Positioning method, device and readable storage medium

Abstract

The application discloses a positioning method, device and readable storage medium, and belongs to the technical field of communication. The method comprises the following steps: a first terminal determines measurement time information of a SL positioning reference signal; and the first terminal transmits or measures the SL positioning reference signal according to the measurement time information. The SL positioning reference signal is a SL signal used for positioning.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of communication, and particularly relates to a positioning method, a device and a readable storage medium. BACKGROUND

[0002] The Long Term Evolution (LTE) system supports sidelink (SL, or side link, side link, etc.) transmission, that is, terminals (User Equipment, UE) directly transmit data on the physical layer. The LTE sidelink is based on broadcast communication, which can be used to support basic safety communication of vehicle to everything (V2X), but is not suitable for other more advanced V2X services. The 5G NR (New Radio) system will support more advanced sidelink transmission design, for example, unicast, multicast (or groupcast), etc., so as to support more comprehensive service types.

[0003] At present, there is no clear processing scheme for SL positioning in NR communication, and it is not clear what time range should be used to process the SL positioning reference signal for positioning. SUMMARY

[0004] The embodiments of the present application provide a positioning method, a device and a readable storage medium, which can solve the problem that it is not clear what time range should be used to process the SL positioning reference signal in NR communication.

[0005] In a first aspect, a positioning method is provided, comprising:

[0006] A first terminal determines measurement time information of a sidelink (SL) positioning reference signal;

[0007] The first terminal transmits or measures the SL positioning reference signal according to the measurement time information;

[0008] The SL positioning reference signal is an SL signal for positioning.

[0009] In a second aspect, a positioning method is provided, comprising:

[0010] A network device or a second terminal configures measurement time information of an SL positioning reference signal;

[0011] The network device or the second terminal sends the measurement time information to a first terminal;

[0012] The measurement time information is used by the first terminal to transmit or measure the SL positioning reference signal, and the SL positioning reference signal is an SL signal for positioning.

[0013] In a third aspect, a positioning apparatus is provided, comprising:

[0014] a determining module configured to determine, by a first terminal, measurement time information of a sidelink (SL) positioning reference signal;

[0015] a processing module configured to transmit or measure, by the first terminal, the SL positioning reference signal according to the measurement time information.

[0016] The SL positioning reference signal is an SL signal used for positioning.

[0017] In a fourth aspect, a positioning apparatus is provided, comprising:

[0018] a configuring module configured to configure, by a second terminal, measurement time information of a sidelink (SL) positioning reference signal;

[0019] a sending module configured to send, by the second terminal, the measurement time information to a first terminal.

[0020] The measurement time information is used for the first terminal to transmit or measure the SL positioning reference signal, and the SL positioning reference signal is an SL signal used for positioning.

[0021] In a fifth aspect, a terminal is provided, comprising a processor and a memory, wherein the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the method according to the first aspect.

[0022] In a sixth aspect, a terminal is provided, comprising a processor and a communication interface, wherein the processor is configured to determine, by a first terminal, measurement time information of a sidelink (SL) positioning reference signal, and the first terminal transmits or measures the SL positioning reference signal according to the measurement time information, and the SL positioning reference signal is an SL signal used for positioning.

[0023] In a seventh aspect, a network device or terminal is provided, comprising a processor and a memory, wherein the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the method according to the second aspect.

[0024] In an eighth aspect, a network device or terminal is provided, comprising a processor and a communication interface, wherein the processor is configured to configure measurement time information of a sidelink (SL) positioning reference signal, and the communication interface is configured to send the measurement time information to a first terminal, and the measurement time information is used for the first terminal to transmit or measure the SL positioning reference signal, and the SL positioning reference signal is an SL signal used for positioning.

[0025] In a ninth aspect, a readable storage medium is provided, and the readable storage medium stores a program or instructions, and the program or instructions are executed by a processor to implement the steps of the method in the first aspect or implement the steps of the method in the second aspect.

[0026] In a tenth aspect, a chip is provided, and the chip includes a processor and a communication interface, the communication interface is coupled with the processor, and the processor is configured to run a program or instructions to implement the method in the first aspect or implement the method in the second aspect.

[0027] In an eleventh aspect, a computer program / program product is provided, and the computer program / program product is stored in a storage medium, and the computer program / program product is executed by at least one processor to implement the method in the first aspect or implement the method in the second aspect.

[0028] In the embodiments of the present application, the first terminal determines the measurement time information of the SL positioning reference signal, and transmits or measures the SL positioning reference signal according to the measurement time information, which explicitly defines the time range for processing the SL positioning reference signal, and realizes the SL positioning in the NR communication. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1a is a schematic diagram of an LTE sidelink network architecture;

[0030] Figure 1b is a schematic diagram of an existing resource allocation process;

[0031] Figure 2 is one of the flowcharts of the positioning method provided by the embodiments of the present application;

[0032] Figure 3 is another flowchart of the positioning method provided by the embodiments of the present application;

[0033] Figure 4 is one of the structural schematic diagrams of the positioning apparatus provided by the embodiments of the present application;

[0034] Figure 5 is another structural schematic diagram of the positioning apparatus provided by the embodiments of the present application;

[0035] Figure 6 is a structural schematic diagram of a communication device provided by the embodiments of the present application;

[0036] Figure 7 is a structural schematic diagram of a terminal provided by the embodiments of the present application;

[0037] Figure 8 is a structural schematic diagram of a network device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art belong to the scope of protection of the present application.

[0039] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second" are generally of a kind, and are not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally means that the front and rear associated objects are in an "or" relationship.

[0040] It is worth noting that the technologies described in the embodiments of the present 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 the embodiments of the present application are often used interchangeably, and the described technologies can be used in the above-mentioned systems and radio technologies, and also in other systems and radio technologies. The following description describes a New Radio (NR) system for example purposes, and NR terminology is used in most of the following description, but these technologies can also be applied to applications other than NR system applications, such as 6th Generation (6G) communication systems. th

[0041] ​The wireless communication system of the embodiments of the present application includes a terminal and a network device. The terminal can be a mobile phone, a tablet personal computer, a laptop computer, a personal digital assistant (PDA), a palm computer, a netbook, an ultra-mobile personal computer (UMPC), a mobile Internet device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, a vehicle-mounted device (VUE), a pedestrian terminal (PUE), a smart home (a home device with a wireless communication function, such as a refrigerator, a television, a washing machine, or furniture, etc.), a game console, a personal computer (PC), a teller machine, or a self-service machine, etc. The wearable device includes a smart watch, a smart bracelet, a smart earphone, smart glasses, smart jewelry (a smart bracelet, a smart necklace, a smart ring, a smart necklace, a smart ankle bracelet, a smart ankle chain, etc.), a smart wristband, smart clothing, etc. It should be noted that the specific type of the terminal is not limited in the embodiments of the present application. The network device can include an access network device or a core network device, wherein the access network device can also be referred to as a radio access network device, a radio access network (RAN), a radio access network function or a radio access network unit. The access network device can include a base station, a WLAN access point or a WiFi node, etc. The base station can be referred to as a node B, an evolved node B (eNB), an access point, a base transceiver station (BTS), a radio base station, a radio transceiver, a basic service set (BSS), an extended service set (ESS), a home node B, a home evolved node B, a transmitting receiving point (TRP), or some other appropriate term in the art, as long as the same technical effect is achieved. The base station is not limited to a specific technical term, and it should be noted that only the base station in the NR system is taken as an example for introduction in the embodiments of the present application, and the specific type of the base station is not limited.The core network device can include, but is not limited to, at least one of the following: a core network node, a core network function, a mobility management entity (MME), an access and mobility management function (AMF), a session management function (SMF), a user plane function (UPF), a policy control function (PCF), a policy and charging rules function (PCRF), an edge application server discovery function (EASDF), a unified data management (UDM), a unified data repository (UDR), a home subscriber server (HSS), a centralized network configuration (CNC), a network repository function (NRF), a network exposure function (NEF), a local NEF (or L-NEF), a binding support function (BSF), an application function (AF), a location management function LMF, an E-SMLC, a network data analytics function (NWDAF), and the like. It should be noted that only the core network device in the NR system is taken as an example for introduction in the embodiments of the present application, and the specific type of the core network device is not limited.

[0042] In order to better understand the technical solutions of the present application, the following contents are first introduced:

[0043] Introduction of V2X

[0044] For example, Figure 1aAs shown, LTE system supports SL transmission, i.e. data transmission between UEs directly on physical layer. LTE sidelink is based on broadcast communication, which can be used to support basic safety class communication of V2X, but is not suitable for other more advanced V2X services. 5G NR system will support more advanced sidelink transmission design, for example, unicast, multicast or groupcast, etc., so as to support more comprehensive service types.

[0045] Resource allocation

[0046] NR V2X defines two resource allocation modes (mode), one is mode1, which is base station scheduling resource; the other is mode2, UE itself decides to use what resource for transmission. At this time, the resource information may come from the broadcast message of the base station or the pre-configured information. UE if working in the range of the base station and has RRC connection with the base station, can be mode1 and / or mode2, UE if working in the range of the base station but not having RRC connection with the base station, can only work in mode2. If UE is out of the range of the base station, it can only work in mode2, according to the pre-configured information to carry out V2X transmission.

[0047] For mode 2, the specific working mode is as follows: 1) After the resource selection is triggered, TX UE first determines the resource selection window, the lower boundary of the resource selection window is T1 time after the resource selection trigger, and the upper boundary of the resource selection is T2 time after the trigger, wherein T2 is a value selected by UE implementation within the PDB (packet delay budget) of its transport block (TB) transmission, and T2 is not earlier than T1. 2) Before resource selection, UE needs to determine the candidate resource set of resource selection, according to the measured reference signal received power (RSRP) of the resource in the resource selection window and the corresponding RSRP threshold, if the RSRP is lower than the RSRP threshold, the resource can be included in the candidate resource set. 3) After the resource set is determined, UE randomly selects the transmission resource in the candidate resource set. In addition, UE can reserve transmission resources for the next transmission in this transmission. The specific process is shown in Figure 1b .

