Method and apparatus for positioning

Abstract

The application provides a method and device for positioning. The method comprises: a first auxiliary positioning device determining a positioning reference signal, the positioning reference signal being used to determine first relative position information of the first auxiliary positioning device and a to-be-measured device; and the first auxiliary positioning device transmitting or measuring the positioning reference signal through sidelink; wherein the first relative position information is used to determine first position information of the to-be-measured device. In the embodiment of the application, the auxiliary positioning device and the to-be-measured device are relatively close, and the positioning reference signal transmitted through the sidelink has a higher possibility of including a direct path signal. Based on the positioning reference signal, the measurement of the first relative position information is more accurate, which helps to improve the positioning accuracy of the to-be-measured device.

Description

Technical Field

[0001] This application relates to the field of communication technology, and more specifically, to a method and apparatus for positioning. Background Technology

[0002] In positioning technology for communication systems, the positioning accuracy in line-of-sight (LoS) scenarios is significantly higher than that in non-line-of-sight (NLoS) scenarios. When the device under test (DUT) transmits positioning reference signals to multiple network-side devices, the positioning calculation unit filters for LoS signals from these reference signals before performing position calculation, thus improving positioning accuracy. However, the identification of LoS signals has significant uncertainties. If the signal used for position calculation originates from an NLoS scenario, the accuracy of the position calculation will be severely reduced. Summary of the Invention

[0003] This application provides a method and apparatus for positioning, which helps to improve the positioning accuracy of the device under test. The various aspects involved in the embodiments of this application are described below.

[0004] In a first aspect, a method for positioning is provided, comprising: a first auxiliary positioning device determining a positioning reference signal, the positioning reference signal being used to determine first relative position information of the first auxiliary positioning device and a device under test; the first auxiliary positioning device transmitting or measuring the positioning reference signal via a side link; wherein the first relative position information is used to determine first position information of the device under test.

[0005] In a second aspect, a method for positioning is provided, comprising: a device under test (DUT) determining a positioning reference signal, the positioning reference signal being used to determine first relative position information of a first auxiliary positioning device and the DUT; the DUT measuring or transmitting the positioning reference signal via a side link; wherein the first relative position information is used to determine first position information of the DUT.

[0006] Thirdly, a method for positioning is provided, comprising: a network-side device receiving first relative position information of a first auxiliary positioning device and a device under test, the first relative position information being used to determine first position information of the device under test; wherein the first relative position information is determined based on a positioning reference signal, the positioning reference signal being transmitted through a side link.

[0007] Fourthly, a positioning device is provided, the device being a first auxiliary positioning device, the first auxiliary positioning device comprising: a determining unit for determining a positioning reference signal, the positioning reference signal being used to determine first relative position information of the first auxiliary positioning device and a device under test; and a communication unit for transmitting or measuring the positioning reference signal via a side link; wherein the first relative position information is used to determine first position information of the device under test.

[0008] Fifthly, a positioning device is provided, the device being a device under test, the device under test comprising: a determining unit for determining a positioning reference signal, the positioning reference signal being used to determine first relative position information of a first auxiliary positioning device and the device under test; and a communication unit for measuring or transmitting the positioning reference signal via a side link; wherein the first relative position information is used to determine first position information of the device under test.

[0009] In a sixth aspect, a positioning device is provided, the device being a network-side device, the network-side device comprising: a receiving unit, configured to receive first relative position information of a first auxiliary positioning device and a device under test, the first relative position information being used to determine first position information of the device under test; wherein the first relative position information is determined based on a positioning reference signal, the positioning reference signal being transmitted via a side link.

[0010] A seventh aspect provides a communication device including a memory and a processor, the memory for storing a program and the processor for calling the program in the memory to perform the method as described in any one of the first to third aspects.

[0011] Eighth aspect, an apparatus is provided, including a processor for calling a program from memory to perform the method as described in any one of the first to third aspects.

[0012] A ninth aspect provides a chip including a processor for calling a program from memory, causing a device having the chip mounted to perform the method as described in any one of the first to third aspects.

[0013] A tenth aspect provides a computer-readable storage medium having a program stored thereon that causes a computer to perform the method described in any one of the first to third aspects.

[0014] Eleventh aspect: A computer program product is provided, comprising a program that causes a computer to perform the method as described in any one of the first to third aspects.

[0015] In a twelfth aspect, a computer program is provided that causes a computer to perform the method described in any one of the first to third aspects.

[0016] This embodiment of the application uses a first auxiliary positioning device around the device under test (DUT) to assist in positioning the DUT. Since the first auxiliary positioning device and the DUT are close together, the positioning reference signal transmitted via the side link is highly likely to include a direct path signal. Therefore, when calculating the position based on this positioning reference signal, the measurement of the first relative position information is more accurate, which helps improve the positioning accuracy of the DUT. Attached Figure Description

[0017] Figure 1 The image shows a wireless communication system used in an embodiment of this application.

[0018] Figure 2 The diagram shows a communication system that uses a relevant positioning method.

[0019] Figure 3 The diagram shown is a flowchart illustrating a positioning method provided in one embodiment of this application.

[0020] Figure 4 The diagram shown is a flowchart illustrating a positioning method provided in another embodiment of this application.

[0021] Figure 5 The diagram shown is a flowchart illustrating a positioning method provided in another embodiment of this application.

[0022] Figure 6 The diagram shown is a flowchart illustrating one possible implementation of an embodiment of this application.

[0023] Figure 7 The diagram shown is a flowchart illustrating another possible implementation method provided in the embodiments of this application.

[0024] Figure 8 The diagram shown is a structural schematic of a positioning device provided in an embodiment of this application.

[0025] Figure 9 The diagram shown is a structural schematic of another positioning device provided in an embodiment of this application.

[0026] Figure 10 The diagram shown is a structural schematic of another positioning device provided in an embodiment of this application.

[0027] Figure 11 The diagram shown is a structural schematic of a communication device provided in an embodiment of this application. Detailed Implementation

[0028] The technical solution of this application will now be described with reference to the accompanying drawings. For ease of understanding, the following description will first refer to the accompanying drawings. Figure 1 and Figure 2 This application introduces the terminology and communication process involved.

[0029] Communication system

[0030] Figure 1 This is a wireless communication system 100 applicable to embodiments of this application. The wireless communication system 100 may include a base station 110 and a terminal device 120. The base station 110 may be a device that communicates with the terminal device 120. The base station 110 may provide communication coverage for a specific geographical area and may communicate with the terminal device 120 located within that coverage area.

[0031] Figure 1 An exemplary illustration shows a base station and two terminals. Optionally, the wireless communication system 100 may include multiple base stations, and each base station may include other terminal devices within its coverage area. This application embodiment does not limit this.

[0032] Optionally, the wireless communication system 100 may also include other network entities such as a network controller and a mobility management entity, which is not limited in this embodiment.

[0033] It should be understood that the technical solutions of the embodiments of this application can be applied to various communication systems, such as: 5th-generation (5G) systems, new radio (NR) systems, long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, global system of mobile communication (GSM) systems, code division multiple access (CDMA) systems, wideband code division multiple access (WCDMA) systems, general packet radio service (GPRS), advanced long term evolution (LTE-A) systems, evolution systems of NR systems, LTE-based access to unlicensed spectrum (LTE-U) systems, NR-based access to unlicensed spectrum (NR-U) systems, non-terrestrial network (NTN) systems, and universal mobile communication systems. Mobile telecommunication systems (UMTS), wireless local area networks (WLAN), wireless fidelity (WiFi), or other communication systems. The technical solutions provided in this application can also be applied to future communication systems, such as sixth-generation mobile communication systems, satellite communication systems, and so on.

[0034] The terminal device in this application embodiment can also be referred to as user equipment (UE), access terminal, user unit, user station, mobile station, mobile station (MS), mobile terminal (MT), remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent, or user device. The terminal device in this application embodiment can be a device that provides voice and / or data connectivity to a user, and can be used to connect people, objects, and machines, such as a handheld device with wireless connectivity, vehicle-mounted device, etc. The terminal devices in the embodiments of this application can be mobile phones, tablets, laptops, PDAs, mobile internet devices (MIDs), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, self-driving, remote medical surgery, smart grids, transportation safety, smart cities, and smart homes, etc. Optionally, the UE can act as a base station. For example, the UE can act as a scheduling entity, providing sidelink signals between UEs in V2X or D2D, etc. For example, cellular phones and cars communicate with each other using sidelink signals. Cellular phones and smart home devices communicate without relaying communication signals through a base station.

[0035] In the embodiments of this application, the terminal device may also be a station (ST) in a WLAN, such as a cellular phone, cordless phone, session initiation protocol (SIP) phone, wireless local loop (WLL) station, personal digital assistant (PDA) device, handheld device with wireless communication function, computing device or other processing device connected to a wireless modem, vehicle-mounted device, wearable device, terminal device in a next-generation communication system such as an NR network, or terminal device in a future evolved public land mobile network (PLMN) network, etc.

[0036] The base station in this application embodiment can be a device used for communicating with terminal devices. This base station can also be referred to as an access network device, a radio access network device, or a network device. In this application embodiment, the base station can refer to a radio access network (RAN) node (or device) that connects the terminal device to the wireless network. A base station can broadly encompass, or be replaced by, various names including: NodeB, evolved NodeB (eNB), next-generation NodeB (gNB), relay station, access point, transmitting and receiving point (TRP), transmitting point (TP), master MeNB, auxiliary SeNB, multi-mode radio (MSR) node, home base station, network controller, access node, wireless node, access point (AP), transmission node, transceiver node, baseband unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), central unit (CU), distributed unit (DU), positioning node, etc. A base station can be a macro base station, micro base station, relay node, donor node, or similar entities, or combinations thereof. A base station can also refer to a communication module, modem, or chip installed within the aforementioned equipment or apparatus. A base station can also be a mobile switching center, or an equipment that performs base station functions in device-to-device (D2D), vehicle-to-everything (V2X), and machine-to-machine (M2M) communications, a network-side device in a 6G network, or an equipment that performs base station functions in future communication systems. Base stations can support networks using the same or different access technologies. The embodiments of this application do not limit the specific technologies or equipment forms used in the base station.

[0037] Base stations can be fixed or mobile. For example, a helicopter or drone can be configured to act as a mobile base station, and one or more cells can move depending on the location of the mobile base station. In other examples, a helicopter or drone can be configured as a device to communicate with another base station.

[0038] In some deployments, the base station in this application embodiment may refer to a CU or a DU, or the base station may include both a CU and a DU. The gNB may also include an AAU.

[0039] Base stations and terminal equipment can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; and they can also be deployed in the air on airplanes, balloons, and satellites. This application does not limit the scenario in which the base stations and terminal equipment are located.

[0040] In this embodiment, a base station can provide services to a cell. The terminal device communicates with the base station through the transmission resources (e.g., frequency domain resources, or spectrum resources) used by the cell. The cell can be the cell corresponding to the base station. The cell can belong to a macro base station or to a base station corresponding to a small cell. The small cell can include: metro cell, micro cell, pico cell, femto cell, etc. These small cells have the characteristics of small coverage area and low transmission power, and are suitable for providing high-speed data transmission services.

