of the first relative position is less than or equal to a1*m.

[0544] As a first possible case, the third terminal device determines the relative position between the third terminal device and the first terminal device according to the positioning time, and the error between the distance between the third terminal device and the first terminal device determined by the third terminal device according to the positioning time and the actual distance between the third terminal device and the first terminal device is less than or equal to a1*m.

[0545] As a second possible case, the third terminal device determines the relative position between the third terminal device and the first terminal device within a preset time period before the positioning time, and an error between the angle between the third terminal device and the first terminal device determined by the third terminal device within the preset time period before the positioning time and the actual angle between the third terminal device and the first terminal device is less than or equal to b1*d.

[0546] In a second example, taking the accuracy of the first relative position as an example, it is assumed that the accuracy of the first relative position is less than or equal to b1*d.

[0547] As a first possible case, the third terminal device determines the relative position between the third terminal device and the first terminal device according to the positioning time, and an error between the angle between the third terminal device and the first terminal device determined by the third terminal device according to the positioning time and the actual angle between the third terminal device and the first terminal device is less than or equal to b1*d.

[0548] As a second possible case, the third terminal device determines the relative position between the third terminal device and the first terminal device within a preset time period before the positioning time, and an error between the angle between the third terminal device and the first terminal device determined by the third terminal device within the preset time period before the positioning time and the actual angle between the third terminal device and the first terminal device is less than or equal to b1*d.

[0549] It should be noted that the first example and the second example can be combined and are not limited.

[0550] For ease of understanding, the following describes the first example and the second example in combination. Figure 12 The embodiments of the present application are exemplarily described. In the following examples, it is assumed that the first terminal device is UE1, the second terminal device is UE2, and the third terminal device is UE3. The steps involved can be referred to the description above.

[0551] Figure 12 FIG. 12 is a schematic flowchart of a method 1200 for position determination provided by an embodiment of the present application. The method 1200 can be used in a scenario where UE2 determines the relative position between UE3 and UE2. The method 500 can include the following steps.

[0552] S1201, UE2 determines the relative position between UE3 and UE2.

[0553] S1202, UE2 determines the device for assisting in positioning UE3.

[0554] Steps S1201-S1202 are similar to steps S501-S502, and are not described herein again.

[0555] S1203, UE2 sends a eleventh message to UE3.

[0556] The eleventh message can be used to trigger UE3 to send the relative position between UE3 and UE1, or the eleventh message can be used to request the relative position between UE3 and UE1. The relative position between UE3 and UE1 includes at least one of the following: the distance between UE3 and UE1, or the angle between UE3 and UE1.

[0557] Optionally, the eleventh message includes at least one of the following: the accuracy of the relative position between UE3 and UE1, the identity of UE1, or the positioning time.

[0558] The accuracy of the relative position between UE3 and UE1 can include at least one of the following: the accuracy of the distance between UE3 and UE1, or the accuracy of the angle between UE3 and UE1. For example, the accuracy of the distance between UE3 and UE1 is less than or equal to m, which means that the error between the measured distance between UE3 and UE1 and the actual distance between UE3 and UE1 does not exceed m. For another example, the accuracy of the angle between UE3 and UE1 is less than or equal to d, which means that the error between the measured angle between UE3 and UE1 and the actual angle between UE3 and UE1 does not exceed d.

[0559] The accuracy and the positioning time can refer to the related description in the foregoing, and will not be described here.

[0560] In step S1203, UE2 can send the eleventh message to UE3 directly, or if there is no communication connection between UE2 and UE3, UE2 can send the eleventh message to UE3 through UE1, that is, UE1 can act as a relay UE between UE2 and UE3. When UE2 sends the eleventh message to UE3 through UE1, UE2 sends the eleventh message to UE1, and UE1 sends the eleventh message to UE3.

[0561] S1204, UE3 determines the relative position between UE3 and UE1 based on the eleventh message.

[0562] In one possible implementation, UE3 and UE1 perform relative positioning to determine the relative position between UE3 and UE1.

[0563] Optionally, if the eleventh message in step S1203 includes the accuracy of the relative position between UE3 and UE1, step S1204 includes: UE3 determines the relative position between UE3 and UE1 according to the accuracy of the relative position between UE3 and UE1.

