Positioning method, apparatus, terminal and communication device

Abstract

This application discloses a positioning method, apparatus, terminal, and communication device, belonging to the field of communication technology. The positioning method of this application includes: a first terminal measuring a physical secondary link (SL) positioning reference signal sent by a second terminal; the first terminal sending first information to a target communication device based on the measurement of the SL positioning reference signal; wherein, the first information includes at least one of the following: line-of-sight (LOS) indication information; measurement information of the SL positioning reference signal; location-related information; the target communication device is the second terminal, a preset terminal, a base station device, or a core network device.

Description

Technical Field

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

[0002] In wireless communication systems, a positioning reference signal (PRS) is a reference signal that assists the terminal in positioning.

[0003] However, current technologies do not support positioning methods based on physical sidelinks (SL); furthermore, there are no corresponding solutions for how to solve the measurement inaccuracies or NLOS problems in physical sidelinks (SL). Summary of the Invention

[0004] This application provides a positioning method, apparatus, terminal, and communication device that can realize positioning based on the physical sidelink (SL). It also takes into account the problem that inaccurate measurement or NLOS problem in the physical sidelink (SL) can prevent accurate positioning and optimizes the positioning performance of the physical sidelink (SL).

[0005] Firstly, a positioning method is provided, which includes:

[0006] The first terminal measures the physical secondary link (SL) positioning reference signal sent by the second terminal;

[0007] The first terminal sends first information to the target communication device based on the measurement of the SL positioning reference signal;

[0008] The first information includes at least one of the following:

[0009] Line of sight (LOS) indication information;

[0010] The measurement information of the SL positioning reference signal;

[0011] Location-related information;

[0012] The target communication device is the second terminal, a preset terminal, a base station device, or a core network device.

[0013] Secondly, a positioning method is provided, including:

[0014] The target communication device receives first information, which is sent by the first terminal based on the measurement of the SL positioning reference signal sent by the second terminal;

[0015] The first information includes at least one of the following:

[0016] Line of sight (LOS) indication information;

[0017] The measurement information of the SL positioning reference signal;

[0018] Location-related information;

[0019] The target communication device is the second terminal, a preset terminal, a base station device, or a core network device.

[0020] Thirdly, a positioning device is provided, comprising:

[0021] The measurement module is used to measure the physical secondary link (SL) positioning reference signal sent by the second terminal;

[0022] The first transmitting module is used to transmit first information to the target communication device based on the measurement of the SL positioning reference signal;

[0023] The first information includes at least one of the following:

[0024] Line of sight (LOS) indication information;

[0025] The measurement information of the SL positioning reference signal;

[0026] Location-related information;

[0027] The target communication device is the second terminal, a preset terminal, a base station device, or a core network device. Fourthly, a positioning device is provided, comprising:

[0028] The second receiving module is used to receive first information, which is sent by the first terminal based on the measurement of the SL positioning reference signal sent by the second terminal;

[0029] The first information includes at least one of the following:

[0030] Line of sight (LOS) indication information;

[0031] The measurement information of the SL positioning reference signal;

[0032] Location-related information;

[0033] The target communication device is the second terminal, a preset terminal, a base station device, or a core network device.

[0034] Fifthly, a first terminal is provided, the terminal including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method as described in the first aspect.

[0035] Sixthly, a first terminal is provided, including a processor and a communication interface, wherein the processor is used for:

[0036] Measure the physical secondary link (SL) positioning reference signal sent by the second terminal;

[0037] The communication interface is used for:

[0038] Based on the measurement of the SL positioning reference signal, first information is sent to the target communication device;

[0039] The first information includes at least one of the following:

[0040] Line of sight (LOS) indication information;

[0041] The measurement information of the SL positioning reference signal;

[0042] Location-related information;

[0043] The target communication device is the second terminal, a preset terminal, a base station device, or a core network device.

[0044] In a seventh aspect, a target communication device is provided, the communication device including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method as described in the second aspect.

[0045] Eighthly, a target communication device is provided, including a processor and a communication interface, wherein the communication interface is used for:

[0046] Receive first information, which is sent by the first terminal based on the measurement of the SL positioning reference signal sent by the second terminal;

[0047] The first information includes at least one of the following:

[0048] Line of sight (LOS) indication information;

[0049] The measurement information of the SL positioning reference signal;

[0050] Location-related information;

[0051] The target communication device is the second terminal, a preset terminal, a base station device, or a core network device.

[0052] A ninth aspect provides a positioning system, comprising: a terminal and a network-side device, wherein the terminal is configured to perform the steps of the positioning method as described in the first aspect, and the communication device is configured to perform the steps of the positioning method as described in the second aspect.

[0053] In a tenth aspect, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect, or implement the steps of the method described in the second aspect.

[0054] Eleventhly, a chip is provided, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the method as described in the first aspect, or to implement the method as described in the second aspect.

[0055] In a twelfth aspect, a computer program / program product is provided, which is stored in a storage medium and is executed by at least one processor to implement the steps of the method as described in the first aspect, or to implement the steps of the method as described in the second aspect.

[0056] In this embodiment, by measuring the physical secondary link (SL) positioning reference signal sent by the second terminal, and based on this measurement, sending one or more of the following to the target communication device: line-of-sight (LOS) indication information, measurement information of the SL positioning reference signal, and location-related information, the method of terminal positioning based on the positioning reference signal of the physical secondary link is clarified. This effectively reduces measurement errors and improves positioning accuracy. At the same time, it takes into account the reporting of LOS and NLOS indication information, realizes positioning enhancement in the SL scenario, and thus effectively reduces the measurement errors caused by NLOS in the SL scenario. Attached Figure Description

[0057] Figure 1 This diagram illustrates a block diagram of a wireless communication system to which embodiments of this application may be applied;

[0058] Figure 2 This is a schematic diagram of a secondary link provided in an embodiment of this application;

[0059] Figure 3 This is a schematic diagram of the detection and resource selection or reselection process provided in the embodiments of this application;

[0060] Figure 4 This is one of the flowcharts illustrating the positioning method provided in the embodiments of this application;

[0061] Figure 5 This is a second schematic flowchart of the positioning method provided in the embodiments of this application;

[0062] Figure 6 This is one of the structural schematic diagrams of the positioning device provided in the embodiments of this application;

[0063] Figure 7 This is a second schematic diagram of the positioning device provided in the embodiments of this application;

[0064] Figure 8 This is a schematic diagram of the structure of the communication device provided in the embodiments of this application;

[0065] Figure 9 A schematic diagram of the hardware structure of the first terminal to implement the embodiments of this application;

[0066] Figure 10 This is a schematic diagram of the structure of the target communication device provided in the embodiments of this application. Detailed Implementation

[0067] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0068] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, not limited in number; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0069] It is worth noting that the technologies described in this application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency Division Multiple Access (SC-FDMA), and other systems. The terms "system" and "network" in this application are often used interchangeably, and the described technologies can be used with the systems and radio technologies mentioned above, as well as with other systems and radio technologies. The following description describes New Radio (NR) systems for illustrative purposes, and NR terminology is used in most of the following description; however, these technologies can also be applied to applications beyond NR systems, such as 6th generation (6G) radio systems. th Generation 6G communication system.

[0070] Figure 1This diagram illustrates a block diagram of a wireless communication system applicable to embodiments of this application. The wireless communication system includes a terminal 11 and a network-side device 12. Terminal 11 can be a mobile phone, tablet computer, laptop computer, personal digital assistant (PDA), handheld computer, netbook, ultra-mobile personal computer (UMPC), mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, vehicle-mounted device (VUE), pedestrian terminal (PUE), smart home (home devices with wireless communication capabilities, such as refrigerators, televisions, washing machines, or furniture), game console, personal computer (PC), ATM, or self-service machine, etc. Wearable devices include: smartwatches, smart bracelets, smart headphones, smart glasses, smart jewelry (smart bracelets, smart chains, smart rings, smart necklaces, smart anklets, smart anklets, etc.), smart wristbands, smart clothing, etc. It should be noted that the specific type of terminal 11 is not limited in this embodiment. Network-side equipment 12 may include access network equipment or core network equipment. Access network equipment 12 may also be referred to as radio access network equipment, radio access network (RAN), radio access network function, or radio access network unit. Access network equipment 12 may include base stations, WLAN access points, or WiFi nodes, etc. Base stations may be referred to as Node B, evolved Node B (eNB), access point, base transceiver station (BTS), radio base station, radio transceiver, Basic Service Set (BSS), Extended Service Set (ESS), home B node, home evolved B node, Transmitting Receiving Point (TRP), or any other suitable term in the field, as long as the same technical effect is achieved. The base station is not limited to specific technical terms. It should be noted that in this application embodiment, only a base station in an NR system is used as an example for description, and the specific type of base station is not limited.Core network equipment may include, but is not limited to, at least one of the following: core network node, core network function, Mobility Management Entity (MME), Access and Mobility Management Function (AMF), Session Management Function (SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy and Charging Rules Function (PCRF), Edge Application Server Discovery Function (EASDF), Unified Data Management (UDM), Unified Data Repository (UDR), Home Subscriber Server (HSS), Centralized network configuration (CNC), Network Repository Function (NRF), Network Exposure Function (NEF), Local NEF (or L-NEF), Binding Support Function (BSF), and Application Function. Functions such as AF (Location Management Function), LMF (Location Management Function), E-SMLC (Electronic-Small Network Logic Controller), and NWDAF (Network Data Analytics Function) are used. It should be noted that this application embodiment only uses core network equipment in the NR system as an example for description, and does not limit the specific type of core network equipment.

[0071] To better describe the various embodiments of this application, the following will be introduced first:

[0072] (1) Vehicle-to-everything (V2X)

[0073] Long Term Evolution (LTE) systems support sidelink transmission. Figure 2 This is a schematic diagram of a secondary link provided in an embodiment of this application, such as... Figure 2 As shown, user equipment (UE) devices do not transmit data directly to each other through network devices. That is, data transmission occurs directly between UE devices at the physical layer. LTE sidelink communication is broadcast-based, which, while suitable for basic safety communications in vehicle-to-everything (V2X) networks, is not applicable to more advanced V2X services. The 5G NR (New Radio) system will support more advanced sidelink transmission designs, such as unicast, multicast, or multicast, thus enabling support for a wider range of service types.

[0074] (2) Resource Allocation; NR V2X defines two resource allocation modes: mode 1, where resources are allocated by the base station; and mode 2, where the UE decides which resources to use for transmission. Resource information may come from broadcast messages from the base station or pre-configured information. If the UE is within the base station's range and has an RRC connection with the base station, it can operate in mode 1 and / or mode 2. If the UE is within the base station's range but does not have an RRC connection, it can only operate in mode 2. If the UE is outside the base station's range, it can only operate in mode 2 and perform V2X transmission according to the pre-configured information.

[0075] For mode 2, the specific working method is as follows:

[0076] 1) After resource selection is triggered, the TX UE first determines the resource selection window. The lower boundary of the resource selection window is at time T1 after the resource selection is triggered, and the upper boundary of the resource selection is at time T2 after the trigger. T2 is the value selected by the UE within its TB transmission PDB (packet delay budget). T2 is not earlier than T1.

[0077] 2) Before selecting resources, the UE needs to determine the candidate resource set. The RSRP measured on the resource in the resource selection window is compared with the corresponding RSRP threshold. If the RSRP is lower than the RSRP threshold, then the resource can be included in the candidate resource set.

[0078] 3) After the resource set is determined, the UE randomly selects transmission resources from the candidate resource set. In addition, the UE can reserve transmission resources for subsequent transmissions during this transmission. Figure 3 This is a schematic diagram of the detection and resource selection or reselection process provided in the embodiments of this application. The specific process of detection and resource selection or reselection is as follows: Figure 3 As shown.

[0079] (3) NR positioning is a UU interface, which is based on the signal measurement between the base station and the UE. In the NR positioning enhancement phase, it supports the reporting of LOS and NLOS indication information and the reporting of multi-path measurement results. However, it is still unclear how to implement this in the secondary link.

[0080] Therefore, the positioning method, apparatus, terminal and communication equipment provided in this application embodiment clarify the way of positioning the terminal based on the positioning reference signal of the physical sub-link, which effectively improves the positioning accuracy, while taking into account the reporting of LOS and NLOS indication information, effectively reducing measurement errors.

[0081] The positioning method, apparatus, terminal, and communication equipment provided in this application will be described in detail below with reference to the accompanying drawings and through some embodiments and application scenarios.

[0082] Figure 4 This is one of the flowcharts illustrating the positioning method provided in the embodiments of this application, such as... Figure 4 As shown, the method includes the following steps 401-402:

[0083] Step 401: The first terminal measures the physical secondary link (SL) positioning reference signal sent by the second terminal;

[0084] Step 402: The first terminal sends first information to the target communication device based on the measurement of the SL positioning reference signal;

[0085] The first information includes at least one of the following:

[0086] Line of sight (LOS) indication information;

[0087] The measurement information of the SL positioning reference signal;

[0088] Location-related information;

[0089] The target communication device is the second terminal, a preset terminal, a base station device, or a core network device.

[0090] Since the current communication system does not support sidelink positioning, it is impossible to determine how to achieve positioning based on the physical secondary link SL positioning reference signal in the SL scenario. In addition, it is unclear whether LOS / NLOS recognition should be supported after sidelink positioning is supported, and whether the NLOS result should be fed back.

[0091] Therefore, in this embodiment of the application, the first terminal can measure or receive the physical secondary link (SL) positioning reference signal sent by the second terminal and complete the measurement;

[0092] Optionally, the SL positioning reference signal can be an SL signal used for positioning;

[0093] Optionally, the SL positioning reference signal can be a multiplexed NR positioning signal, an existing SL signal or an enhancement such as a CSI Reference Signal (CSI-RS), a Sidelink Synchronization Signal Block (S-SSB), a Tracking Reference Signal (TRS), or a Demodulation Reference Signal (DMRS).

[0094] Optionally, the SL positioning reference signal can be a NR SL positioning signal specifically defined for positioning, and the signal includes, but is not limited to, gold code sequences, m sequences, and ZC sequences.

[0095] Optionally, the SL positioning reference signal can be a variety of signals.

[0096] Among them, the first terminal is a measurement terminal, and the second terminal is a terminal that sends the physical sublink SL positioning reference signal;

[0097] Optionally, the terminal that needs to be located can be referred to as the target terminal;

[0098] Optionally, the second terminal may be the target terminal;

[0099] Optionally, the first terminal can be the target terminal; the second terminal can be a proxy for the transmitting terminals of multiple SL positioning reference signals.

[0100] Optionally, the second terminal may not be the target terminal. The second terminal sends the physical secondary link (SL) positioning reference signal to be measured to the first terminal in order to assist the target terminal in positioning.

[0101] Optionally, after completing the measurement of the SL positioning reference signal, the first terminal may report or feed back first information to the target communication device based on the measurement.

[0102] Optionally, the target communication device receiving the first information may be a second terminal;

[0103] Optionally, the target communication device receiving the first information may be a network-side device, such as a base station device or a core network device;

[0104] Optionally, the target communication device receiving the first information may be a preset terminal that is different from both the first terminal and the second terminal. For example, a preset terminal may be pre-defined or set to receive the first information.

[0105] Optionally, the target communication device may receive the first information to obtain one or more of the following: line-of-sight (LOS) indication information, measurement information of the SL positioning reference signal, and location-related information, thereby achieving the positioning of the target terminal.

[0106] Specifically, this application embodiment clarifies that in the SL scenario, a positioning method is defined by measuring the physical secondary link SL positioning reference signal sent by the second terminal, and sending one or more of the following to the target communication device based on the measurement: line-of-sight (LOS) indication information, measurement information of the SL positioning reference signal, and location-related information. This enables the communication system to clearly execute the positioning method in the SL scenario based on this application embodiment, and also clarifies the positioning enhancement in the SL scenario, namely, supporting the reporting of LOS and NLOS indication information, thereby achieving positioning enhancement in the SL scenario and effectively reducing the measurement error caused by NLOS in the SL scenario.