[0048] Currently, there are the following problems in NR communication:

[0049] Problem 1: Currently, sidelink positioning is not supported;

[0050] Question 2: If sidelink positioning is supported, how should the measurement or transmission window corresponding to SL-PRS be determined?

[0051] The positioning method provided by the embodiments of the present application will be described in detail below in combination with the accompanying drawings and some embodiments and application scenarios.

[0052] Referring to Figure 2 The embodiments of the present application provide a positioning method, comprising:

[0053] Step 201: The first terminal determines the measurement time information of the SL positioning reference signal;

[0054] Step 202: The first terminal transmits or measures the SL positioning reference signal according to the measurement time information;

[0055] Among them, the SL positioning reference signal is a SL signal used for positioning.

[0056] It should be noted that the transmission operation described above specifically refers to the sending or receiving behavior between two terminals, for example: terminal 1 sends SL channel or signal to terminal 2, or terminal 1 receives SL channel or signal from terminal 2. In the following scheme description, the transmission is a general description of sending and receiving. It can be understood that the following description of the scheme is applicable to two terminals performing SL communication, for example: 1) the case of data transmission between the sending terminal and the receiving terminal; 2) the case of information exchange between the scheduling terminal and the sending terminal; 3) the case of information exchange between the scheduling terminal and the receiving terminal.

[0057] It should be noted that the measurement time information of the SL positioning reference signal described above can be configured by the network device to the first terminal, or can be sent by other terminals (for example, the second terminal performing SL communication with the first terminal) to the first terminal, or can be configured by the first terminal itself, that is, the first terminal determines the measurement time information of the SL positioning reference signal. Specifically, the first terminal can obtain the measurement time information from other devices (network device and / or second terminal), or the first terminal can determine the measurement time information by itself.

[0058] Optionally, the measurement time information can be used to indicate the time information of the terminal measuring the SL positioning reference signal, or the time information of the terminal sending or receiving the SL positioning reference signal. In one embodiment, the measurement time information can be used to assist the terminal to determine the configuration information of the SL positioning reference signal.

[0059] Optionally, the SL positioning reference signal can be a SL signal used for positioning.

[0060] Optionally, the SL positioning reference signal can be a multiplexing of NR positioning signals, an existing SL signal or enhancement, such as Channel State Information Reference Signal (CSI Reference Signal, CSI-RS), sidelink Synchronization Signal block (S-SSB), tracking reference signal (TRS), or Demodulation Reference Signal (DMRS).

[0061] Optionally, the SL positioning reference signal can be a NR SL positioning signal defined for positioning purposes, including but not limited to gold code sequence, m-sequence, ZC sequence.

[0062] Optionally, the SL positioning reference signal can be SL-PRS or SL SRS.

[0063] It is worth noting that the SL-PRS appearing below is only used to represent the abbreviation of SL positioning reference signal, and does not limit the SL positioning reference signal to be only the above SL-PRS.

[0064] Optionally, the SL positioning reference signal can be a plurality of signals.

[0065] In the embodiments of the present application, the first terminal determines the measurement time information of the SL positioning reference signal, and transmits or measures the SL positioning reference signal according to the measurement time information, which explicitly defines the time range for processing the SL positioning reference signal, and realizes the SL positioning in the NR communication.

[0066] In a possible implementation, the measurement time information includes start time information.

[0067] In a possible implementation, the measurement time information includes information of the SL positioning reference signal measurement window.

[0068] The information of the SL positioning reference signal measurement window includes one or more of the following:

[0069] (1) start time information;

[0070] (2) period information; optionally, the period can be a logical period or a physical period;

[0071] (3) window length;

[0072] (4) end time information.

[0073] In a possible implementation, the information of the SL positioning reference signal measurement window further includes one or more of the following:

[0074] (1) Frequency domain start point; optionally, for point A, start point of BWP, Absolute Radio Frequency Channel Number (ARFCN), such as frequency domain position of the lowest subchannel;

[0075] (2) Resource pool information, such as start symbol or start slot of the resource pool, symbol length or slot length of the resource pool, termination symbol or termination slot, time domain bitmap information of the resource pool; third frequency domain information of the resource pool, including one or more of the number of subchannels, the number of continuous PRBs contained in the subchannel, the number of PRBs, the PRB bitmap, the number of RBs, and the start PRB of the smallest number of subchannels, and synchronization information, etc.;

[0076] (3) Number of subchannels (subchannels);

[0077] (4) Size of subchannel (size), which can be the number of physical resource blocks (PRBs);

[0078] (5) Bandwidth information; such as N subchannels, such as 20M bandwidth, such as N PRBs;

[0079] (6) Frequency domain granularity;

[0080] (7) Subcarrier spacing; such as 15, 30, 60, 120, 960 kHz, etc.;

[0081] (8) Frequency domain offset: such as frequency domain offset relative to the frequency domain start point, such as subcarrier offset relative to the lowest subchannel, such as subcarrier offset relative to the start position of the SL-BWP;

[0082] In one possible implementation, the start time information includes one or more of the following:

[0083] (1) Start slot information,

[0084] (2) Serving cell identification ID information or cell information, used to indicate which cell the start time information is relative to;

[0085] (3) Reference time relative to the target terminal and the ID of the target terminal;

[0086] (4) synchronization mode information, for example, synchronization according to a Global Positioning System (GPS), synchronization according to clock type information, synchronization according to a base station, synchronization according to a terminal, and the like;

[0087] (5) System Frame Number (SFN) or Direct Frame Number (DFN) indication information;

[0088] (6) SFN or DFN offset information;

[0089] (7) absolute time information;

[0090] (8) starting symbol information.

[0091] In a possible implementation, the starting time information is determined according to one or more of the following:

[0092] (1) a system frame number offset or a time slot number offset relative to a serving cell or a network device;

[0093] (2) a time offset relative to a DFN;

[0094] (3) a time offset relative to a reference positioning signal;

[0095] (4) an offset relative to a starting time of a first resource set;

[0096] (5) absolute time information, for example, a GPS time, and for example, time information counted according to a rule, for example, counted from 1900;

[0097] (6) first indication information, used to indicate that the starting time is determined according to a GPS time, a base station time, or a terminal time. Optionally, if the base station time is used, the synchronization can be direct or indirect; if the terminal time is used, the synchronization can be direct or indirect.

[0098] In a possible implementation, the measurement time information includes configuration information of one or more SL positioning reference signal measurement windows;

[0099] In an embodiment, the measurement time information comprises configuration information of a plurality of SL positioning reference signal measurement windows; wherein, optionally, each window corresponds to a different time domain location; such as, a different repetition, such as a different communication terminal; or such as, a plurality of windows correspond to different roles, window 1 is used for resource selection, window 2 is used for measurement or scheduling. There are or a plurality of windows correspond to different positioning modes, sidelink-only or sidelink+downlink positioning

[0100] The configuration information comprises one or more of the following:

[0101] (1) duration information of one or more SL positioning reference signal measurement windows;

[0102] (2) interval information between a plurality of SL positioning reference signal measurement windows;

[0103] (3) start time information of one or more SL positioning reference signal measurement windows;

[0104] (4) end time information of one or more SL positioning reference signal measurement windows.

[0105] In a possible implementation, the information of the SL positioning reference signal measurement window further comprises window type information;

[0106] The window type information indicates any one of the following:

[0107] (1) the SL positioning reference signal measurement window is a periodic window;

[0108] (2) the SL positioning reference signal measurement window is an aperiodic window;

[0109] (3) the SL positioning reference signal measurement window is associated with a bandwidth;

[0110] (4) the SL positioning reference signal measurement window is associated with a Band Within Part (BWP);

[0111] (5) the SL positioning reference signal measurement window is associated with a serving cell;

[0112] (6) the SL positioning reference signal measurement window is associated with a first terminal or a second terminal, the second terminal being a terminal that performs SL communication with the first terminal;

[0113] (7) the SL positioning reference signal measurement window is only associated with a sidelink, i.e., sidelink-only;

[0114] (8) The SL positioning reference signal measurement window is associated with sidelink and downlink;

[0115] (9) The SL positioning reference signal measurement window is associated with a resource pool of SL positioning reference signal;

[0116] (10) The SL positioning reference signal measurement window is associated with Channel Busy Ratio (CBR).

[0117] In a possible implementation, the information of the SL positioning reference signal measurement window further comprises: priority information;

[0118] The priority information is used to indicate one or more of the following:

[0119] (1) Priority relationship between SL positioning reference signal in the SL positioning reference signal measurement window and other SL signals;

[0120] (2) Priority relationship between SL channel used for transmitting SL positioning reference signal in the SL positioning reference signal measurement window and other SL channels;

[0121] For example, the priority of SL-PRS in the SL-PRS measurement window is always higher than that of other SL signals or channels, or vice versa, the priority of SL-PRS in the SL-PRS measurement window is always lower than that of other SL signals or channels.

[0122] For another example, the priority of high-priority (specifically, the priority is higher than a preset priority) SL-PRS in the SL-PRS measurement window is always higher than that of other SL signals or channels, or vice versa, the priority of low-priority (specifically, the priority is lower than a preset priority) SL-PRS in the SL-PRS measurement window is always lower than that of other SL signals or channels.

[0123] For another example, the priority of low-priority SL-PRS in the SL-PRS measurement window is always lower than that of other sidelink control information (SCI), physical sidelink feedback channel (PSFCH), high-priority physical sidelink control channel (PSCCH) or physical sidelink shared channel (PSSCH), and higher than that of other SL signals or channels.

[0124] For example, SL-PRS within SL-PRS measurement window is always lower than sidelink synchronization signal block (S-SSB) or physical sidelink broadcast channel (PBSCH).