[0564] For example, if the accuracy of the relative position between UE3 and UE1 includes the accuracy of the distance, and the accuracy of the distance is less than 0.4 meters, then the error between the distance between UE3 and UE1 determined by UE3 and the actual distance between UE3 and UE1 is less than 0.4 meters. It should be understood that 0.4 meters here is an example for illustration, and the present application is not limited thereto.

[0565] For example, if the accuracy of the relative position between UE3 and UE1 includes the accuracy of the angle, and the accuracy of the angle is less than 1 degree, then the error between the angle between UE3 and UE1 determined by UE3 and the actual angle between UE3 and UE1 is less than 1 degree. It should be understood that 1 degree here is an example for illustration, and the present application is not limited thereto.

[0566] Optionally, if the eleventh message in step S1203 includes the positioning time, then S1204 includes: determining, by UE3, the relative position between UE3 and UE1 at the positioning time according to the accuracy of the relative position between UE3 and UE1.

[0567] Optionally, if the eleventh message in step S1203 includes the positioning time and the accuracy of the relative position between UE3 and UE1, then S1204 includes: determining, by UE3, the relative position between UE3 and UE1 at the positioning time according to the accuracy of the relative position between UE3 and UE1.

[0568] S1205, UE3 sends a twelfth message to UE2, the twelfth message including the relative position between UE3 and UE1.

[0569] The eleventh message in step S1203 is used to request the relative position between UE3 and UE1, so step S1205 includes: UE3 sends a twelfth message to UE2, the twelfth message including the relative position between UE3 and UE1.

[0570] S1206, UE2 determines the relative position between UE3 and UE2.

[0571] The determination of the relative position between UE3 and UE2 by UE2 can include: determining, by UE2, the relative position between UE3 and UE2 according to the relative position between UE3 and UE1 and the relative position between UE2 and UE1.

[0572] The relative position between UE2 and UE1 can be obtained in the following manner.

[0573] In one approach, UE2 determines the relative position between UE2 and UE1. Specifically, UE2 performs relative positioning with UE1 to determine the relative position between UE2 and UE1. Based on this approach, if the eleventh message in step S1203 includes a positioning time, then optionally, UE2 determines the relative position between UE2 and UE1 at that positioning time.

[0574] Alternatively, UE2 obtains the relative position between UE2 and UE1 from UE1.

[0575] Based on the above scheme, if UE2 cannot determine the relative position between UE3 and UE2, or if the accuracy of the relative position between UE2 and UE3 is low, UE2 can obtain the relative position between UE3 and UE2 with the assistance of UE3. Specifically, UE2 sends an eleventh message to UE3, requesting the relative position between UE3 and UE1; UE3 determines the relative position between UE3 and UE1 based on the eleventh message, and sends the relative position between UE3 and UE1 to UE2; UE2 determines the relative position between UE3 and UE2 based on the relative position between UE3 and UE1, and the relative position between UE2 and UE1. This not only achieves relative positioning between UE2 and UE3, but also improves the accuracy of the relative position between UE2 and UE3.

[0576] It is understood that in the embodiments of this application... Figures 5 to 12 The examples provided are merely to facilitate understanding of the embodiments of this application by those skilled in the art, and are not intended to limit the embodiments of this application to the specific scenarios illustrated. Figures 5 to 12 The examples are obviously subject to various equivalent modifications or changes, and such modifications or changes also fall within the scope of the embodiments of this application.

[0577] It is also understood that some optional features in the various embodiments of this application may not depend on other features in some scenarios, or may be combined with other features in some scenarios, without limitation.

[0578] It is also understood that the solutions in the various embodiments of this application can be used in reasonable combinations, and the explanations or descriptions of the various terms appearing in the embodiments can be referenced or explained to each other in the various embodiments, without limitation.

[0579] It should also be understood that the numerical sequence numbers in the various embodiments of this application do not imply the order of execution, but are merely distinctions for ease of description and should not constitute any limitation on the implementation process of the embodiments of this application. For example, in method 900, step S902 can be performed simultaneously with steps S903-S906, that is, UE2 can simultaneously obtain the absolute position of UE2 and the absolute position of UE3.

[0580] It should also be understood that some message names are involved in the embodiments of the present application, and the naming does not limit the protection scope of the embodiments of the present application.