[0107] In this embodiment, by measuring the physical secondary link (SL) positioning reference signal sent by the second terminal, and based on this measurement, sending one or more of the following to the target communication device: line-of-sight (LOS) indication information, measurement information of the SL positioning reference signal, and location-related information, the method of terminal positioning based on the positioning reference signal of the physical secondary link is clarified. This effectively reduces measurement errors and improves positioning accuracy. At the same time, it takes into account the reporting of LOS and NLOS indication information, realizes positioning enhancement in the SL scenario, and thus effectively reduces the measurement errors caused by NLOS in the SL scenario.

[0108] Optionally, when the target communication device is the second terminal or a preset terminal, the first information includes at least one of the following:

[0109] Physical SideLink Control Channel (PSCCH), Physical SideLink Feedback Channel (PSFCH), Physical SideLink Shared Channel (PSSCH), Sidelink Control Information (SCI), Medium Access Control Control Element (MAC CE), PC5 Radio Resource Control (PC5-RRC), PC5 LTE Positioning Protocol (PC5-LPP), or Second-Level Sidelink Control Information (SCI).

[0110] Specifically, if the target communication device is the second terminal or a preset terminal, then the first information can be carried in any one or more of the following:

[0111] Physical secondary link control channel (PSCCH), or physical secondary link feedback channel (PSFCH), or physical secondary link shared channel (PSSCH), or secondary link control information (SCI), or media access control control unit (MAC CE), or PC5 radio resource control (PC5-RRC), or PC5 positioning protocol (PC5-LPP), or secondary link control information (SCI).

[0112] Optionally, when the first information is carried in one or more of the above, a part of the first information may be carried in one item and another part may be carried in another item. These multiple items may be transmitted simultaneously or at different times.

[0113] Optionally, when the target communication device is a base station device or a core network device, the first information includes at least one of the following:

[0114] Uplink Control Information (UCI), Physical Uplink Control Channel (PUCCH), Physical Uplink Shared Channel (PUSCH), Media Access Control Control Unit (MAC CE), Radio Resource Control (RRC), or Location Protocol (LPP).

[0115] Specifically, if the target communication device is a base station device or a core network device, then the first information can be carried in any one or more of the following:

[0116] Uplink control information (UCI), or physical uplink control channel (PUCCH), or physical uplink shared channel (PUSCH), or media access control control unit (MAC CE), or radio resource control (RRC), or location protocol (LPP);

[0117] Optionally, when the first information is carried in one or more of the above, a part of the first information may be carried in one item and another part may be carried in another item. The multiple items may be transmitted simultaneously or not simultaneously.

[0118] Optionally, the measurement information of the SL positioning reference signal includes at least one of the following:

[0119] Identification information, and the measurement results of the SL positioning reference signal associated with the identification information;

[0120] The identification information includes at least one of the following:

[0121] At least one identification information of the first terminal;

[0122] At least one identification information of the second terminal;

[0123] Identification information of at least one of the SL positioning reference signals.

[0124] Optionally, the measurement information of the SL positioning reference signal may include any one or more of the following:

[0125] Identification information; or

[0126] Measurement results of the SL positioning reference signal associated with the identification information.

[0127] Optionally, the measurement information of the SL positioning reference signal may include identification information;

[0128] The identification information may include any one or more of the following:

[0129] At least one of the identification information of the first terminal; or

[0130] At least one of the identification information of the second terminal; or

[0131] Identification information of at least one of the SL positioning reference signals.

[0132] Optionally, the measurement information of the SL positioning reference signal may include the measurement results of the SL positioning reference signal associated with the identification information, such as any one or more of the following:

[0133] Measurement results of at least one SL positioning reference signal associated with the first terminal; or

[0134] Measurement results of at least one SL positioning reference signal associated with the second terminal; or

[0135] Measurement results of at least one of the SL positioning reference signals associated with the SL positioning reference signal.

[0136] Optionally, in one embodiment, the measurement information of the SL positioning reference signal may include the measurement results of multiple SL positioning reference signals associated with the SL positioning reference signal, and may even include the measurement results of multiple SL positioning reference signals associated with the SL positioning reference signal associated with the second terminal. Furthermore, each measurement result is associated with a timestamp information.

[0137] Optionally, the measurement result includes at least one of the following:

[0138] Angle information, including the angle of arrival measurement result and / or the departure angle measurement result;

[0139] Time information, wherein the time information includes at least one of the following: reference signal time difference measurement result, round-trip delay measurement result, and reference signal arrival time;

[0140] Energy information, including Reference Signal Received Power (RSRP) and / or Received Signal Strength Indicator (RSSI).

[0141] Optionally, the measurement results may include any one or more of the following:

[0142] Angular information, including the angle of arrival measurement result and / or the departure angle measurement result; or

[0143] Time information, wherein the time information includes at least one of the following: reference signal time difference measurement result, round-trip time delay measurement result, and reference signal arrival time; or

[0144] Energy information, including Reference Signal Received Power (RSRP) and / or Received Signal Strength Indicator (RSSI);

[0145] For example, the measurement results associated with an SL positioning reference signal may include:

[0146] The arrival angle measurement result and / or departure angle measurement result corresponding to the SL positioning reference signal;

[0147] The SL positioning reference signal corresponds to the reference signal time difference measurement result, or the round-trip delay measurement result, or any one or more of the reference signal arrival times;

[0148] The SL positioning reference signal corresponds to the reference signal received power RSRP and / or received signal strength indication RSSI.

[0149] Optionally, one of the measurement results is associated with at least one of the LOS indication information; or, one of the identification information is associated with at least one of the LOS indication information.

[0150] Optionally, in one embodiment, the measurement information of one SL positioning reference signal is associated with at least one LOS indication information; or the measurement information of all SL positioning reference signals associated with a second terminal is associated with one LOS indication information.

[0151] Optionally, a measurement result can be associated with at least one of the LOS indication messages, and the two can be reported together. The LOS indication message is an indication message for LOS-related information of the measurement result.

[0152] For example, a measurement result associated with an SL positioning reference signal can be associated with the LOS indication information corresponding to that SL positioning reference signal, and the LOS indication information can indicate the LOS-related information corresponding to the measurement result.

[0153] Optionally, an identification information may be associated with at least one LOS indication information, and the two may be reported together. The indication information is an indication of LOS-related information for the identification information.

[0154] Optionally, in one embodiment, the identification information of a second terminal is associated with the LOS indication information;

[0155] Optionally, in one embodiment, the identification information of a measurement result is associated with the LOS indication information;

[0156] Optionally, in one embodiment, the identification information of an SL positioning reference signal is associated with the LOS indication information;

[0157] Optionally, in one embodiment, the identification information of a panel or group is associated with the LOS indication information;

[0158] For example, an identification information (such as the identification information of a second terminal) can be associated with the LOS indication information corresponding to the second terminal. The LOS indication information can indicate the measurement results associated with the identification information (referring to the second terminal), that is, the LOS-related information for the identification information.

[0159] For example, an identification information (such as the identification information of a target terminal) can be used to indicate the measurement results associated with the identification information (referring to the second terminal), i.e., the LOS-related information for the identification information.

[0160] For example, an identification information (such as the identification information of the SL positioning reference signal) can be used to indicate the measurement results of the identification information of the SL positioning reference signal, that is, the LOS-related information for the identification information.

[0161] For example, multiple measurement results that may be associated with a terminal identification information can be associated with the LOS indication information corresponding to the terminal identification information. The LOS indication information can indicate whether the multiple measurement results include a LOS path; the LOS indication information can also indicate the probability that the multiple measurement results include a LOS path.

[0162] Specifically, identification information can refer to the device or path that the identification information uniquely indicates; the association of identification information with certain information can mean that the device or path referred to by the identification information is associated with that information.

[0163] Optionally, the at least one of the LOS indication messages is used to indicate one of the following:

[0164] Does the measurement result include the LOS diameter?

[0165] The measurement results include the probability of the LOS path;

[0166] Does the identification information and the target terminal include a LOS path?

[0167] Does the identification information and the first terminal include a LOS path?

[0168] The probability that the identification information and the second terminal include a LOS path;

[0169] The probability that the identification information and the first terminal include a LOS path.

[0170] Optionally, at least one LOS indication information associated with a measurement result may be used to indicate any one or more of the following:

[0171] Does the measurement result include the LOS diameter; or

[0172] The measurement results include the probability of the LOS path.

[0173] For example, a measurement result associated with an SL positioning reference signal can be associated with LOS indication information corresponding to that SL positioning reference signal. The LOS indication information can indicate whether the measurement result includes a LOS path; the LOS indication information can also indicate the probability that the measurement result includes a LOS path.

[0174] Optionally, at least one LOS indication information associated with an identification information may be used to indicate any one or more of the following:

[0175] Does the identification information and the target terminal include a LOS path?

[0176] Does the identification information and the first terminal include a LOS path?

[0177] The probability that the identification information and the second terminal include a LOS path; or

[0178] The probability that the identification information and the first terminal include a LOS path.

[0179] For example, an identification information (such as the identification information of a second terminal) can be associated with the LOS indication information corresponding to the second terminal. The LOS indication information can indicate the measurement result associated with the identification information (referring to the second terminal), that is, the measurement result of whether there is a LOS path between the identification information and the target terminal.

[0180] For example, an identification information (such as the identification information of a second terminal) can be associated with the LOS indication information corresponding to the second terminal. The LOS indication information can indicate the measurement result associated with the identification information (referring to the second terminal), i.e. whether there is a LOS path between the identification information and the first terminal.

[0181] For example, an identification information (such as the identification information of a second terminal) can be associated with the LOS indication information corresponding to the second terminal. The LOS indication information can indicate the measurement result associated with the identification information (referring to the second terminal), i.e., the probability of including a LOS path between the identification information and the first terminal.

[0182] Optionally, the LOS indication information includes at least one of the following:

[0183] The first bit portion used to indicate whether it is LOS or non-line-of-sight NLOS;

[0184] The second bit portion used to indicate the probability of LOS;

[0185] The third bit portion used to indicate the confidence level as LOS.

[0186] Optionally, the structure of the LOS indication information may include a portion, such as a first bit portion indicating whether it is LOS or non-line-of-sight NLOS, a second bit portion indicating the probability of being LOS, or a third bit portion indicating the confidence level of being LOS.

[0187] Optionally, the structure of the LOS indication information may include two parts, such as a first bit part indicating whether it is LOS or non-line-of-sight NLOS and a second bit part indicating the probability of LOS; or a second bit part indicating the probability of LOS and a third bit part indicating the confidence level of LOS; or a first bit part indicating whether it is LOS or non-line-of-sight NLOS and a third bit part indicating the confidence level of LOS.

[0188] Optionally, the structure of the LOS indication information may include three parts, such as a first bit part indicating whether it is LOS or non-line-of-sight NLOS, a second bit part indicating the probability of LOS, and a third bit part indicating the confidence level of LOS.

[0189] Optionally, the measurement results may also include: measurement results of at least one target path.

[0190] It's understandable that each measurement includes results from multiple paths. Depending on the UE's capabilities, some UEs can identify the measurement results of a path, such as the first path or the strongest path.

[0191] Specifically, it is unclear in the communication system whether the current SL scenario can support multi-path measurement result feedback; therefore, in the embodiments of this application, the measurement result may also include: the measurement result of at least one target path, so that the current communication system can accurately report the measurement result of at least one target path; in many scenarios, non-direct path and reflection path will affect the positioning result. If the measurement result of the target path can be accurately identified, the positioning accuracy can be improved.

[0192] Optionally, measurements can be taken on N paths to obtain measurement results for N paths, where N is a positive integer greater than or equal to 1.

[0193] Optionally, the measurement results of the target path may include at least one of the following:

[0194] The angle information of the target path; the angle information includes the arrival angle measurement result and / or departure angle measurement result;

[0195] The target path's time information; the time information includes at least one of the following: reference signal time difference measurement result, round-trip delay measurement result, and reference signal arrival time.

[0196] Energy information of the target path; the energy information includes Reference Signal Received Power (RSRP) and / or Received Signal Strength Indication (RSSI);

[0197] Optionally, the measurement results of the target path may include at least the angle information of the target path;

[0198] Optionally, the measurement results of the target path may include at least the angle information and time information of the path;

[0199] Optionally, the measurement results of the target path may include at least the path's angle information, time information, and energy information;

[0200] Optionally, the measurement result of the at least one target path is associated with at least one LOS indication information; one LOS indication information is associated with one target path, and different LOS indication information is associated with different target paths.

[0201] Optionally, the measurement result of at least one target path is associated with at least one LOS indication information, wherein one LOS indication information is associated with one target path, and different LOS indication information is associated with different target paths;

[0202] For example, the measurement results of N paths are associated with at least N LOS indication information; the measurement results of each path are associated with their respective LOS indication information.

[0203] Optionally, the measurement results for at least one target path include any one or more of the following:

[0204] Measurement results of the LOS path in at least one target path;

[0205] The measurement result of the first target path in the at least one target path;

[0206] The measurement results of the target path with the strongest energy among the at least one target path;

[0207] The measurement results of the first N target paths in the at least one target path, where N is a positive integer;

[0208] The measurement results of the top M energy-ranked target paths in the at least one target path, where M is a positive integer;

[0209] The measurement results of the target path whose RSRP is greater than the first threshold in at least one target path;

[0210] The measurement results of Q target paths between the first target path and the target path with the strongest energy in the at least one target path, where Q is a positive integer, Q = N-2.

[0211] Optionally, the measurement results for at least one target path include at least one of the following:

[0212] The measurement results of the LOS path in at least one target path; or

[0213] The measurement result of the first target path in at least one target path; or

[0214] The measurement result of the target path with the strongest energy among the at least one target paths; or

[0215] The measurement results of the first N target paths in the at least one target path, where N is a positive integer; or

[0216] The measurement results of the top M energy-ranked target paths in the at least one target path, where M is a positive integer; or

[0217] The measurement results of the target path whose RSRP is greater than the first threshold in at least one target path; or

[0218] The measurement results of Q target paths between the first target path and the target path with the strongest energy in the at least one target path, where Q is a positive integer, Q = N-2.

[0219] Optionally, the measurement results include measurement results for at least one target path, and may include any one or more of the following:

[0220] Only LOS diameter measurements are included;

[0221] Only the measurement results of the first path are included;

[0222] Only the measurement results of the strongest path are included;

[0223] Including the measurement results of the first N paths;

[0224] Including the measurement results of the M strongest paths;

[0225] This includes measurement results for paths where RSRP is greater than the first threshold;

[0226] This includes the measurement results of the paths between the N-2 first paths and the strongest path.

[0227] Specifically, the first threshold can be predefined by the protocol, pre-set, or pre-instructed by the network-side device or higher layer.

[0228] Optionally, the target path satisfies at least one of the following:

[0229] The RSRP of the target path is greater than the fourth threshold;

[0230] The target path is the first path from the second terminal to the first terminal;

[0231] The target path is the first path from the second terminal to the first terminal, wherein the RSTD of the first path and the serving cell of the target terminal is less than the fifth threshold.

[0232] The LOS threshold of the target path is greater than the sixth threshold;

[0233] The target path has fewer than R reflection points, where R is a positive integer.

[0234] Optionally, before measurement, the first terminal can also first determine the target path that needs to be measured or reported;

[0235] Optionally, the measurement conditions may include: the RSRP of the target path to be measured or reported is greater than a fourth threshold;

[0236] Optionally, the measurement conditions may include: the target path to be measured or reported is the first path of the second terminal;

[0237] Optionally, the measurement conditions may include: the target path to be measured or reported is the first path of the second terminal, wherein the RSTD of the first path and the serving cell of the target terminal is less than a fifth threshold;

[0238] Optionally, the measurement conditions may include: the LOS threshold of the target path to be measured or reported is greater than the sixth threshold;

[0239] Optionally, the measurement conditions may include: the target path to be measured or reported has fewer than R reflection points, where R is a positive integer, such as a path with at most 1 reflection point.