[0125] (3) Priority relationship between SL positioning reference signal within SL positioning reference signal measurement window and other UL signals;

[0126] (4) Priority relationship between SL channel for transmitting SL positioning reference signal within SL positioning reference signal measurement window and other UL channels.

[0127] Priority comparison between SL-PRS within SL-PRS measurement window and UL signals or channels can refer to the comparison between SL-PRS within SL-PRS measurement window and other SL signals or channels, which will not be repeated here.

[0128] In a possible implementation, the priority information includes one or more of the following:

[0129] (1) Priority indication information, used to indicate a priority value;

[0130] (2) Priority state information, wherein different priority states correspond to different priority indication information.

[0131] For example, state 1 indicates that the priority of SL-PRS is always higher than that of other signals; state 2 indicates that the priority is higher than that of other signals when the priority indication information is 1, and is lower than that of other signals when the priority indication information is 0; state 3 indicates that the priority is higher than that of other signal A when the priority indication information is 2, is higher than that of other signal B and lower than that of other signal A when the priority indication information is 1, and is lower than that of other signal B when the priority indication information is 0.

[0132] In a possible implementation, the SL positioning reference signal measurement window satisfies any one of the following:

[0133] (1) Contains one or more SL positioning reference signal measurement sub-windows;

[0134] For example:

[0135] (1.1) The SL-PRS measurement sub-window duration is greater than a first preset threshold;

[0136] (1.2) The SL-PRS measurement sub-window start time is the start time of SL-PRS transmission;

[0137] (1.3) The SL-PRS measurement sub-window start time is not later than the start time of SL-PRS transmission;

[0138] (1.4) The SL-PRS measurement sub-window start time is the SL-PRS measurement window end time;

[0139] (1.5) The SL-PRS measurement sub-window duration is greater than a second preset threshold;

[0140] (2) The duration is greater than a first threshold;

[0141] (3) The start time is the start time of SL positioning reference signal transmission;

[0142] (4) The start time is not later than the start time of SL positioning reference signal transmission;

[0143] (5) Contains the reception time of SL positioning reference signal and / or the measurement time of SL positioning reference signal.

[0144] In the embodiment, the one SL positioning reference signal measurement window is further divided into multiple sub-windows, each sub-window has different restrictions, such as sub-window 1 is used for receiving SL-PRS, sub-window 2 is used for processing SL-PRS, and sub-window 3 is used for feeding back measurement results; different sub-windows correspond to the start time information of the pen barrel, or the window length information, etc. The information further needs to meet the receiving and processing restriction conditions. The sub-window 2 should be greater than the time for the UE to process the SL-PRS, so as to process the SL-PRS.

[0145] In a possible implementation, the first terminal determines the measurement time information of the SL positioning reference signal, including one or more of the following:

[0146] (1) The first terminal determines the information of the SL positioning reference signal measurement window according to the SL positioning reference signal configuration information received from one or more second terminals, the second terminal being a terminal performing SL communication with the first terminal;

[0147] (2) The first terminal determines the information of the SL positioning reference signal measurement window according to one or more SL positioning reference signal configuration information received from a network device;

[0148] (3) The first terminal determines the information of the SL positioning reference signal measurement window according to one or more preconfigured measurement window information;

[0149] (4) The first terminal determines the information of the SL positioning reference signal measurement window according to the received first information.

[0150] (5) The first terminal determines the information of the SL positioning reference signal measurement window according to resource selection or evaluation of measurement information (e.g., CBR, RSRP) of candidate resources.

[0151] In the embodiment, if the measurement time of the SL positioning signal is determined by the network side device or the second terminal, the terminal directly receives the measurement time information. If the measurement time of the SL positioning signal is determined by the first terminal, the first terminal can optionally need to perform resource selection to listen to which optional resources; in addition, the first terminal needs to determine the configuration information of the SL positioning reference signal to be transmitted (e.g., the configuration information of the SL positioning reference signal determined by the network side device, the second terminal or the first terminal), and determine the measurement time in combination with the optional resources and the SL positioning reference signal to be transmitted.

[0152] Further, the first information includes one or more of the following:

[0153] (1) One or more SL positioning reference signal configuration information configured by the second terminal;

[0154] (2) One or more SL positioning reference signal configuration information configured by the network device;

[0155] (3) Information of one or more preconfigured measurement windows;

[0156] (4) Measurement time information.

[0157] Optionally, the first information can be contained in at least one of an NR positioning protocol A (NRPPA) message, an RRC message, an LTE positioning protocol (LPP) message, a PC5 message, a PC5-LPP message, a PC5-RRC message, a PC5-MAC CE message and an SCI.

[0158] In a possible implementation, the method further includes:

[0159] The first terminal configures one or more SL positioning reference signals according to the SL positioning reference signal measurement window;

[0160] In the embodiment, if the configuration information of one or more SL positioning reference signals is determined by the first terminal according to the SL positioning reference signal measurement window, or if the transmission or measurement of one or more SL positioning reference signals is scheduled by the first terminal in the SL positioning reference signal measurement window, the first terminal can configure one or more SL positioning reference signals according to the SL positioning reference signal measurement window. That is, one or more SL positioning reference signals can be configured relative to the SL positioning reference signal measurement window.

[0161] wherein the SL positioning reference signal satisfies one or more of the following:

[0162] (1) a transmission time of the SL positioning reference signal is a start time of the SL positioning reference signal measurement window;

[0163] (2) the transmission time of the SL positioning reference signal has a first preset offset from the start time of the SL positioning reference signal measurement window;

[0164] (3) a bandwidth of the SL positioning reference signal is less than or equal to a bandwidth of the SL positioning reference signal measurement window;

[0165] (4) a resource pool of the SL positioning reference signal is a resource pool of the SL positioning reference signal measurement window;

[0166] (5) a frequency domain starting point of the SL positioning reference signal is a frequency domain starting point of the SL positioning reference signal measurement window;

[0167] (6) the frequency domain starting point of the SL positioning reference signal has a second preset offset from the frequency domain starting point of the SL positioning reference signal measurement window;

[0168] (7) a transmission sequence of the SL positioning reference signal is associated with the SL positioning reference signal measurement window;

[0169] (8) a transmission location of the SL positioning reference signal is associated with the SL positioning reference signal measurement window.

[0170] In a possible implementation, the method further includes:

[0171] The first terminal sends information of the SL positioning reference signal measurement window to one or more second terminals to request the second terminals to transmit, configure, activate or measure the SL positioning reference signal in the SL positioning reference signal measurement window, the second terminals being terminals performing SL communication with the first terminal.

[0172] In a possible implementation, the method further includes:

[0173] The SL positioning reference signal is transmitted or measured in a case where the first terminal satisfies a preset condition.

[0174] wherein the preset condition includes one or more of the following:

[0175] (1) the first terminal is synchronized with a target object, the target object being a serving cell, a target terminal or a reference terminal;

[0176] For example:

[0177] (1.1) a data reception time between the first terminal and the target object is less than a threshold one;

[0178] (1.2) the expected data reception time between the first terminal and the target object is less than a threshold two;

[0179] (1.3) the first terminal and the target object have the same synchronization source;

[0180] (1.4) the first terminal and the target object are in the same group, or have the same group ID;

[0181] (1.5) the first terminal and the target object have the same Zone ID;

[0182] (2) the distance between the first terminal and the target device is less than a preset distance threshold;

[0183] (3) the Reference Signal Received Power (RSRP) and / or the Received Signal Strength Indication (RSSI) is greater than or equal to a preset threshold value.

[0184] In a possible implementation, the method further comprises:

[0185] The first terminal measures the SL positioning reference signal transmitted by the terminal that is not synchronized with the first terminal within the SL positioning reference signal measurement window according to the terminal capability.

[0186] In a possible implementation, the method further comprises:

[0187] The first terminal reports the terminal capability; specifically, the terminal capability can be transmitted to the network device, or the terminal capability can be transmitted to other terminals.

[0188] The terminal capability comprises one or more of the following:

[0189] (1) the maximum value of the number of measured resource pools;

[0190] (2) the maximum value of the supported bandwidth;

[0191] (3) the maximum value of the number of supported SL positioning reference signal measurement windows;

[0192] (4) whether to measure the SL positioning reference signal that is not synchronized;

[0193] (5) the processing capability of the SL positioning reference signal.

[0194] In a possible implementation, the first terminal measures the SL positioning reference signal with the target feature according to the terminal capability in the SL positioning reference signal measurement window.

[0195] The target feature includes one or more of the following:

[0196] (1) Different from the configuration information of the SL BWP or the SL resource pool;

[0197] (2) Configured in the SL BWP or the SL resource pool;

[0198] (3) The bandwidth is greater than the SL BWP;

[0199] (4) The priority is higher than a preset priority threshold;

[0200] (5) Configured outside the SL BWP or the SL resource pool.

[0201] Referring to Figure 3 , the embodiment of the application provides a positioning method, comprising:

[0202] Step 301: The network device or the second terminal configures the measurement time information of the SL positioning reference signal;

[0203] Step 302: The network device or the second terminal sends the measurement time information to the first terminal;

[0204] The measurement time information is used for the first terminal to transmit or measure the SL positioning reference signal, and the SL positioning reference signal is an SL signal used for positioning.

[0205] In the embodiment of the application, the first terminal determines the measurement time information of the SL positioning reference signal, and transmits or measures the SL positioning reference signal according to the measurement time information, thereby explicitly defining the time range for processing the SL positioning reference signal, and realizing the SL positioning in the NR communication.

[0206] In a possible implementation, the measurement time information includes the start time information.

[0207] In a possible implementation, the measurement time information includes the information of the SL positioning reference signal measurement window;

[0208] The information of the SL positioning reference signal measurement window includes one or more of the following:

[0209] (1) The start time information;

[0210] (2) The period information;

[0211] (3) The window length;

[0212] (4) The end time information.