[0581] It should also be understood that the methods and operations implemented by the terminal device in the above method embodiments can also be implemented by the constituent components (such as chips or circuits) of the terminal device, and the methods and operations implemented by the network device can also be implemented by the constituent components (such as chips or circuits) of the network device, without limitation.

[0582] Corresponding to the methods given in the above method embodiments, the embodiments of the present application also provide corresponding devices, which include modules for performing the corresponding modules of the above method embodiments. The module can be software, hardware, or a combination of software and hardware. It can be understood that the technical features described in the above method embodiments are also applicable to the following device embodiments.

[0583] Figure 13 is a schematic block diagram of a device for position determination provided by the embodiments of the present application. The device 1300 includes a transceiver unit 1310. The transceiver unit 1310 can be used to implement the corresponding communication function. The transceiver unit 1310 can also be referred to as a communication interface or a communication unit.

[0584] Optionally, the device 1300 further includes a processing unit 1320. The processing unit 1320 can be used for data processing.

[0585] Optionally, the device 1300 further includes a storage unit, which can be used to store instructions and / or data. The processing unit 1320 can read the instructions and / or data in the storage unit, so that the device implements the actions of the network device or different terminal devices in the above method embodiments.

[0586] In the first design, the device 1300 can be the first terminal device in the above embodiments, or a constituent component (such as a chip) of the first terminal device. The device 1300 can implement the steps or processes corresponding to the steps or processes performed by the first terminal device in the above method embodiments, wherein the transceiver unit 1310 can be used to perform the transceiver-related operations of the first terminal device in the above method embodiments, and the processing unit 1320 can be used to perform the processing-related operations of the first terminal device in the above method embodiments.

[0587] In a possible implementation, the transceiver 1310 is configured to receive a first message from a second terminal device, where the first message is used to request a first target position, and the first target position comprises at least one of a first relative position, an absolute position of a third terminal device, or a second relative position, where the first relative position is used to represent a relative position between the third terminal device and the first terminal device, and the second relative position is used to represent a relative position between the third terminal device and the second terminal device; and the transceiver 1310 is further configured to send, to the second terminal device, a second message comprising the first target position according to the first message.

[0588] Optionally, the processing unit 1320 is configured to determine the first target position.

[0589] Optionally, the first target position comprises the second relative position, and the processing unit 1320 is configured to determine the first target position by: determining the first relative position; determining a third relative position, where the third relative position is used to represent a relative position between the second terminal device and the first terminal device; and determining the second relative position according to the first relative position and the third relative position.

[0590] Optionally, the first target position comprises the second relative position, and the processing unit 1320 is configured to determine the first target position by: determining an absolute position of the second terminal device; determining an absolute position of the third terminal device; and determining the second relative position according to the absolute position of the second terminal device and the absolute position of the third terminal device.

[0591] Optionally, the first target position comprises the absolute position of the third terminal device, and the processing unit 1320 is configured to determine the first target position by: determining the first relative position; and determining the absolute position of the third terminal device according to the first relative position and an absolute position of the first terminal device.

[0592] Optionally, the first message comprises an accuracy of the first target position, and the processing unit 1320 is configured to determine the first target position according to the accuracy of the first target position.

[0593] Optionally, the first target position comprises the second relative position, and the processing unit 1320 is configured to obtain a first accuracy and a second accuracy according to the accuracy of the first target position; and the processing unit 1320 is configured to determine the first target position according to the accuracy of the first target position, including: the processing unit 1320 is configured to determine the first relative position according to the first accuracy; determine the third relative position according to the second accuracy; and determine the second relative position according to the first relative position and the third relative position.

[0594] Optionally, the first message comprises first information, and the first information is used to trigger the first terminal device to send the first target position to the third terminal device, and the transceiver 1310 is further configured to send the first target position to the third terminal device.

[0595] Optionally, the first target position comprises the second relative position, and the first message comprises a threshold of the second relative position, and the transceiver 1310 is configured to send a second message to the second terminal device, including: the transceiver 1310 is configured to send the second message to the second terminal device according to the second relative position and the threshold of the second relative position, and the second message comprises the second relative position.

