Ranging sidelink positioning method and device

Abstract

The present disclosure proposes a ranging sidelink positioning method, apparatus, device and storage medium, which belongs to the field of communication technology. The method includes sending a ranging sidelink positioning capability request message to a first terminal device; receiving a ranging sidelink positioning capability response message fed back by the first terminal device, wherein the ranging sidelink positioning capability response message includes the ranging sidelink positioning capability information of the at least one terminal device; and determining the calculation information for ranging sidelink positioning for the first terminal device and at least one second terminal device according to the ranging sidelink positioning capability response message. The present disclosure provides a processing method for the scenario of "ranging sidelink positioning" to provide calculation information for ranging sidelink positioning for the first terminal device and at least one second terminal device, so as to ensure the calculation of the result of ranging sidelink positioning or improve the accuracy of ranging sidelink positioning.

Description

Technical Field

[0001] The present disclosure relates to the field of communication technologies, and in particular to a ranging sidelink positioning method, apparatus, device, and storage medium. Background Art

[0002] In the communication system, both the Location Management Function (LMF) and the terminal device perform ranging sidelink positioning. Ranging sidelink positioning refers to the calculation of results between two terminal devices or between one terminal device and multiple terminal devices. However, in the related art, since both the terminal device and the LMF can perform the calculation of ranging sidelink positioning, the calculation information of the ranging sidelink positioning between the terminal device and the LMF is not clear, and the ranging sidelink positioning cannot be calculated or is inaccurate. Therefore, there is an urgent need for a "ranging sidelink positioning" method to provide calculation information for ranging sidelink positioning between at least one terminal device to ensure the calculation of the ranging sidelink positioning results or improve the accuracy of the ranging sidelink positioning. Summary of the Invention

[0003] The present disclosure proposes a ranging sidelink positioning method, apparatus, device and storage medium to provide calculation information for ranging sidelink positioning between at least one terminal device to ensure the calculation result of ranging sidelink positioning or improve the accuracy of ranging sidelink positioning.

[0004] An embodiment of one aspect of the present disclosure provides a ranging sidelink positioning method, the method being executed by a positioning management function entity LMF, the method comprising:

[0005] Sending a ranging sidelink positioning capability request message to the first terminal device;

[0006] Receive a ranging sidelink positioning capability response message fed back by the first terminal device, wherein the ranging sidelink positioning capability response message includes ranging sidelink positioning capability information of the at least one terminal device;

[0007] Based on the ranging sidelink positioning capability response message, calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device is determined.

[0008] Optionally, in one embodiment of the present disclosure, determining calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device includes at least one of the following:

[0009] Determine a calculation method for performing ranging sidelink positioning on the first terminal device and at least one second terminal device;

[0010] Determine a computing node for performing ranging sidelink positioning for the first terminal device and at least one second terminal device.

[0011] Optionally, in an embodiment of the present disclosure, the computing node includes one of the following:

[0012] Using the terminal device as a computing node for the ranging sidelink positioning;

[0013] Using the LMF as a calculation node for the ranging sidelink positioning;

[0014] The at least one terminal device and the LMF are used as computing nodes for the ranging sidelink positioning.

[0015] Optionally, in an embodiment of the present disclosure, the calculation method includes one of the following:

[0016] A calculation method for performing ranging sidelink positioning by the at least one terminal device;

[0017] The calculation method of the LMF for ranging sidelink positioning;

[0018] A calculation method for ranging sidelink positioning jointly performed by the at least one terminal device and the LMF.

[0019] Optionally, in one embodiment of the present disclosure, determining a computing node for performing ranging sidelink positioning for the first terminal device and at least one second terminal device includes:

[0020] Receiving a preferred computing node for ranging sidelink positioning sent by the first terminal device;

[0021] If the preferred computing node is the at least one terminal device, using the corresponding at least one terminal device as a computing node for performing ranging sidelink positioning for the first terminal device and at least one second terminal device;

[0022] If the preferred computing node is the LMF, using the LMF as a computing node for performing ranging sidelink positioning for the first terminal device and at least one second terminal device;

[0023] If the preferred computing nodes are the at least one terminal device and the LMF, the at least one terminal device and the LMF are used as computing nodes for performing ranging sidelink positioning for the first terminal device and at least one second terminal device.

[0024] Optionally, in an embodiment of the present disclosure, the at least one terminal device includes a first terminal device and at least one second terminal device;

[0025] The ranging sidelink positioning capability information includes at least one of the following:

[0026] Ranging sidelink positioning capability information of a first terminal device among the at least one terminal device, wherein the first terminal device is a terminal device among the at least one terminal device that has a session connection with the LMF;

[0027] The ranging sidelink positioning capability information of the second terminal device in the at least one terminal device, wherein the second terminal device is any terminal device in the at least one terminal device that performs ranging sidelink positioning with the first terminal device.

[0028] Optionally, in one embodiment of the present disclosure, determining, according to the ranging sidelink positioning capability response message, calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device includes:

[0029] Obtaining ranging sidelink positioning capability information of the LMF;

[0030] Based on the ranging sidelink positioning capability information of the at least one terminal device and the ranging sidelink positioning capability information of the LMF, calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device is determined.

[0031] Optionally, in one embodiment of the present disclosure, the sending a ranging sidelink positioning capability request message to the first terminal device includes:

[0032] Receive the ranging sidelink positioning service request sent by the access and mobility management function entity AMF;

[0033] In response to the ranging sidelink positioning service request, determining whether the LMF has available ranging sidelink positioning capability information of the first terminal device and at least one second terminal device;

[0034] In response to the LMF not having available ranging sidelink positioning capability information of the first terminal device and at least one second terminal device, a ranging sidelink positioning capability request message is sent to the first terminal device.

[0035] Optionally, in one embodiment of the present disclosure, the ranging sidelink positioning capability request message carries the ranging sidelink positioning capability information of the LMF as well as the first terminal device identifier and at least one second terminal device identifier.

[0036] Optionally, in one embodiment of the present disclosure, the ranging sidelink positioning capability information refers to computing capability information for performing ranging sidelink positioning on the first terminal device and the at least one second terminal device through the direct communication PC5 interface, including at least one of the following:

[0037] Calculating a general relative distance between the first terminal and any second terminal device;

[0038] Calculating a general relative direction between the first terminal and any one of the second terminal devices;

[0039] Calculating a high-precision relative distance between the first terminal and any one of the second terminal devices;

[0040] Calculating a high-precision relative direction between the first terminal and any one of the second terminal devices;

[0041] Calculating a general relative distance between the first terminal and a plurality of second terminal devices;

[0042] Calculating a general relative direction between the first terminal and the plurality of second terminal devices;

[0043] Calculating high-precision relative distances between the first terminal and the plurality of second terminal devices;

[0044] Calculating high-precision relative directions between the first terminal and the plurality of second terminal devices;

[0045] The first terminal device is a terminal device that has a session connection with the LMF, and the second terminal device is any terminal device among the at least one terminal device that performs ranging side link positioning with the first terminal device.

[0046] Another aspect of the present disclosure provides a ranging sidelink positioning method, characterized in that the method is performed by a first terminal device and includes:

[0047] Receive the ranging sidelink positioning capability request message sent by LMF;

[0048] Feedback a ranging sidelink positioning capability response message to the LMF, wherein the ranging sidelink positioning capability response message includes at least one of the following:

[0049] The preferred computing node for ranging sidelink positioning;

[0050] The calculation mode of the ranging sidelink positioning;

[0051] Ranging sidelink positioning capability information of the first terminal device and / or at least one second terminal device.

[0052] Optionally, in an embodiment of the present disclosure, the method further includes:

[0053] According to the ranging sidelink positioning capability information of the LMF in the ranging sidelink positioning capability request message, the preferred computing node or computing mode for the ranging sidelink positioning is determined.

[0054] Optionally, in an embodiment of the present disclosure, the method further includes:

[0055] If the ranging sidelink positioning capability request message carries the first terminal device identifier, the ranging sidelink positioning capability information of the first terminal device is fed back to the LMF.

[0056] Optionally, in an embodiment of the present disclosure, the method further includes:

[0057] If the ranging sidelink positioning capability request message carries at least one second terminal device identifier, the ranging sidelink positioning capability information of the at least one second terminal device is fed back to the LMF.

[0058] Optionally, in an embodiment of the present disclosure, before feeding back the ranging sidelink positioning capability information of the at least one second terminal device to the LMF, the method further includes:

[0059] If the first terminal device does not have the ranging sidelink positioning capability information of the at least one second terminal device available, sending a positioning capability request message to the at least one second terminal device;

[0060] Receive ranging sidelink positioning capability information sent by the at least one second terminal device.

[0061] Optionally, in one embodiment of the present disclosure, the ranging sidelink positioning capability information refers to computing capability information for performing ranging sidelink positioning on the first terminal device and the at least one second terminal device through the direct communication PC5 interface.

[0062] In another aspect of the present disclosure, a ranging sidelink positioning device is provided, comprising:

[0063] A sending module, configured to send a ranging sidelink positioning capability request message to the first terminal device;

[0064] a receiving module, configured to receive a ranging sidelink positioning capability response message fed back by the first terminal device, wherein the ranging sidelink positioning capability response message includes ranging sidelink positioning capability information of the at least one terminal device;

[0065] A determination module is used to determine calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device based on the ranging sidelink positioning capability response message.

[0066] In another aspect of the present disclosure, a ranging sidelink positioning device is provided, comprising:

[0067] A receiving module is used to receive a ranging sidelink positioning capability request message sent by the LMF;

[0068] A sending module, configured to feed back a ranging sidelink positioning capability response message to the LMF, wherein the ranging sidelink positioning capability response message includes at least one of the following:

[0069] The preferred computing node for ranging sidelink positioning;

[0070] The calculation mode of the ranging sidelink positioning;

[0071] Ranging sidelink positioning capability information of the first terminal device and / or at least one second terminal device.