[0213] In a possible implementation, the information of the SL positioning reference signal measurement window further comprises one or more of the following:

[0214] (1) a frequency domain start point;

[0215] (2) resource pool information;

[0216] (3) a number of subchannels;

[0217] (4) a size of the subchannel;

[0218] (5) bandwidth information;

[0219] (6) a frequency domain granularity;

[0220] (7) a subcarrier spacing;

[0221] (8) a frequency domain offset.

[0222] In a possible implementation, the start time information comprises one or more of the following:

[0223] (1) start slot information,

[0224] (2) serving cell ID information or cell information;

[0225] (3) reference time relative to the target terminal and target terminal ID;

[0226] (4) synchronization mode information;

[0227] (5) SFN or DFN indication information;

[0228] (6) SFN or DFN offset information;

[0229] (7) absolute time information;

[0230] (8) start symbol information.

[0231] In a possible implementation, the network device or the second terminal configures the measurement time information of the SL positioning reference signal, comprising:

[0232] The network device or the second terminal determines the start time information according to one or more of the following:

[0233] (1) a system frame number offset or a slot number offset relative to the serving cell or the network device;

[0234] (2) a time offset relative to the DFN;

[0235] (3) a time offset relative to the reference positioning signal;

[0236] (4) an offset with respect to a start time of the first resource set;

[0237] (5) absolute time information;

[0238] (6) first indication information, used to indicate that the start time is determined according to a GPS time, a base station time, or a first terminal time.

[0239] In a possible implementation, the measurement time information comprises configuration information of one or more SL positioning reference signal measurement windows;

[0240] The configuration information comprises one or more of the following:

[0241] (1) duration information of the one or more SL positioning reference signal measurement windows;

[0242] (2) interval information between the plurality of SL positioning reference signal measurement windows;

[0243] (3) start time information of the one or more SL positioning reference signal measurement windows;

[0244] (4) end time information of the one or more SL positioning reference signal measurement windows.

[0245] In a possible implementation, the information of the SL positioning reference signal measurement window further comprises window type information;

[0246] The window type information indicates any of the following:

[0247] (1) the SL positioning reference signal measurement window is a periodic window;

[0248] (2) the SL positioning reference signal measurement window is an aperiodic window;

[0249] (3) the SL positioning reference signal measurement window is associated with a bandwidth;

[0250] (4) the SL positioning reference signal measurement window is associated with a BWP;

[0251] (5) the SL positioning reference signal measurement window is associated with a serving cell;

[0252] (6) the SL positioning reference signal measurement window is associated with a first terminal or a second terminal, the second terminal being a terminal that performs SL communication with the first terminal;

[0253] (7) the SL positioning reference signal measurement window is only associated with a sidelink;

[0254] (8) The SL positioning reference signal measurement window is associated with sidelink and downlink;

[0255] (9) The SL positioning reference signal measurement window is associated with a resource pool of SL positioning reference signal;

[0256] (10) The SL positioning reference signal measurement window is associated with CBR.

[0257] In a possible implementation, the information of the SL positioning reference signal measurement window further comprises priority information;

[0258] The priority information is used to indicate one or more of the following:

[0259] (1) Priority relationship between the SL positioning reference signal in the SL positioning reference signal measurement window and other SL signals;

[0260] (2) Priority relationship between the SL channel for transmitting the SL positioning reference signal in the SL positioning reference signal measurement window and other SL channels;

[0261] (3) Priority relationship between the SL positioning reference signal in the SL positioning reference signal measurement window and other UL signals;

[0262] (4) Priority relationship between the SL channel for transmitting the SL positioning reference signal in the SL positioning reference signal measurement window and other UL channels.

[0263] In a possible implementation, the priority information comprises one or more of the following:

[0264] (1) Priority indication information, used to indicate a priority value;

[0265] (2) Priority state information, wherein different priority states correspond to different priority indication information.

[0266] In a possible implementation, the SL positioning reference signal measurement window satisfies any one of the following:

[0267] (1) Contains one or more SL positioning reference signal measurement sub-windows;

[0268] (2) The duration is greater than a first threshold;

[0269] (3) The starting time is the starting time of transmission of the SL positioning reference signal;

[0270] (4) The starting time is not later than the starting time of transmission of the SL positioning reference signal;

[0271] (5) Contains the reception time of the SL positioning reference signal and / or the measurement time of the SL positioning reference signal.

[0272] In a possible implementation, the method further includes:

[0273] The network device or the second terminal receives terminal capability from the first terminal;

[0274] The terminal capability includes one or more of the following:

[0275] (1) a maximum value of a number of resource pools measured by the first terminal;

[0276] (2) a maximum value of a bandwidth supported by the first terminal;

[0277] (3) a maximum value of a number of SL positioning reference signal measurement windows supported by the first terminal;

[0278] (4) whether the first terminal measures asynchronous SL positioning reference signals;

[0279] (5) processing capability of SL positioning reference signals of the first terminal.

[0280] The positioning method provided in the embodiments of the present application can be executed by a positioning device. In the embodiments of the present application, the positioning device is taken as an example to illustrate the positioning device provided in the embodiments of the present application.

[0281] Referring to Figure 4 , the embodiments of the present application provide a positioning device 400, which includes:

[0282] A determination module 401 is configured to determine, by a first terminal, measurement time information of a sidelink (SL) positioning reference signal;

[0283] A processing module 402 is configured to transmit or measure, by the first terminal, the SL positioning reference signal according to the measurement time information.

[0284] The SL positioning reference signal is an SL signal used for positioning.

[0285] In a possible implementation, the measurement time information includes start time information.

[0286] In a possible implementation, the measurement time information includes information of an SL positioning reference signal measurement window.

[0287] The information of the SL positioning reference signal measurement window includes one or more of the following:

[0288] start time information;

[0289] period information;

[0290] window length;

[0291] Termination time information.

[0292] In a possible implementation, the information of the SL positioning reference signal measurement window further comprises one or more of the following:

[0293] Frequency domain start point;

[0294] Resource pool information;

[0295] Number of subchannels;

[0296] Size of subchannel;

[0297] Bandwidth information;

[0298] Frequency domain granularity;

[0299] Subcarrier spacing;

[0300] Frequency domain offset.

[0301] In a possible implementation, the start time information comprises one or more of the following:

[0302] Starting slot information,

[0303] Serving cell identification ID information or cell information;

[0304] Reference time relative to the target terminal and the target terminal ID;

[0305] Synchronization mode information;

[0306] System frame number SFN or direct frame number DFN indication information;

[0307] SFN or DFN offset information;

[0308] Absolute time information;

[0309] Starting symbol information.

[0310] In a possible implementation, the start time information is determined according to one or more of the following:

[0311] System frame number offset or slot number offset relative to the serving cell or network device;

[0312] Time offset relative to the DFN;

[0313] Time offset relative to the reference positioning signal;

[0314] Offset relative to the starting time of the first resource set;

[0315] Absolute time information;

[0316] The first indication information is used for indicating that the starting time is determined according to a GPS time, a base station time, or a time of the first terminal.

[0317] In a possible implementation, the measurement time information includes configuration information of one or more SL positioning reference signal measurement windows.

[0318] The configuration information includes one or more of the following:

[0319] Duration information of the one or more SL positioning reference signal measurement windows;

[0320] Interval information between the plurality of SL positioning reference signal measurement windows;

[0321] Starting time information of the one or more SL positioning reference signal measurement windows;

[0322] Ending time information of the one or more SL positioning reference signal measurement windows.

[0323] In a possible implementation, the information of the SL positioning reference signal measurement window further includes window type information.

[0324] The window type information indicates any of the following:

[0325] The SL positioning reference signal measurement window is a periodic window;

[0326] The SL positioning reference signal measurement window is an aperiodic window;

[0327] The SL positioning reference signal measurement window is associated with a bandwidth;

[0328] The SL positioning reference signal measurement window is associated with a bandwidth part (BWP);

[0329] The SL positioning reference signal measurement window is associated with a serving cell;

[0330] The SL positioning reference signal measurement window is associated with the first terminal or a second terminal, and the second terminal is a terminal that performs SL communication with the first terminal.

[0331] The SL positioning reference signal measurement window is only associated with sidelink;

[0332] The SL positioning reference signal measurement window is associated with sidelink and downlink;

[0333] The SL positioning reference signal measurement window is associated with a resource pool of the SL positioning reference signal.

[0334] The SL positioning reference signal measurement window is associated with a channel busy ratio (CBR).

[0335] In a possible implementation, the information of the SL positioning reference signal measurement window further includes priority information.

[0336] The priority information is used to indicate one or more of the following:

[0337] A priority relationship between the SL positioning reference signal and other SL signals within the SL positioning reference signal measurement window.

[0338] A priority relationship between a SL channel used for transmitting the SL positioning reference signal and other SL channels within the SL positioning reference signal measurement window.

[0339] A priority relationship between the SL positioning reference signal and other UL signals within the SL positioning reference signal measurement window.

[0340] A priority relationship between a SL channel used for transmitting the SL positioning reference signal and other UL channels within the SL positioning reference signal measurement window.

[0341] In a possible implementation, the priority information includes one or more of the following:

[0342] Priority indication information used to indicate a priority value.

[0343] Priority state information, wherein different priority states correspond to different priority indication information.

[0344] In a possible implementation, the SL positioning reference signal measurement window satisfies any of the following:

[0345] Contains one or more SL positioning reference signal measurement sub-windows.

[0346] Has a duration greater than a first threshold.

[0347] Has a start time that is a transmission start time of the SL positioning reference signal.

[0348] Has a start time that is no later than a transmission start time of the SL positioning reference signal.

[0349] Contains a reception time of the SL positioning reference signal and / or a measurement time of the SL positioning reference signal.

[0350] In a possible implementation, the determining module is used for one or more of the following:

[0351] The first terminal determines information of the SL positioning reference signal measurement window according to SL positioning reference signal configuration information received from one or more second terminals, the second terminal being a terminal in SL communication with the first terminal;

[0352] The first terminal determines information of the SL positioning reference signal measurement window according to one or more SL positioning reference signal configuration information received from a network device;

[0353] The first terminal determines information of the SL positioning reference signal measurement window according to information of one or more preconfigured measurement windows;

[0354] The first terminal determines measurement time information of the SL positioning reference signal according to the received first information.