[0240] Optionally, the target path can satisfy any one or more of the following:

[0241] The RSRP of the target path is greater than the fourth threshold; or

[0242] The target path is the first path from the second terminal to the first terminal; or

[0243] The target path is the first path from the second terminal to the first terminal, wherein the RSTD of the first path and the serving cell of the target terminal is less than a fifth threshold; or

[0244] The LOS threshold of the target path is greater than the sixth threshold; or

[0245] The target path has fewer than R reflection points, where R is a positive integer.

[0246] Specifically, the fourth threshold can be predefined by the protocol, pre-set, or pre-instructed by network-side devices or higher layers.

[0247] Specifically, the fifth threshold can be predefined by the protocol, pre-set, or pre-instructed by network-side devices or higher layers.

[0248] Specifically, the sixth threshold can be predefined by the protocol, pre-set, or pre-instructed by network-side devices or higher layers.

[0249] Optionally, the method further includes:

[0250] Before the first terminal measures the SL positioning reference signal sent by the second terminal, the first terminal sends first capability information to the target communication device, the first capability information indicating at least one of the following:

[0251] Does it support reporting of LOS identification information?

[0252] Does it support per-path measurement?

[0253] Does it support measurement of the first path?

[0254] Does it support additional path measurement?

[0255] The number of supported target paths;

[0256] The number of supported second terminals.

[0257] Optionally, before the first terminal measures the SL positioning reference signal sent by the second terminal, the first terminal may also report first capability information, which indicates at least one of the following:

[0258] Does the first terminal support LOS identification information reporting?

[0259] Does the first terminal support per-path measurement?

[0260] The number of target paths supported by the first terminal; or

[0261] The number of second terminals supported by the first terminal.

[0262] Optionally, if the LOS indication information associated with the measurement information of the SL positioning reference signal indicates NLOS, the first information further includes reflection point information, which includes at least one of the following:

[0263] Location information of the reflection point;

[0264] Information on the reflection angle of the reflection point;

[0265] Information on the incident angle of the reflection point.

[0266] Optionally, if the measurement results contain NLOS results, it indicates the existence of a non-line-of-sight path, therefore the first information may also include reflection point information;

[0267] Specifically, the reflection point information includes any one or more of the following:

[0268] Location information of the reflection point; or

[0269] Information on the reflection angle of the reflection point; or

[0270] Information on the incident angle of the reflection point.

[0271] Optionally, the NLOS results may be reported along with the location information of one or more reflection points;

[0272] Optionally, the NLOS results may be reported along with one or more reflection angle information;

[0273] Optionally, the NLOS results may be reported along with one or more incident angle information.

[0274] Optionally, the reflection point information is associated with the first identification information corresponding to the SL positioning reference signal;

[0275] The first identification information corresponding to the SL positioning reference signal includes at least one of the following:

[0276] The identification information of at least one of the first terminals corresponding to the SL positioning reference signal;

[0277] The identification information of at least one of the second terminals corresponding to the SL positioning reference signal;

[0278] At least one panel identification information corresponding to the SL positioning reference signal;

[0279] The identification information of at least one of the SL positioning reference signals corresponding to the SL positioning reference signal.

[0280] Optionally, the reflection point information can be associated with the first identification information corresponding to the SL positioning reference signal of the NLOS path where the reflection point is located;

[0281] Optionally, the first identification information corresponding to the SL positioning reference signal may include any one or more of the following:

[0282] The identification information of at least one of the first terminals corresponding to the SL positioning reference signal; or

[0283] The identification information of at least one of the second terminals corresponding to the SL positioning reference signal; or

[0284] At least one panel identification information corresponding to the SL positioning reference signal; or

[0285] The identification information of at least one of the SL positioning reference signals corresponding to the SL positioning reference signal.

[0286] Optionally, the measurement information of the SL positioning reference signal also includes at least one of the following:

[0287] The second identification information, and the measurement results of the SL positioning reference signal associated with the second identification information;

[0288] The second identification information includes at least one of the following:

[0289] At least one panel identification information;

[0290] At least one panel location information;

[0291] At least one panel angle information;

[0292] At least one group ID information.

[0293] Optionally, in the SL scenario, there are car-to-car scenarios. Since the car body has a certain length, the measurement results corresponding to the front and rear panels of the same car body may be different. Therefore, when determining the measurement results, it is possible to be precise down to the measurement result of a specific panel.

[0294] Optionally, in the multi-panel terminal of SL, there is a certain distance between the panels, so when determining the measurement result, it is possible to be accurate to the measurement result of a specific panel;

[0295] Therefore, the measurement information of the SL positioning reference signal may also include any one or more of the following:

[0296] Second identification information; or

[0297] Measurement results of the SL positioning reference signal associated with the second identification information;

[0298] The second identification information includes any one or more of the following:

[0299] At least one panel identification information;

[0300] At least one panel location information;

[0301] At least one panel angle information;

[0302] At least one group ID information

[0303] Optionally, the measurement result of the SL positioning reference signal associated with the second identification information includes at least one of the following:

[0304] Measurement results of the SL positioning reference signal associated with the panel identification information or the panel position information;

[0305] Measurement results of SL positioning reference signals associated with multiple panels;

[0306] Measurement results of the SL positioning reference signal with group ID;

[0307] The first indication information is used to indicate that the measurement result of the SL positioning reference signal is for a single panel;

[0308] The second indication information is used to indicate that the measurement result of the SL positioning reference signal is for multiple panels.

[0309] It is worth noting that the panel identification information is a kind of reference, and its purpose is to distinguish different locations of the same terminal or different antenna receiving locations. The names may be different.

[0310] Optionally, the measurement result of the SL positioning reference signal associated with the second identification information may include any one or more of the following:

[0311] The measurement result of the SL positioning reference signal associated with the panel identification information or the panel position information; or

[0312] Measurement results of the SL positioning reference signal associated with the multi-panel; or

[0313] Measurement results of the SL positioning reference signal with group ID; or

[0314] The first indication information is used to indicate that the measurement result of the SL positioning reference signal is for a single panel; or

[0315] The second indication information is used to indicate that the measurement result of the SL positioning reference signal is for multiple panels.

[0316] Specifically, the measurement results can include the measurement results of a specific panel, the measurement results for multiple panels, or the measurement results for a single panel, in order to obtain more accurate measurement results, thereby enabling the communication device to achieve more accurate positioning results when locating the target terminal.

[0317] Optionally, the location-related information includes at least one of the following:

[0318] Identification information, and location-related information associated with the identification information;

[0319] The identification information includes at least one of the following:

[0320] At least one identification information of the first terminal;

[0321] At least one identification information of the second terminal;

[0322] At least one panel identification information;

[0323] At least one group ID information;

[0324] Identification information of at least one of the SL positioning reference signals;

[0325] The location information includes at least one of the following:

[0326] Absolute location information;

[0327] Relative position information.

[0328] Optionally, the location-related information in the first information may include any one or more of the following:

[0329] Identification information;

[0330] Location-related information associated with the identification information.

[0331] Specifically, the identification information may include any one or more of the following:

[0332] At least one of the identification information of the first terminal; or

[0333] At least one of the identification information of the second terminal; or

[0334] At least one panel identification information; or

[0335] At least one group ID information; or

[0336] Identification information of at least one of the SL positioning reference signals.

[0337] For example, the location-related information in the first information may include the identification information of the second terminal and the location information of the second terminal;

[0338] Specifically, location information may include absolute location information and / or relative location information;

[0339] For example, the location-related information in the first information may include the identification information of the first terminal and the location information of the first terminal.

[0340] Specifically, the identification information is used to refer to the device or path that the identification information uniquely indicates.

[0341] Optionally, the location-related information is carried in the 2nd SCI.

[0342] Optionally, the location-related information is carried in the communication range.

[0343] Alternatively, if location-related information is carried in the 2nd SCI, the location-related information can be carried in the communication range.

[0344] Optionally, the method further includes:

[0345] Sending a second message to the target communication device, the second message including at least one of the following:

[0346] The identification information associated with the measurement result;

[0347] The location information associated with the identification information associated with the measurement result;

[0348] The location information of the target terminal, wherein the target terminal is the terminal whose location needs to be determined.

[0349] Optionally, the first terminal can also receive information sent by other terminals. The information sent by other terminals is similar to the first information, that is, the other terminals send the information to the first terminal after measuring the corresponding SL positioning reference information. The target terminal is the terminal whose position needs to be determined in this measurement. In this case, the first terminal can receive the information and forward the relevant information (i.e., the second information) to the target communication device.

[0350] Optionally, the first terminal may also send second information to the target communication device, the second information including at least one of the following:

[0351] The identification information associated with the measurement result;

[0352] The location information associated with the identification information associated with the measurement result;

[0353] The location information of the target terminal, wherein the target terminal is the terminal whose location needs to be determined.

[0354] Optionally, the method further includes:

[0355] Before the first terminal measures the SL positioning reference signal sent by the second terminal, the first terminal receives third information sent by the target communication device, the third information including at least one of the following:

[0356] LOS indication information;

[0357] The first request information is used to request the reporting of LOS indication information;

[0358] The second request information is used to request the reporting of the target path information;

[0359] The third request information is used to request the number of target paths;

[0360] The fourth request is used to request the reporting of the reflection point location;

[0361] The fifth request information is used to request the location-related information;

[0362] The sixth request information is used to request the number of second terminals;

[0363] The seventh request information is used to indicate the preset conditions of the second terminal that provides feedback on the first information;

[0364] The eighth request information is used to indicate the preset conditions of the target path information.

[0365] Optionally, before the first terminal measures the SL positioning reference signal sent by the second terminal, the first terminal may receive third information sent by the target communication device, the third information including any one or more of the following:

[0366] LOS indication information;

[0367] The first request information is used to request the reporting of LOS indication information;

[0368] The second request information is used to request the reporting of the target path information;

[0369] The third request information is used to request the number of target paths;

[0370] The fourth request is used to request the reporting of the reflection point location;

[0371] The fifth request information is used to request the location-related information;

[0372] The sixth request information is used to request the number of second terminals;

[0373] The seventh request information is used to indicate the preset conditions of the second terminal that provides feedback on the first information;

[0374] The eighth request information is used to indicate the preset conditions of the target path information.

[0375] Optionally, the LOS indication information can be used to indicate whether a LOS path exists at the terminal or base station measured by the first terminal;

[0376] Optionally, the LOS indication information can be used to indicate the probability that the terminal or base station measured by the first terminal includes a LOS path;

[0377] Optionally, the LOS indication information can be used to indicate whether a LOS path exists in the SL-PRS measured by the first terminal;

[0378] Optionally, the LOS indication information can be used to indicate the probability that the SL-PRS measured by the first terminal includes a LOS path.

[0379] Optionally, the method further includes:

[0380] Before the first terminal measures the SL positioning reference signal sent by the second terminal, the second terminal is determined;

[0381] Wherein, the second terminal satisfies at least one of the following:

[0382] The time difference between the SL-PRS of the second terminal and the first terminal and the Rx of the serving cell of the first terminal is within the first threshold;

[0383] The Rx time difference between the serving cell of the second terminal and the first terminal is within the second threshold;

[0384] The synchronization time difference between the second terminal and the first terminal is within the third threshold;

[0385] The second terminal and the first terminal share the same synchronous clock;

[0386] The measurement result RSRP of the second terminal is greater than the second threshold;

[0387] The RSTD measurement result between the second terminal and the serving cell is less than the third threshold.

[0388] Optionally, before the first terminal measures the SL positioning reference signal sent by the second terminal, the second terminal can be determined first;

[0389] Specifically, when determining the second terminal, the first terminal may base its determination on at least one of the following conditions:

[0390] The time difference between the SL-PRS of the second terminal and the first terminal and the Rx of the serving cell of the first terminal is within a first threshold; or

[0391] The Rx time difference between the serving cells of the second terminal and the first terminal is within the second threshold; or

[0392] The synchronization time difference between the second terminal and the first terminal is within the third threshold; or

[0393] The second terminal and the first terminal share the same synchronous clock; or

[0394] The measurement result RSRP of the second terminal is greater than the second threshold; or

[0395] The RSTD measurement result between the second terminal and the serving cell is less than the third threshold.

[0396] Specifically, the second threshold may be predefined by the protocol, or pre-set, or pre-instructed by the network-side device or higher layer, or determined based on the reporting of the first terminal's capabilities, or indicated by other nodes;

[0397] Specifically, the third threshold may be predefined by the protocol, pre-set, pre-instructed by network-side devices or higher layers, determined based on the reporting capabilities of the first terminal, or indicated by other nodes.

[0398] Optionally, the aforementioned serving cell information may come from the serving gNB or the relevant UE.

[0399] Optionally, the first terminal sends first information to the target communication device based on the measurement of the SL positioning reference signal, including:

[0400] The first information associated with the SL positioning reference signal is transmitted only if the measured RSRP of the SL positioning reference signal is greater than or equal to a threshold N; or;

[0401] The first information is sent only if the RSRP of all the measured SL positioning reference signals is greater than or equal to a threshold.

[0402] Optionally, the first information associated with the SL positioning reference signal may be sent only if the measured RSRP of the SL positioning reference signal is greater than or equal to a threshold N;

[0403] Optionally, if the measured RSRP of the SL positioning reference signal is less than a threshold N, the first information associated with the SL positioning reference signal may not be sent.

[0404] Optionally, the first information may be sent only if the RSRP of all the measured SL positioning reference signals is greater than or equal to a threshold;

[0405] Optionally, the first information may not be sent if the RSRP of all measured SL positioning reference signals is less than a threshold.

[0406] Optionally, the method further includes:

[0407] If the RSRP of all measured SL positioning reference signals is less than the threshold N, a third message is sent to the target communication device.

[0408] The third information includes at least one of the following:

[0409] Measurement failure indication message;

[0410] Measure energy levels below a threshold.

[0411] NACK indication message.

[0412] Optionally, if the RSRP of all the measured SL positioning reference signals is less than the threshold N, the first information may not be sent, and the third information may be sent to the target communication device instead.

[0413] The third information includes at least one of the following:

[0414] Measurement failure indication message; or

[0415] Measure energy below a threshold; or

[0416] NACK indication message.

[0417] Optionally, the first terminal sends first information to the target communication device based on the measurement of the SL positioning reference signal, including at least one of the following:

[0418] If the Zone ID of the target terminal and the Zone ID of the second terminal meet a first condition, the first terminal sends first information to the target communication device; or

[0419] If the communication range of the target terminal and the communication range of the second terminal meet the second condition, the first terminal sends first information to the target communication device; or

[0420] If the Zone ID of the first terminal and the Zone ID of the second terminal meet a first condition, the first terminal sends first information to the target communication device; or

[0421] When the communication range of the first terminal and the communication range of the second terminal meet the second condition, the first terminal sends the first information to the target communication device.

[0422] Optionally, if the Zone ID of the target terminal and the Zone ID of the second terminal meet the first condition, the first terminal sends the first information to the target communication device;

[0423] Among them, the Zone ID of the target terminal and the Zone ID of the second terminal satisfying the first condition can mean that the Zone ID of the target terminal and the Zone ID of the second terminal are equal;

[0424] Among them, the first condition that the Zone ID of the target terminal and the Zone ID of the second terminal satisfy the first condition can mean that the communication ranges corresponding to the Zone ID of the target terminal and the Zone ID of the second terminal are the same or differ within a preset range;

[0425] The first terminal may be the target terminal, or the first terminal may be a terminal used to assist the target terminal in positioning, or the first terminal may receive relevant information or requests for the positioning of the target terminal.

[0426] Optionally, if the communication range of the target terminal and the communication range of the second terminal satisfy the second condition, the first terminal sends the first information to the target communication device;

[0427] Wherein, the communication range of the target terminal and the communication range of the second terminal satisfy the second condition, which can mean that the communication range of the target terminal and the communication range of the second terminal are the same or differ within a preset range.