[0072] Another aspect of the present disclosure provides a terminal device, the device including a processor and a memory, the memory storing a computer program, and the processor executing the computer program stored in the memory so that the device performs the method proposed in the above aspect.

[0073] Another embodiment of the present disclosure provides an LMF, wherein the device includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program stored in the memory to enable the device to perform the method provided in the above another embodiment.

[0074] A communication device provided in another embodiment of the present disclosure includes: a processor and an interface circuit;

[0075] The interface circuit is used to receive code instructions and transmit them to the processor;

[0076] The processor is configured to run the code instructions to execute the method proposed in one embodiment.

[0077] A communication device provided in another embodiment of the present disclosure includes: a processor and an interface circuit;

[0078] The interface circuit is used to receive code instructions and transmit them to the processor;

[0079] The processor is configured to execute the code instructions to perform the method proposed in another embodiment.

[0080] A computer-readable storage medium provided in yet another aspect of the present disclosure is configured to store instructions, which, when executed, implement the method provided in the first aspect of the present disclosure.

[0081] A computer-readable storage medium provided in yet another aspect of the present disclosure is configured to store instructions, which, when executed, implement the method provided in yet another aspect of the present disclosure.

[0082] In summary, in the embodiment of the present disclosure, a ranging sidelink positioning capability request message is sent to the first terminal device; a ranging sidelink positioning capability response message fed back by the first terminal device is received, wherein the ranging sidelink positioning capability response message includes the ranging sidelink positioning capability information of at least one terminal device; and calculation information for ranging sidelink positioning for the first terminal device and at least one second terminal device is determined based on the ranging sidelink positioning capability response message. In the embodiment of the present disclosure, by determining the calculation information of the ranging sidelink positioning, the calculation information for ranging sidelink positioning for the first terminal device and at least one second terminal device can be determined, reducing the situation where the ranging sidelink positioning cannot be calculated or is inaccurate due to unclear calculation information. The present disclosure provides a processing method for the situation of "ranging sidelink positioning" to provide calculation information for ranging sidelink positioning for the first terminal device and at least one second terminal device, so as to ensure the calculation of the result of ranging sidelink positioning or improve the accuracy of ranging sidelink positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] The above and / or additional aspects and advantages of the present disclosure will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0084] Figure 1 A flowchart of a ranging sidelink positioning method provided by one embodiment of the present disclosure;

[0085] Figure 2 A schematic flow chart of a ranging sidelink positioning method provided by another embodiment of the present disclosure;

[0086] Figure 3 A flowchart of a ranging sidelink positioning method provided by yet another embodiment of the present disclosure;

[0087] Figure 4 A flowchart of a ranging sidelink positioning method provided by another embodiment of the present disclosure;

[0088] Figure 5 A flowchart of a ranging sidelink positioning method provided by another embodiment of the present disclosure;

[0089] Figure 6 A flowchart of a ranging sidelink positioning method provided by another embodiment of the present disclosure;

[0090] Figure 7 A flowchart of a ranging sidelink positioning method provided by another embodiment of the present disclosure;

[0091] Figure 8 A flowchart of a ranging sidelink positioning method provided by another embodiment of the present disclosure;

[0092] Figure 9 A flowchart of a ranging sidelink positioning method provided by another embodiment of the present disclosure;

[0093] Figure 10 A flowchart of a ranging sidelink positioning method provided by another embodiment of the present disclosure;

[0094] Figure 11 A schematic structural diagram of a ranging sidelink positioning device provided by one embodiment of the present disclosure;

[0095] Figure 12 A schematic structural diagram of a ranging sidelink positioning device provided by another embodiment of the present disclosure;

[0096] Figure 13 This is a block diagram of a terminal device provided by one embodiment of the present disclosure;

[0097] Figure 14 A block diagram of a network-side device provided in one embodiment of the present disclosure. DETAILED DESCRIPTION

[0098] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0099] The terms used in the embodiments of the present disclosure are for the purpose of describing specific embodiments only and are not intended to limit the embodiments of the present disclosure. The singular forms "a," "an," and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0100] It should be understood that although the terms first, second, third, etc. may be used to describe various information in the embodiments of the present disclosure, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of the embodiments of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0101] The network elements or network functions involved in the embodiments of the present disclosure may be implemented by independent hardware devices or by software in the hardware devices, and this is not limited in the embodiments of the present disclosure.

[0102] The following describes in detail a ranging sidelink positioning method, apparatus, device and storage medium provided by an embodiment of the present disclosure with reference to the accompanying drawings.

[0103] Figure 1 A flow chart of a ranging sidelink positioning method provided by an embodiment of the present disclosure is shown, and the method is executed by a positioning management function entity LMF, such as Figure 1 As shown, the method may include the following steps:

[0104] Step 101: Send a ranging sidelink positioning capability request message to a first terminal device.

[0105] It should be noted that, in one embodiment of the present disclosure, a terminal device may refer to a device that provides voice and / or data connectivity to a user. The terminal device may communicate with one or more core networks via a RAN (Radio Access Network). The terminal device may be an IoT terminal, such as a sensor device, a mobile phone (or "cellular" phone), and a computer with an IoT terminal. For example, it may be a fixed, portable, pocket-sized, handheld, computer-built-in, or vehicle-mounted device. For example, a station (STA), a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, an access point, a remote terminal, an access terminal, a user terminal, or a user agent. Alternatively, the terminal device may be a device of an unmanned aerial vehicle. Alternatively, the terminal device may be a vehicle-mounted device, for example, a driving computer with wireless communication capabilities, or a wireless terminal connected to an external driving computer. Alternatively, the terminal device may also be a roadside device, for example, a street lamp, a traffic light or other roadside device with wireless communication function.

[0106] It should be noted that, in one embodiment of the present disclosure, the first terminal device refers to a terminal device that communicates with the location management function entity LMF. The first is only used to indicate the terminal device that communicates with the LMF, and the first terminal device does not specifically refer to a fixed terminal device.

[0107] In one embodiment of the present disclosure, determining calculation information for performing ranging sidelink positioning on a first terminal device and at least one second terminal device includes at least one of the following:

[0108] Determining a calculation method for performing ranging sidelink positioning on the first terminal device and at least one second terminal device;

[0109] Determine a computing node for performing ranging sidelink positioning for a first terminal device and at least one second terminal device.

[0110] And, in one embodiment of the present disclosure, the computing node includes one of the following:

[0111] Use the terminal device as a computing node for ranging sidelink positioning;

[0112] Use LMF as the calculation node for ranging side link positioning;

[0113] At least one terminal device and LMF are used as computing nodes for ranging sidelink positioning.

[0114] And, in one embodiment of the present disclosure, the calculation method includes one of the following:

[0115] A calculation method for performing ranging sidelink positioning by at least one terminal device;

[0116] The calculation method of LMF for ranging sidelink positioning;

[0117] A calculation method for ranging sidelink positioning performed jointly by at least one terminal device and LMF.

[0118] Furthermore, in one embodiment of the present disclosure, determining a computing node for performing ranging sidelink positioning for a first terminal device and at least one second terminal device includes:

[0119] receiving a preferred computing node for ranging sidelink positioning sent by at least one terminal device;

[0120] If the preferred computing node is at least one terminal device, using the corresponding at least one terminal device as a computing node for performing ranging sidelink positioning for the first terminal device and the at least one second terminal device;

[0121] If the preferred computing node is the LMF, the LMF is used as a computing node for performing ranging sidelink positioning for the first terminal device and the at least one second terminal device;

[0122] If the preferred computing nodes are at least one terminal device and an LMF, the at least one terminal device and the LMF are used as computing nodes for performing ranging sidelink positioning for the first terminal device and the at least one second terminal device.

[0123] And, in one embodiment of the present disclosure, at least one terminal device includes a first terminal device and at least one second terminal device;

[0124] Ranging sidelink positioning capability information, including at least one of the following:

[0125] Ranging sidelink positioning capability information of a first terminal device among at least one terminal device, wherein the first terminal device is a terminal device among the at least one terminal device that has a session connection with the LMF;

[0126] Ranging sidelink positioning capability information of a second terminal device in at least one terminal device, wherein the second terminal device is any terminal device in the at least one terminal device that performs ranging sidelink positioning with the first terminal device.

[0127] Furthermore, in one embodiment of the present disclosure, determining, based on the ranging sidelink positioning capability response message, calculation information for performing ranging sidelink positioning on a first terminal device and at least one second terminal device includes:

[0128] Obtain ranging sidelink positioning capability information of LMF;

[0129] Based on the ranging sidelink positioning capability information of at least one terminal device and the ranging sidelink positioning capability information of the LMF, calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device is determined.

[0130] And, in one embodiment of the present disclosure, sending a ranging sidelink positioning capability request message to the first terminal device includes:

[0131] Receive the ranging sidelink positioning service request sent by the access and mobility management function entity AMF;

[0132] In response to the ranging sidelink positioning service request, determining whether the LMF has available ranging sidelink positioning capability information of the first terminal device and the at least one second terminal device;

[0133] In response to the LMF not having available ranging sidelink positioning capability information of the first terminal device and at least one second terminal device, a ranging sidelink positioning capability request message is sent to the first terminal device.

[0134] Furthermore, in one embodiment of the present disclosure, the ranging sidelink positioning capability request message carries the ranging sidelink positioning capability information of the LMF as well as the first terminal device identifier and at least one second terminal device identifier.

[0135] Furthermore, in one embodiment of the present disclosure, the ranging sidelink positioning capability information refers to computing capability information for performing ranging sidelink positioning on a first terminal device and at least one second terminal device through a direct communication PC5 interface, including at least one of the following:

[0136] Calculating a general relative distance between the first terminal and any second terminal device;

[0137] Calculating a general relative direction between the first terminal and any second terminal device;

[0138] Calculating a high-precision relative distance between the first terminal and any second terminal device;

[0139] Calculating a high-precision relative direction between the first terminal and any second terminal device;

[0140] Calculating a general relative distance between the first terminal and the plurality of second terminal devices;

[0141] calculating a general relative direction between the first terminal and the plurality of second terminal devices;

[0142] Calculating high-precision relative distances between a first terminal and a plurality of second terminal devices;

[0143] Calculating high-precision relative directions of the first terminal and the plurality of second terminal devices;

[0144] Among them, the first terminal device is a terminal device that has a session connection with the LMF, and the second terminal device is any terminal device among at least one terminal device that performs ranging side link positioning with the first terminal device.