[0355] In a possible implementation, the first information comprises one or more of the following:

[0356] The one or more SL positioning reference signal configuration information configured by the second terminal;

[0357] The one or more SL positioning reference signal configuration information configured by the network device;

[0358] Information of one or more preconfigured measurement windows;

[0359] Measurement time information.

[0360] In a possible implementation, the processing module is further configured to:

[0361] The first terminal configures one or more SL positioning reference signals according to the SL positioning reference signal measurement window;

[0362] The SL positioning reference signal satisfies one or more of the following:

[0363] The transmission time of the SL positioning reference signal is the start time of the SL positioning reference signal measurement window;

[0364] The transmission time of the SL positioning reference signal has a first preset offset from the start time of the SL positioning reference signal measurement window;

[0365] The bandwidth of the SL positioning reference signal is less than or equal to the bandwidth of the SL positioning reference signal measurement window;

[0366] The resource pool of the SL positioning reference signal is the resource pool of the SL positioning reference signal measurement window;

[0367] A frequency domain starting point of the SL positioning reference signal is a frequency domain starting point of the SL positioning reference signal measurement window.

[0368] A second preset offset is between the frequency domain starting point of the SL positioning reference signal and the frequency domain starting point of the SL positioning reference signal measurement window.

[0369] A transmission sequence of the SL positioning reference signal is associated with the SL positioning reference signal measurement window.

[0370] A transmission position of the SL positioning reference signal is associated with the SL positioning reference signal measurement window.

[0371] In a possible implementation, the processing module is further configured to:

[0372] The first terminal sends information of the SL positioning reference signal measurement window to one or more second terminals, to request the second terminals to transmit, configure, activate or measure the SL positioning reference signal in the SL positioning reference signal measurement window, the second terminals being terminals in SL communication with the first terminal.

[0373] In a possible implementation, the processing module is further configured to:

[0374] The SL positioning reference signal is transmitted or measured in a case where the first terminal meets a preset condition.

[0375] The preset condition comprises one or more of the following:

[0376] The first terminal is synchronized with a target object, the target object being a serving cell, a target terminal or a reference terminal.

[0377] A distance between the first terminal and a target device is less than a preset distance threshold.

[0378] A received signal reference power RSRP and / or a received signal strength indication RSSI of the reference signal is greater than or equal to a preset threshold value.

[0379] In a possible implementation, the processing module is further configured to:

[0380] The first terminal measures, according to a terminal capability, the SL positioning reference signal transmitted by a terminal that is not synchronized with the first terminal in the SL positioning reference signal measurement window.

[0381] In a possible implementation, the processing module is further configured to:

[0382] The first terminal reports a transmission terminal capability.

[0383] The terminal capability comprises one or more of the following:

[0384] A maximum value of a number of resource pools measured;

[0385] A maximum value of a supported bandwidth;

[0386] A maximum value of a number of supported SL positioning reference signal measurement windows;

[0387] Whether to measure an asynchronous SL positioning reference signal;

[0388] Processing capability of the SL positioning reference signal.

[0389] In a possible implementation, the processing module is further configured to: the first terminal measures, according to terminal capability, the SL positioning reference signal with a target characteristic in the SL positioning reference signal measurement window;

[0390] The target characteristic comprises one or more of the following:

[0391] Different from configuration information of an SL BWP or an SL resource pool;

[0392] Configured in an SL BWP or an SL resource pool;

[0393] A bandwidth greater than an SL BWP;

[0394] A priority higher than a preset priority threshold.

[0395] Referring to Figure 5 , the embodiment of the present application provides a positioning device 500, comprising:

[0396] A configuration module 501 configured to configure, by a second terminal, measurement time information of an SL positioning reference signal;

[0397] A sending module 502 configured to send, by the second terminal, the measurement time information to a first terminal;

[0398] The measurement time information is used for the first terminal to transmit or measure the SL positioning reference signal, and the SL positioning reference signal is an SL signal used for positioning.

[0399] In a possible implementation, the measurement time information comprises start time information.

[0400] In a possible implementation, the measurement time information comprises information of an SL positioning reference signal measurement window;

[0401] The information of the SL positioning reference signal measurement window comprises one or more of the following:

[0402] start time information;

[0403] period information;

[0404] window length;

[0405] end time information.

[0406] In a possible implementation, the information of the SL positioning reference signal measurement window further comprises one or more of the following:

[0407] frequency domain start point;

[0408] resource pool information;

[0409] number of subchannels;

[0410] size of subchannel;

[0411] bandwidth information;

[0412] frequency domain granularity;

[0413] subcarrier spacing;

[0414] frequency domain offset.

[0415] In a possible implementation, the start time information comprises one or more of the following:

[0416] start slot information,

[0417] serving cell ID information or cell information;

[0418] reference time relative to the target terminal and the target terminal ID;

[0419] synchronization mode information;

[0420] SFN or DFN indication information;

[0421] SFN or DFN offset information;

[0422] absolute time information;

[0423] start symbol information.

[0424] In a possible implementation, the configuration module is configured to:

[0425] The second terminal determines the start time information according to one or more of the following:

[0426] system frame number offset or slot number offset relative to the serving cell or the network device;

[0427] time offset relative to the DFN;

[0428] a time offset relative to a reference positioning signal;

[0429] an offset relative to a starting time of a first resource set;

[0430] absolute time information;

[0431] a first indication information indicating that the starting time is determined according to a GPS time, a base station time, or a time of the first terminal.

[0432] In a possible implementation, the measurement time information comprises configuration information of one or more SL positioning reference signal measurement windows;

[0433] the configuration information comprises one or more of:

[0434] duration information of the one or more SL positioning reference signal measurement windows;

[0435] interval information between the plurality of SL positioning reference signal measurement windows;

[0436] starting time information of the one or more SL positioning reference signal measurement windows;

[0437] ending time information of the one or more SL positioning reference signal measurement windows.

[0438] In a possible implementation, the information of the SL positioning reference signal measurement window further comprises window type information;

[0439] wherein the window type information indicates any one of:

[0440] the SL positioning reference signal measurement window is a periodic window;

[0441] the SL positioning reference signal measurement window is an aperiodic window;

[0442] the SL positioning reference signal measurement window is associated with a bandwidth;

[0443] the SL positioning reference signal measurement window is associated with a BWP;

[0444] the SL positioning reference signal measurement window is associated with a serving cell;

[0445] the SL positioning reference signal measurement window is associated with the first terminal or a second terminal, the second terminal being a terminal performing SL communication with the first terminal;

[0446] the SL positioning reference signal measurement window is only associated with a sidelink;

[0447] The SL positioning reference signal measurement window is associated with sidelink and downlink;

[0448] The SL positioning reference signal measurement window is associated with a resource pool of the SL positioning reference signal;

[0449] The SL positioning reference signal measurement window is associated with CBR.

[0450] In a possible implementation, the information of the SL positioning reference signal measurement window further includes priority information;

[0451] The priority information is used to indicate one or more of the following:

[0452] A priority relationship between the SL positioning reference signal in the SL positioning reference signal measurement window and other SL signals;

[0453] A priority relationship between an SL channel used for transmitting the SL positioning reference signal in the SL positioning reference signal measurement window and other SL channels;

[0454] A priority relationship between the SL positioning reference signal in the SL positioning reference signal measurement window and other UL signals;

[0455] A priority relationship between an SL channel used for transmitting the SL positioning reference signal in the SL positioning reference signal measurement window and other UL channels.

[0456] In a possible implementation, the priority information includes one or more of the following:

[0457] Priority indication information used to indicate a priority value;

[0458] Priority state information, wherein different priority states correspond to different priority indication information.

[0459] In a possible implementation, the SL positioning reference signal measurement window satisfies any of the following:

[0460] Contains one or more SL positioning reference signal measurement sub-windows;

[0461] The duration is greater than a first threshold;

[0462] The starting time is the starting time of transmission of the SL positioning reference signal;

[0463] The starting time is not later than the starting time of transmission of the SL positioning reference signal;

[0464] Contains the reception time of the SL positioning reference signal and / or the measurement time of the SL positioning reference signal.

[0465] In a possible implementation, the apparatus further includes:

[0466] a receiving module, configured to receive, by a second terminal, terminal capability from the first terminal;

[0467] The terminal capability includes one or more of the following:

[0468] a maximum value of a number of resource pools measured by the first terminal;

[0469] a maximum value of a bandwidth supported by the first terminal;

[0470] a maximum value of a number of SL positioning reference signal measurement windows supported by the first terminal;

[0471] whether the first terminal measures non-synchronized SL positioning reference signals;

[0472] processing capability of the SL positioning reference signal of the first terminal.

[0473] The positioning apparatus in the embodiments of the present application can be an electronic device, for example, an electronic device with an operating system, or a component in an electronic device, for example, an integrated circuit or a chip. The electronic device can be a terminal or other device. Exemplarily, the terminal can include, but is not limited to, the types of terminals listed above, and the other device can be a server, a network attached storage (NAS), etc., which are not limited in the embodiments of the present application.

[0474] The positioning apparatus provided in the embodiments of the present application can implement the processes of the method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein. Figures 2 to 3 The positioning apparatus provided in the embodiments of the present application can implement the processes of the method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein.

[0475] Optionally, as shown in Figure 6 The embodiments of the present application further provide a communication device 600, including a processor 601 and a memory 602, the memory 602 stores programs or instructions executable on the processor 601. For example, when the communication device 600 is a terminal, the programs or instructions are executed by the processor 601 to implement the steps of the positioning method embodiments described above, and achieve the same technical effects. When the communication device 600 is a network device, the programs or instructions are executed by the processor 601 to implement the steps of the positioning method embodiments described above, and achieve the same technical effects. To avoid repetition, details are not described herein.