[0428] The first terminal may be the target terminal, or the first terminal may be a terminal used to assist the target terminal in positioning, or the first terminal may receive relevant information or requests for the positioning of the target terminal.

[0429] Optionally, if the Zone ID of the first terminal and the Zone ID of the second terminal meet the first condition, the first terminal sends the first information to the target communication device;

[0430] Among them, the Zone ID of the first terminal and the Zone ID of the second terminal satisfying the first condition can mean that the Zone ID of the first terminal and the Zone ID of the second terminal are equal;

[0431] Wherein, the Zone ID of the first terminal and the Zone ID of the second terminal satisfying the first condition can mean that the communication ranges corresponding to the Zone IDs of the first terminal and the Zone IDs of the second terminal are the same or differ within a preset range;

[0432] The first terminal may be the target terminal, or the first terminal may be a terminal used to assist the target terminal in positioning, or the first terminal may receive relevant information or requests for the positioning of the target terminal.

[0433] Optionally, if the communication range of the first terminal and the communication range of the second terminal satisfy the second condition, the first terminal sends the first information to the target communication device;

[0434] Wherein, the communication range of the first terminal and the communication range of the second terminal satisfy the second condition, which can mean that the communication range of the first terminal and the communication range of the second terminal are the same or differ within a preset range.

[0435] The first terminal may be the target terminal, or the first terminal may be a terminal used to assist the target terminal in positioning, or the first terminal may receive relevant information or requests for the positioning of the target terminal.

[0436] Optionally, the communication range of the first terminal and the communication range of the second terminal differ within a preset range, which may include the first terminal and the second terminal being within each other's communication range;

[0437] Optionally, the communication range of the target terminal and the communication range of the second terminal differ within a preset range, which may include the target terminal and the second terminal being within each other's communication range.

[0438] In this embodiment, the first terminal measures the physical secondary link (SL) positioning reference signal sent by the second terminal, and receives one or more of the following information sent by the first terminal based on the measurement: line-of-sight (LOS) indication information, measurement information of the SL positioning reference signal, and location-related information. This clarifies the method of terminal positioning based on the positioning reference signal of the physical secondary link, effectively reducing measurement errors and improving positioning accuracy. At the same time, it takes into account the reporting of LOS and NLOS indication information, realizing positioning enhancement in the SL scenario and thus effectively reducing measurement errors caused by NLOS in the SL scenario.

[0439] Figure 5 This is a second flowchart illustrating the positioning method provided in the embodiments of this application, as shown below. Figure 5 As shown, the method includes the following step 501:

[0440] Step 501: The target communication device receives first information, which is sent by the first terminal based on the measurement of the SL positioning reference signal sent by the second terminal;

[0441] The first information includes at least one of the following:

[0442] Line of sight (LOS) indication information;

[0443] The measurement information of the SL positioning reference signal;

[0444] Location-related information;

[0445] The target communication device is the second terminal, a preset terminal, a base station device, or a core network device.

[0446] Since the current communication system does not support sidelink positioning, it is impossible to determine how to achieve positioning based on the physical secondary link SL positioning reference signal in the SL scenario. In addition, it is unclear whether LOS / NLOS recognition should be supported after sidelink positioning is supported, and whether the NLOS result should be fed back.

[0447] Therefore, in this embodiment of the application, the target communication device can receive first information. The first information may be sent by the first terminal based on the measurement of the SL positioning reference signal sent by the second terminal. That is, the first terminal can measure or receive the physical secondary link SL positioning reference signal sent by the second terminal and complete the measurement. After completing the measurement of the SL positioning reference signal, the first terminal can report or feed back the first information to the target communication device based on the measurement.

[0448] Among them, the first terminal is a measurement terminal, and the second terminal is a terminal that sends the physical sublink SL positioning reference signal;

[0449] Optionally, the target communication device may receive the first information to obtain one or more of the following: line-of-sight (LOS) indication information, measurement information of the SL positioning reference signal, and location-related information, thereby achieving the positioning of the target terminal.

[0450] Optionally, the target communication device receiving the first information may be a second terminal;

[0451] Optionally, the target communication device receiving the first information may be a network-side device, such as a base station device or a core network device;

[0452] Optionally, the target communication device receiving the first information may be a preset terminal that is different from both the first terminal and the second terminal. For example, a preset terminal may be pre-defined or set to receive the first information.

[0453] Optionally, the terminal that needs to be located can be referred to as the target terminal;

[0454] Optionally, the second terminal may be the target terminal;

[0455] Optionally, the second terminal may not be the target terminal. The second terminal sends the physical secondary link (SL) positioning reference signal to be measured to the first terminal in order to assist the target terminal in positioning.

[0456] Specifically, this application embodiment clarifies that in the SL scenario, a positioning method is defined by measuring the physical secondary link SL positioning reference signal sent by the second terminal, and sending one or more of the following to the target communication device based on the measurement: line-of-sight (LOS) indication information, measurement information of the SL positioning reference signal, and location-related information. This enables the communication system to clearly execute the positioning method in the SL scenario based on this application embodiment, and also clarifies the positioning enhancement in the SL scenario, namely, supporting the reporting of LOS and NLOS indication information, thereby achieving positioning enhancement in the SL scenario and effectively reducing the measurement error caused by NLOS in the SL scenario.

[0457] In this embodiment, the physical secondary link (SL) positioning reference signal sent by the second terminal is measured by the first terminal, and one or more of the following are sent to the target communication device based on the measurement: line-of-sight (LOS) indication information, measurement information of the SL positioning reference signal, and location-related information. This clarifies the method of terminal positioning based on the positioning reference signal of the physical secondary link, effectively reducing measurement errors and improving positioning accuracy. At the same time, it takes into account the reporting of LOS and NLOS indication information, realizing positioning enhancement in the SL scenario and thus effectively reducing the measurement errors caused by NLOS in the SL scenario.

[0458] Optionally, when the target communication device is the second terminal or a preset terminal, the first information includes at least one of the following:

[0459] Physical secondary link control channel (PSCCH), physical secondary link feedback channel (PSFCH), physical secondary link shared channel (PSSCH), secondary link control information (SCI), media access control control unit (MAC CE), PC5 radio resource control (PC5-RRC), PC5 positioning protocol (PC5-LPP), or secondary link control information (SCI).

[0460] Specifically, if the target communication device is the second terminal or a preset terminal, then the first information can be carried in any one or more of the following:

[0461] Physical secondary link control channel (PSCCH), or physical secondary link feedback channel (PSFCH), or physical secondary link shared channel (PSSCH), or secondary link control information (SCI), or media access control control unit (MAC CE), or PC5 radio resource control (PC5-RRC), or PC5 positioning protocol (PC5-LPP), or secondary link control information (SCI).

[0462] Optionally, when the first information is carried in one or more of the above, a part of the first information may be carried in one item and another part may be carried in another item. The multiple items may be transmitted simultaneously or not simultaneously.

[0463] Optionally, when the target communication device is a base station device or a core network device, the first information includes at least one of the following:

[0464] Uplink Control Information (UCI), Physical Uplink Control Channel (PUCCH), Physical Uplink Shared Channel (PUSCH), Media Access Control Control Unit (MAC CE), Radio Resource Control (RRC), or Location Protocol (LPP).

[0465] Specifically, if the target communication device is a base station device or a core network device, then the first information can be carried in any one or more of the following:

[0466] Uplink control information (UCI), or physical uplink control channel (PUCCH), or physical uplink shared channel (PUSCH), or media access control control unit (MAC CE), or radio resource control (RRC), or location protocol (LPP);

[0467] Optionally, when the first information is carried in one or more of the above, a part of the first information may be carried in one item and another part may be carried in another item. The multiple items may be transmitted simultaneously or not simultaneously.

[0468] Optionally, the measurement information of the SL positioning reference signal includes at least one of the following:

[0469] Identification information, and the measurement results of the SL positioning reference signal associated with the identification information;

[0470] The identification information includes at least one of the following:

[0471] At least one identification information of the first terminal;

[0472] At least one identification information of the second terminal;

[0473] Identification information of at least one of the SL positioning reference signals.

[0474] Optionally, the measurement information of the SL positioning reference signal may include any one or more of the following:

[0475] Identification information; or

[0476] Measurement results of the SL positioning reference signal associated with the identification information.

[0477] Optionally, the measurement information of the SL positioning reference signal may include identification information;

[0478] The identification information may include any one or more of the following:

[0479] At least one of the identification information of the first terminal; or

[0480] At least one of the identification information of the second terminal; or

[0481] Identification information of at least one of the SL positioning reference signals.

[0482] Optionally, the measurement information of the SL positioning reference signal may include the measurement results of the SL positioning reference signal associated with the identification information, such as any one or more of the following:

[0483] Measurement results of at least one SL positioning reference signal associated with the first terminal; or

[0484] Measurement results of at least one SL positioning reference signal associated with the second terminal; or

[0485] Measurement results of at least one of the SL positioning reference signals associated with the SL positioning reference signal.

[0486] Optionally, the measurement result includes at least one of the following:

[0487] Angle information, including the angle of arrival measurement result and / or the departure angle measurement result;

[0488] Time information, wherein the time information includes at least one of the following: reference signal time difference measurement result, round-trip delay measurement result, and reference signal arrival time;

[0489] Energy information, including Reference Signal Received Power (RSRP) and / or Received Signal Strength Indicator (RSSI).

[0490] Optionally, the measurement results may include any one or more of the following:

[0491] Angular information, including the angle of arrival measurement result and / or the departure angle measurement result; or

[0492] Time information, wherein the time information includes at least one of the following: reference signal time difference measurement result, round-trip time delay measurement result, and reference signal arrival time; or

[0493] Energy information, including Reference Signal Received Power (RSRP) and / or Received Signal Strength Indicator (RSSI);

[0494] For example, the measurement results associated with an SL positioning reference signal may include:

[0495] The arrival angle measurement result and / or departure angle measurement result corresponding to the SL positioning reference signal;

[0496] The SL positioning reference signal corresponds to the reference signal time difference measurement result, or the round-trip delay measurement result, or any one or more of the reference signal arrival times;

[0497] The SL positioning reference signal corresponds to the reference signal received power RSRP and / or received signal strength indication RSSI.

[0498] Optionally, one of the measurement results is associated with at least one of the LOS indication information; or, one of the identification information is associated with at least one of the LOS indication information.

[0499] Optionally, a measurement result can be associated with at least one of the LOS indication messages, and the two can be reported together. The LOS indication message is an indication message for LOS-related information of the measurement result.

[0500] For example, a measurement result associated with an SL positioning reference signal can be associated with the LOS indication information corresponding to that SL positioning reference signal, and the LOS indication information can indicate the LOS-related information corresponding to the measurement result.

[0501] Optionally, an identification information may be associated with at least one LOS indication information, and the two may be reported together. The indication information is an indication of LOS-related information for the identification information.

[0502] For example, an identification information (such as the identification information of a second terminal) can be associated with the LOS indication information corresponding to the second terminal. The LOS indication information can indicate the measurement results associated with the identification information (referring to the second terminal), that is, the LOS-related information for the identification information.

[0503] Specifically, identification information can refer to the device or path that the identification information uniquely indicates; the association of identification information with certain information can mean that the device or path referred to by the identification information is associated with that information.

[0504] Optionally, the at least one of the LOS indication messages is used to indicate one of the following:

[0505] Does the measurement result include the LOS diameter?

[0506] The measurement results include the probability of the LOS path;

[0507] Does the identification information and the target terminal include a LOS path?

[0508] Does the identification information and the first terminal include a LOS path?

[0509] The probability that the identification information and the second terminal include a LOS path;

[0510] The probability that the identification information and the first terminal include a LOS path.

[0511] Optionally, at least one LOS indication information associated with a measurement result may be used to indicate any one or more of the following:

[0512] Does the measurement result include the LOS diameter; or

[0513] The measurement results include the probability of the LOS path.

[0514] For example, a measurement result associated with an SL positioning reference signal can be associated with LOS indication information corresponding to that SL positioning reference signal. The LOS indication information can indicate whether the measurement result includes a LOS path; the LOS indication information can also indicate the probability that the measurement result includes a LOS path.

[0515] Optionally, at least one LOS indication information associated with an identification information may be used to indicate any one or more of the following:

[0516] Does the identification information and the target terminal include a LOS path?

[0517] Does the identification information and the first terminal include a LOS path?

[0518] The probability that the identification information and the second terminal include a LOS path; or

[0519] The probability that the identification information and the first terminal include a LOS path.

[0520] For example, an identification information (such as the identification information of a second terminal) can be associated with the LOS indication information corresponding to the second terminal. The LOS indication information can indicate the measurement result associated with the identification information (referring to the second terminal), that is, the measurement result of whether there is a LOS path between the identification information and the target terminal.

[0521] For example, an identification information (such as the identification information of a second terminal) can be associated with the LOS indication information corresponding to the second terminal. The LOS indication information can indicate the measurement result associated with the identification information (referring to the second terminal), i.e. whether there is a LOS path between the identification information and the first terminal.

[0522] For example, an identification information (such as the identification information of a second terminal) can be associated with the LOS indication information corresponding to the second terminal. The LOS indication information can indicate the measurement result associated with the identification information (referring to the second terminal), i.e., the probability of including a LOS path between the identification information and the first terminal.

[0523] Optionally, the LOS indication information includes at least one of the following:

[0524] The first bit portion used to indicate whether it is LOS or non-line-of-sight NLOS;

[0525] The second bit portion used to indicate the probability of LOS;

[0526] The third bit portion used to indicate the confidence level as LOS.

[0527] Optionally, the structure of the LOS indication information may include a portion, such as a first bit portion indicating whether it is LOS or non-line-of-sight NLOS, a second bit portion indicating the probability of being LOS, or a third bit portion indicating the confidence level of being LOS.

[0528] Optionally, the structure of the LOS indication information may include two parts, such as a first bit part indicating whether it is LOS or non-line-of-sight NLOS and a second bit part indicating the probability of LOS; or a second bit part indicating the probability of LOS and a third bit part indicating the confidence level of LOS; or a first bit part indicating whether it is LOS or non-line-of-sight NLOS and a third bit part indicating the confidence level of LOS.

[0529] Optionally, the structure of the LOS indication information may include three parts, such as a first bit part indicating whether it is LOS or non-line-of-sight NLOS, a second bit part indicating the probability of LOS, and a third bit part indicating the confidence level of LOS.

[0530] Optionally, the measurement results may also include: measurement results of at least one target path.

[0531] Specifically, it is unclear in the communication system whether the current SL scenario can support multi-path measurement result feedback; therefore, in the embodiments of this application, the measurement result may further include: the measurement result of at least one target path, so that the current communication system can accurately report the measurement result of at least one target path.

[0532] Optionally, measurements can be taken on N paths to obtain measurement results for N paths, where N is a positive integer greater than or equal to 1.

[0533] Optionally, the measurement results of the target path may include at least one of the following:

[0534] The angle information of the target path; the angle information includes the arrival angle measurement result and / or departure angle measurement result;

[0535] The target path's time information; the time information includes at least one of the following: reference signal time difference measurement result, round-trip delay measurement result, and reference signal arrival time.

[0536] Energy information of the target path; the energy information includes Reference Signal Received Power (RSRP) and / or Received Signal Strength Indication (RSSI);

[0537] Optionally, the measurement results of the target path may include at least the angle information of the target path;

[0538] Optionally, the measurement results of the target path may include at least the angle information and time information of the path;

[0539] Optionally, the measurement results of the target path may include at least the path's angle information, time information, and energy information;

[0540] Optionally, the measurement result of the at least one target path is associated with at least one LOS indication information; one LOS indication information is associated with one target path, and different LOS indication information is associated with different target paths.