[0041] In the embodiments of this application, Figure 1 The wireless communication system shown may also include other network entities such as a mobility management entity (MME) and an access and mobility management function (AMF), but this application does not limit this.

[0042] Positioning technology in communication systems

[0043] See Figure 2The communication system 200 may also include a positioning device 230. This positioning device 230 can be used to determine the location information of terminal devices. The positioning device 230 may be located in the core network. This positioning device 230 may sometimes be referred to as a positioning server. Taking an NR system as an example, the positioning device 230 may be a location management function (LMF). Taking other communication systems as examples, the positioning device 230 may be a location management unit (LMU), a location management center (LMC), or an evolved serving mobile location center (E-SMLC). It is understood that the positioning device 230 may also be other network elements, nodes, or devices used to determine the location information of terminal devices, such as network elements or nodes in future communication systems used to determine the location information of terminal devices. This application embodiment does not specifically limit the name of the positioning device.

[0044] Positioning in communication system 200 includes uplink positioning and downlink positioning. Some communication systems (such as NR systems) perform downlink positioning based on a positioning reference signal (PRS). The PRS, also known as the downlink positioning reference signal (DL-PRS), is a reference signal used for positioning functions. For example, during downlink positioning, terminal device 220 first measures the PRS transmitted by the serving cell and neighboring cells (or adjacent cells) and estimates the relevant positioning measurement information. Then, terminal device 220 reports the relevant positioning measurement information as the PRS measurement result to positioning device 230. Positioning device 230 calculates the location of terminal device 220 based on the positioning measurement information reported by terminal device 220, thereby obtaining the location information of terminal device 220. For example, positioning device 230 can calculate the location information of terminal device 220 based on trilateration or triangulation methods.

[0045] Some communication systems (such as NR systems) use Sounding Reference Signals (SRS) for uplink positioning. For example, during uplink positioning, terminal device 220 sends a Sounding Reference Signal (SRS). Base station 210 (the base station of the serving cell and neighboring cells) can obtain measurement results based on the SRS sent by the terminal. These SRS measurement results can include relevant positioning measurement information. Base station 210 can then send this positioning measurement information to positioning device 230. Positioning device 230 can calculate the location of terminal device 220 based on the positioning measurement information reported by base station 210, thereby obtaining the location information of terminal device 220. For example, positioning device 230 can calculate the location information of terminal device 220 based on trilateration or triangulation.

[0046] The relevant information for the aforementioned positioning measurement may include one or more of the following: time information, distance information, power information, and angle information. More specifically, the relevant information for the positioning measurement may include one or more of the following: time difference of arrival (TDOA), angle difference of arrival (ADOA), reference signal receive power (RSRP), etc.

[0047] like Figure 2 As shown, base station 210 and terminal device 220 can act as transmitter and receiver, respectively, to transmit reference signals. In a wireless propagation environment, the signal emitted by the transmitter will travel through multiple paths to reach the receiver. Some of these paths are direct paths, while others are indirect paths. Direct path signals usually reach the receiver directly, while indirect path signals will be refracted or diffracted before reaching the receiver. Therefore, the direct path has a shorter propagation delay and higher power, and will become the first path signal received by the receiver, i.e., the first path.

[0048] When locating terminal device 220 based on propagation delay, it is necessary to estimate the arrival time of the first path. Based on this arrival time and other information, the signal propagation delay is calculated, thus obtaining an estimate of the distance between the transmitting and receiving ends. However, if the first path received by the receiving end is not a direct path or not the strongest path, the propagation delay estimated by the receiving end cannot reflect the distance between the transmitting and receiving ends. In other words, the positioning accuracy in scenarios with a direct path is much higher than in scenarios without a direct path.

[0049] See also Figure 2To improve the positioning accuracy of terminal device 220, terminal device 220 receives pilot signals from multiple base stations 210, or multiple base stations 210 receive pilot signals from terminal device 220. The positioning server filters signals from these signals for the Loss of Position (LoS) scenario and performs location calculation. For example, the number of base stations 210 sending signals to terminal device 220 may be greater than [a certain number]. Figure 2 The three shown.

[0050] However, LoS filtering requires a sufficient number of transmitters or receivers, and LoS identification is a challenging aspect of the localization process, involving significant uncertainty. Consequently, during the 3rd Generation Partnership Project (3GPP) research project proposal discussion regarding Rel-17, a lengthy discussion was held on LoS scene identification. Following this proposal, a dedicated project was established to further discuss the LoS identification issue.

[0051] When performing position calculations, if the angle or delay estimates are derived from an NLoS scenario, the results from the NLoS scenario will significantly reduce the accuracy of the position calculation.

[0052] Based on this, this application proposes a positioning method for locating a device under test (DUT). This method uses surrounding communication devices as auxiliary positioning devices. Since the auxiliary positioning devices and the DUT are close together, the possibility of line-of-sight propagation (direct path propagation) is high. Therefore, measuring the relative distance between the DUT and the auxiliary positioning devices based on the side-link structure yields more accurate results, helping to improve the positioning accuracy of the DUT. The following section combines... Figure 3 The present application provides a detailed description of a positioning method proposed in its embodiments.

[0053] Figure 3 The method described is presented from the perspective of the interaction between the first auxiliary positioning device and the device under test (DUT). The first auxiliary positioning device and the DUT can communicate with each other, and can also communicate separately with network-side devices. The first auxiliary positioning device and the DUT can be any of the terminal devices mentioned above. The first auxiliary positioning device and the DUT can be within the coverage area of ​​the same base station (e.g., the same serving cell), or within different network coverage areas, or even outside of network coverage areas.

[0054] The first auxiliary positioning device can be a communication device among multiple auxiliary positioning devices surrounding the device under test, with a high probability of line-of-sight propagation. In some embodiments, the multiple auxiliary positioning devices can be multiple first auxiliary positioning devices of the same type. For example, the multiple auxiliary positioning devices can be nodes of multiple side-by-side communication systems. In some embodiments, the multiple auxiliary positioning devices can be auxiliary positioning devices of different types. The types are described below.

[0055] As a possible implementation, in some embodiments, the first auxiliary positioning device can use side-by-side communication positioning technology to estimate the distance between the first auxiliary positioning device and the device under test, thereby assisting the network-side device in estimating the position of the device under test.

[0056] The first auxiliary positioning device can be a node or reference terminal device used for positioning. For example, the auxiliary positioning device can be a deployed reference node, a dedicated module device, or a side-link reference node or terminal device for side-link communication.

[0057] In some embodiments, the auxiliary positioning device may be a positioning reference unit (PRU) or a device that implements the PRU function. For example, the auxiliary positioning device may be a roadside unit that can be used for positioning in a side-traffic communication system. Alternatively, the auxiliary positioning device may be a dedicated PRU.

[0058] In some embodiments, the first auxiliary positioning device can be a fixed node around the device under test. For example, the first auxiliary positioning device can be a roadside unit in a side-by-side communication system. For example, the first auxiliary positioning device can be a parking pile, a charging pile, or a dedicated positioning reference node. Alternatively, the first auxiliary positioning device can be a customer premises equipment (CPE) with positioning capabilities in a residence or building, capable of tracking the location of items within a certain range. In some embodiments, the first auxiliary positioning device can be a moving device around the device under test. For example, the first auxiliary positioning device can be a positioning relay installed in a delivery truck, which can periodically report the relative positions of each item by recording the location of each item. For example, in a side-by-side communication system, moving vehicles can form a direct line of sight with the device under test within a certain range, thereby achieving higher positioning accuracy.

[0059] As a possible implementation, when the first auxiliary positioning device is a node in the side-by-side communication system, there may be a sufficient number of auxiliary positioning devices around the device under test. By using estimates provided by multiple auxiliary positioning devices, the accuracy of the position calculation is improved, thereby enabling the device under test to obtain more precise position coordinates.

[0060] The position information of the first auxiliary positioning device can be its absolute position, its position relative to other devices, or auxiliary position information used to determine the position of the auxiliary positioning device. Auxiliary position information could be, for example, the initial position and movement information of the first auxiliary positioning device, or its motion pattern, including movement speed and / or trajectory, or its reference position information.

[0061] The first auxiliary positioning device can use its location information to assist in the positioning of the device under test. The determination of the location information of the auxiliary positioning device will be described in detail later. It should be noted that the first auxiliary positioning device incurs some power consumption when used for auxiliary positioning. If the auxiliary positioning device is a mobile terminal, the power consumption issue of the first auxiliary positioning device can be resolved through the operator's management.

[0062] The device under test (DUT) can be a user, node, or terminal device that requires location tracking. In some embodiments, the DUT can be any of the terminal devices described above that require location tracking. In some embodiments, the DUT can also be goods in a delivery truck or household items mentioned above, which may have the ability to communicate with other communication devices.

[0063] In some embodiments, the device under test (DUT) may send a location service request to an auxiliary positioning device or a network-side device to determine its absolute or relative position. In some embodiments, the network-side device may determine the DUT requiring positioning based on actual conditions or other user requests. In some embodiments, the auxiliary positioning device may be a PRU (Programmable Root Unit), or the DUT may be an anchor node in the positioning process.

[0064] As mentioned earlier, the relative position information between the first auxiliary positioning device and the device under test (DUT) can be fed back to the network side, allowing network-side devices to estimate the DUT's location. Network-side devices can refer to any of the base station or core network devices mentioned earlier that participate in positioning. In other words, network-side devices can include positioning devices from both base stations and the core network. The base station corresponds to the serving cell of the DUT. Core network positioning devices include, for example... Figure 2 The location server shown.

[0065] See Figure 3 In step S310, the first auxiliary positioning device determines the positioning reference signal.

[0066] The positioning reference signal can be a reference signal (RS) that supports downlink positioning, or other pilot signals that can measure the relative position between the device under test and the first auxiliary positioning device. No limitation is made here.

[0067] The positioning reference signal may include a direct path signal to ensure the accuracy of the estimation of the relative distance between the device under test and the first auxiliary positioning device. In some embodiments, the signal transmission between the device under test and the first auxiliary positioning device includes a direct path scenario, where the initial diameter of the positioning reference signal sent or received by the first auxiliary positioning device is the direct path.

[0068] As one possible implementation, the positioning of the device under test can be calibrated when the position of the first auxiliary positioning device is known. As another possible implementation, a good propagation environment exists between the first auxiliary positioning device and the device under test, such as low path loss, which can also ensure the accuracy of the relative distance estimation.

[0069] Positioning reference signals can be transmitted via a sidelink (SL). A sidelink can also be called a direct link. Sidelink communication can also be referred to as proximity services (ProSe) communication, one-way communication, sidelink communication, device-to-device (D2D) communication, and sidelink communication, etc. In some embodiments, the first auxiliary positioning device and the device under test (DUT) can be transceivers of the sidelink, respectively. Both the first auxiliary positioning device and the DUT can transmit positioning reference signals through sidelink resources. Sidelink resources are, for example, time-frequency and / or spatial resources in a resource pool.

[0070] The positioning reference signal can be transmitted through a transmission resource pool. The first auxiliary positioning device determining the positioning reference signal may include defining the transmission resource pool for the positioning reference signal. This transmission resource pool can be configured by the network-side device or by the auxiliary positioning device. The auxiliary positioning device configuring the resources can be referred to as the second auxiliary positioning device. The second auxiliary positioning device can be the first auxiliary positioning device, or it can be one of the other auxiliary positioning devices surrounding the device under test.