[0145] Step 102: Receive a ranging sidelink positioning capability response message fed back by the first terminal device, wherein the ranging sidelink positioning capability response message includes ranging sidelink positioning capability information of at least one terminal device;

[0146] Step 103: Determine calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device according to the ranging sidelink positioning capability response message.

[0147] In summary, in the embodiment of the present disclosure, a ranging sidelink positioning capability request message is sent to the first terminal device; a ranging sidelink positioning capability response message fed back by the first terminal device is received, wherein the ranging sidelink positioning capability response message includes the ranging sidelink positioning capability information of at least one terminal device; and calculation information for ranging sidelink positioning for the first terminal device and at least one second terminal device is determined based on the ranging sidelink positioning capability response message. In the embodiment of the present disclosure, by determining the calculation information of the ranging sidelink positioning, the calculation information for ranging sidelink positioning for the first terminal device and at least one second terminal device can be determined, reducing the situation where the ranging sidelink positioning cannot be calculated or is inaccurate due to unclear calculation information. The present disclosure provides a processing method for the situation of "ranging sidelink positioning" to provide calculation information for ranging sidelink positioning for the first terminal device and at least one second terminal device, so as to ensure the calculation of the result of ranging sidelink positioning or improve the accuracy of ranging sidelink positioning.

[0148] Figure 2 A flow chart of a ranging sidelink positioning method provided by an embodiment of the present disclosure is shown, and the method is executed by LMF, such as Figure 2 As shown, the method may include the following steps:

[0149] Step 201: Send a ranging sidelink positioning capability request message to a first terminal device;

[0150] Step 202: Receive a ranging sidelink positioning capability response message fed back by the first terminal device, wherein the ranging sidelink positioning capability response message includes ranging sidelink positioning capability information of at least one terminal device;

[0151] And, in one embodiment of the present disclosure, the ranging sidelink positioning capability information refers to capability information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device through the direct communication PC5 interface.

[0152] Step 203: Determine, based on the ranging sidelink positioning capability response message, calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device, including at least one of the following:

[0153] Determining a calculation method for performing ranging sidelink positioning on the first terminal device and at least one second terminal device;

[0154] Determine a computing node for performing ranging sidelink positioning for a first terminal device and at least one second terminal device.

[0155] In one embodiment of the present disclosure, the computing node includes one of the following:

[0156] Use the terminal device as a computing node for ranging sidelink positioning;

[0157] Use LMF as the calculation node for ranging side link positioning;

[0158] At least one terminal device and LMF are used as computing nodes for ranging sidelink positioning.

[0159] For example, in one embodiment of the present disclosure, the calculation method includes one of the following:

[0160] A calculation method for performing ranging sidelink positioning by at least one terminal device;

[0161] The calculation method of LMF for ranging sidelink positioning;

[0162] A calculation method for ranging sidelink positioning performed jointly by at least one terminal device and LMF.

[0163] For example, in one embodiment of the present disclosure, the computing node refers to a node for performing ranging sidelink positioning. Since both the first terminal device and the LMF can perform ranging sidelink positioning, the LMF can coordinate the node performing ranging sidelink positioning between the first terminal device and the LMF.

[0164] For example, in one embodiment of the present disclosure, LMF uses the terminal device as a calculation node for ranging side link positioning, which can also be understood as the calculation method determined by LMF being a calculation method for ranging side link positioning of at least one terminal device.

[0165] For example, in one embodiment of the present disclosure, LMF uses LMF as a calculation node for ranging side link positioning, which can also be understood as the calculation method determined by LMF being the calculation method for LMF to perform ranging side link positioning.

[0166] For example, in one embodiment of the present disclosure, LMF uses at least one terminal device and LMF as calculation nodes for ranging side link positioning. It can also be understood that the calculation method determined by LMF is the calculation method for ranging side link positioning jointly performed by at least one terminal device and LMF.

[0167] Also, in one embodiment of the present disclosure, the terminal device may be used as a computing node for ranging side link positioning, and only the terminal device may perform ranging side link positioning, and only the terminal device may obtain measurement data and determine the measurement result of the ranging side link positioning based on the measurement data.

[0168] In summary, in the disclosed embodiments, a ranging sidelink positioning capability request message is sent to a first terminal device; a ranging sidelink positioning capability response message is received from the first terminal device, wherein the ranging sidelink positioning capability response message includes ranging sidelink positioning capability information of at least one terminal device; and calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device is determined based on the ranging sidelink positioning capability response message. In the disclosed embodiments, by determining the calculation information for ranging sidelink positioning, the calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device can be determined, thereby reducing situations where unclear calculation information makes ranging sidelink positioning impossible or inaccurate. The disclosed embodiments disclose a specific solution in which the calculation information includes a calculation method and a calculation node. The disclosed embodiments provide a processing method for the "ranging sidelink positioning" scenario, providing calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device, thereby ensuring the calculation result of the ranging sidelink positioning or improving the accuracy of the ranging sidelink positioning.

[0169] Figure 3 A flow chart of a ranging sidelink positioning method provided by an embodiment of the present disclosure is shown, and the method is executed by LMF, such as Figure 3 As shown, the method may include the following steps:

[0170] Step 301: Send a ranging sidelink positioning capability request message to a first terminal device;

[0171] Step 302: Receive a ranging sidelink positioning capability response message fed back by the first terminal device, wherein the ranging sidelink positioning capability response message includes ranging sidelink positioning capability information of at least one terminal device;

[0172] Step 303: Receive the preferred calculation node for ranging sidelink positioning sent by the first terminal device according to the ranging sidelink positioning capability response message;

[0173] Perform one of the following steps:

[0174] Step 304: If the preferred computing node is at least one terminal device, use the corresponding at least one terminal device as a computing node for performing ranging sidelink positioning for the first terminal device and the at least one second terminal device;

[0175] Step 305: If the preferred computing node is the LMF, the LMF is used as a computing node for performing ranging sidelink positioning for the first terminal device and the at least one second terminal device;

[0176] Step 306: If the preferred computing node is at least one terminal device and LMF, the at least one terminal device and LMF are used as computing nodes for performing ranging sidelink positioning for the first terminal device and the at least one second terminal device.

[0177] In one embodiment of the present disclosure, the ranging sidelink positioning capability request message carries the ranging sidelink positioning capability information of the LMF. The first terminal device can determine the preferred computing node for ranging sidelink positioning based on the positioning capability information of the first terminal device and the ranging sidelink positioning capability information of the LMF, and send the preferred computing node for ranging sidelink positioning to the LMF. The first terminal device can add the preferred computing node for ranging sidelink positioning to the ranging sidelink positioning capability response message.

[0178] Furthermore, in one embodiment of the present disclosure, the LMF may determine, based on the preferred computing node, a computing node for performing ranging sidelink positioning for the first terminal device and at least one second terminal device.

[0179] For example, in one embodiment of the present disclosure, the preferred computing node is at least one terminal device and does not specifically refer to a fixed terminal device. That is, the preferred computing node can be the first terminal device among the at least one terminal device, or the second terminal device among the at least one terminal device. The first terminal device is a terminal device among the at least one terminal device that has a session connection with the LMF, and the second terminal device is any terminal device among the at least one terminal device that performs ranging sidelink positioning with the first terminal device.

[0180] In summary, in the disclosed embodiments, a ranging sidelink positioning capability request message is sent to a first terminal device; a ranging sidelink positioning capability response message is received from the first terminal device, wherein the ranging sidelink positioning capability response message includes ranging sidelink positioning capability information of at least one terminal device; and calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device is determined based on the ranging sidelink positioning capability response message. In the disclosed embodiments, by determining the calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device, calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device can be determined, thereby reducing situations where unclear calculation information makes ranging sidelink positioning impossible or inaccurate. The disclosed embodiments disclose a specific scheme for determining a computing node based on a preferred computing node. The disclosed embodiments provide a processing method for the "ranging sidelink positioning" scenario, providing calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device, thereby ensuring the calculation result of the ranging sidelink positioning or improving the accuracy of the ranging sidelink positioning.

[0181] Figure 4 A flow chart of a ranging sidelink positioning method provided by an embodiment of the present disclosure is shown, and the method is executed by LMF, such as Figure 4 As shown, the method may include the following steps:

[0182] Step 401: Send a ranging sidelink positioning capability request message to a first terminal device;

[0183] Step 402: Receive a ranging sidelink positioning capability response message fed back by the first terminal device, where the ranging sidelink positioning capability information includes at least one of the following:

[0184] Ranging sidelink positioning capability information of a first terminal device among at least one terminal device, wherein the first terminal device is any terminal device among the at least one terminal device;

[0185] Ranging sidelink positioning capability information of a second terminal device in at least one terminal device, wherein the second terminal device is any terminal device in the at least one terminal device except the first terminal device.

[0186] Step 403: Determine calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device according to the ranging sidelink positioning capability response message.

[0187] In one embodiment of the present disclosure, the first terminal device may be any one of the at least one terminal device. In other words, the first terminal device does not specifically refer to a fixed terminal device. For example, when the first terminal device identifier changes, the first terminal device may also change accordingly.

[0188] In one embodiment of the present disclosure, the second terminal device is any terminal device other than the first terminal device among the at least one terminal device, that is, the first terminal device and the second terminal device are different terminal devices.