[0596] Optionally, the transceiver 1310 is further configured to send a third message, and the third message is used to broadcast information of a terminal device that establishes a communication connection with the first terminal device, or the third message is used to broadcast information of a terminal device whose position is known by the first terminal device, and the third message comprises information of the third terminal device.

[0597] Optionally, the transceiver 1310 is further configured to receive a fourth message from the second terminal device, and the fourth message is used to discover a terminal device that assists in positioning the third terminal device, and the fourth message comprises information of the third terminal device; and if the first terminal device satisfies a preset condition, the transceiver 1310 is further configured to send a response message of the fourth message to the second terminal device.

[0598] Optionally, the first relative position comprises at least one of a distance or an angle, and the second relative position comprises at least one of a distance or an angle.

[0599] In a second design, the apparatus 1300 can be or can include a component (e.g., a chip) of the second terminal device in the foregoing embodiments. The apparatus 1300 can implement the steps or procedures performed by the second terminal device in the method embodiments described above, where the transceiver 1310 is configured to perform the transceiving-related operations of the second terminal device in the method embodiments described above, and the processor 1320 is configured to perform the processing-related operations of the second terminal device in the method embodiments described above.

[0600] In a possible implementation, the transceiver 1310 is configured to send a first message to a first terminal device, where the first message is used to request a first target position, and the first target position includes at least one of a first relative position, an absolute position of a third terminal device, or a second relative position, where the first relative position is used to represent a relative position between the third terminal device and the first terminal device, and the second relative position is used to represent a relative position between the third terminal device and the second terminal device. The transceiver 1310 is further configured to receive a second message from the first terminal device, where the second message includes the first target position. The processor 1320 is configured to obtain the second relative position according to the second message.

[0601] Optionally, the first message includes at least one of an accuracy of the first target position, a threshold of the second relative position, or first information, where the first information is used to trigger the first terminal device to send the first target position to the third terminal device.

[0602] Optionally, the transceiver 1310 is configured to send the first message to the first terminal device, including: if the relative position between the third terminal device and the second terminal device stored by the second terminal device does not satisfy a preset condition, the transceiver 1310 is configured to send the first message to the first terminal device.

[0603] Optionally, the transceiver 1310 is further configured to receive a third message from the first terminal device, where the third message is used to broadcast information of a terminal device that establishes a communication connection with the first terminal device, or the third message is used to broadcast information of a terminal device whose position is known by the first terminal device, and the fourth message includes information of the third terminal device.

[0604] Optionally, before the second terminal device sends the first message to the first terminal device, the transceiver 1310 is further configured to: send a fourth message, where the fourth message is used to discover a terminal device that assists in positioning the third terminal device, and the fourth message includes information of the third terminal device; and receive a response message of the fourth message from the first terminal device.

[0605] Optionally, the second relative position comprises at least one of: a distance or an angle.

[0606] In a further possible implementation form of the network device, the transceiver 1310 is configured to transmit a fifth message to the second terminal device, the fifth message being configured to trigger the second terminal device to transmit a second target position to a third terminal device, the second target position comprising at least one of: a second relative position or an absolute position of the second terminal device, wherein the second relative position is configured to represent a relative position between the third terminal device and the second terminal device; and the transceiver 1310 is further configured to receive a sixth message from the third terminal device, the sixth message comprising the second target position; and the processing unit 1320 is configured to obtain the second relative position based on the sixth message.

[0607] Optionally, the fifth message comprises at least one of: an accuracy of the second target position, a threshold of the second relative position, or second information, wherein the second information is configured to trigger the third terminal device to transmit the second target position to the second terminal device.

[0608] Optionally, the transceiver 1310 is configured to transmit the fifth message to the network device, comprising: if the relative position between the third terminal device and the second terminal device stored by the second terminal device does not satisfy a preset condition, the transceiver 1310 is configured to transmit the fifth message to the network device.

[0609] Optionally, the second relative position comprises at least one of: a distance or an angle.

[0610] In a further possible implementation form of the network device, the transceiver 1310 is configured to transmit an eleventh message to the third terminal device, the eleventh message being configured to trigger the third terminal device to transmit a first relative position, the first relative position being configured to represent a relative position between the third terminal device and a first terminal device; and the transceiver 1310 is further configured to receive a twelfth message from the third terminal device, the twelfth message comprising the first relative position; and the processing unit 1320 is configured to determine a second relative position based on the first relative position and a third relative position, wherein the third relative position is configured to represent a relative position between the second terminal device and the first terminal device, and the second relative position is configured to represent a relative position between the third terminal device and the second terminal device.