[0476] The terminal provided in the embodiments of the present application also includes a processor and a communication interface. The processor is configured to determine, by a first terminal, measurement time information of a sidelink (SL) positioning reference signal. The first terminal transmits or measures the SL positioning reference signal according to the measurement time information. The SL positioning reference signal is an SL signal used for positioning. The terminal embodiments correspond to the terminal-side method embodiments described above. Each implementation process and implementation manner of the method embodiments can be applied to the terminal embodiments, and the same technical effects can be achieved. Specifically, Figure 7 A hardware structure diagram of a terminal according to an embodiment of the present application is shown in FIG. 7.

[0477] The terminal 700 includes, but is not limited to, at least part of the components such as a radio frequency unit 701, a network module 702, an audio output unit 703, an input unit 704, a sensor 705, a display unit 706, a user input unit 707, an interface unit 708, a memory 709, and a processor 710.

[0478] Those skilled in the art can understand that the terminal 700 can also include a power supply (such as a battery) for supplying power to each component. The power supply can be logically connected to the processor 710 through a power management system, so as to realize functions such as management of charging, discharging, and power consumption management through the power management system. Figure 7 The terminal structure shown in FIG. 7 does not constitute a limitation on the terminal. The terminal can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components, which will not be described here.

[0479] It should be understood that, in the embodiments of the present application, the input unit 704 can include a graphics processing unit (GPU) 7041 and a microphone 7042. The graphics processor 7041 processes image data of a still picture or a video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 706 can include a display panel 7061, which can be configured in the form of a liquid crystal display, an organic light-emitting diode, etc. The user input unit 707 includes at least one of a touch panel 7071 and other input devices 7072. The touch panel 7071 is also called a touch screen. The touch panel 7071 can include two parts of a touch detection device and a touch controller. The other input devices 7072 can include, but are not limited to, a physical keyboard, function keys (such as volume control keys, on-off keys, etc.), a trackball, a mouse, a joystick, etc., which will not be described here.

[0480] In the embodiments of the present application, the radio frequency unit 701 can transmit the downlink data received from the network device to the processor 710 for processing. In addition, the radio frequency unit 701 can send uplink data to the network device. Generally, the radio frequency unit 701 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc.

[0481] The memory 709 can be used to store software programs or instructions and various data. The memory 709 can mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area can store an operating system, at least one application program or instruction required by a function (such as a sound playing function, an image playing function, etc.), etc. In addition, the memory 709 can include a volatile memory or a non-volatile memory, or the memory 709 can include both volatile and non-volatile memories. The non-volatile memory can be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a Random Access Memory (RAM), a Static RAM (SRAM), a Dynamic RAM (DRAM), a Synchronous DRAM (SDRAM), a Double Data Rate SDRAM (DDR SDRAM), an Enhanced SDRAM (ESDRAM), a Synch link DRAM (SLDRAM), and a Direct Rambus RAM (DRRAM). The memory 709 in the embodiments of the present application includes, but is not limited to, these and any other suitable types of memories.

[0482] The processor 710 can include one or more processing units; optionally, the processor 710 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and an application program, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 710.

[0483] The processor 710 is configured to determine, by a first terminal, measurement time information of a sidelink, SL, positioning reference signal;

[0484] The processor 710 is configured to transmit or measure, by the first terminal, the SL positioning reference signal according to the measurement time information.

[0485] The SL positioning reference signal is an SL signal used for positioning.

[0486] In a possible implementation, the measurement time information comprises start time information.

[0487] In a possible implementation, the measurement time information comprises information of an SL positioning reference signal measurement window.

[0488] The information of the SL positioning reference signal measurement window comprises one or more of the following:

[0489] Start time information;

[0490] Period information;

[0491] Window length;

[0492] End time information.

[0493] In a possible implementation, the information of the SL positioning reference signal measurement window further comprises one or more of the following:

[0494] Frequency domain start point;

[0495] Resource pool information;

[0496] Subchannel number;

[0497] Size of a subchannel;

[0498] Bandwidth information;

[0499] Frequency domain granularity;

[0500] Subcarrier spacing;

[0501] Frequency domain offset.

[0502] In a possible implementation, the start time information comprises one or more of the following:

[0503] Start slot information,

[0504] Serving cell identification, ID, information or cell information;

[0505] Reference time relative to a target terminal and the target terminal ID;

[0506] Synchronization mode information;

[0507] System frame number (SFN) or direct frame number (DFN) indication information;

[0508] SFN or DFN offset information;

[0509] Absolute time information;

[0510] Starting symbol information.

[0511] In a possible implementation, the starting time information is determined according to one or more of the following:

[0512] System frame number offset or slot number offset relative to a serving cell or a network device;

[0513] Time offset relative to a DFN;

[0514] Time offset relative to a reference positioning signal;

[0515] Offset relative to a starting time of a first resource set;

[0516] Absolute time information;

[0517] First indication information, used to indicate that the starting time is determined according to a GPS time, a base station time, or a first terminal time.

[0518] In a possible implementation, the measurement time information includes configuration information of one or more SL positioning reference signal measurement windows;

[0519] The configuration information includes one or more of the following:

[0520] Duration information of the one or more SL positioning reference signal measurement windows;

[0521] Interval information between the plurality of SL positioning reference signal measurement windows;

[0522] Starting time information of the one or more SL positioning reference signal measurement windows;

[0523] Ending time information of the one or more SL positioning reference signal measurement windows.

[0524] In a possible implementation, the information of the SL positioning reference signal measurement window further includes window type information;

[0525] The window type information indicates any one of the following:

[0526] The SL positioning reference signal measurement window is a periodic window;

[0527] the SL positioning reference signal measurement window is an aperiodic window;

[0528] the SL positioning reference signal measurement window is associated with a bandwidth;

[0529] the SL positioning reference signal measurement window is associated with a bandwidth part (BWP);

[0530] the SL positioning reference signal measurement window is associated with a serving cell;

[0531] the SL positioning reference signal measurement window is associated with the first terminal or a second terminal, the second terminal being a terminal that performs SL communication with the first terminal;

[0532] the SL positioning reference signal measurement window is only associated with sidelink;

[0533] the SL positioning reference signal measurement window is associated with sidelink and downlink;

[0534] the SL positioning reference signal measurement window is associated with a resource pool of the SL positioning reference signal;

[0535] the SL positioning reference signal measurement window is associated with a channel busy ratio (CBR).

[0536] In a possible implementation, the information of the SL positioning reference signal measurement window further includes priority information;

[0537] The priority information is used to indicate one or more of the following:

[0538] a priority relationship between the SL positioning reference signal in the SL positioning reference signal measurement window and other SL signals;

[0539] a priority relationship between an SL channel for transmitting the SL positioning reference signal in the SL positioning reference signal measurement window and other SL channels;

[0540] a priority relationship between the SL positioning reference signal in the SL positioning reference signal measurement window and other UL signals;

[0541] a priority relationship between an SL channel for transmitting the SL positioning reference signal in the SL positioning reference signal measurement window and other UL channels.

[0542] In a possible implementation, the priority information includes one or more of the following:

[0543] priority indication information used to indicate a priority value;

[0544] Priority state information, wherein different priority states correspond to different priority indication information.

[0545] In a possible implementation, the SL positioning reference signal measurement window satisfies any one of the following conditions:

[0546] contains one or more SL positioning reference signal measurement sub-windows;

[0547] has a duration greater than a first threshold;

[0548] has a starting time that is the starting time of transmission of the SL positioning reference signal;

[0549] has a starting time that is no later than the starting time of transmission of the SL positioning reference signal;

[0550] contains a receiving time of the SL positioning reference signal and / or a measurement time of the SL positioning reference signal.

[0551] In a possible implementation, the processor 710 is configured to perform one or more of the following:

[0552] The first terminal determines the information of the SL positioning reference signal measurement window according to SL positioning reference signal configuration information received from one or more second terminals, the second terminals being terminals that perform SL communication with the first terminal;

[0553] The first terminal determines the information of the SL positioning reference signal measurement window according to one or more SL positioning reference signal configuration information received from a network device;

[0554] The first terminal determines the information of the SL positioning reference signal measurement window according to information of one or more preconfigured measurement windows;

[0555] The first terminal determines the information of the SL positioning reference signal measurement window according to the received first information.

[0556] The first terminal determines the information of the SL positioning reference signal measurement window according to resource selection or evaluation of measurement information of candidate resources.

[0557] In a possible implementation, the first information includes one or more of the following:

[0558] one or more SL positioning reference signal configuration information configured by the second terminal;

[0559] one or more SL positioning reference signal configuration information configured by the network device;

[0560] information of one or more preconfigured measurement windows;

[0561] measurement time information.

[0562] In a possible implementation, the processor 710 is further configured to:

[0563] The first terminal configures one or more SL positioning reference signals according to the SL positioning reference signal measurement window;

[0564] The SL positioning reference signal satisfies one or more of the following conditions:

[0565] The transmission time of the SL positioning reference signal is the start time of the SL positioning reference signal measurement window;

[0566] The transmission time of the SL positioning reference signal has a first preset offset from the start time of the SL positioning reference signal measurement window;

[0567] The bandwidth of the SL positioning reference signal is less than or equal to the bandwidth of the SL positioning reference signal measurement window;

[0568] The resource pool of the SL positioning reference signal is the resource pool of the SL positioning reference signal measurement window;

[0569] The frequency domain starting point of the SL positioning reference signal is the frequency domain starting point of the SL positioning reference signal measurement window;

[0570] The frequency domain starting point of the SL positioning reference signal has a second preset offset from the frequency domain starting point of the SL positioning reference signal measurement window;

[0571] The transmission sequence of the SL positioning reference signal is associated with the SL positioning reference signal measurement window;

[0572] The transmission position of the SL positioning reference signal is associated with the SL positioning reference signal measurement window.