[0189] For example, in one embodiment of the present disclosure, when at least one terminal device includes an A terminal device, an S terminal device, a D terminal device, and an F terminal device, the first terminal device may be, for example, an A terminal device, and the second terminal device may be, for example, an S terminal device. The first terminal device may be, for example, a D terminal device, and the second terminal device may be, for example, an S terminal device.

[0190] For example, in one embodiment of the present disclosure, the ranging sidelink positioning capability information refers to computing capability information for performing ranging sidelink positioning on a first terminal device and at least one second terminal device through a direct communication PC5 interface, and the computing capability information includes at least one of the following:

[0191] Calculating a general relative distance between the first terminal and any second terminal device;

[0192] Calculating a general relative direction between the first terminal and any second terminal device;

[0193] Calculating a high-precision relative distance between the first terminal and any second terminal device;

[0194] Calculating a high-precision relative direction between the first terminal and any second terminal device;

[0195] Calculating a general relative distance between the first terminal and the plurality of second terminal devices;

[0196] calculating a general relative direction between the first terminal and the plurality of second terminal devices;

[0197] Calculating high-precision relative distances between a first terminal and a plurality of second terminal devices;

[0198] Calculating high-precision relative directions of the first terminal and the plurality of second terminal devices;

[0199] Among them, the first terminal device is a terminal device that has a session connection with the LMF, and the second terminal device is any terminal device among at least one terminal device that performs ranging side link positioning with the first terminal device.

[0200] In summary, in the disclosed embodiments, a ranging sidelink positioning capability request message is sent to a first terminal device; a ranging sidelink positioning capability response message is received from the first terminal device, wherein the ranging sidelink positioning capability response message includes ranging sidelink positioning capability information of at least one terminal device; and calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device is determined based on the ranging sidelink positioning capability response message. In the disclosed embodiments, by determining the calculation information for ranging sidelink positioning, the calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device can be determined, thereby reducing situations where unclear calculation information makes ranging sidelink positioning impossible or inaccurate. The disclosed embodiments disclose specific solutions for determining ranging sidelink positioning capability information, which can improve the accuracy of the calculation information determination. The disclosed embodiments provide a processing method for the "ranging sidelink positioning" scenario, providing calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device, thereby ensuring the calculation result of the ranging sidelink positioning or improving the accuracy of the ranging sidelink positioning.

[0201] Figure 5 A flow chart of a ranging sidelink positioning method provided by an embodiment of the present disclosure is shown, and the method is executed by LMF, such as Figure 5 As shown, the method may include the following steps:

[0202] Step 501: Send a ranging sidelink positioning capability request message to a first terminal device;

[0203] Step 502: Receive a ranging sidelink positioning capability response message fed back by the first terminal device, wherein the ranging sidelink positioning capability response message includes ranging sidelink positioning capability information of at least one terminal device;

[0204] Step 503: Obtain ranging sidelink positioning capability information of the LMF;

[0205] Step 504: Determine calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device based on the ranging sidelink positioning capability information of the at least one terminal device and the ranging sidelink positioning capability information of the LMF.

[0206] For example, in one embodiment of the present disclosure, the ranging sidelink positioning capability information of a terminal device refers to the capability information of the terminal device to perform ranging sidelink positioning on a first terminal device and at least one second terminal device through a direct communication PC5 interface. The ranging sidelink positioning capability information of an LMF refers to the computing capability information of the LMF to perform ranging sidelink positioning on a first terminal device and at least one second terminal device through a direct communication PC5 interface.

[0207] For example, in one embodiment of the present disclosure, when the LMF determines the calculation information for performing ranging sidelink positioning on a first terminal device and at least one second terminal device based on the ranging sidelink positioning capability information of at least one terminal device and the ranging sidelink positioning capability information of the LMF, if it is determined that only the ranging sidelink positioning capability information of at least one terminal device is received, the calculation method for performing ranging sidelink positioning on the at least one terminal device is determined as the calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device, or the terminal device is determined as the calculation node for ranging sidelink positioning as the calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device.

[0208] For example, in one embodiment of the present disclosure, when the LMF determines the calculation information for performing ranging sidelink positioning on a first terminal device and at least one second terminal device based on the ranging sidelink positioning capability information of at least one terminal device and the ranging sidelink positioning capability information of the LMF, if it is determined that only the ranging sidelink positioning capability information of the LMF is received, the calculation method for performing ranging sidelink positioning on the LMF is determined as the calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device, or the LMF is determined as the calculation node for ranging sidelink positioning as the calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device.

[0209] For example, in one embodiment of the present disclosure, when the LMF determines the calculation information for ranging side link positioning for a first terminal device and at least one second terminal device based on the ranging side link positioning capability information of at least one terminal device and the ranging side link positioning capability information of the LMF, if the ranging side link positioning capability information of at least one terminal device and the ranging side link positioning capability information received from the LMF are determined, the calculation information for ranging side link positioning for the first terminal device and at least one second terminal device can be determined based on the preferred calculation node for ranging side link positioning sent by the first terminal device.

[0210] In summary, in the embodiment of the present disclosure, a ranging side link positioning capability request message is sent to the first terminal device; a ranging side link positioning capability response message fed back by the first terminal device is received, wherein the ranging side link positioning capability response message includes the ranging side link positioning capability information of at least one terminal device; and calculation information for performing ranging side link positioning on the first terminal device and at least one second terminal device is determined based on the ranging side link positioning capability response message. In the embodiment of the present disclosure, by determining the calculation information for the ranging side link positioning, the calculation information for performing ranging side link positioning on the first terminal device and at least one second terminal device can be determined, thereby reducing the situation where the ranging side link positioning cannot be calculated or is inaccurate due to unclear calculation information. The embodiment of the present disclosure discloses a specific scheme for determining calculation information based on the ranging side link positioning capability information of at least one terminal device and the ranging side link positioning capability information of the LMF, which can improve the accuracy of the determination of the calculation information. The present disclosure provides a processing method for the "ranging sidelink positioning" scenario to provide calculation information for ranging sidelink positioning for a first terminal device and at least one second terminal device to ensure the calculation result of the ranging sidelink positioning or improve the accuracy of the ranging sidelink positioning.

[0211] Figure 6 A flow chart of a ranging sidelink positioning method provided by an embodiment of the present disclosure is shown, and the method is executed by LMF, such as Figure 6 As shown, the method may include the following steps:

[0212] Step 601: Receive a ranging sidelink positioning service request sent by an access and mobility management function (AMF);

[0213] Step 602: In response to the ranging sidelink positioning service request, determine whether the LMF has available ranging sidelink positioning capability information of the first terminal device and at least one second terminal device;

[0214] Step 603: In response to the LMF not having available ranging sidelink positioning capability information of the first terminal device and at least one second terminal device, sending a ranging sidelink positioning capability request message to the first terminal device;

[0215] Step 604: Receive a ranging sidelink positioning capability response message fed back by the first terminal device, wherein the ranging sidelink positioning capability response message includes ranging sidelink positioning capability information of at least one terminal device;

[0216] Step 605: Determine calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device according to the ranging sidelink positioning capability response message.

[0217] Secondly, in one embodiment of the present disclosure, the ranging sidelink positioning capability request message carries the ranging sidelink positioning capability information of the LMF as well as the first terminal device identifier and at least one second terminal device identifier.

[0218] For example, the first terminal device identifier refers to the device identifier corresponding to the first terminal device. The second terminal device identifier refers to the device identifier corresponding to the second terminal device. At least one second terminal device identifier means that there is at least one second terminal device identifier. The first terminal device identifier does not specifically refer to a fixed terminal identifier. For example, when the first terminal device changes, the first terminal device identifier may also change accordingly.

[0219] In summary, in the embodiment of the present disclosure, a ranging sidelink positioning capability request message is sent to the first terminal device; a ranging sidelink positioning capability response message fed back by the first terminal device is received, wherein the ranging sidelink positioning capability response message includes the ranging sidelink positioning capability information of at least one terminal device; and calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device is determined based on the ranging sidelink positioning capability response message. In the embodiment of the present disclosure, by determining the calculation information for ranging sidelink positioning, the calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device can be determined, thereby reducing the situation where the ranging sidelink positioning cannot be calculated or is inaccurate due to unclear calculation information. The embodiment of the present disclosure discloses a specific scheme for sending a ranging sidelink positioning capability request message to the first terminal device based on whether the LMF has available ranging sidelink positioning capability information of the first terminal device and at least one second terminal device, which can improve the accuracy of sending the ranging sidelink positioning capability request message and the accuracy of determining the calculation information. The present disclosure provides a processing method for the "ranging sidelink positioning" scenario to provide calculation information for ranging sidelink positioning for a first terminal device and at least one second terminal device to ensure the calculation result of the ranging sidelink positioning or improve the accuracy of the ranging sidelink positioning.

[0220] Figure 7 A flow chart of a ranging sidelink positioning method provided by an embodiment of the present disclosure is shown, and the method is executed by a first terminal device, such as Figure 7 As shown, the method may include the following steps:

[0221] Step 701: Receive a ranging sidelink positioning capability request message sent by the LMF;

[0222] Step 702: Feedback a ranging sidelink positioning capability response message to the LMF, where the ranging sidelink positioning capability response message includes at least one of the following:

[0223] The preferred computing node for ranging sidelink positioning;

[0224] Calculation mode for ranging sidelink positioning;

[0225] Ranging sidelink positioning capability information of the first terminal device and / or at least one second terminal device.

[0226] Secondly, in one embodiment of the present disclosure, the method further includes:

[0227] According to the ranging sidelink positioning capability information of the LMF in the ranging sidelink positioning capability request message, the preferred computing node or computing mode for ranging sidelink positioning is determined.

[0228] And, in one embodiment of the present disclosure, the method further includes:

[0229] If the ranging sidelink positioning capability request message carries at least one second terminal device identifier, the ranging sidelink positioning capability information of the at least one second terminal device is fed back to the LMF.