[0071] In some embodiments, the network-side device indicates the transmission resource pool for the positioning reference signal through various configuration methods. For example, the network-side device can configure the transmission resources based on the ID of the first auxiliary positioning device reported by the device under test. For example, the network-side device can configure the transmission resources based on the second location information of the device under test, which will be described in detail below.

[0072] As a possible implementation, the transmission resource pool can be configured by the base station. Alternatively, the transmission resource pool can be coordinated by the serving cell and notified to the device under test. For example, after determining the resource pool for transmitting RS (Real Signal), the serving cell can notify the first auxiliary positioning device of the transmission resource pool, and simultaneously notify the device under test of the RS information used for positioning.

[0073] As a possible implementation, the transmission resource pool can be notified by the positioning server. For example, after determining the resource pool for transmitting RS, the positioning server can notify the first auxiliary positioning device of the configuration information of the resource pool, and at the same time notify the device under test to receive the RS.

[0074] In some embodiments, the assisted positioning device determines the transmission resource pool of the positioning reference signal in various ways. For example, the transmission resource pool is determined based on the area ID where the first assisted positioning device is located. Alternatively, the transmission resource pool is determined based on the synchronization signal / physical broadcast channel (SSS / PBCH) (SSB) index of the first assisted positioning device. Here, the SSB index is the SSB sequence number. In NR, the SSB is associated with the beam direction. When the transmission resource pool is determined based on the SSB of the first assisted positioning device, a set of resource pools is allocated for each beam direction. Users select from this resource pool, avoiding overlap with resource pools corresponding to adjacent beams. This reduces the probability of collisions with adjacent beam resources when users randomly select pilot resources. When the transmission resource pool is determined based on the SSB index of the first assisted positioning device, users report their SSB sequence numbers when accessing the network. The base station assigns a number to all users who report the same SSB sequence number and notifies the terminal of this number. The terminal determines the resource based on this number. This process reduces the probability of collisions between resources corresponding to the same SSB. For example, the transmission resource pool is determined based on the timing advance (TA) of the first auxiliary positioning device. Alternatively, the transmission resource pool can be determined based on the ID of the first auxiliary positioning device.

[0075] As a possible implementation, the first assisted positioning device can select lateral resources from a resource pool to send a positioning reference signal. For example, after the serving cell or positioning server notifies the first assisted positioning device that it will perform positioning, the first assisted positioning device can select resources from a specific resource pool to send a reference signal.

[0076] The positioning reference signal can be used to determine the first relative position information between the first auxiliary positioning device and the device under test, and the first relative position information is used to determine the first position information of the device under test.

[0077] The first relative position information can be information representing the relative positional relationship between the auxiliary positioning device and the device under test, such as the relative distance, relative angle, or direction. For example, the first relative position information can be the signal propagation delay between the auxiliary positioning device and the device under test, or the angle of signal propagation.

[0078] In step S320, the first auxiliary positioning device transmits or measures positioning reference signals via a side link.

[0079] When the first auxiliary positioning device is the transmitter of the positioning reference signal, it can transmit the positioning reference signal. When the first auxiliary positioning device is the receiver of the positioning reference signal, it can receive or measure the positioning reference signal.

[0080] In some embodiments, the first auxiliary positioning device can transmit positioning reference signals via transmission resources configured by the network-side device. For example, the serving cell or positioning server determines the first auxiliary positioning device for positioning and notifies the first auxiliary positioning device of the RS information and sideline resources used for positioning. After the first auxiliary positioning device transmits these RS signals, the device under test estimates the distance and / or angle based on these signals.

[0081] In some embodiments, the first auxiliary positioning device can receive or measure positioning reference signals through configured transmission resources. For example, the first auxiliary positioning device can detect SRS signals sent by the device under test.

[0082] The first auxiliary positioning device can estimate the distance and / or angle of the positioning reference signal to determine the first relative position information. In some embodiments, the first auxiliary positioning device can estimate the relative distance of the SRS. For example, the first auxiliary positioning device can determine the relative distance of transmission based on the transmission and reception time of the SRS. For example, the first auxiliary positioning device can determine the relative angle of transmission based on the signal transmission status of the SRS.

[0083] As a possible implementation, after the network-side device notifies the first auxiliary positioning device to perform positioning, the auxiliary positioning device can estimate the distance and / or angle of all pilot sequences in a specific resource pool.

[0084] The first auxiliary positioning device can determine the first relative position information based on the positioning reference signal, and then determine the first position information of the device under test through the first relative position information, that is, to locate the device under test.

[0085] The first relative position information can be combined with other position information to determine the first position information of the device under test (DUT). In some embodiments, the other position information may be the second relative position information between the first auxiliary positioning device and the network-side device, and the third relative position information between the DUT and the network-side device. For example, when the network-side device can locate the DUT based on trilateration, the first relative position information may be the relevant information of one of the edges, and the second and third relative position information may be the relevant information of the other two edges. In some embodiments, the other position information may be the position information of multiple auxiliary positioning devices. The multiple auxiliary positioning devices include multiple first auxiliary positioning devices, thereby determining multiple first relative position information. For example, when the DUT is located based on multiple auxiliary positioning devices, the multiple first relative position information can determine the first position information of the DUT. The following will combine... Figure 5 A detailed explanation will be provided.

[0086] The first location information of the device under test (DUT) can represent the absolute location of the DUT. In some embodiments, the first location information can be the absolute coordinates of the DUT, directly representing the absolute location of the DUT. In some embodiments, the first location information can also be relative coordinates relative to the coordinates of the network-side device or other reference coordinates, allowing the location of the DUT to be calculated.

[0087] The first location information can be determined based on the first relative location information and one or more other pieces of information. This information can be used by the location calculation unit to calculate the location of the device under test. In some embodiments, the location calculation unit can determine the first location information of the device under test based on the first relative location information and other location information. In some embodiments, when the device under test is located using multiple auxiliary positioning devices, the location calculation unit can determine the first location information of the device under test based on the location information of the multiple auxiliary positioning devices and the corresponding first relative location information.

[0088] The location calculation unit can be a computing unit within different communication devices or entities involved in the positioning process, enabling the location calculation of the device under test (DUT) based on different devices. In some embodiments, the location calculation unit can be located in a base station, which may include a serving cell covering the DUT. In some embodiments, the location calculation unit can be located in a positioning server, such as an LMF (Location Management Function). In some embodiments, the location calculation unit can be located within the DUT itself, allowing the DUT to perform its own positioning based on various relevant information.

[0089] In some embodiments, the location calculation unit may be located within an auxiliary positioning device. The auxiliary positioning device performing location calculation may also be referred to as a second auxiliary positioning device. That is, the second auxiliary positioning device can perform both location calculation and resource allocation. Similarly, the second auxiliary positioning device can be a first auxiliary positioning device or another positioning device among multiple auxiliary positioning devices. Using an auxiliary positioning device for positioning can reduce interaction time. When the positioning service only needs to know relative position information, the auxiliary positioning device can directly perform the calculation without submitting the location calculation to the network-side device. For mobile auxiliary positioning devices, if location calculation is performed on the network side, the network side needs to continuously update the location of the auxiliary positioning device, or the auxiliary positioning device needs to continuously report its location and the time of location measurement so that the network side can perform location calculation, leading to a longer positioning delay. For example, when the first auxiliary positioning device performs location calculation, neither the first auxiliary positioning device nor the device under test needs to feed back the first relative position information and other ranging information to the LMF.

[0090] In some embodiments, the location calculation unit may be located in a device that provides location services through a third party. This third-party device can locate the device under test based on various reference information. The third party may be, for example, location software or map software, and the location calculation unit may be located in the location device (such as a server) corresponding to this software.

[0091] When the location calculation unit is located within a device, it needs to collect various information from other devices to locate the device under test. In some embodiments, when the location calculation unit is located within a positioning server, when the first auxiliary positioning device or the device under test reports the first relative position information to the positioning server, it can also report information such as the sidelink information corresponding to the positioning reference signal and / or measurement time. For example, the first auxiliary positioning device or the device under test can report the sidelink ID number, or the sidelink terminal device ID, or the sidelink area ID.

[0092] After performing location calculation, the location calculation unit can send the initial location information of the device under test to other devices as needed. For example, after performing location calculation, the positioning server can notify the device under test or the base station on the network side of the location information as needed.

[0093] Combined with the preceding text Figure 3 This application introduces a positioning method based on a first auxiliary positioning device, and the following describes the method in conjunction with the embodiments of this application. Figure 4 This application presents an embodiment of another method for positioning. Figure 3 Compared to methods from the perspective of the first auxiliary positioning device, Figure 4 The method shown is a positioning method using the device under test. Therefore, for simplicity, Figure 4No longer Figure 3 The terms that have already appeared will be explained in detail.

[0094] See Figure 4 In step S410, the device under test determines the positioning reference signal.

[0095] The positioning reference signal can be a reference signal that supports uplink positioning (e.g., SRS), or other reference signals sent by the device under test that can measure the relative position with the first auxiliary positioning device, and there is no limitation on this.

[0096] The determination of the positioning reference signal by the device under test (DUT) may include the DUT determining the resources for transmitting the positioning reference signal. The transmission resources for the positioning reference signal may be resources in the transmission resource pool configured by the network-side device or the auxiliary positioning device, or resources that the DUT selects from the resource pool or senses and obtains.

[0097] In some embodiments, the transmission resources for the positioning reference signal can be selected by the device under test (DUT) from a resource pool. This resource pool can be a specific resource pool used for positioning or a shared resource pool. For example, after the DUT selects sideline resources for transmitting the SRS from a specific resource pool, the serving cell or positioning server can notify the first assisted positioning device to receive the SRS.

[0098] In some embodiments, the transmission resources for the positioning reference signal are sensed and obtained by the device under test (DUT). The DUT selects a sequence that has not been sensed from the resource pool for transmission. For example, the DUT may sense resources for transmitting the SRS in a specific resource pool in order to transmit or measure the SRS.

[0099] In step S420, the device under test measures or transmits a positioning reference signal via a side link.

[0100] When the device under test (DUT) is the transmitter of the positioning reference signal, it can transmit the positioning reference signal through configured or sensed resources. When the DUT is the receiver of the positioning reference signal, it can receive or measure the positioning reference signal. The DUT can determine first relative position information based on the positioning reference signal. The relevant terminology has been described above and will not be repeated here.

[0101] Depend on Figure 3 and Figure 4As can be seen, the embodiments of this application can determine the position of the device under test (DUT) based on the first relative position information. The positioning reference signal used to determine the first relative position information is transmitted between the DUT and the first auxiliary positioning device. The first auxiliary positioning device is located around the DUT, therefore the signal propagation distance is short, attenuation is small, and the possibility of line-of-sight propagation is high. Therefore, the first relative position information can be determined based on the direct path signal, resulting in high accuracy. After the first relative position information is provided to the position calculation unit, it can effectively assist the position calculation unit in obtaining the position coordinates of the DUT. In other words, the relative distance between the first auxiliary positioning device and the DUT can assist a reference device, serving cell, or positioning server (e.g., LMF) in measuring the absolute position of the DUT.