[0573] In a possible implementation, the processor 710 is further configured to:

[0574] The first terminal sends information of the SL positioning reference signal measurement window to one or more second terminals to request the second terminal to transmit, configure, activate, or measure the SL positioning reference signal in the SL positioning reference signal measurement window, the second terminal being a terminal in SL communication with the first terminal.

[0575] In a possible implementation, the processor 710 is further configured to:

[0576] In a case where the first terminal satisfies a preset condition, the SL positioning reference signal is transmitted or measured.

[0577] The preset condition comprises one or more of the following:

[0578] The first terminal synchronizes with a target object, and the target object is a serving cell, a target terminal, or a reference terminal.

[0579] The distance between the first terminal and a target device is less than a preset distance threshold.

[0580] The received signal reference power (RSRP) and / or the received signal strength indication (RSSI) of the reference signal is greater than or equal to a preset threshold value.

[0581] In a possible implementation, the processor 710 is further configured to:

[0582] The first terminal measures the SL positioning reference signal transmitted by a terminal that is not synchronized with the first terminal in the SL positioning reference signal measurement window according to terminal capability.

[0583] In a possible implementation, the processor 710 is further configured to:

[0584] The first terminal reports terminal capability.

[0585] The terminal capability comprises one or more of the following:

[0586] The maximum number of measured resource pools;

[0587] The maximum supported bandwidth;

[0588] The maximum number of supported SL positioning reference signal measurement windows;

[0589] Whether to measure the SL positioning reference signal that is not synchronized;

[0590] Processing capability of the SL positioning reference signal.

[0591] In a possible implementation, the processor 710 is further configured to: the first terminal measures the SL positioning reference signal with a target feature in the SL positioning reference signal measurement window according to terminal capability.

[0592] The target feature comprises one or more of the following:

[0593] Different from configuration information of an SL BWP or an SL resource pool;

[0594] Configured in an SL BWP or an SL resource pool;

[0595] The bandwidth is greater than that of an SL BWP;

[0596] The priority is higher than a preset priority threshold.

[0597] The embodiment of the application further provides a network device or a terminal, comprising a processor and a communication interface, the processor is configured to configure measurement time information of a SL positioning reference signal, and the communication interface is configured to send the measurement time information to the first terminal; wherein the measurement time information is used for the first terminal to transmit or measure the SL positioning reference signal, and the SL positioning reference signal is a SL signal used for positioning. The network device or terminal embodiment corresponds to the network device or the second terminal method embodiment, and each implementation process and implementation manner of the method embodiment can be applied to the network device or terminal embodiment, and the same technical effects can be achieved.

[0598] Specifically, the embodiment of the application further provides a network device. As shown in the Figure 8 The network device 800 comprises an antenna 81, a radio frequency device 82, a baseband device 83, a processor 84 and a memory 85. The antenna 81 is connected with the radio frequency device 82. In the uplink direction, the radio frequency device 82 receives information through the antenna 81, and sends the received information to the baseband device 83 for processing. In the downlink direction, the baseband device 83 processes the information to be sent, and sends the processed information to the radio frequency device 82. The radio frequency device 82 processes the received information, and sends the processed information through the antenna 81.

[0599] The method performed by the network device in the above embodiment can be implemented in the baseband device 83, and the baseband device 83 comprises a baseband processor.

[0600] The baseband device 83 can comprise at least one baseband board, and a plurality of chips are arranged on the baseband board, as shown in the Figure 8 One of the chips is a baseband processor, for example, and is connected with the memory 85 through a bus interface to call the program in the memory 85 and execute the operation of the network device shown in the above method embodiment.

[0601] The network device can further comprise a network interface 86, which is a common public radio interface (CPRI), for example.

[0602] Specifically, the network device 800 of the embodiment of the application further comprises instructions or programs stored in the memory 85 and executable on the processor 84, and the processor 84 calls the instructions or programs in the memory 85 to execute the method performed by each module shown in the Figure 5 and achieve the same technical effects. To avoid repetition, the details are not described here.

[0603] The embodiment of the present application further provides a readable storage medium, wherein the readable storage medium stores a program or instructions, and the program or instructions are executed by a processor to realize the processes of the positioning method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein.

[0604] The processor is the processor in the terminal in the above embodiments. The readable storage medium includes a computer readable storage medium, such as a computer readable only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0605] The embodiment of the present application further provides a chip, which includes a processor and a communication interface. The communication interface is coupled with the processor. The processor is used to run a program or instructions to realize the processes of the positioning method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein.

[0606] It should be understood that the chip mentioned in the embodiment of the present application can also be referred to as a system chip, a system chip, a chip system or a system on chip, etc.

[0607] The embodiment of the present application further provides a computer program / program product, which is stored in a storage medium. The computer program / program product is executed by at least one processor to realize the processes of the positioning method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein.

[0608] It should be noted that, in this document, the term "comprising" or "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to the order of performing functions as shown or discussed, but can also include performing functions in a substantially simultaneous manner or in a reverse order, for example, the described method can be performed in an order different from that described, and various steps can be added, omitted or combined. In addition, the features described with reference to certain examples can be combined in other examples.

[0609] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned example methods can be realized by means of software and a necessary general hardware platform, and of course, can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a computer software product in essence or in the form of a part that contributes to the prior art, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, or an optical disk) and includes a plurality of instructions for causing a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in the various embodiments of the present application.

[0610] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative and not restrictive. Those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the scope protected by the claims.

Claims

1. A positioning method, characterized in that, include: The first terminal determines the measurement time information of the side link SL positioning reference signal; The first terminal transmits or measures the SL positioning reference signal according to the measurement time information; Wherein, the SL positioning reference signal is the SL signal used for positioning; The measurement time information includes information about the SL positioning reference signal measurement window; the information about the SL positioning reference signal measurement window includes: window type information; The window type information indicates any of the following: The SL positioning reference signal measurement window is associated with the first terminal or the second terminal, wherein the second terminal is a terminal that communicates with the first terminal via SL. The SL positioning reference signal measurement window is associated with the channel busy ratio (CBR). The method further includes: The first terminal sends information about the SL positioning reference signal measurement window to one or more second terminals to request the second terminals to send, configure, activate, or measure the SL positioning reference signal within the SL positioning reference signal measurement window. The second terminal is a terminal that communicates with the first terminal via SL. When the first terminal meets the preset conditions, the SL positioning reference signal is sent or measured; The preset conditions include one or more of the following: The first terminal is synchronized with the target object, which is a serving cell, a target terminal, or a reference terminal. The distance between the first terminal and the target device is less than a preset distance threshold; The received power of the reference signal RSRP and / or the received signal strength indicator RSSI are greater than or equal to a preset threshold value.

2. The method according to claim 1, characterized in that, The measurement time information includes start time information.

3. The method according to claim 1, characterized in that, The information in the SL positioning reference signal measurement window also includes one or more of the following: Start time information; Periodic information; Window length; End time information.

4. The method according to claim 1 or 3, characterized in that, The information in the SL positioning reference signal measurement window also includes one or more of the following: Frequency domain starting point; Resource pool information; Number of subchannels; Size of the subchannel; Bandwidth information; Frequency domain granularity; Subcarrier spacing; Frequency domain offset.

5. The method according to claim 2 or 3, characterized in that, The start time information includes one or more of the following: Initial slot information, Serving the community identifier ID or community information; The reference time relative to the target terminal and the target terminal ID; Synchronization method information; System frame number (SFN) or direct frame number (DFN) indication information; SFN or DFN offset information; Absolute time information; The starting symbol information.

6. The method according to claim 2 or 3, characterized in that, The start time information is determined based on one or more of the following: The system frame number offset or timeslot offset relative to the serving cell or network device; Time offset relative to DFN; Time offset relative to the reference positioning signal; Offset relative to the start time of the first resource set; Absolute time information; The first indication information is used to indicate that the start time is determined based on GPS time, base station time, or the time of the first terminal.

7. The method according to claim 3, characterized in that, The measurement time information includes configuration information for one or more SL positioning reference signal measurement windows; The configuration information includes one or more of the following: The duration information of the one or more SL positioning reference signal measurement windows; The interval information between the multiple SL positioning reference signal measurement windows; The start time information of the one or more SL positioning reference signal measurement windows; The end time information of the one or more SL positioning reference signal measurement windows.

8. The method according to claim 1 or 3, characterized in that, The information in the SL positioning reference signal measurement window also includes: priority information; The priority information is used to indicate one or more of the following: The priority relationship between the SL positioning reference signal and other SL signals within the SL positioning reference signal measurement window; The priority relationship between the SL channel used for transmitting the SL positioning reference signal and other SL channels within the SL positioning reference signal measurement window; The priority relationship between the SL positioning reference signal and other UL signals within the SL positioning reference signal measurement window; The priority relationship between the SL channel used for transmitting the SL positioning reference signal and other UL channels within the SL positioning reference signal measurement window.

9. The method according to claim 8, characterized in that, The priority information includes one or more of the following: Priority indication information, used to indicate priority values; Priority status information, where different priority statuses correspond to different priority indication information.

10. The method according to claim 3 or 6, characterized in that, The SL positioning reference signal measurement window satisfies any one of the following: Includes one or more SL positioning reference signal measurement sub-windows; The duration exceeds the first threshold; The start time is the start time of the transmission of the SL positioning reference signal; The start time is no later than the start time of the transmission of the SL positioning reference signal; Includes the reception time of the SL positioning reference signal and / or the measurement time of the SL positioning reference signal.

11. The method according to claim 1, characterized in that, The first terminal determines the measurement time information of the SL positioning reference signal, including one or more of the following: The first terminal determines the information of the SL positioning reference signal measurement window based on the SL positioning reference signal configuration information received from one or more second terminals, wherein the second terminal is a terminal that communicates with the first terminal via SL. The first terminal determines the information of the SL positioning reference signal measurement window based on one or more SL positioning reference signal configuration information received from the network device; The first terminal determines the information of the SL positioning reference signal measurement window based on information from one or more pre-configured measurement windows; The first terminal determines the information of the SL positioning reference signal measurement window based on the received first information; The first terminal determines the information of the SL positioning reference signal measurement window based on resource selection or evaluation of measurement information of candidate resources.