[0230] Furthermore, in one embodiment of the present disclosure, before feeding back the ranging sidelink positioning capability information of at least one second terminal device to the LMF, the method further includes:

[0231] If the first terminal device does not have the ranging sidelink positioning capability information of the at least one second terminal device available, sending a positioning capability request message to the at least one second terminal device;

[0232] Receive ranging sidelink positioning capability information sent by at least one second terminal device.

[0233] And, in one embodiment of the present disclosure, the ranging sidelink positioning capability information refers to the computing capability information of performing ranging sidelink positioning on the first terminal device and at least one second terminal device through the direct communication PC5 interface.

[0234] In summary, in the embodiment of the present disclosure, a ranging sidelink positioning capability request message sent by the LMF is received; a ranging sidelink positioning capability response message is fed back to the LMF, wherein the ranging sidelink positioning capability response message includes at least one of the following: a preferred calculation node for ranging sidelink positioning; a calculation mode for ranging sidelink positioning; and ranging sidelink positioning capability information of the first terminal device and / or at least one second terminal device. In the embodiment of the present disclosure, by feeding back the ranging sidelink positioning capability response message to the LMF, the LMF can determine the calculation information for ranging sidelink positioning for the first terminal device and at least one second terminal device, reduce the situation where the ranging sidelink positioning cannot be calculated or is inaccurate due to unclear calculation information, and improve the accuracy of the calculation information determination. The present disclosure provides a processing method for the situation of "ranging sidelink positioning" to provide calculation information for ranging sidelink positioning for the first terminal device and at least one second terminal device, so as to ensure the calculation result of ranging sidelink positioning or improve the accuracy of ranging sidelink positioning.

[0235] Figure 8 A flow chart of a ranging sidelink positioning method provided by an embodiment of the present disclosure is shown, and the method is executed by a first terminal device, such as Figure 8 As shown, the method may include the following steps:

[0236] Step 801: Receive a ranging sidelink positioning capability request message sent by the LMF;

[0237] Step 802: If the ranging sidelink positioning capability request message carries the first terminal device identifier, the ranging sidelink positioning capability information of the first terminal device is fed back to the LMF.

[0238] For other detailed descriptions of steps 801 and 802, please refer to the above embodiment description, which will not be elaborated here in the embodiment of the present disclosure.

[0239] In summary, in the embodiment of the present disclosure, a ranging side link positioning capability request message sent by the LMF is received; and a ranging side link positioning capability response message is fed back to the LMF, wherein the ranging side link positioning capability response message includes at least one of the following: a preferred calculation node for ranging side link positioning; a calculation mode for ranging side link positioning; and ranging side link positioning capability information of the first terminal device and / or at least one second terminal device. In the embodiment of the present disclosure, by feeding back the ranging side link positioning capability response message to the LMF, the LMF can determine the calculation information for ranging side link positioning for the first terminal device and at least one second terminal device, reduce the situation where the ranging side link positioning cannot be calculated or is inaccurate due to unclear calculation information, and improve the accuracy of the calculation information determination. The embodiment of the present disclosure discloses a specific scheme for feeding back the ranging side link positioning capability information of the first terminal device to the LMF based on the first terminal device identifier. The present disclosure provides a processing method for the "ranging sidelink positioning" scenario to provide calculation information for ranging sidelink positioning for a first terminal device and at least one second terminal device to ensure the calculation result of the ranging sidelink positioning or improve the accuracy of the ranging sidelink positioning.

[0240] Figure 9 A flow chart of a ranging sidelink positioning method provided by an embodiment of the present disclosure is shown, and the method is executed by a first terminal device, such as Figure 9 As shown, the method may include the following steps:

[0241] Step 901: Receive a ranging sidelink positioning capability request message sent by the LMF;

[0242] Step 902: If the ranging sidelink positioning capability request message carries at least one second terminal device identifier, the ranging sidelink positioning capability information of the at least one second terminal device is fed back to the LMF.

[0243] For other detailed descriptions of steps 901 and 902, please refer to the above embodiment description, which will not be elaborated here in the embodiment of the present disclosure.

[0244] In summary, in the embodiment of the present disclosure, a ranging sidelink positioning capability request message sent by the LMF is received; and a ranging sidelink positioning capability response message is fed back to the LMF, wherein the ranging sidelink positioning capability response message includes at least one of the following: a preferred calculation node for ranging sidelink positioning; a calculation mode for ranging sidelink positioning; and ranging sidelink positioning capability information of the first terminal device and / or at least one second terminal device. In the embodiment of the present disclosure, by feeding back the ranging sidelink positioning capability response message to the LMF, the LMF can determine the calculation information for ranging sidelink positioning for the first terminal device and at least one second terminal device, reduce the situation where the ranging sidelink positioning cannot be calculated or is inaccurate due to unclear calculation information, and improve the accuracy of the calculation information determination. The embodiment of the present disclosure discloses a specific scheme for feeding back the ranging sidelink positioning capability information of at least one second terminal device to the LMF based on at least one second terminal device identifier. The present disclosure provides a processing method for the "ranging sidelink positioning" scenario to provide calculation information for ranging sidelink positioning for a first terminal device and at least one second terminal device to ensure the calculation result of the ranging sidelink positioning or improve the accuracy of the ranging sidelink positioning.

[0245] Figure 10 A flow chart of a ranging sidelink positioning method provided by an embodiment of the present disclosure is shown, and the method is executed by a first terminal device, such as Figure 10 As shown, the method may include the following steps:

[0246] Step 1001: Receive a ranging sidelink positioning capability request message sent by the LMF;

[0247] Step 1002: If the ranging sidelink positioning capability request message carries at least one second terminal device identifier, and the first terminal device does not have available ranging sidelink positioning capability information of at least one second terminal device, then send a positioning capability request message to the at least one second terminal device;

[0248] Step 1003: Receive ranging sidelink positioning capability information sent by at least one second terminal device;

[0249] Step 1004: Feedback the ranging sidelink positioning capability information of at least one second terminal device to the LMF.

[0250] Among them, in one embodiment of the present disclosure, if the ranging sidelink positioning capability request message carries at least one second terminal device identifier, the first terminal device can detect whether there is available ranging sidelink positioning capability information of at least one second terminal device in the first terminal device. If there is no available ranging sidelink positioning capability information of at least one second terminal device in the first terminal device, the first terminal device can send a positioning capability request message to at least one second terminal device. The positioning capability request message is used to request the ranging sidelink positioning capability information of at least one terminal device. After receiving the ranging sidelink positioning capability information sent by at least one second terminal device, the first terminal device can feedback the ranging sidelink positioning capability information of at least one second terminal device to the LMF.

[0251] In summary, in the embodiment of the present disclosure, a ranging sidelink positioning capability request message sent by the LMF is received; and a ranging sidelink positioning capability response message is fed back to the LMF, wherein the ranging sidelink positioning capability response message includes at least one of the following: a preferred calculation node for ranging sidelink positioning; a calculation mode for ranging sidelink positioning; and ranging sidelink positioning capability information of the first terminal device and / or at least one second terminal device. In the embodiment of the present disclosure, by feeding back the ranging sidelink positioning capability response message to the LMF, the LMF can determine the calculation information for ranging sidelink positioning for the first terminal device and at least one second terminal device, reduce the situation where the ranging sidelink positioning cannot be calculated or is inaccurate due to unclear calculation information, and improve the accuracy of the calculation information determination. The embodiment of the present disclosure discloses a specific scheme for receiving the ranging sidelink positioning capability information sent by at least one second terminal device if the first terminal device does not have the ranging sidelink positioning capability information of at least one second terminal device available. The present disclosure provides a processing method for the "ranging sidelink positioning" scenario to provide calculation information for ranging sidelink positioning for a first terminal device and at least one second terminal device to ensure the calculation result of the ranging sidelink positioning or improve the accuracy of the ranging sidelink positioning.

[0252] Figure 11 This is a structural diagram of a ranging sidelink positioning device provided by an embodiment of the present disclosure, such as Figure 11 As shown, the apparatus 1100 may include:

[0253] A sending module 1101 is configured to send a ranging sidelink positioning capability request message to a first terminal device;

[0254] The receiving module 1102 is configured to receive a ranging sidelink positioning capability response message fed back by the first terminal device, wherein the ranging sidelink positioning capability response message includes ranging sidelink positioning capability information of at least one terminal device;

[0255] The determination module 1103 is used to determine calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device according to the ranging sidelink positioning capability response message.

[0256] In summary, in the ranging sidelink positioning device of the embodiment of the present disclosure, a ranging sidelink positioning capability request message can be sent to the first terminal device; a ranging sidelink positioning capability response message fed back by the first terminal device is received, wherein the ranging sidelink positioning capability response message includes the ranging sidelink positioning capability information of at least one terminal device; and calculation information for ranging sidelink positioning for the first terminal device and at least one second terminal device is determined based on the ranging sidelink positioning capability response message. In the embodiment of the present disclosure, by determining the calculation information of the ranging sidelink positioning, the calculation information for ranging sidelink positioning for the first terminal device and at least one second terminal device can be determined, thereby reducing the situation where the ranging sidelink positioning cannot be calculated or is inaccurate due to unclear calculation information. The present disclosure provides a processing device for the situation of "ranging sidelink positioning" to provide calculation information for ranging sidelink positioning for the first terminal device and at least one second terminal device, so as to ensure the calculation result of the ranging sidelink positioning or improve the accuracy of the ranging sidelink positioning.

[0257] Optionally, in one embodiment of the present disclosure, the determining module 1103 is configured to determine calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device, including at least one of the following:

[0258] Determining a calculation method for performing ranging sidelink positioning on the first terminal device and at least one second terminal device;

[0259] Determine a computing node for performing ranging sidelink positioning for a first terminal device and at least one second terminal device.

[0260] Optionally, in an embodiment of the present disclosure, the computing node includes one of the following:

[0261] Use the terminal device as a computing node for ranging sidelink positioning;

[0262] Use LMF as the calculation node for ranging side link positioning;

[0263] At least one terminal device and LMF are used as computing nodes for ranging sidelink positioning.