[0541] Optionally, the measurement result of at least one target path is associated with at least one LOS indication information, wherein one LOS indication information is associated with one target path, and different LOS indication information is associated with different target paths;

[0542] For example, the measurement results of N paths are associated with at least N LOS indication information; the measurement results of each path are associated with their respective LOS indication information.

[0543] Optionally, the measurement results for at least one target path include any one or more of the following:

[0544] Measurement results of the LOS path in at least one target path;

[0545] The measurement result of the first target path in the at least one target path;

[0546] The measurement results of the target path with the strongest energy among the at least one target path;

[0547] The measurement results of the first N target paths in the at least one target path, where N is a positive integer;

[0548] The measurement results of the top M energy-ranked target paths in the at least one target path, where M is a positive integer;

[0549] The measurement results of the target path whose RSRP is greater than the first threshold in at least one target path;

[0550] The measurement results of Q target paths between the first target path and the target path with the strongest energy in the at least one target path, where Q is a positive integer, Q = N-2.

[0551] Optionally, the measurement results for at least one target path include at least one of the following:

[0552] The measurement results of the LOS path in at least one target path; or

[0553] The measurement result of the first target path in at least one target path; or

[0554] The measurement result of the target path with the strongest energy among the at least one target paths; or

[0555] The measurement results of the first N target paths in the at least one target path, where N is a positive integer; or

[0556] The measurement results of the top M energy-ranked target paths in the at least one target path, where M is a positive integer; or

[0557] The measurement results of the target path whose RSRP is greater than the first threshold in at least one target path; or

[0558] The measurement results of Q target paths between the first target path and the target path with the strongest energy in the at least one target path, where Q is a positive integer, Q = N-2.

[0559] Optionally, the measurement results include measurement results for at least one target path, and may include any one or more of the following:

[0560] Only LOS diameter measurements are included;

[0561] Only the measurement results of the first path are included;

[0562] Only the measurement results of the strongest path are included;

[0563] Including the measurement results of the first N paths;

[0564] Including the measurement results of the M strongest paths;

[0565] This includes measurement results for paths where RSRP is greater than the first threshold;

[0566] This includes the measurement results of the paths between the N-2 first paths and the strongest path.

[0567] Specifically, the first threshold can be predefined by the protocol, pre-set, or pre-instructed by the network-side device or higher layer.

[0568] Optionally, the target path satisfies at least one of the following:

[0569] The RSRP of the target path is greater than the fourth threshold;

[0570] The target path is the first path from the second terminal to the first terminal;

[0571] The target path is the first path from the second terminal to the first terminal, wherein the RSTD of the first path and the serving cell of the target terminal is less than the fifth threshold.

[0572] The LOS threshold of the target path is greater than the sixth threshold;

[0573] The target path has fewer than R reflection points, where R is a positive integer.

[0574] Optionally, before measurement, the first terminal can also first determine the target path that needs to be measured or reported;

[0575] Optionally, the measurement conditions may include: the RSRP of the target path to be measured or reported is greater than a fourth threshold;

[0576] Optionally, the measurement conditions may include: the target path to be measured or reported is the first path of the second terminal;

[0577] Optionally, the measurement conditions may include: the target path to be measured or reported is the first path of the second terminal, wherein the RSTD of the first path and the serving cell of the target terminal is less than a fifth threshold;

[0578] Optionally, the measurement conditions may include: the LOS threshold of the target path to be measured or reported is greater than the sixth threshold;

[0579] Optionally, the measurement conditions may include: the target path to be measured or reported has fewer than R reflection points, where R is a positive integer, such as a path with at most 1 reflection point.

[0580] Optionally, the target path can satisfy any one or more of the following:

[0581] The RSRP of the target path is greater than the fourth threshold; or

[0582] The target path is the first path from the second terminal to the first terminal; or

[0583] The target path is the first path from the second terminal to the first terminal, wherein the RSTD of the first path and the serving cell of the target terminal is less than a fifth threshold; or

[0584] The LOS threshold of the target path is greater than the sixth threshold; or

[0585] The target path has fewer than R reflection points, where R is a positive integer.

[0586] Specifically, the fourth threshold can be predefined by the protocol, pre-set, or pre-instructed by network-side devices or higher layers.

[0587] Specifically, the fifth threshold can be predefined by the protocol, pre-set, or pre-instructed by network-side devices or higher layers.

[0588] Specifically, the sixth threshold can be predefined by the protocol, pre-set, or pre-instructed by network-side devices or higher layers.

[0589] Optionally, the method further includes:

[0590] Before receiving the first information, the target communication device receives first capability information sent by the first terminal, the first capability information indicating at least one of the following:

[0591] Does it support reporting of LOS identification information?

[0592] Does it support per-path measurement?

[0593] Does it support measurement of the first path?

[0594] Does it support additional path measurement?

[0595] The number of supported target paths;

[0596] The number of supported second terminals.

[0597] Optionally, before receiving the first information, the target communication device receives the first capability information sent by the first terminal; wherein, the first terminal reports the first capability information before the first terminal measures the SL positioning reference signal sent by the second terminal;

[0598] Specifically, the first capability information is used to indicate at least one of the following:

[0599] Does the first terminal support LOS identification information reporting?

[0600] Does the first terminal support per-path measurement?

[0601] The number of target paths supported by the first terminal; or

[0602] The number of second terminals supported by the first terminal.

[0603] Optionally, if the LOS indication information associated with the measurement information of the SL positioning reference signal indicates NLOS, the first information further includes reflection point information, which includes at least one of the following:

[0604] Location information of the reflection point;

[0605] Information on the reflection angle of the reflection point;

[0606] Information on the incident angle of the reflection point.

[0607] Optionally, if the measurement results contain NLOS results, it indicates the existence of a non-line-of-sight path, therefore the first information may also include reflection point information;

[0608] Specifically, the reflection point information includes any one or more of the following:

[0609] Location information of the reflection point; or

[0610] Information on the reflection angle of the reflection point; or

[0611] Information on the incident angle of the reflection point.

[0612] Optionally, the NLOS results may be reported along with the location information of one or more reflection points;

[0613] Optionally, the NLOS results may be reported along with one or more reflection angle information;

[0614] Optionally, the NLOS results may be reported along with one or more incident angle information.

[0615] Optionally, the reflection point information is associated with the first identification information corresponding to the SL positioning reference signal;

[0616] The first identification information corresponding to the SL positioning reference signal includes at least one of the following:

[0617] The identification information of at least one of the first terminals corresponding to the SL positioning reference signal;

[0618] The identification information of at least one of the second terminals corresponding to the SL positioning reference signal;

[0619] At least one panel identification information corresponding to the SL positioning reference signal;

[0620] The identification information of at least one of the SL positioning reference signals corresponding to the SL positioning reference signal.

[0621] Optionally, the reflection point information can be associated with the first identification information corresponding to the SL positioning reference signal of the NLOS path where the reflection point is located;

[0622] Optionally, the first identification information corresponding to the SL positioning reference signal may include any one or more of the following:

[0623] The identification information of at least one of the first terminals corresponding to the SL positioning reference signal; or

[0624] The identification information of at least one of the second terminals corresponding to the SL positioning reference signal; or

[0625] At least one panel identification information corresponding to the SL positioning reference signal; or

[0626] The identification information of at least one of the SL positioning reference signals corresponding to the SL positioning reference signal.

[0627] Optionally, the measurement information of the SL positioning reference signal also includes at least one of the following:

[0628] The second identification information, and the measurement results of the SL positioning reference signal associated with the second identification information;

[0629] The second identification information includes at least one of the following:

[0630] At least one panel identification information;

[0631] At least one panel location information;

[0632] At least one panel angle information;

[0633] At least one group ID information.

[0634] Optionally, in the SL scenario, there are car-to-car scenarios. Since the car body has a certain length, the measurement results corresponding to the front and rear panels of the same car body may be different. Therefore, when determining the measurement results, it is possible to be precise down to the measurement result of a specific panel.

[0635] Therefore, the measurement information of the SL positioning reference signal may also include any one or more of the following:

[0636] Second identification information; or

[0637] Measurement results of the SL positioning reference signal associated with the second identification information;

[0638] The second identification information includes any one or more of the following:

[0639] At least one panel identification information;

[0640] At least one panel location information;

[0641] At least one panel angle information;

[0642] At least one group ID information

[0643] Optionally, the measurement result of the SL positioning reference signal associated with the second identification information includes at least one of the following:

[0644] Measurement results of the SL positioning reference signal associated with the panel identification information or the panel position information;

[0645] Measurement results of SL positioning reference signals associated with multiple panels;

[0646] Measurement results of the SL positioning reference signal with group ID;

[0647] The first indication information is used to indicate that the measurement result of the SL positioning reference signal is for a single panel;

[0648] The second indication information is used to indicate that the measurement result of the SL positioning reference signal is for multiple panels.

[0649] Optionally, the measurement result of the SL positioning reference signal associated with the second identification information may include any one or more of the following:

[0650] The measurement result of the SL positioning reference signal associated with the panel identification information or the panel position information; or

[0651] Measurement results of the SL positioning reference signal associated with the multi-panel; or

[0652] Measurement results of the SL positioning reference signal with group ID; or

[0653] The first indication information is used to indicate that the measurement result of the SL positioning reference signal is for a single panel; or

[0654] The second indication information is used to indicate that the measurement result of the SL positioning reference signal is for multiple panels.

[0655] Specifically, the measurement results can include the measurement results of a specific panel, the measurement results for multiple panels, or the measurement results for a single panel, in order to obtain more accurate measurement results, thereby enabling the communication device to achieve more accurate positioning results when locating the target terminal.

[0656] Optionally, the location-related information includes at least one of the following:

[0657] Identification information, and location-related information associated with the identification information;

[0658] The identification information includes at least one of the following:

[0659] At least one identification information of the first terminal;

[0660] At least one identification information of the second terminal;

[0661] At least one panel identification information;

[0662] At least one group ID information;

[0663] Identification information of at least one of the SL positioning reference signals;

[0664] The location information includes at least one of the following:

[0665] Absolute location information;

[0666] Relative position information.

[0667] Optionally, the location-related information in the first information may include any one or more of the following:

[0668] Identification information;

[0669] Location-related information associated with the identification information.

[0670] Specifically, the identification information may include any one or more of the following:

[0671] At least one of the identification information of the first terminal; or

[0672] At least one of the identification information of the second terminal; or

[0673] At least one panel identification information; or

[0674] At least one group ID information; or

[0675] Identification information of at least one of the SL positioning reference signals.

[0676] For example, the location-related information in the first information may include the identification information of the second terminal and the location information of the second terminal;

[0677] Specifically, location information may include absolute location information and / or relative location information;

[0678] For example, the location-related information in the first information may include the identification information of the first terminal and the location information of the first terminal.

[0679] Specifically, the identification information is used to refer to the device or path that the identification information uniquely indicates.

[0680] Optionally, the location-related information is carried in the 2nd SCI.

[0681] Optionally, location-related information can be carried in the 2nd SCI.

[0682] Optionally, the location-related information is carried in the communication range.

[0683] Alternatively, if location-related information is carried in the 2nd SCI, the location-related information can be carried in the communication range.

[0684] Optionally, the method further includes:

[0685] Receive a second message, the second message including at least one of the following:

[0686] The identification information associated with the measurement result;

[0687] The location information associated with the identification information associated with the measurement result;

[0688] The location information of the target terminal, wherein the target terminal is the terminal whose location needs to be determined.

[0689] Optionally, the first terminal can also receive information sent by other terminals. The information sent by other terminals is similar to the first information, that is, the other terminals send the information to the first terminal after measuring the corresponding SL positioning reference information. The target terminal is the terminal whose position needs to be determined in this measurement. In this case, the first terminal can receive the information and forward the relevant information (i.e., the second information) to the target communication device.

[0690] Optionally, the first terminal may also send second information to the target communication device, the second information including at least one of the following:

[0691] The identification information associated with the measurement result;

[0692] The location information associated with the identification information associated with the measurement result;

[0693] The location information of the target terminal, wherein the target terminal is the terminal whose location needs to be determined.

[0694] Optionally, the method further includes:

[0695] Before receiving the first information, a third information is sent to the first terminal, the third information including at least one of the following:

[0696] LOS indication information;

[0697] The first request information is used to request the reporting of LOS indication information;

[0698] The second request information is used to request the reporting of the target path information;

[0699] The third request information is used to request the number of target paths;

[0700] The fourth request is used to request the reporting of the reflection point location;

[0701] The fifth request information is used to request the location-related information;

[0702] The sixth request information is used to request the number of second terminals;

[0703] The seventh request information is used to indicate the preset conditions of the second terminal that provides feedback on the first information;

[0704] The eighth request information is used to indicate the preset conditions of the target path information.

[0705] Optionally, the target communication device may send third information to the first terminal before receiving the first information; the third information is received by the first terminal before measuring the SL positioning reference signal sent by the second terminal.

[0706] Specifically, the third information may include any one or more of the following:

[0707] LOS indication information;

[0708] The first request information is used to request the reporting of LOS indication information;

[0709] The second request information is used to request the reporting of the target path information;

[0710] The third request information is used to request the number of target paths;

[0711] The fourth request is used to request the reporting of the reflection point location;

[0712] The fifth request information is used to request the location-related information;

[0713] The sixth request information is used to request the number of second terminals;

[0714] The seventh request information is used to indicate the preset conditions of the second terminal that provides feedback on the first information;

[0715] The eighth request information is used to indicate the preset conditions of the target path information.

[0716] Optionally, the LOS indication information can be used to indicate whether a LOS path exists at the terminal or base station measured by the first terminal;

[0717] Optionally, the LOS indication information can be used to indicate the probability that the terminal or base station measured by the first terminal includes a LOS path;

[0718] Optionally, the LOS indication information can be used to indicate whether a LOS path exists in the SL-PRS measured by the first terminal;

[0719] Optionally, the LOS indication information can be used to indicate the probability that the SL-PRS measured by the first terminal includes a LOS path.

[0720] In this embodiment, the first terminal measures the physical secondary link (SL) positioning reference signal sent by the second terminal, and receives one or more of the following information sent by the first terminal based on the measurement: line-of-sight (LOS) indication information, measurement information of the SL positioning reference signal, and location-related information. This clarifies the method of terminal positioning based on the positioning reference signal of the physical secondary link, effectively reducing measurement errors and improving positioning accuracy. At the same time, it takes into account the reporting of LOS and NLOS indication information, realizing positioning enhancement in the SL scenario and thus effectively reducing measurement errors caused by NLOS in the SL scenario.

[0721] The positioning method provided in this application can be executed by a positioning device. This application uses the example of a positioning device executing the positioning method to illustrate the positioning device provided in this application.

[0722] Figure 6 This is one of the structural schematic diagrams of the positioning device provided in the embodiments of this application, such as... Figure 6 As shown, the device 600 includes: a measurement module 601 and a first transmission module 602; wherein:

[0723] Measurement module 601 is used to measure the physical secondary link SL positioning reference signal sent by the second terminal;

[0724] The first transmitting module 602 is used to transmit first information to the target communication device based on the measurement of the SL positioning reference signal;

[0725] The first information includes at least one of the following:

[0726] Line of sight (LOS) indication information;

[0727] The measurement information of the SL positioning reference signal;

[0728] Location-related information;

[0729] The target communication device is the second terminal, a preset terminal, a base station device, or a core network device.

[0730] Optionally, the positioning device can measure the physical secondary link (SL) positioning reference signal sent by the second terminal through the measurement module 601; and based on the measurement of the SL positioning reference signal, send first information to the target communication device through the first transmission module 602.

[0731] In this embodiment, by measuring the physical secondary link (SL) positioning reference signal sent by the second terminal, and based on this measurement, sending one or more of the following to the target communication device: line-of-sight (LOS) indication information, measurement information of the SL positioning reference signal, and location-related information, the method of terminal positioning based on the positioning reference signal of the physical secondary link is clarified. This effectively reduces measurement errors and improves positioning accuracy. At the same time, it takes into account the reporting of LOS and NLOS indication information, realizes positioning enhancement in the SL scenario, and thus effectively reduces the measurement errors caused by NLOS in the SL scenario.