[0102] Figure 5 The diagram illustrates another positioning method proposed in this application. This method is a flowchart illustrating the execution process of a network-side device. See also... Figure 5 In step S510, the network-side device receives the first relative position information of the first auxiliary positioning device and the device under test. Figure 3 and Figure 4 The relevant terms have already been explained in detail, so they will not be repeated here.

[0103] As mentioned earlier, the first position information of the device under test (DUT) can be determined based on the first relative position information and one or more other pieces of information. These pieces of information may include the second relative position information between the auxiliary positioning device and the network-side device, the third relative position information between the DUT and the network-side device, and the position information of multiple auxiliary positioning devices.

[0104] The second relative position information may represent the relative distance and / or angle between the first auxiliary positioning device and the base station. In some embodiments, when the network-side device refers to a positioning server, the second relative position information may also represent the relative distance and / or angle between the first auxiliary positioning device and the positioning server of the core network.

[0105] In some embodiments, the second relative position information can be determined based on the position information of the first auxiliary positioning device. When the network-side device performs position calculation, the position information of the first auxiliary positioning device can be obtained by the network-side device according to a positioning service request, or the first auxiliary positioning device can send the position information to the network-side device.

[0106] The third relative position information can represent the relative distance or angle between the device under test (DUT) and the network-side device. In some embodiments, the propagation characteristics from the auxiliary positioning device to the network-side device are better than those from the DUT to the network-side device, and the estimation accuracy of the second relative position information is higher than that of the third relative position information. That is, the positioning estimation under the two high-quality propagation paths corresponding to the first and second relative position information can calibrate the positioning estimation of the path with relatively poor propagation quality corresponding to the third relative position information. For example, when the first auxiliary positioning device is a roadside unit, the distance to the network-side device is relatively close.

[0107] In some embodiments, the first location information can be determined based on the first relative location information, the second relative location information, and the third relative location information. Therefore, the positioning method proposed in this application can support single-site positioning. That is, an auxiliary positioning device under one base station is sufficient for auxiliary positioning, without the need for uplink or downlink processing with the help of neighboring cell base stations. For example, the relative distances corresponding to the above three relative location information can be used as the three auxiliary sides of the trilateration method. When the positions of the network-side device and the first auxiliary positioning device are determined, the location calculation unit can determine the actual position of the device under test. The following will combine... Figure 6 and Figure 7 Provide a detailed description.

[0108] In some embodiments, the distance between the device under test (DUT) and the first auxiliary positioning device is relatively short, and there is a high probability that there is a direct path between the first auxiliary positioning device and the DUT. Therefore, the distance measurement between the first auxiliary positioning device and the DUT has high reliability. That is, the accuracy of the distance measurement between the first auxiliary positioning device and the DUT is higher than the accuracy of the distance measurement between the network-side device and the DUT. Because the accuracy of the distance measurement between the network-side device and the DUT is not high, the result of the position calculation based on the third relative position information may be offset from the actual position. Therefore, fine-tuning can be performed based on the calculated position so that the final estimated distance between the DUT and the first auxiliary positioning device is closer to the actual value, such as the first relative distance between the DUT and the first auxiliary positioning device.

[0109] For example, the first relative distance between the device under test and the first auxiliary positioning device is d, and the position of the first auxiliary positioning device is (x1, y1). Based on the first relative position information, the second relative position information, and the third relative position information, the position of the device under test is (x2, y2). The first position information (x, y) of the device under test can satisfy the following conditions:

[0110]

[0111] In some embodiments, the first location information can be determined based on first relative location information and location information from multiple auxiliary positioning devices. The multiple auxiliary positioning devices may include the first auxiliary positioning device. For example, multiple auxiliary positioning devices and the device under test (DUT) can transmit positioning reference signals to obtain multiple sets of first relative location information. Sending the location information from the multiple auxiliary positioning devices and the first relative location information to a location calculation unit allows the first location information of the DUT to be determined based on trilateration or triangulation. In other words, multiple auxiliary positioning devices within the coverage area of ​​a base station can be equivalent to... Figure 2 Multiple base stations in the positioning technology shown.

[0112] The location information of the auxiliary positioning device can be obtained through one or more methods, such as other positioning systems or information determined during network deployment. In other words, the first auxiliary positioning device can be positioned using multiple methods.

[0113] As one possible implementation, when a communication device can serve as an auxiliary positioning device for the device under test, positioning can be achieved by sending a positioning service request, and this positioning request has low latency requirements. Because of the low latency requirement of this positioning request, the positioning accuracy of the auxiliary positioning device can be improved in various ways. For example, the positioning server can determine the location information of the auxiliary positioning device by utilizing high bandwidth and multiple base stations, regardless of latency. Alternatively, the first auxiliary positioning device or the positioning server can improve the positioning accuracy of the auxiliary positioning device by jointly processing data from multiple samplings.

[0114] As another possible implementation, the assisted positioning device can also send positioning-related information to network-side devices to reduce the overhead of network-side positioning devices. For example, the positioning server can perform a new position estimate based on the previous position information of the first assisted positioning device. For instance, the first assisted positioning device can send its stationary state or its moving speed, or its previously located position and corresponding positioning time, to the positioning server. In other words, the first assisted positioning device can notify the positioning server of its location and time information, as well as its movement information such as its moving speed and direction.

[0115] As another possible implementation, the location information of the assisted positioning device can be obtained from other positioning systems. For example, the first assisted positioning device can use a Global Navigation Satellite System (GNSS) to obtain high-precision location information. When the first assisted positioning device uses GNSS for positioning, the network-side equipment in the wireless network (e.g., a 5G system) is unaware of this information, so the first assisted positioning device needs to inform the network-side equipment of this information. In other words, after the location information of the first assisted positioning device is determined by GNSS, it can send its location information to the network-side equipment. For example, parking piles, charging piles, and dedicated positioning reference nodes in a side-link communication system can all provide this function. Furthermore, the terminal equipment in a side-link communication system can notify the serving cell base station or positioning server via higher-layer signaling, and this equipment can act as an assisted positioning device.

[0116] As another possible implementation, the location information of the auxiliary positioning device can be determined based on known relevant information. For example, when the first auxiliary positioning device is a roadside device in a side-by-side communication system, the device already has known location information during network deployment.

[0117] As another possible implementation, when a network-side device determines that a terminal device is an auxiliary positioning device, it can send a location request to that device. The auxiliary positioning device can then notify the network-side device of its location information and the time information of its location estimation.

[0118] As another possible implementation, the positioning of the assisted positioning device can be performed based on a request from the network-side device, or the positioning cycle can be specified in the protocol. For example, it can be specified that when performing assisted positioning, the first assisted positioning device can automatically update its location information and report the update results.

[0119] In some embodiments, when locating the device under test based on the location information of multiple auxiliary positioning devices, the auxiliary positioning devices can perform resource configuration and location calculation. As a possible implementation, one of the multiple auxiliary positioning devices can be selected as a central node. This central node can serve as a location calculation node or configure the resources of other auxiliary positioning devices and the device under test. The central node can also be the second auxiliary positioning device described above.

[0120] As a possible implementation, the second auxiliary positioning device can be configured by the network side or determined based on the distance between multiple auxiliary positioning devices and the device under test.

[0121] As one possible implementation, when the second auxiliary positioning device determines the distance between multiple auxiliary positioning devices and the device under test, it can compare the magnitudes of multiple distances between the auxiliary positioning devices and the device under test. In other words, the configuration can be based on the distance between the auxiliary positioning devices and the device under test. For example, the device under test can select the closest auxiliary positioning device as the second auxiliary positioning device based on the measurement results and notify each auxiliary positioning device of its identity (ID) information.

[0122] As an example, the auxiliary positioning device that is closest to the device under test can be selected as the second auxiliary positioning device.

[0123] As an example, if the difference between the distances of at least two of the multiple auxiliary positioning devices and the device under test (DUT) is less than a first threshold, the auxiliary positioning device with the highest weight among the at least two auxiliary positioning devices is designated as the second auxiliary positioning device. In other words, when multiple auxiliary positioning devices are close to the DUT, the second auxiliary positioning device can be determined based on distance and the priority of the auxiliary positioning devices. The first threshold can be a pre-configured preset threshold. The weight can be determined based on the priority of the auxiliary positioning devices, or the capabilities of the auxiliary positioning devices. The capabilities of the auxiliary positioning devices can be power consumption levels. As an example, the weight can be notified to the DUT by the network-side device.

[0124] In some embodiments, the first location information can be determined based on first relative location information, second relative location information, and location information from multiple auxiliary positioning devices. For example, when the device under test and the network-side device are in an NLoS scenario, the accuracy of the third relative location information is low. The network-side device can determine the relative distance between the two auxiliary positioning devices based on the location information of the two auxiliary positioning devices and the second relative location information. This relative distance can be used together with the two first relative location information for trilateration to determine the location of the device under test.

[0125] In some embodiments, the first location information can also be used to obtain multiple estimates of the location of the device under test based on the aforementioned multiple relative location information and the location information of the auxiliary positioning device. The more estimates the location calculation unit obtains, the higher the positioning accuracy of the device under test.

[0126] As mentioned above, there are multiple communication devices around the device under test that can serve as auxiliary positioning devices. However, some communication devices experience significant fading to the device under test, and the multipath situation is complex. How the network-side device or the device under test selects auxiliary positioning devices is a problem that needs to be solved, and how to notify the selected auxiliary positioning devices to perform auxiliary positioning is also a consideration.

[0127] The selection or configuration of auxiliary positioning devices can be determined by the network-side device or the device under test (DUT). In some embodiments, when it is determined that a certain auxiliary positioning device is to assist in the positioning of the DUT, the network-side device can instruct that auxiliary positioning device. For example, the network-side device can send first information to a first auxiliary positioning device, which instructs the first auxiliary positioning device to assist in the positioning of the DUT.

[0128] In some embodiments, after receiving the first information, the first auxiliary positioning device starts transmitting a positioning reference signal. Since pilot signal transmission in NR systems typically uses beam scanning, which consumes significant power, multiple auxiliary positioning devices, including the first auxiliary positioning device, can disable the transmission of the positioning reference signal to save power. For example, when the auxiliary positioning device is a PRU, the PRU can disable the transmission of the PRS. The PRS transmission is only enabled after the auxiliary positioning device receives the positioning processing information.

[0129] In some embodiments, the first information may include first request information. The first request information may include at least one piece of information related to assisting the positioning of the device under test (DUT). For example, the first request information may include the ID information of the DUT, used to assist the positioning device in determining the positioning target. For example, the first request information may include a positioning service request initiated by the DUT, used to specify positioning requirements. For example, the first request information may include information instructing the auxiliary positioning device to perform positioning measurements, or information instructing the auxiliary positioning device to send pilot signals for positioning, which can directly instruct assisted positioning. For example, the first request information may include the quality of service (QoS) requirements of the DUT's positioning service, used to assist the positioning device in determining positioning accuracy and other related configurations.

[0130] In some embodiments, the first information may include first configuration information. The first configuration information can be determined based on the configuration of the first auxiliary positioning device. The configuration of the auxiliary positioning device can be determined based on the sensing results of the device under test (DUT). As a possible implementation, the DUT can sense pilot signals sent by the auxiliary positioning device and determine whether the auxiliary positioning device should perform assisted positioning based on the sensing results. That is, the first configuration information can be determined based on the sensing results of the DUT, which are used to determine the auxiliary positioning device performing assisted positioning. This sensing is related to the pilot signals sent by the auxiliary positioning device.