[0264] Optionally, in an embodiment of the present disclosure, the calculation method includes one of the following:

[0265] A calculation method for performing ranging sidelink positioning by at least one terminal device;

[0266] The calculation method of LMF for ranging sidelink positioning;

[0267] A calculation method for ranging sidelink positioning performed jointly by at least one terminal device and LMF.

[0268] Optionally, in one embodiment of the present disclosure, the determining module 1103, when determining a computing node for performing ranging sidelink positioning for the first terminal device and at least one second terminal device, is specifically configured to:

[0269] receiving a preferred computing node for ranging sidelink positioning sent by at least one terminal device;

[0270] If the preferred computing node is at least one terminal device, using the corresponding at least one terminal device as a computing node for performing ranging sidelink positioning for the first terminal device and the at least one second terminal device;

[0271] If the preferred computing node is the LMF, the LMF is used as a computing node for performing ranging sidelink positioning for the first terminal device and the at least one second terminal device;

[0272] If the preferred computing nodes are at least one terminal device and an LMF, the at least one terminal device and the LMF are used as computing nodes for performing ranging sidelink positioning for the first terminal device and the at least one second terminal device.

[0273] Optionally, in an embodiment of the present disclosure, the at least one terminal device includes a first terminal device and at least one second terminal device;

[0274] Ranging sidelink positioning capability information, including at least one of the following:

[0275] Ranging sidelink positioning capability information of a first terminal device among at least one terminal device, wherein the first terminal device is a terminal device among the at least one terminal device that has a session connection with the LMF;

[0276] Ranging sidelink positioning capability information of a second terminal device in at least one terminal device, wherein the second terminal device is any terminal device in the at least one terminal device that performs ranging sidelink positioning with the first terminal device.

[0277] Optionally, in one embodiment of the present disclosure, the determination module 1103 is configured to determine, according to the ranging sidelink positioning capability response message, calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device, specifically for:

[0278] Obtain ranging sidelink positioning capability information of LMF;

[0279] Based on the ranging sidelink positioning capability information of at least one terminal device and the ranging sidelink positioning capability information of the LMF, calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device is determined.

[0280] Optionally, in one embodiment of the present disclosure, the sending module 1101 is configured to send a ranging sidelink positioning capability request message to the first terminal device, specifically to:

[0281] Receive the ranging sidelink positioning service request sent by the access and mobility management function entity AMF;

[0282] In response to the ranging sidelink positioning service request, determining whether the LMF has available ranging sidelink positioning capability information of the first terminal device and the at least one second terminal device;

[0283] In response to the LMF not having available ranging sidelink positioning capability information of the first terminal device and at least one second terminal device, a ranging sidelink positioning capability request message is sent to the first terminal device.

[0284] Optionally, in one embodiment of the present disclosure, the ranging sidelink positioning capability request message carries the ranging sidelink positioning capability information of the LMF as well as the first terminal device identifier and at least one second terminal device identifier.

[0285] Optionally, in one embodiment of the present disclosure, the ranging sidelink positioning capability information refers to computing capability information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device through the direct communication PC5 interface, including at least one of the following:

[0286] Calculating a general relative distance between the first terminal and any second terminal device;

[0287] Calculating a general relative direction between the first terminal and any second terminal device;

[0288] Calculating a high-precision relative distance between the first terminal and any second terminal device;

[0289] Calculating a high-precision relative direction between the first terminal and any second terminal device;

[0290] Calculating a general relative distance between the first terminal and the plurality of second terminal devices;

[0291] calculating a general relative direction between the first terminal and the plurality of second terminal devices;

[0292] Calculating high-precision relative distances between a first terminal and a plurality of second terminal devices;

[0293] Calculating high-precision relative directions of the first terminal and the plurality of second terminal devices;

[0294] Among them, the first terminal device is a terminal device that has a session connection with the LMF, and the second terminal device is any terminal device among at least one terminal device that performs ranging side link positioning with the first terminal device.

[0295] Figure 12 This is a structural diagram of a ranging sidelink positioning device provided by an embodiment of the present disclosure, such as Figure 12 As shown, the apparatus 1200 may include:

[0296] The receiving module 1201 is configured to receive a ranging sidelink positioning capability request message sent by the LMF;

[0297] The sending module 1202 is configured to feed back a ranging sidelink positioning capability response message to the LMF, where the ranging sidelink positioning capability response message includes at least one of the following:

[0298] The preferred computing node for ranging sidelink positioning;

[0299] Calculation mode for ranging sidelink positioning;

[0300] Ranging sidelink positioning capability information of the first terminal device and / or at least one second terminal device.

[0301] In summary, in the ranging sidelink positioning device of the embodiment of the present disclosure, the receiving module can receive a ranging sidelink positioning capability request message sent by the LMF; the sending module can feedback a ranging sidelink positioning capability response message to the LMF, wherein the ranging sidelink positioning capability response message includes at least one of the following: a preferred calculation node for ranging sidelink positioning; a calculation mode for ranging sidelink positioning; and ranging sidelink positioning capability information of the first terminal device and / or at least one second terminal device. In the embodiment of the present disclosure, by feeding back the ranging sidelink positioning capability response message to the LMF, the LMF can determine the calculation information for ranging sidelink positioning for the first terminal device and at least one second terminal device, reducing the situation where the ranging sidelink positioning cannot be calculated or is inaccurate due to unclear calculation information, and improving the accuracy of the calculation information determination. The present disclosure provides a processing device for the "ranging sidelink positioning" scenario to provide calculation information for ranging sidelink positioning for the first terminal device and at least one second terminal device, so as to ensure the calculation result of the ranging sidelink positioning or improve the accuracy of the ranging sidelink positioning.

[0302] Optionally, in one embodiment of the present disclosure, the sending module 1202 is further used to determine the preferred computing node or computing mode for ranging sidelink positioning based on the ranging sidelink positioning capability information of the LMF in the ranging sidelink positioning capability request message.

[0303] Optionally, in one embodiment of the present disclosure, the sending module 1202 is further used to feedback the ranging sidelink positioning capability information of the first terminal device to the LMF if the ranging sidelink positioning capability request message carries the first terminal device identifier.

[0304] Optionally, in one embodiment of the present disclosure, the sending module 1202 is also used to feedback the ranging sidelink positioning capability information of at least one second terminal device to the LMF if the ranging sidelink positioning capability request message carries at least one second terminal device identifier.

[0305] Optionally, in one embodiment of the present disclosure, the sending module 1202 is further configured to, before feeding back the ranging sidelink positioning capability information of the at least one second terminal device to the LMF, send a positioning capability request message to the at least one second terminal device if the first terminal device does not have available ranging sidelink positioning capability information of the at least one second terminal device;

[0306] Receive ranging sidelink positioning capability information sent by at least one second terminal device.

[0307] Optionally, in one embodiment of the present disclosure, the ranging sidelink positioning capability information refers to computing capability information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device through the direct communication PC5 interface.

[0308] Figure 13 1 is a block diagram of a terminal device UE 1300 provided by one embodiment of the present disclosure. For example, UE 1300 can be a mobile phone, a computer, a digital broadcast terminal device, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0309] Reference Figure 13 UE 1300 may include at least one of the following components: a processing component 1302 , a memory 1304 , a power component 1306 , a multimedia component 1308 , an audio component 1310 , an input / output (I / O) interface 1312 , a sensor component 1314 , and a communication component 1316 .

[0310] Processing component 1302 generally controls the overall operation of UE 1300, such as operations associated with display, phone calls, data communications, camera operation, and recording operations. Processing component 1302 may include at least one processor 1320 to execute instructions to perform all or part of the steps of the above-described method. In addition, processing component 1302 may include at least one module to facilitate interaction between processing component 1302 and other components. For example, processing component 1302 may include a multimedia module to facilitate interaction between multimedia component 1308 and processing component 1302.

[0311] The memory 1304 is configured to store various types of data to support the operation of the UE 1300. Examples of such data include instructions for any application or method operating on the UE 1300, contact data, phone book data, messages, pictures, videos, etc. The memory 1304 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0312] The power component 1306 provides power to various components of the UE 1300. The power component 1306 may include a power management system, at least one power supply, and other components associated with generating, managing, and distributing power to the UE 1300.

[0313] The multimedia component 1308 includes a screen that provides an output interface between the UE 1300 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes at least one touch sensor to sense touches, slides, and gestures on the touch panel. The touch sensor may not only sense the boundaries of a touch or slide action, but also detect the wake-up time and pressure associated with the touch or slide action. In some embodiments, the multimedia component 1308 includes a front camera and / or a rear camera. When the UE 1300 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0314] The audio component 1310 is configured to output and / or input audio signals. For example, the audio component 1310 includes a microphone (MIC) that is configured to receive external audio signals when the UE 1300 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 1304 or transmitted via the communication component 1316. In some embodiments, the audio component 1310 further includes a speaker for outputting audio signals.

[0315] I / O interface 1312 provides an interface between processing component 1302 and peripheral interface modules, such as a keyboard, click wheel, buttons, etc. These buttons may include, but are not limited to, a home button, volume buttons, a start button, and a lock button.

[0316] Sensor assembly 1314 includes at least one sensor for providing various status assessments for UE 1300. For example, sensor assembly 1314 can detect the open / closed state of device 1300, the relative positioning of components, such as the display and keypad of UE 1300. Sensor assembly 1314 can also detect changes in the position of UE 1300 or a component of UE 1300, the presence or absence of user contact with UE 1300, the orientation or acceleration / deceleration of UE 1300, and changes in the temperature of UE 1300. Sensor assembly 1314 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 1314 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 1314 may also include an accelerometer, a gyroscope, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0317] The communication component 1316 is configured to facilitate wired or wireless communication between UE 1300 and other devices. UE 1300 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 1316 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 1316 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0318] In an exemplary embodiment, UE 1300 may be implemented by at least one application-specific integrated circuit (ASIC), digital signal processor (DSP), digital signal processing device (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), controller, microcontroller, microprocessor, or other electronic component to perform the above method.