[0611] Optionally, the processing unit 1320 is further configured to determine the third relative position.

[0612] Optionally, the eleventh message comprises an accuracy of the first relative position.

[0613] Optionally, the processing unit 1320 is further configured to obtain the accuracy of the first relative position and the accuracy of the third relative position according to the accuracy of the second relative position.

[0614] Optionally, the transceiver 1310 is further configured to receive a third message from the first terminal device, the third message being used for broadcasting information of a terminal device that establishes a communication connection with the first terminal device, or the third message being used for broadcasting information of a terminal device whose position is known to the first terminal device, wherein the third message comprises information of the third terminal device.

[0615] Optionally, the transceiver 1310 is further configured to send a fourth message, the fourth message being used for discovering a terminal device that assists in positioning the third terminal device, wherein the fourth message comprises information of the third terminal device; and the transceiver 1310 is further configured to receive a response message of the fourth message from the first terminal device.

[0616] Optionally, the eleventh message comprises information of the first terminal device.

[0617] Optionally, the eleventh message comprises a positioning time, the positioning time being used for representing a time of determining the first relative position.

[0618] Optionally, the first relative position comprises at least one of a distance or an angle; the second relative position comprises at least one of a distance or an angle; and the third relative position comprises at least one of a distance or an angle.

[0619] In a third design, the apparatus 1300 can be a network device in the foregoing embodiments, or a component (such as a chip) of the network device. The apparatus 1300 can implement steps or processes performed by the network device in the foregoing method embodiments, wherein the transceiver 1310 is configured to perform transceiving-related operations of the network device in the foregoing method embodiments, and the processing unit 1320 is configured to perform processing-related operations of the network device in the foregoing method embodiments.

[0620] In a possible implementation, the transceiver 1310 is configured to receive a fifth message from a second terminal device, the fifth message being used for triggering sending of a second target position to the second terminal device, the second target position comprising at least one of a second relative position or an absolute position of the third terminal device, wherein the second relative position is used for representing a relative position between the third terminal device and the second terminal device; and the transceiver 1310 is further configured to send a sixth message to the second terminal device according to the fifth message, the sixth message comprising the second target position.

[0621] Optionally, the processing unit 1320 is configured to determine the second target position.

[0622] Optionally, the second target position comprises a second relative position, and the processing unit 1320 is configured to determine the second target position by: determining an absolute position of the second terminal device; determining an absolute position of the third terminal device; and determining the second relative position according to the absolute position of the second terminal device and the absolute position of the third terminal device.

[0623] Optionally, the fifth message comprises at least one of: an accuracy of the second target position, a threshold of the second relative position, or second information; and the second information is used to trigger the network device to send the second target position to the third terminal device.

[0624] Optionally, when the fifth message comprises the accuracy of the second target position, the processing unit 1320 is configured to determine the second target position according to the accuracy of the second target position.

[0625] Optionally, the second target position comprises an absolute position of the third terminal device and an absolute position of the second terminal device, and the processing unit 1320 is configured to determine the second target position according to the accuracy of the second target position by: obtaining a third accuracy and a fourth accuracy according to the accuracy of the second target position; determining the absolute position of the second terminal device according to the third accuracy; and determining the absolute position of the third terminal device according to the fourth accuracy.

[0626] Optionally, when the fifth message comprises the second information, the transceiver 1310 is further configured to send the second target position to the third terminal device.

[0627] Optionally, the second target position comprises a second relative position, and when the fifth message comprises a threshold of the second relative position, the transceiver 1310 is configured to send a sixth message to the second terminal device, the sixth message comprising the second target position, by: sending the sixth message to the second terminal device, the sixth message comprising the second relative position, according to the second relative position and the threshold of the second relative position.

[0628] Optionally, the second relative position comprises at least one of: a distance or an angle.

[0629] In the four designs, the apparatus 1300 can be the third terminal device in the foregoing embodiments, or a component (such as a chip) of the third terminal device. The apparatus 1300 can implement steps or processes corresponding to those performed by the third terminal device in the foregoing method embodiments, wherein the transceiver 1310 is configured to perform operations related to receiving and sending of the third terminal device in the foregoing method embodiments, and the processing unit 1320 is configured to perform operations related to processing of the third terminal device in the foregoing method embodiments.