[0131] As a possible implementation, the sensing results of the device under test (DUT) may include at least one piece of information related to the pilot signal. For example, the sensing results may include the ID information of the auxiliary positioning device, used to report the auxiliary positioning devices participating in the positioning process to the network-side device. This ID information may be the PRU ID of the auxiliary positioning device or the group ID of the auxiliary positioning device. For example, the sensing results may include the sensed frequency information. The frequency information may include the channel bandwidth of each frequency and the band number corresponding to the frequency. For example, the sensing results may include the channel quality of the sensed frequency. Channel quality may include signal-to-noise ratio (SNR), RSRP, reference signal receive quality (RSRQ), received signal strength indicator (RSSI), etc. For example, the sensing results may also include the time when the auxiliary positioning device transmits the pilot signal.

[0132] As a possible implementation, the device under test (DUT) can report identified auxiliary positioning devices. The network-side device can then allocate resources for positioning based on the reported auxiliary positioning devices. For example, the auxiliary positioning device sends a positioning reference signal, which the DUT senses. Based on the signal quality of the measured reference signal, the DUT can report available auxiliary positioning devices to the network-side device.

[0133] As a possible implementation, the device under test (DUT) can perform sensing based on a defined pilot signal, thus eliminating the need for the auxiliary positioning device to continuously transmit reference signals for positioning, thereby reducing power consumption and improving sensing efficiency. For example, when the DUT performs sensing, the time-frequency resources for transmitting pilot signals by the auxiliary positioning device can already be determined.

[0134] As one possible implementation, the device under test (DUT) can determine the pilot signal used for sensing through messages sent by network-side devices or auxiliary positioning devices. For example, the pilot signal can be broadcast by the base station to the DUT within its coverage area. In other words, the information corresponding to the pilot signal is carried in the broadcast message. Furthermore, the base station can also send pilot configuration information to auxiliary positioning devices within the cell that are transmitting sensing pilot signals. This pilot configuration information can indicate the transmission resources for the pilot signal. That is, the transmission resources for the pilot signal are indicated through the pilot configuration information.

[0135] As another possible implementation, the device under test (DUT) can deduce relevant information about the pilot signal based on certain parameters. The DUT can perform this deduction based on the correlation between the pilot signal and known parameters. In other words, the information corresponding to the pilot signal is determined through the known parameters of the DUT. The DUT can then deduce the pilot signal using the correlation between these parameters and the pilot signal, thereby enabling corresponding sensing.

[0136] The known or determinable parameters of the device under test (DUT) include, for example, the SSB index, and the zone ID corresponding to the assisted positioning device. The association between the pilot signal and these parameters can include: the pilot signal or its scrambling code being associated with the SSB index, and the pilot signal or its scrambling code being associated with the zone ID corresponding to the assisted positioning device.

[0137] In some embodiments, the device under test (DUT) senses pilot signals transmitted by multiple auxiliary positioning devices. These auxiliary positioning devices can be initially screened or configured by the network-side device. That is, the multiple auxiliary positioning devices sensed by the DUT are those indicated by the network-side device to the DUT for auxiliary positioning. For example, if there are eight communication devices capable of auxiliary positioning around the DUT, the network-side device can determine five of them as the auxiliary positioning devices corresponding to the DUT based on certain factors.

[0138] In some embodiments, the auxiliary positioning device corresponding to the device under test (DUT) can be determined by the base station. For example, the base station can determine the auxiliary positioning device based on the approximate location of the DUT (second location information) and send first configuration information. That is, the first configuration information can be determined based on the second location information of the DUT. The second location information can represent the approximate location of the DUT, and the second location information of the DUT can meet the positioning requirements in certain situations. Therefore, compared with the first location information of the DUT, the positioning accuracy of the second location information is lower.

[0139] As a possible implementation, the base station can determine the second location information based on the relevant parameters of the device under test (DUT). For example, the base station can determine the serving cell where the DUT is located based on the TA (Target Area Code) corresponding to the DUT, thereby determining the approximate location of the DUT. For example, the base station can determine the approximate distance or direction of the DUT based on the RSRP (Reference RSRP) corresponding to the DUT. For example, the base station can preliminarily determine the location of the DUT based on the direction and time information of the SSB (Service Subsystem Name) index corresponding to the DUT. For example, the base station can also determine the second location information of the DUT based on the above-mentioned multiple pieces of information.

[0140] As a possible implementation, the base station can first perform coarse positioning of the device under test (DUT) to screen or configure auxiliary positioning devices for high-precision positioning. For example, the base station can select the appropriate auxiliary positioning device for the DUT from multiple available auxiliary positioning devices based on the user's approximate location. The appropriate auxiliary positioning device for the DUT can be a device in the vicinity of the DUT, or a device that can form a direct line of sight with the DUT. In other words, when the positioning accuracy of the DUT cannot meet the requirements, the network-side device can use the positioning method described in this application.

[0141] As a possible implementation, after the network-side device determines the auxiliary positioning device based on the second location information of the device under test (DUT), it can execute the next step of the positioning process according to the requirements. For example, the network-side device can send first configuration information to the auxiliary positioning device. That is, the network-side device can notify the determined auxiliary positioning devices to provide positioning assistance, and these auxiliary positioning devices can perform positioning detection to determine the location information of the auxiliary positioning devices. Alternatively, the base station can notify the auxiliary positioning devices to send pilot signals for sensing and send the ID of the auxiliary positioning devices to the DUT for further filtering. Through detection, the DUT can select auxiliary positioning devices with better channel quality, thereby improving positioning accuracy.

[0142] As mentioned earlier, the multipath propagation from some auxiliary positioning devices to the device under test (DUT) is complex. Network-side equipment or the DUT can easily identify the location estimation under the Loss of Position (LoS) path from the auxiliary positioning device to the DUT by measuring the received signal power. This is because the propagation distance from the auxiliary positioning device to the DUT is shorter, the path loss is smaller, and the received signal power of the LoS path is significantly greater than that of other propagation paths.

[0143] Combined with the preceding text Figures 3 to 5 This paper introduces a positioning method proposed in the embodiments of this application. For ease of understanding, the following section combines... Figure 6 and Figure 7 The possible execution flow of this method among the device under test, the auxiliary positioning device, and the network-side device is described in detail. Figure 6 and Figure 7 All of these presentations are from the perspective of the interaction between the three devices, with the dashed lines indicating that the process is optional. Figure 6 Taking a location calculation unit located on a network-side device as an example, we introduce one possible implementation method.

[0144] See Figure 6 In step S610, the position of the assisted positioning device relative to the network-side device is estimated, which is the second relative position information. Step S610 can be performed by either the assisted positioning device or the network-side device. The network-side device can be a base station or a positioning server.

[0145] In step S620, the auxiliary positioning device reports the estimated second relative position information to the network-side device for position calculation. If the network-side device executes step S610 through the base station, and the positioning calculation unit is located in the positioning server, the base station also needs to report the second relative position information to the positioning server (not shown in the figure) for position calculation.

[0146] In step S630, the distance or angle information between the device under test and the network-side device is estimated, which is the third relative position information. Step S630 can be performed by either the device under test or the network-side device.

[0147] In step S640, the device under test reports the estimated third relative position information to the network-side device for location calculation. If the network-side device executes step S630 through the base station, and the calculation unit is located in the positioning server, the base station also needs to report the third relative position information to the positioning server (not shown in the figure) for location calculation.

[0148] In step S650, the distance or angle information between the device under test and the auxiliary positioning device is estimated, which is the first relative position information. Step S650 can be performed by either the device under test or the auxiliary positioning device.

[0149] In step S660, the first relative position information is reported to the network-side device so that the position calculation unit can perform position calculation. Step S660 can be executed by either the device under test or the auxiliary positioning device.

[0150] In step S670, the location calculation unit of the network-side device performs location calculation.

[0151] Figure 7 Taking the location calculation unit located in the auxiliary positioning device as an example, we introduce one possible implementation method. Figure 7 and Figure 6 The main difference is the location of the location solution unit; that is... Figure 7 Position calculation is performed using auxiliary positioning equipment.

[0152] See Figure 7 Steps S710, S730, S750 and Figure 6 The corresponding steps are the same and will not be repeated here.

[0153] In step S720, the network-side device sends the estimated second relative position information to the auxiliary positioning device. If step S710 is performed by the auxiliary positioning device, step S720 may be omitted.

[0154] In step S740, the device under test or the network-side device sends the estimated third relative position information to the auxiliary positioning device.

[0155] In step S760, the device under test sends the estimated first relative position information to the auxiliary positioning device. If step S750 is performed by the auxiliary positioning device, step S760 may be omitted.

[0156] In step S770, the position calculation unit of the auxiliary positioning device performs position calculation.

[0157] Depend on Figure 6 and Figure 7 As can be seen, the positioning method used in the embodiments of this application can perform single-station positioning, that is, it does not require... Figure 2 The location is calculated using the LMF. Position calculation via the LMF requires a three-level architecture, resulting in significant processing latency. Therefore, the embodiments in this application can help reduce the processing latency of positioning.

[0158] In this application embodiment, when using an auxiliary positioning device to perform auxiliary positioning of the device under test, the device under test can also perform high-precision positioning based on signals with a lower sampling rate.

[0159] In some embodiments, the assisted positioning device and the device under test (DUT) can transmit reference signals to the network-side device according to absolute time. The network-side device can distinguish between the two signals based on their phase difference and obtain the absolute time of their pilot transmissions using a distance-angle testing unit. To ensure measurement accuracy, the absolute time of signal transmission by the assisted positioning device and the DUT needs to be highly accurate.

[0160] In some embodiments, the assisted positioning device and the device under test can receive a reference signal sent by the network-side device and send the time of receiving the signal to the network-side device. Similarly, to ensure positioning accuracy, the time of reporting the received signal to the network-side device needs to be accurate to a very small time unit.

[0161] In summary, the positioning method proposed in this application estimates the position of the auxiliary positioning device relative to the network side device through a network-side device or an auxiliary positioning device. The auxiliary positioning device or the device under test feeds back information such as the relative distance between the device under test and the auxiliary positioning device, and the position / ID of the auxiliary positioning device to the position calculation unit, which can improve the positioning accuracy of the device under test.

[0162] The above text combined Figures 3 to 7 The method embodiments of this application are described in detail below. Figures 8 to 11 This application provides a detailed description of the apparatus embodiments. It should be understood that the descriptions of the apparatus embodiments correspond to the descriptions of the method embodiments; therefore, any parts not described in detail can be found in the preceding method embodiments.

[0163] Figure 8 This is a schematic block diagram of a positioning device provided in an embodiment of this application. The device 800 can be any of the first auxiliary positioning devices described above. Figure 8 The device 800 shown includes a determining unit 810 and a communication unit 820.

[0164] The determining unit 810 can be used to determine the positioning reference signal, which is used to determine the first relative position information of the first auxiliary positioning device and the device under test.

[0165] The communication unit 820 can be used to transmit or measure positioning reference signals via a side link. The first relative position information is used to determine the first position information of the device under test.