[0732] Optionally, when the target communication device is the second terminal or a preset terminal, the first information includes at least one of the following:

[0733] Physical secondary link control channel (PSCCH), physical secondary link feedback channel (PSFCH), physical secondary link shared channel (PSSCH), secondary link control information (SCI), media access control control unit (MAC CE), PC5 radio resource control (PC5-RRC), PC5 positioning protocol (PC5-LPP), or secondary link control information (SCI).

[0734] Optionally, when the target communication device is a base station device or a core network device, the first information includes at least one of the following:

[0735] Uplink Control Information (UCI), Physical Uplink Control Channel (PUCCH), Physical Uplink Shared Channel (PUSCH), Media Access Control Control Unit (MAC CE), Radio Resource Control (RRC), or Location Protocol (LPP).

[0736] Optionally, the measurement information of the SL positioning reference signal includes at least one of the following:

[0737] Identification information, and the measurement results of the SL positioning reference signal associated with the identification information;

[0738] The identification information includes at least one of the following:

[0739] At least one identification information of the first terminal;

[0740] At least one identification information of the second terminal;

[0741] Identification information of at least one of the SL positioning reference signals.

[0742] Optionally, the measurement result includes at least one of the following:

[0743] Angle information, including the angle of arrival measurement result and / or the departure angle measurement result;

[0744] Time information, wherein the time information includes at least one of the following: reference signal time difference measurement result, round-trip delay measurement result, and reference signal arrival time;

[0745] Energy information, including Reference Signal Received Power (RSRP) and / or Received Signal Strength Indicator (RSSI).

[0746] Optionally, one of the measurement results is associated with at least one of the LOS indication information; or, one of the identification information is associated with at least one of the LOS indication information.

[0747] Optionally, the at least one of the LOS indication messages is used to indicate one of the following:

[0748] Does the measurement result include the LOS diameter?

[0749] The measurement results include the probability of the LOS path;

[0750] Does the identification information and the target terminal include a LOS path?

[0751] Does the identification information and the first terminal include a LOS path?

[0752] The probability that the identification information and the second terminal include a LOS path;

[0753] The probability that the identification information and the first terminal include a LOS path.

[0754] Optionally, the LOS indication information includes at least one of the following:

[0755] The first bit portion used to indicate whether it is LOS or non-line-of-sight NLOS;

[0756] The second bit portion used to indicate the probability of LOS;

[0757] The third bit portion used to indicate the confidence level as LOS.

[0758] Optionally, the measurement results may also include: measurement results of at least one target path.

[0759] Optionally, the measurement result of the at least one target path is associated with at least one LOS indication information; one LOS indication information is associated with one target path, and different LOS indication information is associated with different target paths.

[0760] Optionally, the measurement results for at least one target path include any one or more of the following:

[0761] Measurement results of the LOS path in at least one target path;

[0762] The measurement result of the first target path in the at least one target path;

[0763] The measurement results of the target path with the strongest energy among the at least one target path;

[0764] The measurement results of the first N target paths in the at least one target path, where N is a positive integer;

[0765] The measurement results of the top M energy-ranked target paths in the at least one target path, where M is a positive integer;

[0766] The measurement results of the target path whose RSRP is greater than the first threshold in at least one target path;

[0767] The measurement results of Q target paths between the first target path and the target path with the strongest energy in the at least one target path, where Q is a positive integer, Q = N-2.

[0768] Optionally, the target path satisfies at least one of the following:

[0769] The RSRP of the target path is greater than the fourth threshold;

[0770] The target path is the first path from the second terminal to the first terminal;

[0771] The target path is the first path from the second terminal to the first terminal, wherein the RSTD of the first path and the serving cell of the target terminal is less than the fifth threshold.

[0772] The LOS threshold of the target path is greater than the sixth threshold;

[0773] The target path has fewer than R reflection points, where R is a positive integer.

[0774] Optionally, the device further includes:

[0775] The second transmitting module is configured to transmit first capability information to the target communication device before the first terminal measures the SL positioning reference signal transmitted by the second terminal, wherein the first capability information is used to indicate at least one of the following:

[0776] Does it support reporting of LOS identification information?

[0777] Does it support per-path measurement?

[0778] Does it support measurement of the first path?

[0779] Does it support additional path measurement?

[0780] The number of supported target paths;

[0781] The number of supported second terminals.

[0782] Optionally, if the LOS indication information associated with the measurement information of the SL positioning reference signal indicates NLOS, the first information further includes reflection point information, which includes at least one of the following:

[0783] Location information of the reflection point;

[0784] Information on the reflection angle of the reflection point;

[0785] Information on the incident angle of the reflection point.

[0786] Optionally, the reflection point information is associated with the first identification information corresponding to the SL positioning reference signal;

[0787] The first identification information corresponding to the SL positioning reference signal includes at least one of the following:

[0788] The identification information of at least one of the first terminals corresponding to the SL positioning reference signal;

[0789] The identification information of at least one of the second terminals corresponding to the SL positioning reference signal;

[0790] At least one panel identification information corresponding to the SL positioning reference signal;

[0791] The identification information of at least one of the SL positioning reference signals corresponding to the SL positioning reference signal.

[0792] Optionally, the measurement information of the SL positioning reference signal also includes at least one of the following:

[0793] The second identification information, and the measurement result of the SL positioning reference signal associated with the second identification information; wherein the second identification information includes at least one of the following:

[0794] At least one panel identification information;

[0795] At least one panel location information;

[0796] At least one panel angle information;

[0797] At least one group ID information.

[0798] Optionally, the measurement result of the SL positioning reference signal associated with the second identification information includes at least one of the following: the measurement result of the SL positioning reference signal associated with the panel identification information or the panel position information;

[0799] Measurement results of SL positioning reference signals associated with multiple panels;

[0800] Measurement results of the SL positioning reference signal with group ID;

[0801] The first indication information indicates that the measurement result of the SL positioning reference signal is for a single panel; the second indication information indicates that the measurement result of the SL positioning reference signal is for multiple panels. Optionally, the location-related information includes at least one of the following:

[0802] Identification information, and location-related information associated with the identification information;

[0803] The identification information includes at least one of the following:

[0804] At least one identification information of the first terminal;

[0805] At least one identification information of the second terminal;

[0806] At least one panel identification information;

[0807] At least one group ID information;

[0808] Identification information of at least one of the SL positioning reference signals;

[0809] The location information includes at least one of the following:

[0810] Absolute location information;

[0811] Relative position information.

[0812] Optionally, the location-related information is carried in the 2nd SCI.

[0813] Optionally, the location-related information is carried in the communication range.

[0814] Optionally, the device further includes:

[0815] A third sending module is configured to send second information to the target communication device, the second information including at least one of the following:

[0816] The identification information associated with the measurement result;

[0817] The location information associated with the identification information associated with the measurement result;

[0818] The location information of the target terminal, wherein the target terminal is the terminal whose location needs to be determined.

[0819] Optionally, the device further includes:

[0820] The first receiving module is configured to receive third information sent by the target communication device before the first terminal measures the SL positioning reference signal sent by the second terminal, the third information including at least one of the following:

[0821] LOS indication information;

[0822] The first request information is used to request the reporting of LOS indication information;

[0823] The second request information is used to request the reporting of the target path information;

[0824] The third request information is used to request the number of target paths;

[0825] The fourth request is used to request the reporting of the reflection point location;

[0826] The fifth request information is used to request the location-related information;

[0827] The sixth request information is used to request the number of second terminals;

[0828] The seventh request information is used to indicate the preset conditions of the second terminal that provides feedback on the first information;

[0829] The eighth request information is used to indicate the preset conditions of the target path information.

[0830] Optionally, the device further includes:

[0831] The determination module is used to determine the second terminal before the first terminal measures the SL positioning reference signal sent by the second terminal;

[0832] Wherein, the second terminal satisfies at least one of the following:

[0833] The time difference between the SL-PRS of the second terminal and the first terminal and the Rx of the serving cell of the first terminal is within the first threshold;

[0834] The Rx time difference between the serving cell of the second terminal and the first terminal is within the second threshold;

[0835] The synchronization time difference between the second terminal and the first terminal is within the third threshold;

[0836] The second terminal and the first terminal share the same synchronous clock;

[0837] The measurement result RSRP of the second terminal is greater than the second threshold;

[0838] The RSTD measurement result between the second terminal and the serving cell is less than the third threshold.

[0839] Optionally, the first sending module is specifically used for:

[0840] The first information associated with the SL positioning reference signal is transmitted only if the measured RSRP of the SL positioning reference signal is greater than or equal to a threshold N; or;

[0841] The first information is sent only if the RSRP of all the measured SL positioning reference signals is greater than or equal to a threshold.

[0842] Optionally, the device further includes:

[0843] The fourth transmitting module is used to transmit third information to the target communication device when the RSRP of all the measured SL positioning reference signals is less than the threshold N.

[0844] The third information includes at least one of the following:

[0845] Measurement failure indication message;

[0846] Measure energy levels below a threshold.

[0847] NACK indication message.

[0848] Optionally, the first sending module is specifically used for:

[0849] If the Zone ID of the target terminal and the Zone ID of the second terminal meet a first condition, the first terminal sends first information to the target communication device; or

[0850] If the communication range of the target terminal and the communication range of the second terminal satisfy the second condition, the first terminal sends the first information to the target communication device; or;

[0851] If the Zone ID of the first terminal and the Zone ID of the second terminal meet a first condition, the first terminal sends first information to the target communication device; or

[0852] When the communication range of the first terminal and the communication range of the second terminal meet the second condition, the first terminal sends the first information to the target communication device.

[0853] In this embodiment, by measuring the physical secondary link (SL) positioning reference signal sent by the second terminal, and based on this measurement, sending one or more of the following to the target communication device: line-of-sight (LOS) indication information, measurement information of the SL positioning reference signal, and location-related information, the method of terminal positioning based on the positioning reference signal of the physical secondary link is clarified. This effectively reduces measurement errors and improves positioning accuracy. At the same time, it takes into account the reporting of LOS and NLOS indication information, realizes positioning enhancement in the SL scenario, and thus effectively reduces the measurement errors caused by NLOS in the SL scenario.

[0854] Figure 7 This is a second schematic diagram of the positioning device provided in the embodiments of this application, as shown below. Figure 7 As shown, the device 700 includes: a second receiving module 701, wherein:

[0855] The second receiving module 701 is used to receive first information, which is sent by the first terminal based on the measurement of the SL positioning reference signal sent by the second terminal;

[0856] The first information includes at least one of the following:

[0857] Line of sight (LOS) indication information;

[0858] The measurement information of the SL positioning reference signal;

[0859] Location-related information;

[0860] The target communication device is the second terminal, a preset terminal, a base station device, or a core network device.

[0861] Optionally, the positioning device can receive first information through the second receiving module 701, the first information being sent by the first terminal based on the measurement of the SL positioning reference signal sent by the second terminal.

[0862] In this embodiment, the first terminal measures the physical secondary link (SL) positioning reference signal sent by the second terminal, and receives one or more of the following information sent by the first terminal based on the measurement: line-of-sight (LOS) indication information, measurement information of the SL positioning reference signal, and location-related information. This clarifies the method of terminal positioning based on the positioning reference signal of the physical secondary link, effectively reducing measurement errors and improving positioning accuracy. At the same time, it takes into account the reporting of LOS and NLOS indication information, realizing positioning enhancement in the SL scenario and thus effectively reducing measurement errors caused by NLOS in the SL scenario.

[0863] Optionally, the device further includes:

[0864] The third receiving module is configured to receive first capability information sent by the first terminal before receiving the first information, wherein the first capability information is used to indicate at least one of the following:

[0865] Does it support reporting of LOS identification information?

[0866] Does it support per-path measurement?

[0867] Does it support measurement of the first path?

[0868] Does it support additional path measurement?

[0869] The number of supported target paths;

[0870] The number of supported second terminals.

[0871] Optionally, the device further includes:

[0872] The fifth sending module is configured to send third information to the first terminal before receiving the first information, the third information including at least one of the following:

[0873] LOS indication information;

[0874] The first request information is used to request the reporting of LOS indication information;

[0875] The second request information is used to request the reporting of the target path information;

[0876] The third request information is used to request the number of target paths;

[0877] The fourth request is used to request the reporting of the reflection point location;

[0878] The fifth request information is used to request the location-related information;

[0879] The sixth request information is used to request the number of second terminals;

[0880] The seventh request information is used to indicate the preset conditions of the second terminal that provides feedback on the first information;

[0881] The eighth request information is used to indicate the preset conditions of the target path information.

[0882] In this embodiment, the first terminal measures the physical secondary link (SL) positioning reference signal sent by the second terminal, and receives one or more of the following information sent by the first terminal based on the measurement: line-of-sight (LOS) indication information, measurement information of the SL positioning reference signal, and location-related information. This clarifies the method of terminal positioning based on the positioning reference signal of the physical secondary link, effectively reducing measurement errors and improving positioning accuracy. At the same time, it takes into account the reporting of LOS and NLOS indication information, realizing positioning enhancement in the SL scenario and thus effectively reducing measurement errors caused by NLOS in the SL scenario.

[0883] The positioning device in this application embodiment can be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or other devices besides a terminal. For example, the terminal can include, but is not limited to, the type of terminal 11 listed above; other devices can be servers, network attached storage (NAS), etc., and this application embodiment does not specifically limit the type.

[0884] The positioning device provided in this application embodiment can achieve... Figures 4 to 5 The various processes implemented in the method embodiments achieve the same technical effect, and will not be described again here to avoid repetition.

[0885] Optional, Figure 8 This is a schematic diagram of the structure of the communication device provided in the embodiments of this application, such as... Figure 8 As shown in the illustration, this application also provides a communication device 800, including a processor 801 and a memory 802. The memory 802 stores programs or instructions that can run on the processor 801. For example, when the communication device 800 is a terminal, the program or instructions executed by the processor 801 implement the various steps of the above-described positioning method embodiment and achieve the same technical effect. When the communication device 800 is a network-side device, the program or instructions executed by the processor 801 implement the various steps of the above-described positioning method embodiment and achieve the same technical effect. To avoid repetition, further details are omitted here.

[0886] This application embodiment also provides a first terminal, including a processor and a communication interface, wherein the processor is used for:

[0887] Measure the physical secondary link (SL) positioning reference signal sent by the second terminal;

[0888] The communication interface is used for:

[0889] Based on the measurement of the SL positioning reference signal, first information is sent to the target communication device;

[0890] The first information includes at least one of the following:

[0891] Line of sight (LOS) indication information;

[0892] The measurement information of the SL positioning reference signal;

[0893] Location-related information;

[0894] The target communication device is the second terminal, a preset terminal, a base station device, or a core network device.

[0895] This first terminal embodiment corresponds to the aforementioned first terminal-side method embodiment. All implementation processes and methods of the aforementioned method embodiments can be applied to this first terminal embodiment and achieve the same technical effect. Specifically, Figure 9 A schematic diagram of the hardware structure of the first terminal to implement the embodiments of this application.

[0896] The first terminal 900 includes, but is not limited to, at least some of the following components: radio frequency unit 901, network module 902, audio output unit 903, input unit 904, sensor 905, display unit 906, user input unit 907, interface unit 908, memory 909, and processor 910.

[0897] Those skilled in the art will understand that the terminal 900 may also include a power supply (such as a battery) for supplying power to various components. The power supply may be logically connected to the processor 910 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 9 The terminal structure shown does not constitute a limitation on the terminal. The terminal may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0898] It should be understood that, in this embodiment, the input unit 904 may include a graphics processing unit (GPU) 9041 and a microphone 9042. The GPU 9041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 906 may include a display panel 9061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 907 includes at least one of a touch panel 9071 and other input devices 9072. The touch panel 9071 is also called a touch screen. The touch panel 9071 may include a touch detection device and a touch controller. Other input devices 9072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, power buttons, etc.), trackballs, mice, and joysticks, which will not be described in detail here.