[0630] In a possible implementation, the transceiver 1310 is configured to receive an eleventh message from the second terminal device, the eleventh message being used to trigger the third terminal device to send a first relative position, the first relative position being used to represent a relative position between the third terminal device and the first terminal device; and the transceiver 1310 is further configured to send a twelfth message to the second terminal device, the twelfth message comprising the first relative position.

[0631] Optionally, the processing unit 1320 is configured to determine the first relative position.

[0632] Optionally, the eleventh message comprises an accuracy of the first relative position; and the processing unit 1320 is configured to determine the first relative position by determining the first relative position according to the accuracy of the first relative position.

[0633] Optionally, the eleventh message comprises information of the first terminal device.

[0634] Optionally, the eleventh message comprises a positioning time, the positioning time being used to represent a time of determining the first relative position; and the processing unit 1320 is configured to determine the first relative position by determining the first relative position according to the positioning time.

[0635] Optionally, the first relative position comprises at least one of a distance or an angle.

[0636] It should be understood that the specific process by which each unit performs the corresponding steps described above has been described in detail in the method embodiments described above, and thus will not be described again here for brevity.

[0637] It should also be understood that the apparatus 1300 herein is embodied in the form of functional units. The term “unit” herein can refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor (for example, a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combination of logic circuitry and / or other suitable components that support the described functions. In an optional example, those skilled in the art can understand that the apparatus 1300 can be specifically embodied as the first terminal device in the above-described embodiments, and can be used to perform the processes and / or steps corresponding to the first terminal device in the above-described method embodiments. Alternatively, the apparatus 1300 can be specifically embodied as the second terminal device in the above-described embodiments, and can be used to perform the processes and / or steps corresponding to the second terminal device in the above-described method embodiments. To avoid repetition, these will not be described again here.

[0638] The apparatus 1300 of each of the above-mentioned solutions has a function of implementing the corresponding steps performed by the terminal device (e.g., the first terminal device or the second terminal device) in the above-mentioned methods, or the apparatus 1300 of each of the above-mentioned solutions has a function of implementing the corresponding steps performed by the network device in the above-mentioned methods. The function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-mentioned functions; for example, the transceiver unit can be replaced by a transceiver (e.g., the transmitting unit in the transceiver unit can be replaced by a transmitter, and the receiving unit in the transceiver unit can be replaced by a receiver), and other units such as the processing unit can be replaced by a processor, which respectively performs the transceiving operations and related processing operations in each method embodiment.

[0639] In addition, the transceiver unit 1310 can also be a transceiver circuit (e.g., which can include a receiving circuit and a transmitting circuit), and the processing unit can be a processing circuit.

[0640] It should be noted that, Figure 13 The apparatus in the above-mentioned solutions can be a network element or device in the above-mentioned embodiments, or a chip or chip system, such as a system on chip (SoC). The transceiver unit can be an input / output circuit or a communication interface, and the processing unit can be a processor or microprocessor integrated on the chip or an integrated circuit. In this regard, no limitation is made.

[0641] As shown in Figure 14 , the embodiment of the present application provides another apparatus 1400 for position determination. The apparatus 1400 includes a processor 1410, which is configured to execute computer programs or instructions stored in a memory 1420, or read data stored in the memory 1420, to perform the methods in the above method embodiments. Optionally, the processor 1410 is one or more.

[0642] Optionally, as shown in Figure 14 , the apparatus 1400 further includes the memory 1420, which is configured to store computer programs or instructions and / or data. The memory 1420 can be integrated with the processor 1410, or can be separately arranged. Optionally, the memory 1420 is one or more.

[0643] Optionally, as shown in Figure 14 , the apparatus 1400 further includes a transceiver 1430, which is configured to receive and / or send signals. For example, the processor 1410 is configured to control the transceiver 1430 to receive and / or send signals.

[0644] As a solution, the apparatus 1400 is configured to implement the operations performed by the terminal device in the above-mentioned method embodiments.