[0166] Optionally, the first location information is further determined based on the following information: the second relative location information between the first auxiliary positioning device and the network-side device, and the third relative location information between the device under test and the network-side device; or, the location information of multiple auxiliary positioning devices, including the first auxiliary positioning device.

[0167] Optionally, the plurality of auxiliary positioning devices may further include a second auxiliary positioning device, which is used to perform position calculation of the device under test and / or to configure the resources of other auxiliary positioning devices and the device under test among the plurality of auxiliary positioning devices.

[0168] Optionally, the second auxiliary positioning device is determined according to one or more of the following methods: the network-side device is configured; the configuration is based on the distance between the multiple auxiliary positioning devices and the device under test; the communication unit 820 is also used to receive the identification ID information of the second auxiliary positioning device.

[0169] Optionally, the second auxiliary positioning device is configured based on the distance between multiple auxiliary positioning devices and the device under test. If the difference between the distance between at least two of the multiple auxiliary positioning devices and the device under test is less than a first threshold, the auxiliary positioning device with the highest weight among the at least two auxiliary positioning devices is the second auxiliary positioning device.

[0170] Optionally, the weights are determined based on the priority of the auxiliary positioning device, or based on the capabilities of the auxiliary positioning device.

[0171] Optionally, the second relative position information is determined based on the position information of the first auxiliary positioning device, and the communication unit 820 can also be used to send the position information of the first auxiliary positioning device to the network-side device.

[0172] Optionally, the first location information is determined by a location calculation unit, which is located in an auxiliary positioning device or a device that provides positioning services from a third party.

[0173] Optionally, the communication unit 820 can also be used to receive first information, which is used to instruct the first auxiliary positioning device to perform auxiliary positioning of the device under test.

[0174] Optionally, the device 800 further includes an activation unit, which can be used to activate the transmission of positioning reference signals after the first auxiliary positioning device receives the first information.

[0175] Optionally, the first information includes first request information, which includes at least one of the following: ID information of the device under test; a location service request initiated by the device under test; information for instructing a first auxiliary positioning device to perform positioning measurement or send pilot signals for positioning; and QoS requirements for the location service of the device under test.

[0176] Optionally, the transmission resources of the pilot signal are indicated by pilot configuration information.

[0177] Optionally, the information corresponding to the pilot signal is carried in the broadcast message.

[0178] Optionally, the information corresponding to the pilot signal is determined by the known parameters of the device under test, and the information corresponding to the pilot signal and the parameters have one or more of the following relationships: the pilot signal is related to the SSB index; the scrambling code of the pilot signal is related to the SSB index; the pilot signal is related to the side walkway area ID corresponding to the first auxiliary positioning device; and the scrambling code of the pilot signal is related to the side walkway area ID corresponding to the first auxiliary positioning device.

[0179] Optionally, the first information includes first configuration information, which is determined based on the perception results of the device under test. The perception results of the device under test are used to determine whether the first auxiliary positioning device performs auxiliary positioning.

[0180] Optionally, the sensing results of the device under test include at least one of the following: ID information of the first auxiliary positioning device; frequency information sensed by the device under test; channel quality of the sensing frequency of the device under test; and the time when the first auxiliary positioning device transmits the pilot signal.

[0181] Optionally, the first auxiliary positioning device is one of a plurality of auxiliary positioning devices sensed by the device under test, and the plurality of auxiliary positioning devices are devices that perform auxiliary positioning as indicated by the network-side device to the device under test.

[0182] Optionally, the first information includes first configuration information, which is determined based on the second location information of the device under test.

[0183] Optionally, the second location information is determined based on one or more of the following: timing advance corresponding to the device under test; reference signal received power corresponding to the device under test; and SSB index corresponding to the device under test.

[0184] Optionally, the transmission resource pool for the positioning reference signal is configured by the network-side device, and the configuration method includes at least one of the following: the network-side device configures the transmission resources according to the ID of the first auxiliary positioning device reported by the device under test; or the network-side device configures the transmission resources according to the second location information of the device under test.

[0185] Optionally, the transmission resource pool for the positioning reference signal is configured by the auxiliary positioning device, and the transmission resource pool is determined in at least one of the following ways: the transmission resource pool is determined based on the area ID of the first auxiliary positioning device; the transmission resource pool is determined based on the SSB index of the first auxiliary positioning device; the transmission resource pool is determined in advance based on the timing of the first auxiliary positioning device; and the transmission resource pool is determined based on the ID of the first auxiliary positioning device.

[0186] Optionally, the transmission resources of the positioning reference signal are obtained by the device under test.

[0187] Optionally, the distance between the device under test and the first auxiliary positioning device is d, the position of the first auxiliary positioning device is (x1, y1), and the position of the device under test is (x2, y2) obtained according to the first relative position information, the second relative position information and the third relative position information. The first position information (x, y) satisfies the following conditions:

[0188]

[0189] Figure 9 This is a schematic block diagram of another positioning device provided in an embodiment of this application. The device 900 can be any of the devices under test described above. Figure 9 The device 900 shown includes a determining unit 910 and a communication unit 920.

[0190] The determining unit 910 can be used to determine the positioning reference signal, which is used to determine the first relative position information of the auxiliary positioning device and the device under test.

[0191] The communication unit 920 can be used to measure or transmit positioning reference signals via a side link; wherein, the first relative position information is used to determine the first position information of the device under test.

[0192] Optionally, the first location information is further determined based on the following information: the second relative location information between the first auxiliary positioning device and the network-side device, and the third relative location information between the device under test and the network-side device; or, the location information of multiple auxiliary positioning devices, including the first auxiliary positioning device.

[0193] Optionally, the plurality of auxiliary positioning devices may further include a second auxiliary positioning device, which is used to perform position calculation of the device under test and / or to configure the resources of other auxiliary positioning devices and the device under test among the plurality of auxiliary positioning devices.

[0194] Optionally, the second auxiliary positioning device is determined according to one or more of the following methods: configured by the network-side device; configured according to the distance between the multiple auxiliary positioning devices and the device under test; the communication unit 920 is also used to send the identification ID information of the second auxiliary positioning device to the multiple auxiliary positioning devices.

[0195] Optionally, the second auxiliary positioning device is configured based on the distance between multiple auxiliary positioning devices and the device under test. If the difference between the distance between at least two of the multiple auxiliary positioning devices and the device under test is less than a first threshold, the auxiliary positioning device with the highest weight among the at least two auxiliary positioning devices is the second auxiliary positioning device.

[0196] Optionally, the weights are determined based on the priority of the auxiliary positioning device, or based on the capabilities of the auxiliary positioning device.

[0197] Optionally, the first location information is determined by a location calculation unit, which is located in a first auxiliary positioning device or a device that provides positioning services from a third party.

[0198] Optionally, the device 900 further includes a sensing unit, which can be used to sense the pilot signal of user positioning sent by the first auxiliary positioning device; the determining unit 910 is also used to determine whether the first auxiliary positioning device performs auxiliary positioning based on the sensing result.

[0199] Optionally, the transmission resources of the pilot signal are indicated by pilot configuration information.

[0200] Optionally, the information corresponding to the pilot signal is carried in the broadcast message.

[0201] Optionally, the information corresponding to the pilot signal is determined by the known parameters of the device under test, and the information corresponding to the pilot signal and the parameters have one or more of the following relationships: the pilot signal is related to the SSB index; the scrambling code of the pilot signal is related to the SSB index; the pilot signal is related to the side walkway area identifier corresponding to the first auxiliary positioning device; and the scrambling code of the pilot signal is related to the side walkway area identifier corresponding to the first auxiliary positioning device.

[0202] Optionally, the first auxiliary positioning device is one of a plurality of auxiliary positioning devices sensed by the device under test, and the plurality of auxiliary positioning devices are devices that perform auxiliary positioning as indicated by the network-side device to the device under test.

[0203] Optionally, the transmission resource pool for the positioning reference signal is configured by the network-side device, and the configuration method includes at least one of the following: the network-side device configures the transmission resources according to the ID of the first auxiliary positioning device reported by the device under test; or the network-side device configures the transmission resources according to the second location information of the device under test.

[0204] Optionally, the transmission resource pool for the positioning reference signal is configured by the auxiliary positioning device, and the transmission resource pool is determined in at least one of the following ways: the transmission resource pool is determined based on the area ID of the first auxiliary positioning device; the transmission resource pool is determined based on the SSB index of the first auxiliary positioning device; the transmission resource pool is determined in advance based on the timing of the first auxiliary positioning device; and the transmission resource pool is determined based on the ID of the first auxiliary positioning device.

[0205] Optionally, the transmission resources of the positioning reference signal are obtained by the device under test.

[0206] Optionally, the distance between the device under test and the first auxiliary positioning device is d, the position of the first auxiliary positioning device is (x1, y1), and the position of the device under test is (x2, y2) obtained according to the first relative position information, the second relative position information and the third relative position information. The first position information (x, y) satisfies the following conditions:

[0207]

[0208] Figure 10 This is a schematic block diagram of another positioning device provided in an embodiment of this application. The device 1000 can be any of the network-side devices described above, such as a serving cell or a positioning server. Figure 10 The apparatus 1000 shown includes a determining unit 1010.

[0209] The receiving unit 1010 can be used to receive first relative position information between the first auxiliary positioning device and the device under test. The first relative position information is used to determine the first position information of the device under test. The first relative position information is determined based on a positioning reference signal, which is transmitted through a side link.

[0210] Optionally, the first location information is further determined based on the following information: the second relative location information between the first auxiliary positioning device and the network-side device, and the third relative location information between the device under test and the network-side device; or, the location information of multiple auxiliary positioning devices, including the first auxiliary positioning device.

[0211] Optionally, the second relative position information is determined based on the position information of the first auxiliary positioning device, and the receiving unit 1010 is also used to receive the position information of the first auxiliary positioning device.

[0212] Optionally, the first location information is determined by a location calculation unit, which is located in an auxiliary positioning device or a device that provides positioning services from a third party.

[0213] Optionally, the plurality of auxiliary positioning devices may further include a second auxiliary positioning device, which is used to perform position calculation of the device under test and / or to configure the resources of other auxiliary positioning devices and the device under test among the plurality of auxiliary positioning devices.

[0214] Optionally, the second auxiliary positioning device is determined according to one or more of the following methods: configured by network-side devices; configured according to the distance between multiple auxiliary positioning devices and the device under test.

[0215] Optionally, the second auxiliary positioning device is configured based on the distance between multiple auxiliary positioning devices and the device under test. If the difference between the distance between at least two of the multiple auxiliary positioning devices and the device under test is less than a first threshold, the auxiliary positioning device with the highest weight among the at least two auxiliary positioning devices is the second auxiliary positioning device.

[0216] Optionally, the weights are determined based on the priority of the auxiliary positioning device, or based on the capabilities of the auxiliary positioning device.

[0217] Optionally, the device 1000 further includes a transmitting unit, which can be used to transmit first information, the first information being used to instruct a first auxiliary positioning device to perform auxiliary positioning of the device under test.

[0218] Optionally, the first information includes first request information, which includes at least one of the following: ID information of the device under test; a location service request initiated by the device under test; information for instructing an auxiliary positioning device to perform positioning measurements or to send pilot signals for positioning; and QoS requirements for the location service of the device under test.