[0899] In this embodiment, after receiving downlink data from the network-side device, the radio frequency unit 901 can transmit it to the processor 910 for processing; in addition, the radio frequency unit 901 can send uplink data to the network-side device. Typically, the radio frequency unit 901 includes, but is not limited to, antennas, amplifiers, transceivers, couplers, low-noise amplifiers, duplexers, etc.

[0900] The memory 909 can be used to store software programs or instructions, as well as various data. The memory 909 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 909 may include volatile memory or non-volatile memory, or both. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 909 in the embodiments of this application includes, but is not limited to, these and any other suitable types of memory.

[0901] Processor 910 may include one or more processing units; optionally, processor 910 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 910.

[0902] The processor 910 is used for:

[0903] Measure the physical secondary link (SL) positioning reference signal sent by the second terminal;

[0904] The first terminal sends first information to the target communication device based on the measurement of the SL positioning reference signal;

[0905] The first information includes at least one of the following:

[0906] Line of sight (LOS) indication information;

[0907] The measurement information of the SL positioning reference signal;

[0908] Location-related information;

[0909] The target communication device is the second terminal, a preset terminal, a base station device, or a core network device.

[0910] In this embodiment, by measuring the physical secondary link (SL) positioning reference signal sent by the second terminal, and based on this measurement, sending one or more of the following to the target communication device: line-of-sight (LOS) indication information, measurement information of the SL positioning reference signal, and location-related information, the method of terminal positioning based on the positioning reference signal of the physical secondary link is clarified. This effectively reduces measurement errors and improves positioning accuracy. At the same time, it takes into account the reporting of LOS and NLOS indication information, realizes positioning enhancement in the SL scenario, and thus effectively reduces the measurement errors caused by NLOS in the SL scenario.

[0911] Optionally, when the target communication device is the second terminal or a preset terminal, the first information includes at least one of the following:

[0912] Physical secondary link control channel (PSCCH), physical secondary link feedback channel (PSFCH), physical secondary link shared channel (PSSCH), secondary link control information (SCI), media access control control unit (MAC CE), PC5 radio resource control (PC5-RRC), PC5 positioning protocol (PC5-LPP), or secondary link control information (SCI).

[0913] Optionally, when the target communication device is a base station device or a core network device, the first information includes at least one of the following:

[0914] Uplink Control Information (UCI), Physical Uplink Control Channel (PUCCH), Physical Uplink Shared Channel (PUSCH), Media Access Control Control Unit (MAC CE), Radio Resource Control (RRC), or Location Protocol (LPP).

[0915] Optionally, the measurement information of the SL positioning reference signal includes at least one of the following:

[0916] Identification information, and the measurement results of the SL positioning reference signal associated with the identification information;

[0917] The identification information includes at least one of the following:

[0918] At least one identification information of the first terminal;

[0919] At least one identification information of the second terminal;

[0920] Identification information of at least one of the SL positioning reference signals.

[0921] Optionally, the measurement result includes at least one of the following:

[0922] Angle information, including the angle of arrival measurement result and / or the departure angle measurement result;

[0923] Time information, wherein the time information includes at least one of the following: reference signal time difference measurement result, round-trip delay measurement result, and reference signal arrival time;

[0924] Energy information, including Reference Signal Received Power (RSRP) and / or Received Signal Strength Indicator (RSSI).

[0925] Optionally, one of the measurement results is associated with at least one of the LOS indication information; or, one of the identification information is associated with at least one of the LOS indication information.

[0926] Optionally, the at least one of the LOS indication messages is used to indicate one of the following:

[0927] Does the measurement result include the LOS diameter?

[0928] The measurement results include the probability of the LOS path;

[0929] Does the identification information and the target terminal include a LOS path?

[0930] Does the identification information and the first terminal include a LOS path?

[0931] The probability that the identification information and the second terminal include a LOS path;

[0932] The probability that the identification information and the first terminal include a LOS path.

[0933] Optionally, the LOS indication information includes at least one of the following:

[0934] The first bit portion used to indicate whether it is LOS or non-line-of-sight NLOS;

[0935] The second bit portion used to indicate the probability of LOS;

[0936] The third bit portion used to indicate the confidence level as LOS.

[0937] Optionally, the measurement results may also include: measurement results of at least one target path.

[0938] Optionally, the measurement result of the at least one target path is associated with at least one LOS indication information; one LOS indication information is associated with one target path, and different LOS indication information is associated with different target paths.

[0939] Optionally, the measurement results for at least one target path include any one or more of the following:

[0940] Measurement results of the LOS path in at least one target path;

[0941] The measurement result of the first target path in the at least one target path;

[0942] The measurement results of the target path with the strongest energy among the at least one target path;

[0943] The measurement results of the first N target paths in the at least one target path, where N is a positive integer;

[0944] The measurement results of the top M energy-ranked target paths in the at least one target path, where M is a positive integer;

[0945] The measurement results of the target path whose RSRP is greater than the first threshold in at least one target path;

[0946] The measurement results of Q target paths between the first target path and the target path with the strongest energy in the at least one target path, where Q is a positive integer, Q = N-2.

[0947] Optionally, the target path satisfies at least one of the following:

[0948] The RSRP of the target path is greater than the fourth threshold;

[0949] The target path is the first path from the second terminal to the first terminal;

[0950] The target path is the first path from the second terminal to the first terminal, wherein the RSTD of the first path and the serving cell of the target terminal is less than the fifth threshold.

[0951] The LOS threshold of the target path is greater than the sixth threshold;

[0952] The target path has fewer than R reflection points, where R is a positive integer.

[0953] Optionally, the processor 910 is further configured to:

[0954] Before the first terminal measures the SL positioning reference signal sent by the second terminal, the first terminal sends first capability information to the target communication device, the first capability information indicating at least one of the following:

[0955] Does it support reporting of LOS identification information?

[0956] Does it support per-path measurement?

[0957] Does it support measurement of the first path?

[0958] Does it support additional path measurement?

[0959] The number of supported target paths;

[0960] The number of supported second terminals.

[0961] Optionally, if the LOS indication information associated with the measurement information of the SL positioning reference signal indicates NLOS, the first information further includes reflection point information, which includes at least one of the following:

[0962] Location information of the reflection point;

[0963] Information on the reflection angle of the reflection point;

[0964] Information on the incident angle of the reflection point.

[0965] Optionally, the reflection point information is associated with the first identification information corresponding to the SL positioning reference signal;

[0966] The first identification information corresponding to the SL positioning reference signal includes at least one of the following:

[0967] The identification information of at least one of the first terminals corresponding to the SL positioning reference signal;

[0968] The identification information of at least one of the second terminals corresponding to the SL positioning reference signal;

[0969] At least one panel identification information corresponding to the SL positioning reference signal;

[0970] The identification information of at least one of the SL positioning reference signals corresponding to the SL positioning reference signal.

[0971] Optionally, the measurement information of the SL positioning reference signal also includes at least one of the following:

[0972] The second identification information, and the measurement results of the SL positioning reference signal associated with the second identification information;

[0973] The second identification information includes at least one of the following:

[0974] At least one panel identification information;

[0975] At least one panel location information;

[0976] At least one panel angle information;

[0977] At least one group ID information.

[0978] Optionally, the measurement result of the SL positioning reference signal associated with the second identification information includes at least one of the following:

[0979] Measurement results of the SL positioning reference signal associated with the panel identification information or the panel position information;

[0980] Measurement results of SL positioning reference signals associated with multiple panels;

[0981] Measurement results of the SL positioning reference signal with group ID;

[0982] The first indication information is used to indicate that the measurement result of the SL positioning reference signal is for a single panel;

[0983] The second indication information is used to indicate that the measurement result of the SL positioning reference signal is for multiple panels.

[0984] Optionally, the location-related information includes at least one of the following:

[0985] Identification information, and location-related information associated with the identification information;

[0986] The identification information includes at least one of the following:

[0987] At least one identification information of the first terminal;

[0988] At least one identification information of the second terminal;

[0989] At least one panel identification information;

[0990] At least one group ID information;

[0991] Identification information of at least one of the SL positioning reference signals;

[0992] The location-related information includes at least one of the following:

[0993] Absolute location information;

[0994] Relative position information.

[0995] Optionally, the location-related information is carried in the 2nd SCI.

[0996] Optionally, the location-related information is carried in the communication range.

[0997] Optionally, the processor 910 is further configured to:

[0998] Sending a second message to the target communication device, the second message including at least one of the following:

[0999] The identification information associated with the measurement result;

[1000] The location-related information associated with the identification information associated with the measurement result;

[1001] The location information of the target terminal, wherein the target terminal is the terminal whose location needs to be determined.

[1002] Optionally, the processor 910 is further configured to:

[1003] Before the first terminal measures the SL positioning reference signal sent by the second terminal, the first terminal receives third information sent by the target communication device, the third information including at least one of the following:

[1004] LOS indication information;

[1005] The first request information is used to request the reporting of LOS indication information;

[1006] The second request information is used to request the reporting of the target path information;

[1007] The third request information is used to request the number of target paths;

[1008] The fourth request is used to request the reporting of the reflection point location;

[1009] The fifth request information is used to request the location-related information;

[1010] The sixth request information is used to request the number of second terminals;

[1011] The seventh request information is used to indicate the preset conditions of the second terminal that provides feedback on the first information;

[1012] The eighth request information is used to indicate the preset conditions of the target path information.

[1013] Optionally, the processor 910 is further configured to:

[1014] Before the first terminal measures the SL positioning reference signal sent by the second terminal, the second terminal is determined;

[1015] Wherein, the second terminal satisfies at least one of the following:

[1016] The time difference between the SL-PRS of the second terminal and the first terminal and the Rx of the serving cell of the first terminal is within the first threshold;

[1017] The Rx time difference between the serving cell of the second terminal and the first terminal is within the second threshold;

[1018] The synchronization time difference between the second terminal and the first terminal is within the third threshold;

[1019] The second terminal and the first terminal share the same synchronous clock;

[1020] The measurement result RSRP of the second terminal is greater than the second threshold;

[1021] The RSTD measurement result between the second terminal and the serving cell is less than the third threshold.

[1022] Optionally, the processor 910 is further configured to:

[1023] The first information associated with the SL positioning reference signal is transmitted only if the measured RSRP of the SL positioning reference signal is greater than or equal to a threshold N; or;

[1024] The first information is sent only if the RSRP of all the measured SL positioning reference signals is greater than or equal to a threshold.

[1025] Optionally, the processor 910 is further configured to:

[1026] If the RSRP of all measured SL positioning reference signals is less than the threshold N, a third message is sent to the target communication device.

[1027] The third information includes at least one of the following:

[1028] Measurement failure indication message;

[1029] Measure energy levels below a threshold.

[1030] NACK indication message.

[1031] Optionally, the processor 910 is further configured to perform at least one of the following:

[1032] If the Zone ID of the target terminal and the Zone ID of the second terminal meet the first condition, the first terminal sends the first information to the target communication device;

[1033] If the communication range of the target terminal and the communication range of the second terminal meet the second condition, the first terminal sends the first information to the target communication device;

[1034] If the Zone ID of the first terminal and the Zone ID of the second terminal meet a first condition, the first terminal sends first information to the target communication device; or

[1035] When the communication range of the first terminal and the communication range of the second terminal meet the second condition, the first terminal sends the first information to the target communication device.

[1036] In this embodiment, by measuring the physical secondary link (SL) positioning reference signal sent by the second terminal, and based on this measurement, sending one or more of the following to the target communication device: line-of-sight (LOS) indication information, measurement information of the SL positioning reference signal, and location-related information, the method of terminal positioning based on the positioning reference signal of the physical secondary link is clarified. This effectively reduces measurement errors and improves positioning accuracy. At the same time, it takes into account the reporting of LOS and NLOS indication information, realizes positioning enhancement in the SL scenario, and thus effectively reduces the measurement errors caused by NLOS in the SL scenario.

[1037] This application embodiment also provides a target communication device, including a processor and a communication interface, wherein the communication interface is used for:

[1038] Receive first information, which is sent by the first terminal based on the measurement of the SL positioning reference signal sent by the second terminal;

[1039] The first information includes at least one of the following:

[1040] Line of sight (LOS) indication information;

[1041] The measurement information of the SL positioning reference signal;

[1042] Location-related information;

[1043] The target communication device is the second terminal, a preset terminal, a base station device, or a core network device. This target communication device embodiment corresponds to the above-described target communication method embodiment. All implementation processes and methods of the above method embodiments can be applied to this target communication device embodiment and achieve the same technical effect.

[1044] Specifically, embodiments of this application also provide a target communication device. Figure 10 This is a schematic diagram of the structure of the target communication device provided in the embodiments of this application, such as... Figure 10 As shown, the target communication device 1000 includes: an antenna 1001, a radio frequency (RF) device 1002, a baseband device 1003, a processor 1004, and a memory 1005. The antenna 1001 is connected to the RF device 1002. In the uplink direction, the RF device 1002 receives information through the antenna 1001 and transmits the received information to the baseband device 1003 for processing. In the downlink direction, the baseband device 1003 processes the information to be transmitted and sends it to the RF device 1002. The RF device 1002 processes the received information and transmits it through the antenna 1001.

[1045] The method executed by the target communication device in the above embodiments can be implemented in the baseband device 1003, which includes a baseband processor.

[1046] The baseband device 1003 may include, for example, at least one baseband board on which multiple chips are disposed, such as... Figure 10 As shown, one of the chips is, for example, a baseband processor, which is connected to the memory 1005 via a bus interface to call the program in the memory 1005 and execute the target communication device operation shown in the above method embodiment.

[1047] The target communication device may also include a network interface 1006, such as a common public radio interface (CPRI).

[1048] Specifically, the target communication device 1000 of this embodiment of the invention further includes: instructions or programs stored in memory 1005 and executable on processor 1004, wherein processor 1004 calls the instructions or programs in memory 1005 to execute. Figure 7 The methods executed by each module shown achieve the same technical effect, and to avoid repetition, they will not be described in detail here.

[1049] The processor 1004 is used for:

[1050] Receive first information, which is sent by the first terminal based on the measurement of the SL positioning reference signal sent by the second terminal;

[1051] The first information includes at least one of the following:

[1052] Line of sight (LOS) indication information;

[1053] The measurement information of the SL positioning reference signal;

[1054] Location-related information;

[1055] The target communication device is the second terminal, a preset terminal, a base station device, or a core network device.

[1056] In this embodiment, the first terminal measures the physical secondary link (SL) positioning reference signal sent by the second terminal, and receives one or more of the following information sent by the first terminal based on the measurement: line-of-sight (LOS) indication information, measurement information of the SL positioning reference signal, and location-related information. This clarifies the method of terminal positioning based on the positioning reference signal of the physical secondary link, effectively reducing measurement errors and improving positioning accuracy. At the same time, it takes into account the reporting of LOS and NLOS indication information, realizing positioning enhancement in the SL scenario and thus effectively reducing measurement errors caused by NLOS in the SL scenario.

[1057] Optionally, the processor 1004 is also used for:

[1058] Before receiving the first information, the target communication device receives first capability information sent by the first terminal, the first capability information indicating at least one of the following:

[1059] Does it support reporting of LOS identification information?

[1060] Does it support per-path measurement?

[1061] Does it support measurement of the first path?

[1062] Does it support additional path measurement?

[1063] The number of supported target paths;

[1064] The number of supported second terminals.

[1065] Optionally, the processor 1004 is also used for:

[1066] Before receiving the first information, a third information is sent to the first terminal, the third information including at least one of the following:

[1067] LOS indication information;

[1068] The first request information is used to request the reporting of LOS indication information;

[1069] The second request information is used to request the reporting of the target path information;

[1070] The third request information is used to request the number of target paths;

[1071] The fourth request is used to request the reporting of the reflection point location;

[1072] The fifth request information is used to request the location-related information;

[1073] The sixth request information is used to request the number of second terminals;

[1074] The seventh request information is used to indicate the preset conditions of the second terminal that provides feedback on the first information;

[1075] The eighth request information is used to indicate the preset conditions of the target path information.