[0645] For example, the processor 1410 is configured to execute the computer programs or instructions stored in the memory 1420 to implement the related operations of the first terminal device in any one of the above method embodiments. For example, Figure 3 the method performed by the first terminal device in the illustrated embodiment, or Figures 5 to 6 the method performed by the UE1 in any one of the illustrated embodiments.

[0646] For another example, the processor 1410 is configured to execute the computer programs or instructions stored in the memory 1420 to implement the related operations of the second terminal device in any one of the above method embodiments. For example, Figure 3 or Figure 4 or Figure 11 the method performed by the second terminal device in the illustrated embodiment, or Figures 5 to 10 , and Figure 12 the method performed by the UE2 in any one of the illustrated embodiments.

[0647] For another example, the processor 1410 is configured to execute the computer programs or instructions stored in the memory 1420 to implement the related operations of the second terminal device in any one of the above method embodiments. For example, Figure 11 the method performed by the third terminal device in the illustrated embodiment, or Figure 12 the method performed by the UE3 in the illustrated embodiment.

[0648] As another solution, the apparatus 1400 is configured to implement the operations performed by the network device in any one of the above method embodiments.

[0649] For example, the processor 1410 is configured to execute the computer programs or instructions stored in the memory 1420 to implement the related operations of the network device in any one of the above method embodiments. For example, Figure 4 the method performed by the network device in the illustrated embodiment, or Figures 7 to 10 the method performed by the AMF or GMLC in any one of the illustrated embodiments.

[0650] It should be understood that the processor mentioned in the embodiments of the present application can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0651] It should also be appreciated that the memory referenced in the embodiments described herein can be volatile memory and / or nonvolatile memory. The nonvolatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), electrically EPROM (EEPROM), or flash memory, among others. The volatile memory can be random access memory (RAM), for example. The RAM can be used as external cache memory. By way of example and not limitation, RAM includes forms of memory such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0652] It should be noted that when the processor is a general processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) can be integrated in the processor.

[0653] It should also be noted that the memory described herein is intended to include, but not be limited to, these and any other suitable type of memory.

[0654] The embodiments of the present application also provide a computer readable storage medium, which stores computer instructions for implementing the method executed by the terminal device or the network device in each of the above method embodiments.

[0655] For example, the computer program is executed by a computer, so that the computer can implement the method executed by the first terminal device or the second terminal device in each of the above method embodiments.

[0656] For another example, the computer program is executed by a computer, so that the computer can implement the method executed by the network device in each of the above method embodiments.

[0657] The embodiments of the present application further provide a computer program product comprising instructions which, when executed by a computer, implement the method performed by the terminal device or the network device in any of the above method embodiments.

[0658] The embodiments of the present application further provide a system for position determination, comprising one or more of the first terminal device, the second terminal device, the third terminal device, the network device, and the AF (e.g., the LCS client).

[0659] The explanations and beneficial effects of the related contents in any of the above provided devices can refer to the corresponding method embodiments provided above, and will not be repeated here.

[0660] In several embodiments provided by the present application, it should be understood that the disclosed apparatus and method can be implemented by other means. For example, the apparatus embodiments described above are only illustrative, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed units can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0661] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable apparatus. For example, the computer can be a personal computer, a server, a network device, etc. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transferred from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media sets. The available media can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD), etc. For example, the foregoing available media includes but is not limited to: a variety of media that can store program codes such as a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0662] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of position determination, characterized by, The method comprises: a first terminal device sending a third message, the third message being used for broadcasting information of a terminal device whose position is known by the first terminal device, the third message comprising information of a third terminal device, the third message indicating that the first terminal device is a device assisting in positioning the third terminal device; the first terminal device receiving a first message from a second terminal device, the first message being used for requesting a first target position, the first target position comprising at least one of the following: a first relative position, an absolute position of the third terminal device, or a second relative position, wherein the first relative position is used for representing a relative position between the third terminal device and the first terminal device, and the second relative position is used for representing a relative position between the third terminal device and the second terminal device; the first terminal device sending a second message to the second terminal device according to the first message, the second message comprising the first target position.

2. The method of claim 1, wherein, The method further comprises: the first terminal device determining the first target position.

3. The method of claim 2, wherein, the first target position comprising the second relative position, the first terminal device determining the first target position comprises: the first terminal device determining the first relative position; the first terminal device determining a third relative position, wherein the third relative position is used for representing a relative position between the second terminal device and the first terminal device; the first terminal device determining the second relative position according to the first relative position and the third relative position.