[0219] Optionally, the transmission resources of the pilot signal are indicated by pilot configuration information.

[0220] Optionally, the information corresponding to the pilot signal is carried in the broadcast message.

[0221] Optionally, the information corresponding to the pilot signal is determined by the known parameters of the device under test, and the information corresponding to the pilot signal and the parameters have one or more of the following relationships: the pilot signal is related to the SSB index; the scrambling code of the pilot signal is related to the SSB index; the pilot signal is related to the side walkway area ID corresponding to the first auxiliary positioning device; and the scrambling code of the pilot signal is related to the side walkway area ID corresponding to the first auxiliary positioning device.

[0222] Optionally, the first information includes first configuration information, which is determined based on the perception results of the device under test. The perception results of the device under test are used to determine whether the first auxiliary positioning device performs auxiliary positioning.

[0223] Optionally, the sensing results of the device under test include at least one of the following: ID information of the first auxiliary positioning device; frequency information sensed by the device under test; channel quality of the sensing frequency of the device under test; and the time when the first auxiliary positioning device transmits the pilot signal.

[0224] Optionally, the auxiliary positioning device is one of multiple auxiliary positioning devices sensed by the device under test, and the multiple auxiliary positioning devices are devices that perform auxiliary positioning as indicated by the network-side device to the device under test.

[0225] Optionally, the first information includes first configuration information, which is determined based on the second location information of the device under test.

[0226] Optionally, the second location information is determined based on one or more of the following: timing advance corresponding to the device under test; reference signal received power corresponding to the device under test; and SSB index corresponding to the device under test.

[0227] Optionally, the transmission resources for the positioning reference signal are configured by the network-side device, and the configuration method includes at least one of the following: the network-side device configures the transmission resources according to the ID of the first auxiliary positioning device reported by the device under test; the network-side device configures the transmission resources according to the second location information of the device under test.

[0228] Optionally, the transmission resource pool for the positioning reference signal is configured by the auxiliary positioning device, and the transmission resource pool is determined in at least one of the following ways: the transmission resource pool is determined based on the area ID of the first auxiliary positioning device; the transmission resource pool is determined based on the SSB index of the first auxiliary positioning device; the transmission resource pool is determined in advance based on the timing of the first auxiliary positioning device; and the transmission resource pool is determined based on the ID of the first auxiliary positioning device.

[0229] Optionally, the transmission resources of the positioning reference signal are obtained by the device under test.

[0230] Optionally, the distance between the device under test and the first auxiliary positioning device is d, the position of the first auxiliary positioning device is (x1, y1), and the position of the device under test is (x2, y2) obtained according to the first relative position information, the second relative position information and the third relative position information. The first position information (x, y) satisfies the following conditions:

[0231]

[0232] Figure 11The diagram shown is a schematic structural diagram of a communication device according to an embodiment of this application. Figure 11 The dashed lines indicate that the unit or module is optional. The device 1100 can be used to implement the methods described in the above method embodiments. The device 1100 can be a chip or the aforementioned device under test, auxiliary positioning device, and network-side device.

[0233] Apparatus 1100 may include one or more processors 1110. The processor 1110 may support apparatus 1100 in implementing the methods described in the preceding method embodiments. The processor 1110 may be a general-purpose processor or a special-purpose processor. For example, the processor may be a central processing unit (CPU). Alternatively, the processor may 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 gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0234] The apparatus 1100 may further include one or more memories 1120. The memories 1120 store a program that can be executed by the processor 1110, causing the processor 1110 to perform the methods described in the preceding method embodiments. The memories 1120 may be independent of the processor 1110 or integrated within the processor 1110.

[0235] The device 1100 may also include a transceiver 1130. The processor 1110 can communicate with other devices or chips via the transceiver 1130. For example, the processor 1110 can send and receive data with other devices or chips via the transceiver 1130.

[0236] This application also provides a computer-readable storage medium for storing a program. This computer-readable storage medium can be applied to the assisted positioning device, device under test, or network-side device provided in this application embodiment, and the program causes a computer to execute the methods performed by the assisted positioning device, device under test, or network-side device in various embodiments of this application.

[0237] It should be understood that the computer-readable storage medium mentioned in the embodiments of this application can be any usable medium that a computer can read, or a data storage device such as a server or data center that integrates one or more usable media. The usable medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., digital video disc (DVD)), or a semiconductor medium (e.g., solid state disk (SSD)).

[0238] This application also provides a computer program product. The computer program product includes a program. This computer program product can be applied to the assisted positioning device, device under test, or network-side device provided in the embodiments of this application, and the program causes a computer to execute the methods performed by the assisted positioning device, device under test, or network-side device in the various embodiments of this application.

[0239] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented, in whole or in part, as 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 this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0240] This application also provides a computer program. This computer program can be applied to the assisted positioning device, device under test, or network-side device provided in this application, and causes the computer to execute the methods performed by the assisted positioning device, device under test, or network-side device in various embodiments of this application.

[0241] In this application, the terms "system" and "network" are used interchangeably. Furthermore, the terminology used in this application is only for explaining specific embodiments of the application and is not intended to limit the application. The terms "first," "second," "third," and "fourth," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. In addition, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0242] In the embodiments of this application, the term "instruction" can be a direct instruction, an indirect instruction, or an indication of a relationship. For example, A instructing B can mean that A directly instructs B, such as B being able to obtain information through A; it can also mean that A indirectly instructs B, such as A instructing C, so B can obtain information through C; or it can mean that there is a relationship between A and B.

[0243] In the embodiments of this application, the term "correspondence" may indicate a direct or indirect correspondence between two things, or an association between two things, or a relationship such as instruction and being instructed, configuration and being configured.

[0244] In the embodiments of this application, "pre-configuration" can be achieved by pre-saving the corresponding code, table or other means that can be used to indicate relevant information in the device. This application does not limit the specific implementation method.

[0245] In the embodiments of this application, the term "protocol" may refer to standard protocols in the field of communications, such as LTE protocols, NR protocols, and related protocols applied in future communication systems. This application does not limit the scope of these protocols.

[0246] In the embodiments of this application, determining B based on A does not mean determining B solely based on A; B can also be determined based on A and / or other information.

[0247] In the embodiments of this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0248] In the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0249] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0250] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0251] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0252] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for positioning, characterized in that, include: The first auxiliary positioning device receives first information, which is used to instruct the first auxiliary positioning device to perform auxiliary positioning of the device under test. The first auxiliary positioning device determines a positioning reference signal, which is used to determine the first relative position information between the first auxiliary positioning device and the device under test. The transmission resource pool of the positioning reference signal is determined according to the SSB index of the first auxiliary positioning device. The first auxiliary positioning device is used to receive a first auxiliary positioning device number, which is the number of all first auxiliary positioning devices that report the same SSB index. The first auxiliary positioning device number is used by the first auxiliary positioning device to determine the transmission resources of the positioning reference signal. The first auxiliary positioning device initiates the transmission or measurement of the positioning reference signal, and the first auxiliary positioning device transmits or measures the positioning reference signal through a side link; Wherein, the first relative position information is used to determine the first position information of the device under test; The first information includes the first configuration information; The first configuration information is used to instruct the first auxiliary positioning device to assist in the positioning of the device under test. The first configuration information is determined based on the second location information of the device under test. The second location information is determined by the network-side device based on the SSB index corresponding to the device under test.

2. The method according to claim 1, characterized in that, The first location information is also determined based on the following information: The second relative position information between the first auxiliary positioning device and the network-side device, and the third relative position information between the device under test and the network-side device; or... Location information of multiple auxiliary positioning devices, wherein the multiple auxiliary positioning devices include the first auxiliary positioning device.

3. The method according to claim 2, characterized in that, The plurality of auxiliary positioning devices further includes a second auxiliary positioning device, which is used to perform position calculation of the device under test and / or to configure the resources of other auxiliary positioning devices among the plurality of auxiliary positioning devices and the device under test.

4. The method according to claim 3, characterized in that, The second auxiliary positioning device is determined according to one or more of the following methods: The network-side device is configured; The configuration is based on the distance between the plurality of auxiliary positioning devices and the device under test; The method further includes: The first auxiliary positioning device receives the identification ID information of the second auxiliary positioning device.

5. The method according to claim 4, characterized in that, The second auxiliary positioning device is configured based on the distance between the plurality of auxiliary positioning devices and the device under test. If the difference between the distances of at least two of the plurality of auxiliary positioning devices and the device under test is less than a first threshold, the auxiliary positioning device with the highest weight among the at least two auxiliary positioning devices is the second auxiliary positioning device.

6. The method according to claim 5, characterized in that, The weights are determined based on the priority of the auxiliary positioning device, or based on the capabilities of the auxiliary positioning device.

7. The method according to claim 1, characterized in that, The first information also includes information for sending pilot signals for positioning, wherein the transmission resources of the pilot signals are indicated by pilot configuration information.

8. The method according to claim 1, characterized in that, The first information also includes information for sending pilot signals for positioning, and the information corresponding to the pilot signals is carried in a broadcast message.

9. The method according to claim 1, characterized in that, The first information also includes information for sending pilot signals for positioning. The information corresponding to the pilot signals is determined by known parameters of the device under test, and the information corresponding to the pilot signals and the parameters have one or more of the following relationships: The pilot signal is associated with the synchronization signal / physical broadcast channel (SSB) index; The scrambling code of the pilot signal is related to the SSB index; The pilot signal is related to the side walkway region ID corresponding to the first auxiliary positioning device; as well as The scrambling code of the pilot signal is related to the side walkway region ID corresponding to the first auxiliary positioning device.

10. The method according to claim 1, characterized in that, The first location information is determined by a location calculation unit, which is located in an auxiliary positioning device or a device that provides positioning services from a third party.

11. The method according to claim 1, characterized in that, The transmission resource pool for the positioning reference signal is configured by the network-side device, and the configuration method of the network-side device includes at least one of the following: The network-side device configures transmission resources based on the ID of the first auxiliary positioning device reported by the device under test; The network-side device configures transmission resources based on the second location information of the device under test.

12. The method according to claim 2, characterized in that, The second relative position information is determined based on the position information of the first auxiliary positioning device, and the method further includes: The location information of the first auxiliary positioning device is sent to the network-side device.

13. The method according to claim 2, characterized in that, The distance between the device under test and the first auxiliary positioning device is d, and the position of the first auxiliary positioning device is (x1, y1). Based on the first relative position information, the second relative position information, and the third relative position information, the position of the device under test is (x2, y2). The first position information (x, y) satisfies the following condition: 。 14. A method for positioning, characterized in that, include: The device under test (DUT) determines a positioning reference signal. The positioning reference signal is used to determine the first relative position information between the first auxiliary positioning device that receives the first information and the DUT. The transmission resource pool of the positioning reference signal is determined according to the SSB index of the first auxiliary positioning device. The first auxiliary positioning device is used to receive a first auxiliary positioning device number. The first auxiliary positioning device number is the number of all first auxiliary positioning devices that report the same SSB index. The first auxiliary positioning device number is used by the first auxiliary positioning device to determine the transmission resources of the positioning reference signal. The device under test measures or transmits the positioning reference signal via a side link; Wherein, the first relative position information is used to determine the first position information of the device under test; The first information includes the first configuration information; The first configuration information is used to instruct the first auxiliary positioning device to assist in the positioning of the device under test. The first configuration information is determined based on the second location information of the device under test. The second location information is determined by the network-side device based on the SSB index corresponding to the device under test.