12. The method according to claim 11, characterized in that, The first information includes one or more of the following: The second terminal is configured with one or more of the SL positioning reference signal configuration information; The network device is configured with one or more SL positioning reference signal configuration information; Information from one or more pre-configured measurement windows; Measurement time information.

13. The method according to claim 3, characterized in that, The method further includes: The first terminal configures one or more SL positioning reference signals according to the SL positioning reference signal measurement window; Wherein, the SL positioning reference signal satisfies one or more of the following: The transmission time of the SL positioning reference signal is the start time of the SL positioning reference signal measurement window; The transmission time of the SL positioning reference signal has a first preset offset from the start time of the SL positioning reference signal measurement window; The bandwidth of the SL positioning reference signal is less than or equal to the bandwidth of the SL positioning reference signal measurement window; The resource pool of the SL positioning reference signal is the resource pool of the SL positioning reference signal measurement window; The frequency domain starting point of the SL positioning reference signal is the frequency domain starting point of the SL positioning reference signal measurement window; There is a second preset offset between the frequency domain starting point of the SL positioning reference signal and the frequency domain starting point of the SL positioning reference signal measurement window; The transmission sequence of the SL positioning reference signal is associated with the measurement window of the SL positioning reference signal; The transmission location of the SL positioning reference signal is associated with the measurement window of the SL positioning reference signal.

14. The method according to claim 1, characterized in that, The method further includes: Based on its capabilities, the first terminal measures the SL positioning reference signal sent by a terminal that is not synchronized with the first terminal within the SL positioning reference signal measurement window.

15. The method according to claim 1, characterized in that, The method further includes: The first terminal reports the sending terminal's capabilities; The terminal capabilities include one or more of the following: The maximum number of resource pools measured; Maximum supported bandwidth; The maximum number of supported SL positioning reference signal measurement windows; Whether to measure the asynchronous SL positioning reference signal; The processing capability of the SL positioning reference signal.

16. The method according to claim 1, characterized in that, The method further includes: The first terminal measures the SL positioning reference signal with target characteristics in the SL positioning reference signal measurement window according to the terminal capability; The target features include one or more of the following: The configuration information differs from that of SL BWP or SL resource pool; Configured within the SL BWP or SL resource pool; The bandwidth is greater than that of SL BWP; The priority is higher than the preset priority threshold; Configure it outside of the SL BWP or SL resource pool.

17. A positioning method, characterized in that, The second terminal is configured with the measurement time information of the SL positioning reference signal; The second terminal sends the measurement time information to the first terminal; The measurement time information is used by the first terminal to transmit or measure the SL positioning reference signal, wherein the SL positioning reference signal is an SL signal used for positioning. The measurement time information includes information about the SL positioning reference signal measurement window; the information about the SL positioning reference signal measurement window includes: window type information; The window type information indicates any of the following: The SL positioning reference signal measurement window is associated with the first terminal or the second terminal, wherein the second terminal is a terminal that communicates with the first terminal via SL. The SL positioning reference signal measurement window is associated with the channel busy ratio (CBR). The method further includes: The second terminal receives information about the SL positioning reference signal measurement window sent by the first terminal; the second terminal sends, configures, activates, or measures the SL positioning reference signal within the SL positioning reference signal measurement window; In the case where the second terminal measures the SL positioning reference signal, the SL positioning reference signal is sent by the first terminal under preset conditions. The preset conditions include one or more of the following: The first terminal is synchronized with the target object, which is a serving cell, a target terminal, or a reference terminal. The distance between the first terminal and the target device is less than a preset distance threshold; The received power of the reference signal RSRP and / or the received signal strength indicator RSSI are greater than or equal to a preset threshold value.

18. The method according to claim 17, characterized in that, The measurement time information includes start time information.

19. The method according to claim 17, characterized in that, The information in the SL positioning reference signal measurement window includes one or more of the following: Start time information; Periodic information; Window length; End time information.

20. The method according to claim 17 or 19, characterized in that, The information in the SL positioning reference signal measurement window also includes one or more of the following: Frequency domain starting point; Resource pool information; Number of subchannels; Size of the subchannel; Bandwidth information; Frequency domain granularity; Subcarrier spacing; Frequency domain offset.

21. The method according to claim 18 or 19, characterized in that, The start time information includes one or more of the following: Initial slot information, Serving the community ID information or community information; The reference time relative to the target terminal and the target terminal ID; Synchronization method information; SFN or DFN indication information; SFN or DFN offset information; Absolute time information; Initial symbol information.

22. The method according to claim 18 or 19, characterized in that, The second terminal is configured with the measurement time information of the SL positioning reference signal, including: The second terminal determines the start time information based on one or more of the following: The system frame number offset or timeslot offset relative to the serving cell or network device; Time offset relative to DFN; Time offset relative to the reference positioning signal; Offset relative to the start time of the first resource set; Absolute time information; The first indication information is used to indicate that the start time is determined based on GPS time, base station time, or the time of the first terminal.

23. The method according to claim 19, characterized in that, The measurement time information includes configuration information for one or more SL positioning reference signal measurement windows; The configuration information includes one or more of the following: The duration information of the one or more SL positioning reference signal measurement windows; The interval information between the multiple SL positioning reference signal measurement windows; The start time information of the one or more SL positioning reference signal measurement windows; The end time information of the one or more SL positioning reference signal measurement windows.

24. The method according to claim 17 or 19, characterized in that, The information in the SL positioning reference signal measurement window also includes: priority information; The priority information is used to indicate one or more of the following: The priority relationship between the SL positioning reference signal and other SL signals within the SL positioning reference signal measurement window; The priority relationship between the SL channel used for transmitting the SL positioning reference signal and other SL channels within the SL positioning reference signal measurement window; The priority relationship between the SL positioning reference signal and other UL signals within the SL positioning reference signal measurement window; The priority relationship between the SL channel used for transmitting the SL positioning reference signal and other UL channels within the SL positioning reference signal measurement window.

25. The method according to claim 24, characterized in that, The priority information includes one or more of the following: Priority indication information, used to indicate priority values; Priority status information, where different priority statuses correspond to different priority indication information.

26. The method according to claim 19 or 22, characterized in that, The SL positioning reference signal measurement window satisfies any one of the following: Includes one or more SL positioning reference signal measurement sub-windows; The duration exceeds the first threshold; The start time is the start time of the transmission of the SL positioning reference signal; The start time is no later than the start time of the transmission of the SL positioning reference signal; Includes the reception time of the SL positioning reference signal and / or the measurement time of the SL positioning reference signal.

27. The method according to claim 17, characterized in that, The method further includes: The second terminal receives terminal capabilities from the first terminal; The terminal capabilities include one or more of the following: The maximum number of resource pools measured by the first terminal; The maximum bandwidth supported by the first terminal; The maximum number of measurement windows for the SL positioning reference signal supported by the first terminal; Whether the first terminal measures the asynchronous SL positioning reference signal; The processing capability of the SL positioning reference signal of the first terminal.

28. A positioning device, characterized in that, include: The determination module is used by the first terminal to determine the measurement time information of the side link SL positioning reference signal; The processing module is used by the first terminal to transmit or measure the SL positioning reference signal according to the measurement time information; Wherein, the SL positioning reference signal is the SL signal used for positioning; The measurement time information includes information about the SL positioning reference signal measurement window; the information about the SL positioning reference signal measurement window includes: window type information; The window type information indicates any of the following: The SL positioning reference signal measurement window is associated with the first terminal or the second terminal, wherein the second terminal is a terminal that communicates with the first terminal via SL. The SL positioning reference signal measurement window is associated with the channel busy ratio (CBR). The processing module is also used for: The first terminal sends information about the SL positioning reference signal measurement window to one or more second terminals to request the second terminals to send, configure, activate, or measure the SL positioning reference signal within the SL positioning reference signal measurement window. The second terminal is a terminal that communicates with the first terminal via SL. When the first terminal meets the preset conditions, the SL positioning reference signal is sent or measured; The preset conditions include one or more of the following: The first terminal is synchronized with the target object, which is a serving cell, a target terminal, or a reference terminal. The distance between the first terminal and the target device is less than a preset distance threshold; The received power of the reference signal RSRP and / or the received signal strength indicator RSSI are greater than or equal to a preset threshold value.

29. A positioning device, characterized in that, include: The configuration module is used to configure the measurement time information of the SL positioning reference signal for the second terminal; The sending module is used for the second terminal to send the measurement time information to the first terminal; The measurement time information is used by the first terminal to transmit or measure the SL positioning reference signal, wherein the SL positioning reference signal is an SL signal used for positioning. The measurement time information includes information about the SL positioning reference signal measurement window; the information about the SL positioning reference signal measurement window includes: window type information; The window type information indicates any of the following: The SL positioning reference signal measurement window is associated with the first terminal or the second terminal, wherein the second terminal is a terminal that communicates with the first terminal via SL. The SL positioning reference signal measurement window is associated with the channel busy ratio (CBR). The device is also used for: receiving information about the SL positioning reference signal measurement window sent by the first terminal; and sending, configuring, activating, or measuring the SL positioning reference signal within the SL positioning reference signal measurement window. In the case where the second terminal measures the SL positioning reference signal, the SL positioning reference signal is sent by the first terminal under preset conditions. The preset conditions include one or more of the following: The first terminal is synchronized with the target object, which is a serving cell, a target terminal, or a reference terminal. The distance between the first terminal and the target device is less than a preset distance threshold; The received power of the reference signal RSRP and / or the received signal strength indicator RSSI are greater than or equal to a preset threshold value.

30. A 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 16.

31. A 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 17 to 27.

32. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the positioning method as described in any one of claims 1 to 16, or implement the steps of the positioning method as described in any one of claims 17 to 27.

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