[0319] Figure 14 1 is a block diagram of a network side device 1400 provided in an embodiment of the present disclosure. For example, the network side device 1400 may be provided as a network side device. Figure 14 The network side device 1400 includes a processing component 1422, which further includes at least one processor, and a memory resource represented by a memory 1432 for storing instructions executable by the processing component 1422, such as an application. The application stored in the memory 1432 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 1422 is configured to execute instructions to perform any of the aforementioned methods applied to the network side device, such as Figure 1 The method shown.

[0320] The network side device 1400 may further include a power supply component 1426 configured to perform power management of the network side device 1400, a wired or wireless network interface 1450 configured to connect the network side device 1400 to a network, and an input / output (I / O) interface 1458. The network side device 1400 may operate based on an operating system stored in the memory 1432, such as Windows Server™, Mac OS X™, Unix™, Linux™, Free BSD™, or the like.

[0321] In the embodiments provided above, the methods provided in the embodiments of the present disclosure are described from the perspectives of the network-side device and the UE. To implement the various functions in the methods provided in the embodiments of the present disclosure, the network-side device and the UE may include hardware structures and software modules, and implement the aforementioned functions in the form of hardware structures, software modules, or hardware structures and software modules. Certain of the aforementioned functions may be implemented in the form of hardware structures, software modules, or hardware structures and software modules.

[0322] In the embodiments provided above, the methods provided in the embodiments of the present disclosure are described from the perspectives of the network-side device and the UE. To implement the various functions in the methods provided in the embodiments of the present disclosure, the network-side device and the UE may include hardware structures and software modules, and implement the aforementioned functions in the form of hardware structures, software modules, or hardware structures and software modules. Certain of the aforementioned functions may be implemented in the form of hardware structures, software modules, or hardware structures and software modules.

[0323] Embodiments of the present disclosure provide a communication device. The communication device may include a transceiver module and a processing module. The transceiver module may include a sending module and / or a receiving module. The sending module is configured to implement a sending function, and the receiving module is configured to implement a receiving function. The transceiver module may implement both the sending function and / or the receiving function.

[0324] The communication device may be a terminal device (such as the terminal device in the aforementioned method embodiment), or a device in a terminal device, or a device that can be used in conjunction with a terminal device. Alternatively, the communication device may be a network device, or a device in a network device, or a device that can be used in conjunction with a network device.

[0325] Another communication device provided in an embodiment of the present disclosure. The communication device can be a network device, a terminal device (such as the terminal device in the aforementioned method embodiment), a chip, a chip system, or a processor that supports the network device to implement the aforementioned method, or a chip, a chip system, or a processor that supports the terminal device to implement the aforementioned method. This device can be used to implement the method described in the aforementioned method embodiment. For details, please refer to the description of the aforementioned method embodiment.

[0326] The communication device may include one or more processors. The processor may be a general-purpose processor or a dedicated processor. For example, it may be a baseband processor or a central processing unit. The baseband processor may be used to process communication protocols and communication data, and the central processing unit may be used to control the communication device (e.g., network-side equipment, baseband chips, terminal equipment, terminal equipment chips, DU or CU, etc.), execute computer programs, and process computer program data.

[0327] Optionally, the communication device may further include one or more memories, on which a computer program may be stored. The processor executes the computer program to cause the communication device to perform the method described in the above method embodiment. Optionally, the memory may also store data. The communication device and memory may be provided separately or integrated.

[0328] Optionally, the communication device may further include a transceiver and an antenna. A transceiver may be referred to as a transceiver unit, a transceiver, or a transceiver circuit, etc., and is used to implement transceiver functions. A transceiver may include a receiver and a transmitter. The receiver may be referred to as a receiver or a receiving circuit, etc., and is used to implement a receiving function; the transmitter may be referred to as a transmitter or a transmitting circuit, etc., and is used to implement a transmitting function.

[0329] Optionally, the communication device may further include one or more interface circuits. The interface circuits are configured to receive code instructions and transmit them to the processor. The processor executes the code instructions to enable the communication device to execute the method described in the above method embodiment.

[0330] The communication device is a terminal device (such as the terminal device in the above method embodiment): the processor is used to execute Figure 1-Figure 4 Any of the methods shown.

[0331] The communication device is a network side device: the processor is used to execute Figure 5-Figure 7 Any of the methods shown.

[0332] In one implementation, the processor may include a transceiver for implementing receiving and transmitting functions. For example, the transceiver may be a transceiver circuit, an interface, or an interface circuit. The transceiver circuit, interface, or interface circuit for implementing the receiving and transmitting functions may be separate or integrated. The transceiver circuit, interface, or interface circuit may be used for reading and writing code / data, or may be used for transmitting or delivering signals.

[0333] In one implementation, the processor may store a computer program that runs on the processor and enables the communication device to perform the method described in the above method embodiment. The computer program may be fixed in the processor, in which case the processor may be implemented by hardware.

[0334] In one implementation, the communication device may include a circuit that can implement the functions of sending, receiving, or communicating in the aforementioned method embodiments. The processor and transceiver described in the present disclosure can be implemented on an integrated circuit (IC), an analog IC, a radio frequency integrated circuit RFIC, a mixed signal IC, an application specific integrated circuit (ASIC), a printed circuit board (PCB), an electronic device, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal oxide semiconductor (CMOS), N-type metal oxide semiconductor (nMetal-oxide-semiconductor, NMOS), P-type metal oxide semiconductor (positive channel metal oxide semiconductor, PMOS), bipolar junction transistor (bipolar junction transistor, BJT), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.

[0335] The communication device described in the above embodiments may be a network device or a terminal device (such as the terminal device in the aforementioned method embodiment), but the scope of the communication device described in this disclosure is not limited thereto, and the structure of the communication device may not be limited thereto. The communication device may be an independent device or may be part of a larger device. For example, the communication device may be:

[0336] (1) An independent integrated circuit (IC), or chip, or chip system or subsystem;

[0337] (2) a collection of one or more ICs, optionally including a storage component for storing data and computer programs;

[0338] (3) ASIC, such as modem;

[0339] (4) Modules that can be embedded in other devices;

[0340] (5) Receivers, terminal devices, intelligent terminal devices, cellular phones, wireless devices, handheld devices, mobile units, vehicle-mounted devices, network devices, cloud devices, artificial intelligence devices, etc.;

[0341] (6)Others, etc.

[0342] In the case where the communication device can be a chip or a chip system, the chip includes a processor and an interface. The number of processors can be one or more, and the number of interfaces can be multiple.

[0343] Optionally, the chip further includes a memory for storing necessary computer programs and data.

[0344] Those skilled in the art will also appreciate that the various illustrative logical blocks and steps listed in the embodiments of the present disclosure may be implemented by electronic hardware, computer software, or a combination of both. Whether such functionality is implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the described functionality for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of the present disclosure.

[0345] The present disclosure also provides a readable storage medium having instructions stored thereon, which implement the functions of any of the above method embodiments when executed by a computer.

[0346] The present disclosure also provides a computer program product, which implements the functions of any of the above method embodiments when executed by a computer.

[0347] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer programs. When the computer program is loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present disclosure are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer program can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a high-density digital video disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0348] Those skilled in the art will understand that the various numerical numbers such as first and second involved in the present disclosure are only for the convenience of description and are not used to limit the scope of the embodiments of the present disclosure, and also indicate the order of precedence.

[0349] The at least one in the present disclosure can also be described as one or more, and the multiple can be two, three, four or more, which is not limited in the present disclosure. In the embodiments of the present disclosure, for a technical feature, the technical features in the technical feature are distinguished by "first", "second", "third", "A", "B", "C" and "D", and there is no order of precedence or size between the technical features described by "first", "second", "third", "A", "B", "C" and "D".

[0350] Other embodiments of the present invention will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0351] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A ranging sidelink positioning method, characterized in that: The method is performed by a location management function entity LMF, and the method includes: Sending a ranging sidelink positioning capability request message to the first terminal device; Receiving a ranging sidelink positioning capability response message fed back by the first terminal device, wherein the ranging sidelink positioning capability response message includes ranging sidelink positioning capability information of at least one terminal device, and the at least one terminal device includes at least one of the following: a first terminal device and at least one second terminal device; According to the ranging sidelink positioning capability response message, calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device is determined, and the calculation information includes at least one of the following: a calculation method and a calculation node.

2. The method according to claim 1, characterized in that The computing node includes one of the following: Using the terminal device as a computing node for the ranging sidelink positioning; Using the LMF as a calculation node for the ranging sidelink positioning; The at least one terminal device and the LMF are used as computing nodes for the ranging sidelink positioning.

3. The method according to claim 1, characterized in that The calculation method includes one of the following: A calculation method for performing ranging sidelink positioning by the at least one terminal device; The calculation method of the LMF for ranging sidelink positioning; A calculation method for ranging sidelink positioning jointly performed by the at least one terminal device and the LMF.

4. The method according to claim 1, wherein The determining of a computing node for performing ranging sidelink positioning on the first terminal device and at least one second terminal device includes: Receiving a preferred computing node for ranging sidelink positioning sent by the first terminal device; If the preferred computing node is the at least one terminal device, using the corresponding at least one terminal device as a computing node for performing ranging sidelink positioning for the first terminal device and at least one second terminal device; If the preferred computing node is the LMF, using the LMF as a computing node for performing ranging sidelink positioning for the first terminal device and at least one second terminal device; If the preferred computing nodes are the at least one terminal device and the LMF, the at least one terminal device and the LMF are used as computing nodes for performing ranging sidelink positioning for the first terminal device and at least one second terminal device.