4. The method of claim 2, wherein, the first target position comprising the second relative position, the first terminal device determining the first target position comprises: the first terminal device obtaining an absolute position of the second terminal device; the first terminal device obtaining an absolute position of the third terminal device; the first terminal device determining the second relative position according to the absolute position of the second terminal device and the absolute position of the third terminal device.

5. The method of claim 2, wherein, the first target position comprising the absolute position of the third terminal device, the first terminal device determining the first target position comprises: the first terminal device determining the first relative position; the first terminal device determining the absolute position of the third terminal device according to the first relative position and an absolute position of the first terminal device.

6. The method of claim 1, wherein, The first message comprises an accuracy of the first target position, and the method further comprises: the first terminal device determining the first target position according to the accuracy of the first target position.

7. The method of claim 6, wherein, the first target position comprising the second relative position, and the method further comprises: the first terminal device obtaining a first accuracy and a second accuracy according to the accuracy of the first target position; the first terminal device determining the first target position according to the accuracy of the first target position comprises: the first terminal device determining the first relative position according to the first accuracy; the first terminal device determining a third relative position according to the second accuracy; the first terminal device determining the first target position according to the accuracy of the first target position comprises: the first terminal device determining the first relative position according to the first accuracy; the first terminal device determining a third relative position according to the second accuracy; The first terminal device determines the second relative position according to the first relative position and the third relative position.

8. The method according to any one of claims 1 to 7, characterized in that, The first message comprises first information, and the first information is used to trigger the first terminal device to send the first target position to the third terminal device, and the method further comprises: The first terminal device sends the first target position to the third terminal device.

9. The method according to any one of claims 1 to 7, characterized in that, The first target position comprises the second relative position, and the first message comprises a threshold value of the second relative position. The first terminal device sends a second message to the second terminal device according to the first message, comprising: The first terminal device sends the second message to the second terminal device according to the second relative position and the threshold value of the second relative position, and the second message comprises the second relative position.

10. The method according to any one of claims 1 to 7, characterized in that, The first relative position comprises at least one of distance or angle; and the second relative position comprises at least one of distance or angle.

11. A method of position determination, characterized by Comprising: The second terminal device receives a third message broadcast by the first terminal device, the third message being used to broadcast information of a terminal device whose position has been learned by the first terminal device, the third message comprising information of the third terminal device, and the third message indicating that the first terminal device is a device assisting in positioning the third terminal device; The second terminal device sends a first message to the first terminal device, the first message being used to request a first target position, the first target position comprising at least one of a first relative position, an absolute position of the third terminal device, or a second relative position, wherein the first relative position is used to represent a relative position between the third terminal device and the first terminal device, and the second relative position is used to represent a relative position between the third terminal device and the second terminal device; The second terminal device receives a second message from the first terminal device, the second message comprising the first target position; The second terminal device obtains the second relative position according to the second message.

12. The method of claim 11, wherein, The first message comprises at least one of: An accuracy of the first target position, a threshold value of the second relative position, or first information; The first information is used to trigger the first terminal device to send the first target position to the third terminal device.

13. The method according to claim 11 or 12, characterized in that, The second terminal device sends a first message to the first terminal device, comprising: If the relative position between the third terminal device and the second terminal device stored by the second terminal device does not satisfy a preset condition, the second terminal device sends the first message to the first terminal device.

14. The method of claim 11 or 12, wherein, The second relative position comprises at least one of distance or angle.

15. An apparatus for position determination, characterized by Comprising: The processor is configured to execute a computer program stored in the memory, so that the apparatus executes the method according to any one of claims 1 to 14.

16. The apparatus of claim 15, wherein, The apparatus further comprises the memory.

17. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and when the computer program runs on a computer, the computer executes the method according to any one of claims 1 to 14.

18. A computer program product, characterised in that, The computer program product comprises instructions for performing the method of any of claims 1 to 14.

19. A system for position determination, characterized by comprising: a first terminal device and a second terminal device; the first terminal device is the first terminal device in the method of any of claims 1 to 10; the second terminal device is the second terminal device in the method of any of claims 11 to 14.

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