[1076] In this embodiment, the first terminal measures the physical secondary link (SL) positioning reference signal sent by the second terminal, and receives one or more of the following information sent by the first terminal based on the measurement: line-of-sight (LOS) indication information, measurement information of the SL positioning reference signal, and location-related information. This clarifies the method of terminal positioning based on the positioning reference signal of the physical secondary link, effectively reducing measurement errors and improving positioning accuracy. At the same time, it takes into account the reporting of LOS and NLOS indication information, realizing positioning enhancement in the SL scenario and thus effectively reducing measurement errors caused by NLOS in the SL scenario.

[1077] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described positioning method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[1078] The processor is the processor in the terminal described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[1079] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described positioning method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[1080] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[1081] This application also provides a computer program / program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the above-described positioning method embodiments, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[1082] This application also provides a positioning system, including: a terminal and a network-side device, wherein the terminal can be used to perform the steps of the positioning method described above, and the target communication device can be used to perform the steps of the positioning method described above.

[1083] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[1084] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[1085] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A positioning method, characterized in that, include: The first terminal measures the physical secondary link (SL) positioning reference signal sent by the second terminal; The first terminal sends first information to the target communication device based on the measurement of the SL positioning reference signal; The first information includes: Line of sight (LOS) indication information; The measurement information of the SL positioning reference signal; The target communication device is the second terminal or a preset terminal; The measurement information of the SL positioning reference signal includes: Identification information, and the measurement results of the SL positioning reference signal associated with the identification information; The identification information includes: At least one identification information of the second terminal; At least one panel identification information; The panel identification information is used to distinguish different locations of the same terminal or the receiving locations of different antennas; and at least one LOS indication information associated with a measurement result is used to indicate whether the measurement result includes a LOS path. Alternatively, one of the identification information is associated with at least one of the LOS indication information, the LOS indication information being used to indicate one of the following: Does the identification information and the first terminal include a LOS path? The probability that the identification information and the first terminal include a LOS path.

2. The positioning method according to claim 1, characterized in that, When the target communication device is the second terminal or a preset terminal, the first information includes at least one of the following: Physical secondary link control channel (PSCCH), physical secondary link feedback channel (PSFCH), physical secondary link shared channel (PSSCH), secondary link control information (SCI), media access control control unit (MAC CE), PC5 radio resource control (PC5-RRC), PC5 positioning protocol (PC5-LPP), or secondary link control information (SCI).

3. The positioning method according to claim 1 or 2, characterized in that, The identification information also includes at least one of the following: At least one identification information of the first terminal; Identification information of at least one of the SL positioning reference signals.

4. The positioning method according to claim 1, characterized in that, The measurement results include at least one of the following: Angle information, including the angle of arrival measurement result and / or the departure angle measurement result; Time information, wherein the time information includes at least one of the following: reference signal time difference measurement result, round-trip delay measurement result, and reference signal arrival time; Energy information, including Reference Signal Received Power (RSRP) and / or Received Signal Strength Indicator (RSSI).

5. The positioning method according to claim 1, characterized in that, The at least one of the LOS indication messages is used to indicate one of the following: Does the identification information and the target terminal include a LOS path? The probability of a LOS path between the identification information and the second terminal.

6. The positioning method according to claim 5, characterized in that, The LOS indication information includes at least one of the following: The first bit portion used to indicate whether it is LOS or non-line-of-sight NLOS; The second bit portion used to indicate the probability of LOS; The third bit portion used to indicate the confidence level as LOS.

7. The positioning method according to any one of claims 5-6, characterized in that, The measurement results also include: the measurement results of at least one target path.

8. The positioning method according to claim 7, characterized in that, The measurement result of the at least one target path is associated with at least one LOS indication information; or, one LOS indication information is associated with one target path, and different LOS indication information is associated with different target paths.

9. The positioning method according to claim 7, characterized in that, Measurement results for at least one target path include any one or more of the following: Measurement results of the LOS path in at least one target path; The measurement result of the first target path in the at least one target path; The measurement results of the target path with the strongest energy among the at least one target path; The measurement results of the first N target paths in the at least one target path, where N is a positive integer; The measurement results of the top M energy-ranked target paths in the at least one target path, where M is a positive integer; The measurement results of the target path whose RSRP is greater than the first threshold in at least one target path; The measurement results of Q target paths between the first target path and the target path with the strongest energy in the at least one target path, where Q is a positive integer, Q=N-2.

10. The positioning method according to claim 7, characterized in that, The target path satisfies at least one of the following: The RSRP of the target path is greater than the fourth threshold; The target path is the first path from the second terminal to the first terminal; The target path is the first path from the second terminal to the first terminal, wherein the RSTD of the first path and the serving cell of the target terminal is less than the fifth threshold. The LOS threshold of the target path is greater than the sixth threshold; The target path has fewer than R reflection points, where R is a positive integer.

11. The positioning method according to claim 7, characterized in that, The method further includes: Before the first terminal measures the SL positioning reference signal sent by the second terminal, the first terminal sends first capability information to the target communication device, the first capability information indicating at least one of the following: Does it support reporting of LOS identification information? Does it support per-path measurement? Does it support measurement of the first path? Does it support additional path measurement? The number of supported target paths; The number of supported second terminals.

12. The positioning method according to claim 1, characterized in that, When the LOS indication information associated with the measurement information of the SL positioning reference signal indicates NLOS, the first information further includes reflection point information, which includes at least one of the following: Location information of the reflection point; Information on the reflection angle of the reflection point; Information on the incident angle of the reflection point.

13. The positioning method according to claim 12, characterized in that, The reflection point information is associated with the first identification information corresponding to the SL positioning reference signal; The first identification information corresponding to the SL positioning reference signal includes at least one of the following: The identification information of at least one of the first terminals corresponding to the SL positioning reference signal; The identification information of at least one of the second terminals corresponding to the SL positioning reference signal; At least one panel identification information corresponding to the SL positioning reference signal; The identification information of at least one of the SL positioning reference signals corresponding to the SL positioning reference signal.

14. The positioning method according to claim 1, characterized in that, The measurement information of the SL positioning reference signal also includes: The second identification information, and the measurement results of the SL positioning reference signal associated with the second identification information; The second identification information includes at least one of the following: At least one panel location information; At least one panel angle information; At least one group ID information.

15. The positioning method according to claim 14, characterized in that, The measurement result of the SL positioning reference signal associated with the second identification information includes at least one of the following: Measurement results of the SL positioning reference signal associated with the panel position information; Measurement results of SL positioning reference signals associated with multiple panels; Measurement results of the SL positioning reference signal with group ID; The first indication information is used to indicate that the measurement result of the SL positioning reference signal is for a single panel; The second indication information is used to indicate that the measurement result of the SL positioning reference signal is for multiple panels.

16. The positioning method according to claim 1, characterized in that, The method further includes: Sending a second message to the target communication device, the second message including at least one of the following: The identification information associated with the measurement result; Location-related information associated with the identification information associated with the measurement results; The location information of the target terminal, wherein the target terminal is the terminal whose location needs to be determined.

17. The positioning method according to claim 1, characterized in that, The method further includes: Before the first terminal measures the SL positioning reference signal sent by the second terminal, the first terminal receives third information sent by the target communication device, the third information including at least one of the following: LOS indication information; The first request information is used to request the reporting of LOS indication information; The second request information is used to request the reporting of the target path information; The third request information is used to request the number of target paths; The fourth request is used to request the reporting of the reflection point location; The fifth request information is used to request the location-related information; The sixth request information is used to request the number of second terminals; The seventh request information is used to indicate the preset conditions of the second terminal that provides feedback on the first information; The eighth request information is used to indicate the preset conditions of the target path information.

18. The positioning method according to claim 1, characterized in that, The method further includes: Before the first terminal measures the SL positioning reference signal sent by the second terminal, the second terminal is determined; Wherein, the second terminal satisfies at least one of the following: The time difference between the SL-PRS of the second terminal and the first terminal and the Rx of the serving cell of the first terminal is within the first threshold; The Rx time difference between the serving cell of the second terminal and the first terminal is within the second threshold; The synchronization time difference between the second terminal and the first terminal is within the third threshold; The second terminal and the first terminal share the same synchronous clock; The measurement result RSRP of the second terminal is greater than the second threshold; The RSTD measurement result between the second terminal and the serving cell is less than the third threshold.

19. The positioning method according to claim 1, characterized in that, The first terminal, based on the measurement of the SL positioning reference signal, sends first information to the target communication device, including: The first information associated with the SL positioning reference signal is transmitted only if the measured RSRP of the SL positioning reference signal is greater than or equal to a threshold N; or; The first information is sent only if the RSRP of all the measured SL positioning reference signals is greater than or equal to a threshold.

20. The positioning method according to claim 19, characterized in that, The method further includes: If the RSRP of all measured SL positioning reference signals is less than the threshold N, a third message is sent to the target communication device. The third information includes at least one of the following: Measurement failure indication message; Measure energy levels below a threshold. NACK indication message.

21. The positioning method according to claim 1, characterized in that, The first terminal, based on the measurement of the SL positioning reference signal, sends first information to the target communication device, including at least one of the following: If the Zone ID of the target terminal and the Zone ID of the second terminal meet the first condition, the first terminal sends the first information to the target communication device; If the communication range of the target terminal and the communication range of the second terminal meet the second condition, the first terminal sends the first information to the target communication device; If the Zone ID of the first terminal and the Zone ID of the second terminal meet the first condition, the first terminal sends the first information to the target communication device; or When the communication range of the first terminal and the communication range of the second terminal meet the second condition, the first terminal sends the first information to the target communication device.

22. A positioning method, characterized in that, include: The target communication device receives first information, which is sent by the first terminal based on the measurement of the SL positioning reference signal sent by the second terminal; The first information includes: Line of sight (LOS) indication information; The measurement information of the SL positioning reference signal; The target communication device is the second terminal or a preset terminal; The measurement information of the SL positioning reference signal includes: Identification information, and the measurement results of the SL positioning reference signal associated with the identification information; The identification information includes: At least one identification information of the second terminal; At least one panel identification information; The panel identification information is used to distinguish different locations of the same terminal or the receiving locations of different antennas; and at least one LOS indication information associated with a measurement result is used to indicate whether the measurement result includes a LOS path. Alternatively, one of the identification information is associated with at least one of the LOS indication information, the LOS indication information being used to indicate one of the following: Does the identification information and the first terminal include a LOS path? The probability that the identification information and the first terminal include a LOS path.

23. The positioning method according to claim 22, characterized in that, The method further includes: Before receiving the first information, the target communication device receives first capability information sent by the first terminal, the first capability information indicating at least one of the following: Does it support reporting of LOS identification information? Does it support per-path measurement? Does it support measurement of the first path? Does it support additional path measurement? The number of supported target paths; The number of supported second terminals.

24. The positioning method according to claim 22 or 23, characterized in that, The method further includes: Before receiving the first information, a third information is sent to the first terminal, the third information including at least one of the following: LOS indication information; The first request information is used to request the reporting of LOS indication information; The second request information is used to request the reporting of the target path information; The third request information is used to request the number of target paths; The fourth request is used to request the reporting of the reflection point location; The fifth request information is used to request the location-related information; The sixth request information is used to request the number of second terminals; The seventh request information is used to indicate the preset conditions of the second terminal that provides feedback on the first information; The eighth request information is used to indicate the preset conditions of the target path information.

25. A positioning device, characterized in that, include: The measurement module is used by the first terminal to measure the physical secondary link (SL) positioning reference signal sent by the second terminal; The first transmitting module is used for the first terminal to transmit first information to the target communication device based on the measurement of the SL positioning reference signal; The first information includes: Line of sight (LOS) indication information; The measurement information of the SL positioning reference signal; The target communication device is the second terminal or a preset terminal; The measurement information of the SL positioning reference signal includes: Identification information, and the measurement results of the SL positioning reference signal associated with the identification information; The identification information includes: At least one identification information of the second terminal; At least one panel identification information; The panel identification information is used to distinguish different locations of the same terminal or the receiving locations of different antennas; and at least one LOS indication information associated with a measurement result is used to indicate whether the measurement result includes a LOS path. Alternatively, one of the identification information is associated with at least one of the LOS indication information, the LOS indication information being used to indicate one of the following: Does the identification information and the first terminal include a LOS path? The probability that the identification information and the first terminal include a LOS path.

26. The positioning device according to claim 25, characterized in that, When the target communication device is the second terminal or a preset terminal, the first information includes at least one of the following: Physical secondary link control channel (PSCCH), physical secondary link feedback channel (PSFCH), physical secondary link shared channel (PSSCH), secondary link control information (SCI), media access control control unit (MAC CE), PC5 radio resource control (PC5-RRC), PC5 positioning protocol (PC5-LPP), or secondary link control information (SCI).

27. The positioning device according to claim 25 or 26, characterized in that, The identification information also includes at least one of the following: At least one identification information of the first terminal; Identification information of at least one of the SL positioning reference signals.

28. The positioning device according to claim 25, characterized in that, The measurement results include at least one of the following: Angle information, including the angle of arrival measurement result and / or the departure angle measurement result; Time information, wherein the time information includes at least one of the following: reference signal time difference measurement result, round-trip delay measurement result, and reference signal arrival time; Energy information, including Reference Signal Received Power (RSRP) and / or Received Signal Strength Indicator (RSSI).

29. The positioning device according to claim 25, characterized in that, The at least one of the LOS indication messages is used to indicate one of the following: Does the identification information and the target terminal include a LOS path? The probability of a LOS path between the identification information and the second terminal.

30. The positioning device according to claim 29, characterized in that, The LOS indication information includes at least one of the following: The first bit portion used to indicate whether it is LOS or non-line-of-sight NLOS; The second bit portion used to indicate the probability of LOS; The third bit portion used to indicate the confidence level as LOS.

31. The positioning device according to any one of claims 29-30, characterized in that, The measurement results also include: the measurement results of at least one target path.

32. The positioning device according to claim 25, characterized in that, When the LOS indication information associated with the measurement information of the SL positioning reference signal indicates NLOS, the first information further includes reflection point information, which includes at least one of the following: Location information of the reflection point; Information on the reflection angle of the reflection point; Information on the incident angle of the reflection point.

33. The positioning device according to claim 25, characterized in that, The measurement information of the SL positioning reference signal also includes: The second identification information, and the measurement results of the SL positioning reference signal associated with the second identification information; The second identification information includes at least one of the following: At least one panel location information; At least one panel angle information; At least one group ID information.

34. A positioning device, characterized in that, include: The second receiving module is used for the target communication device to receive first information, which is sent by the first terminal based on the measurement of the SL positioning reference signal sent by the second terminal; The first information includes: Line of sight (LOS) indication information; The measurement information of the SL positioning reference signal; The target communication device is the second terminal or a preset terminal; The measurement information of the SL positioning reference signal includes: Identification information, and the measurement results of the SL positioning reference signal associated with the identification information; The identification information includes: At least one identification information of the second terminal; At least one panel identification information; The panel identification information is used to distinguish different locations of the same terminal or the receiving locations of different antennas; and at least one LOS indication information associated with a measurement result is used to indicate whether the measurement result includes a LOS path. Alternatively, one of the identification information is associated with at least one of the LOS indication information, the LOS indication information being used to indicate one of the following: Does the identification information and the first terminal include a LOS path? The probability that the identification information and the first terminal include a LOS path.

35. A first terminal, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of the positioning method as described in any one of claims 1 to 21.

36. A target communication device, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of the positioning method as described in any one of claims 22 to 24.

37. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the positioning method as described in any one of claims 1-21, or implement the steps of the positioning method as described in any one of claims 22-24.

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