5. The method according to claim 1, characterized in that The at least one terminal device includes a first terminal device and at least one second terminal device; The ranging sidelink positioning capability information includes at least one of the following: Ranging sidelink positioning capability information of a first terminal device among the at least one terminal device, wherein the first terminal device is a terminal device among the at least one terminal device that has a session connection with the LMF; The ranging sidelink positioning capability information of the second terminal device in the at least one terminal device, wherein the second terminal device is any terminal device in the at least one terminal device that performs ranging sidelink positioning with the first terminal device.

6. The method according to claim 1, characterized in that The determining, according to the ranging sidelink positioning capability response message, calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device includes: Obtaining ranging sidelink positioning capability information of the LMF; Based on the ranging sidelink positioning capability information of the at least one terminal device and the ranging sidelink positioning capability information of the LMF, calculation information for performing ranging sidelink positioning on the first terminal device and at least one second terminal device is determined.

7. The method according to claim 1, characterized in that The sending a ranging sidelink positioning capability request message to the first terminal device includes: Receive the ranging sidelink positioning service request sent by the access and mobility management function entity AMF; In response to the ranging sidelink positioning service request, determining whether the LMF has available ranging sidelink positioning capability information of the first terminal device and at least one second terminal device; In response to the LMF not having available ranging sidelink positioning capability information of the first terminal device and at least one second terminal device, a ranging sidelink positioning capability request message is sent to the first terminal device.

8. The method according to claim 7, characterized in that The ranging sidelink positioning capability request message carries the ranging sidelink positioning capability information of the LMF, as well as a first terminal device identifier and at least one second terminal device identifier.

9. The method according to claim 1, characterized in that The ranging sidelink positioning capability information refers to computing capability information for performing ranging sidelink positioning on the first terminal device and the at least one second terminal device through the direct communication PC5 interface, including at least one of the following: Calculating a general relative distance between the first terminal and any second terminal device; Calculating a general relative direction between the first terminal and any one of the second terminal devices; Calculating a high-precision relative distance between the first terminal and any one of the second terminal devices; Calculating a high-precision relative direction between the first terminal and any one of the second terminal devices; Calculating a general relative distance between the first terminal and a plurality of second terminal devices; Calculating a general relative direction between the first terminal and the plurality of second terminal devices; Calculating high-precision relative distances between the first terminal and the plurality of second terminal devices; Calculating high-precision relative directions between the first terminal and the plurality of second terminal devices; The first terminal device is a terminal device that has a session connection with the LMF, and the second terminal device is any terminal device among the at least one terminal device that performs ranging side link positioning with the first terminal device.

10. A ranging sidelink positioning method, characterized in that: The method is performed by a first terminal device, and includes: Receive the ranging sidelink positioning capability request message sent by LMF; Feedback a ranging sidelink positioning capability response message to the LMF, wherein the ranging sidelink positioning capability response message includes ranging sidelink positioning capability information of at least one terminal device, and the at least one terminal device includes at least one of the following: a first terminal device and at least one second terminal device; Among them, the ranging side link positioning capability response message is used to determine the calculation information for ranging side link positioning for the first terminal device and at least one second terminal device, and the calculation information includes at least one of the following: calculation method, calculation node.

11. The method according to claim 10, characterized in that The ranging sidelink positioning capability response message further includes at least one of the following: A preferred computing node for ranging sidelink positioning, the preferred computing node being at least one terminal device and / or the LMF; The calculation mode of the ranging sidelink positioning.

12. The method according to claim 11, characterized in that The method further comprises: According to the ranging sidelink positioning capability information of the LMF in the ranging sidelink positioning capability request message, the preferred computing node or computing mode for the ranging sidelink positioning is determined.

13. The method according to claim 10, characterized in that The method further comprises: If the ranging sidelink positioning capability request message carries the first terminal device identifier, the ranging sidelink positioning capability information of the first terminal device is fed back to the LMF.

14. The method according to claim 10, characterized in that The method further comprises: If the ranging sidelink positioning capability request message carries at least one second terminal device identifier, the ranging sidelink positioning capability information of the at least one second terminal device is fed back to the LMF.

15. The method according to claim 14, characterized in that Before feeding back the ranging sidelink positioning capability information of the at least one second terminal device to the LMF, the method further includes: If the first terminal device does not have the ranging sidelink positioning capability information of the at least one second terminal device available, sending a positioning capability request message to the at least one second terminal device; Receive ranging sidelink positioning capability information sent by the at least one second terminal device.

16. The method according to claim 10, characterized in that The ranging side link positioning capability information refers to the computing capability information for performing ranging side link positioning on the first terminal device and the at least one second terminal device through the direct communication PC5 interface.

17. A ranging sidelink positioning device, characterized in that: include: A sending module, configured to send a ranging sidelink positioning capability request message to the first terminal device; a receiving module, configured to receive a ranging sidelink positioning capability response message fed back by the first terminal device, wherein the ranging sidelink positioning capability response message includes ranging sidelink positioning capability information of at least one terminal device, and the at least one terminal device includes at least one of the following: a first terminal device and at least one second terminal device; A determination module is used to determine calculation information for ranging side link positioning for the first terminal device and at least one second terminal device based on the ranging side link positioning capability response message, and the calculation information includes at least one of the following: calculation method and calculation node.

18. The device according to claim 17, characterized in that The computing node includes one of the following: Using the terminal device as a computing node for the ranging sidelink positioning; Using the LMF as a calculation node for the ranging sidelink positioning; The at least one terminal device and the LMF are used as computing nodes for the ranging sidelink positioning.

19. The device according to claim 17 or 18, characterized in that The calculation method includes one of the following: A calculation method for performing ranging sidelink positioning by the at least one terminal device; The calculation method of the LMF for ranging sidelink positioning; A calculation method for ranging sidelink positioning jointly performed by the at least one terminal device and the LMF.

20. The device according to claim 17, wherein The at least one terminal device includes a first terminal device and at least one second terminal device; The ranging sidelink positioning capability information includes at least one of the following: Ranging sidelink positioning capability information of a first terminal device among the at least one terminal device, wherein the first terminal device is a terminal device among the at least one terminal device that has a session connection with the LMF; The ranging sidelink positioning capability information of the second terminal device in the at least one terminal device, wherein the second terminal device is any terminal device in the at least one terminal device that performs ranging sidelink positioning with the first terminal device.

21. The device according to claim 17, characterized in that The sending module is specifically used for: Receive the ranging sidelink positioning service request sent by the access and mobility management function entity AMF; In response to the ranging sidelink positioning service request, determining whether the LMF has available ranging sidelink positioning capability information of the first terminal device and at least one second terminal device; In response to the LMF not having available ranging sidelink positioning capability information of the first terminal device and at least one second terminal device, a ranging sidelink positioning capability request message is sent to the first terminal device.

22. The device according to claim 21, characterized in that The ranging sidelink positioning capability request message carries the ranging sidelink positioning capability information of the LMF, as well as a first terminal device identifier and at least one second terminal device identifier.

23. A ranging sidelink positioning device, characterized in that: include: A receiving module is used to receive a ranging sidelink positioning capability request message sent by the LMF; A sending module is used to feed back a ranging sidelink positioning capability response message to the LMF, wherein the ranging sidelink positioning capability response message includes ranging sidelink positioning capability information of at least one terminal device, and the at least one terminal device includes at least one of the following: a first terminal device, at least one second terminal device; wherein the ranging sidelink positioning capability response message is used to determine calculation information for ranging sidelink positioning for the first terminal device and at least one second terminal device, and the calculation information includes at least one of the following: a calculation method and a calculation node.

24. The device according to claim 23, characterized in that The sending module is further used for: If the ranging sidelink positioning capability request message carries the first terminal device identifier, the ranging sidelink positioning capability information of the first terminal device is fed back to the LMF.

25. The device according to claim 23, characterized in that The sending module is further used for: If the ranging sidelink positioning capability request message carries at least one second terminal device identifier, the ranging sidelink positioning capability information of the at least one second terminal device is fed back to the LMF.

26. The device according to claim 25, characterized in that Before feeding back the ranging sidelink positioning capability information of the at least one second terminal device to the LMF, the sending module is further configured to: If the first terminal device does not have the ranging sidelink positioning capability information of the at least one second terminal device available, sending a positioning capability request message to the at least one second terminal device; Receive ranging sidelink positioning capability information sent by the at least one second terminal device.

27. The device according to claim 23, characterized in that The ranging side link positioning capability information refers to the computing capability information for performing ranging side link positioning on the first terminal device and the at least one second terminal device through the direct communication PC5 interface.

28. A terminal device, characterized in that: The device includes a processor and a memory, wherein a computer program is stored in the memory, and the processor executes the computer program stored in the memory to enable the device to perform the method according to any one of claims 1 to 9.

29. A LMF, characterized in that The device includes a processor and a memory, wherein a computer program is stored in the memory, and the processor executes the computer program stored in the memory to enable the device to perform the method according to any one of claims 10 to 16.

30. A communication device, characterized in that: include: processor and interface circuitry, wherein The interface circuit is used to receive code instructions and transmit them to the processor; The processor is configured to run the code instructions to perform the method according to any one of claims 1 to 9.

31. A communication device, characterized in that: include: processor and interface circuitry, wherein The interface circuit is used to receive code instructions and transmit them to the processor; The processor is configured to run the code instructions to perform the method according to any one of claims 10 to 16.

32. A communication system, characterized in that: The communication system includes a location management function entity LMF and a first terminal device, wherein: The location management function entity LMF is used to perform the method according to any one of claims 1 to 9, The first terminal device is used to execute the method according to any one of claims 10 to 16.

33. A computer-readable storage medium, characterized in that The device is used for storing instructions, and when the instructions are executed, the method according to any one of claims 1 to 9 is implemented.

34. A computer-readable storage medium, characterized in that The device is used for storing instructions, which, when executed, enable the method according to any one of claims 10 to 16 to be implemented.

35. A computer program product, characterized in that When the computer program product is executed by a computer, the method according to any one of claims 1 to 9 is implemented.

36. A computer program product, characterized in that When the computer program product is executed by a computer, the method according to any one of claims 10 to 16 is implemented.

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