15. The method according to claim 14, characterized in that, The first location information is also determined based on the following information: The second relative position information between the first auxiliary positioning device and the network-side device, and the third relative position information between the device under test and the network-side device; or... Location information of multiple auxiliary positioning devices, wherein the multiple auxiliary positioning devices include the first auxiliary positioning device.

16. The method according to claim 15, characterized in that, The plurality of auxiliary positioning devices further includes a second auxiliary positioning device, which is used to perform position calculation of the device under test and / or to configure the resources of other auxiliary positioning devices among the plurality of auxiliary positioning devices and the device under test.

17. The method according to claim 16, characterized in that, The second auxiliary positioning device is determined according to one or more of the following methods: The network-side device is configured; The configuration is based on the distance between the plurality of auxiliary positioning devices and the device under test; The method further includes: The device under test sends the identification ID information of the second auxiliary positioning device to the plurality of auxiliary positioning devices.

18. The method according to claim 17, characterized in that, The second auxiliary positioning device is configured based on the distance between the plurality of auxiliary positioning devices and the device under test. If the difference between the distances of at least two of the plurality of auxiliary positioning devices and the device under test is less than a first threshold, the auxiliary positioning device with the highest weight among the at least two auxiliary positioning devices is the second auxiliary positioning device.

19. The method according to claim 18, characterized in that, The weights are determined based on the priority of the auxiliary positioning device, or based on the capabilities of the auxiliary positioning device.

20. The method according to claim 14, characterized in that, Before the device under test determines the positioning reference signal, the method further includes: The device under test senses the pilot signal for positioning sent by the first auxiliary positioning device; Based on the perception results, it is determined whether the first auxiliary positioning device performs auxiliary positioning.

21. The method according to claim 20, characterized in that, The transmission resources of the pilot signal are indicated by the pilot configuration information.

22. The method according to claim 20, characterized in that, The information corresponding to the pilot signal is carried in the broadcast message.

23. The method according to claim 20, characterized in that, The information corresponding to the pilot signal is determined through known parameters of the device under test, and the information corresponding to the pilot signal and the parameters have one or more of the following relationships: The pilot signal is associated with the synchronization signal / physical broadcast channel (SSB) index; The scrambling code of the pilot signal is related to the SSB index; The pilot signal is related to the side walkway area identifier ID corresponding to the first auxiliary positioning device; as well as The scrambling code of the pilot signal is related to the side walkway region ID corresponding to the first auxiliary positioning device.

24. The method according to claim 20, characterized in that, The first auxiliary positioning device is one of a plurality of auxiliary positioning devices sensed by the device under test. The plurality of auxiliary positioning devices sensed by the device under test are devices for auxiliary positioning indicated by the network-side device to the device under test.

25. The method according to claim 14, characterized in that, The first location information is determined by a location calculation unit, which is located in an auxiliary positioning device or a device that provides positioning services from a third party.

26. The method according to claim 14, characterized in that, The transmission resource pool for the positioning reference signal is configured by the network-side device, and the configuration method of the network-side device includes at least one of the following: The network-side device configures transmission resources based on the ID of the first auxiliary positioning device reported by the device under test; The network-side device configures transmission resources based on the second location information of the device under test.

27. The method according to claim 15, characterized in that, The distance between the device under test and the first auxiliary positioning device is d, and the position of the first auxiliary positioning device is (x1, y1). Based on the first relative position information, the second relative position information, and the third relative position information, the position of the device under test is (x2, y2). The first position information (x, y) satisfies the following condition: 。 28. A method for positioning, characterized in that, include: The network-side device sends first information, which is used to instruct the first auxiliary positioning device to perform auxiliary positioning of the device under test. The network-side device receives first relative position information between the first auxiliary positioning device and the device under test, and the first relative position information is used to determine the first position information of the device under test. Wherein, the first relative position information is determined based on a positioning reference signal, the positioning reference signal is transmitted through a side link, the transmission resource pool of the positioning reference signal is determined according to the SSB index of the first auxiliary positioning device, the first auxiliary positioning device is used to receive a first auxiliary positioning device number, the first auxiliary positioning device number is the number of all first auxiliary positioning devices that report the same SSB index, and the first auxiliary positioning device number is used by the first auxiliary positioning device to determine the transmission resources of the positioning reference signal. The first information includes the first configuration information; The first configuration information is used to instruct the first auxiliary positioning device to assist in the positioning of the device under test. The first configuration information is determined based on the second location information of the device under test. The second location information is determined by the network-side device based on the SSB index corresponding to the device under test.

29. The method according to claim 28, characterized in that, The first location information is also determined based on the following information: The second relative position information between the first auxiliary positioning device and the network-side device, and the third relative position information between the device under test and the network-side device; or... Location information of multiple auxiliary positioning devices, wherein the multiple auxiliary positioning devices include the first auxiliary positioning device.

30. The method according to claim 29, characterized in that, The plurality of auxiliary positioning devices further includes a second auxiliary positioning device, which is used to perform position calculation of the device under test and / or to configure the resources of other auxiliary positioning devices among the plurality of auxiliary positioning devices and the device under test.

31. The method according to claim 30, characterized in that, The second auxiliary positioning device is determined according to one or more of the following methods: The network-side device is configured; The configuration is based on the distance between the plurality of auxiliary positioning devices and the device under test.

32. The method according to claim 31, characterized in that, The second auxiliary positioning device is configured based on the distance between the plurality of auxiliary positioning devices and the device under test. If the difference between the distances of at least two of the plurality of auxiliary positioning devices and the device under test is less than a first threshold, the auxiliary positioning device with the highest weight among the at least two auxiliary positioning devices is the second auxiliary positioning device.

33. The method according to claim 32, characterized in that, The weights are determined based on the priority of the auxiliary positioning device, or based on the capabilities of the auxiliary positioning device.

34. The method according to claim 28, characterized in that, The first information also includes information for sending pilot signals for positioning, wherein the transmission resources of the pilot signals are indicated by pilot configuration information.

35. The method according to claim 28, characterized in that, The first information also includes information for sending pilot signals for positioning, and the information corresponding to the pilot signals is carried in a broadcast message.

36. The method according to claim 28, characterized in that, The first information also includes information for sending pilot signals for positioning. The information corresponding to the pilot signals is determined by known parameters of the device under test, and the information corresponding to the pilot signals and the parameters have one or more of the following relationships: The pilot signal is associated with the synchronization signal / physical broadcast channel (SSB) index; The scrambling code of the pilot signal is related to the SSB index; The pilot signal is related to the side walkway region ID corresponding to the first auxiliary positioning device; as well as The scrambling code of the pilot signal is related to the side walkway region ID corresponding to the first auxiliary positioning device.

37. The method according to claim 28, characterized in that, The first location information is determined by a location calculation unit, which is located in an auxiliary positioning device or a device that provides positioning services from a third party.

38. The method according to claim 28, characterized in that, The transmission resource pool for the positioning reference signal is configured by the network-side device, and the configuration method includes at least one of the following: The network-side device configures transmission resources based on the ID of the first auxiliary positioning device reported by the device under test; The network-side device configures transmission resources based on the second location information of the device under test.

39. The method according to claim 29, characterized in that, The second relative position information is determined based on the position information of the first auxiliary positioning device, and the method further includes: Receive the location information from the first auxiliary positioning device.

40. The method according to claim 29, characterized in that, The distance between the device under test and the first auxiliary positioning device is d, and the position of the first auxiliary positioning device is (x1, y1). Based on the first relative position information, the second relative position information, and the third relative position information, the position of the device under test is (x2, y2). The first position information (x, y) satisfies the following condition: 。 41. A device for positioning, characterized in that, The device is a first auxiliary positioning device, which includes: A communication unit is used to receive first information, which instructs the first auxiliary positioning device to perform auxiliary positioning of the device under test. A determining unit is configured to determine a positioning reference signal, the positioning reference signal being used to determine the first relative position information of the first auxiliary positioning device and the device under test. The transmission resource pool of the positioning reference signal is determined based on the SSB index of the first auxiliary positioning device. The first auxiliary positioning device is configured to receive a first auxiliary positioning device number, the first auxiliary positioning device number being the number of all first auxiliary positioning devices that report the same SSB index. The first auxiliary positioning device number is used by the first auxiliary positioning device to determine the transmission resources of the positioning reference signal. A communication unit is used to enable the transmission or measurement of the positioning reference signal and to transmit or measure the positioning reference signal via a side link; Wherein, the first relative position information is used to determine the first position information of the device under test; The first information includes the first configuration information; The first configuration information is used to instruct the first auxiliary positioning device to assist in the positioning of the device under test. The first configuration information is determined based on the second location information of the device under test. The second location information is determined by the network-side device based on the SSB index corresponding to the device under test.

42. A device for positioning, characterized in that, The device is a test device, which includes: A determining unit is configured to determine a positioning reference signal, wherein the positioning reference signal is used to determine the first relative position information of a first auxiliary positioning device receiving first information and the device under test, the transmission resource pool of the positioning reference signal is determined according to the SSB index of the first auxiliary positioning device, the first auxiliary positioning device is configured to receive a first auxiliary positioning device number, the first auxiliary positioning device number is the number of all first auxiliary positioning devices that report the same SSB index, and the first auxiliary positioning device number is used by the first auxiliary positioning device to determine the transmission resources of the positioning reference signal; A communication unit is used to measure or transmit the positioning reference signal via a side link; Wherein, the first relative position information is used to determine the first position information of the device under test; The first information includes the first configuration information; The first configuration information is used to instruct the first auxiliary positioning device to assist in the positioning of the device under test. The first configuration information is determined based on the second location information of the device under test. The second location information is determined by the network-side device based on the SSB index corresponding to the device under test.

43. A device for positioning, characterized in that, The device is a network-side device, which includes: A transmitting unit is used to transmit first information, which instructs a first auxiliary positioning device to perform auxiliary positioning of the device under test. The receiving unit is configured to receive first relative position information between the first auxiliary positioning device and the device under test, wherein the first relative position information is used to determine the first position information of the device under test; Wherein, the first relative position information is determined based on a positioning reference signal, the positioning reference signal is transmitted through a side link, the transmission resource pool of the positioning reference signal is determined according to the SSB index of the first auxiliary positioning device, the first auxiliary positioning device is used to receive a first auxiliary positioning device number, the first auxiliary positioning device number is the number of all first auxiliary positioning devices that report the same SSB index, and the first auxiliary positioning device number is used by the first auxiliary positioning device to determine the transmission resources of the positioning reference signal. The first information includes the first configuration information; The first configuration information is used to instruct the first auxiliary positioning device to assist in the positioning of the device under test. The first configuration information is determined based on the second location information of the device under test. The second location information is determined by the network-side device based on the SSB index corresponding to the device under test.

44. A communication device, characterized in that, It includes a memory and a processor, the memory being used to store a program, and the processor being used to invoke the program in the memory to perform the method as described in any one of claims 1-40.

45. A computer-readable storage medium, characterized in that, It contains a program that causes a computer to perform the method as described in any one of claims 1-40.

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